动态指向式旋转导向钻井工具稳定平台的控制

摘要

The dynamic point-the-bit rotary steerable drilling tool is the most advanced automated drilling tool.The performance index of the stabilized platform installed inside the tool determines the steerable ability and guiding precision.Based on the prototype of the tool, the periodic abrupt change of the measured value during circumferential angle position control has been analyzed.The angle position pre-processing method has been proposed to address the motor steering control and abrupt change of measured value.Combining the modeling and system identification method, the control model of the prototype has been attained.The stabilized platform tool face angle feedback and feed-forward simulation system has been established.The tests and analyses have been carried out for the downhole stick-slip.The results show that the feedback and feed-forward simulation system can suppress the tool face angle fluctuation caused by the stick-slip, and the tool angle can be controlled within ±13° in the case of 100% stick-slip, thus meeting the technical requirements of drilling operation.The study could help guiding the rotary steerable tool to successfully hit the geological target.%动态指向式旋转导向钻井工具是目前最先进的自动化钻井工具,而安装在工具内部的稳定平台控制的性能指标决定了动态指向式旋转导向钻井工具的导向能力和导向精度.基于动态指向式旋转导向钻井工具原理样机,分析了圆周角位置控制中存在的测量值周期性突变现象,提出了角位置预处理方法,解决了电机转向控制和测量值跳变的问题;结合理论建模与系统识别方法,获取了原理样机稳定平台的控制模型,搭建了稳定平台工具面角反馈-前馈仿真系统,针对井下黏滑工况进行了测试分析.分析结果表明:反馈-前馈仿真系统可以较好地抑制黏滑工况造成的工具面角波动,在黏滑度100%的情况下可将工具面角控制在±13°范围内,满足钻井过程中的技术要求.所得结论可以指导旋转导向钻井工具成功命中地质目标.