Abstract:

The development of a coiled tubing logging truck (CTLT) provided an effective technical means for logging of horizontal wells and complicated inclined wells,in which the coordinate control between the injector and reel that meets the requirement of low speed stability is one of the key techniques.To improve the CTLT performance,the present paper proposed a coordinate control scheme based on the identification of the secondary regulation system,and described its dynamic characteristics in accordance with compositions and principles of the secondary regulation system by setting up a nonlinear model for this system to simplify it into a second-order linear system.Based on the theory of the least squares algorithm,the secondary regulation system was systematically identified using the least squares algorithm with forgetting factor and a systematic model for determining parameters was obtained.Moreover,experiments with a PID controller were carried out on the secondary regulation system based on this identification model,which laid a good basis for the future theoretical analysis and real-time control of the coiled tubing logging truck.The result showed that the substitution of the secondary regulation system for the traditional hydraulic motor could effectively solve the problem of the coordinate control on the injector and reel.

Key words: coiled tubing, logging truck, coordinate control, secondary regulation, system identification

摘要：

连续油管测井机的研制为复杂大斜井、水平井的测井作业提供了有效的技术手段，其中，满足测井作业低速稳定性要求的注入头与滚筒的协同控制是整机的关键技术之一。为了提高测井机的性能，提出了基于二次调节系统辨识的连续油管协同控制设计方案。从二次调节系统的组成与原理出发，通过建立二次调节系统的非线性模型，可以将其简化为一个二阶线性系统，对其动力学特性进行描述。根据这一特点，依据最小二乘理论，采用带有遗忘遗因子的最小二乘算法，对二次调节系统进行了系统辨识，获得了确定参数的系统模型。在辨识模型的基础上，通过采用PID控制器，对二次调节控制系统进行了实验研究，为今后连续油管测井机的理论分析和实时控制打下良好的基础。研究表明，二次调节系统替代传统马达有效地解决了注入头与滚筒协同控制问题。

关键词: 连续油管, 测井机, 协同控制, 二次调节, 系统辨识