Design and Performance Analysis of the Measurement and Control Systems of the Dynamic Point-the-Bit Rotary Steerable Drilling Tool
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摘要: 为了开发高性能的旋转导向钻井工具系统，进行了动态指向式旋转导向钻井工具测控系统设计与性能分析。在自行设计的动态指向式旋转导向钻井工具原理样机的基础上，设计了测控系统，分析了其关键技术；通过模拟实际钻井工况，测试分析了测控方案的可行性，检验了测量信号处理与控制算法的有效性。测试结果表明，应用互补滤波算法，能够将工具面角动态测量波动降低84%；采用永磁同步电机电流环、电机转速环、稳定平台对地转速环和稳定平台位置环的四环控制系统，除满足导向钻井的性能指标外，在粘滑度为200%工况下，还可以将系统工具面角波动控制在±5°范围内。研究结果表明，互补滤波算法能够有效提高工具面角的动态测量精度，四环控制系统能够实现工具面角的快速稳定控制，测控性能指标能够满足钻井工程技术要求。Abstract: With the goal of developing a high-performance rotary steerable drilling tool system,the design and performances analysis of the measurement and control system of Dynamic Point-the-Bit Rotary Steerable Drilling Tool(DPRSDT) were conducted. Based on a self-designed prototype of DPRSDT,the measurement and control system was designed,and its key technologies and properties were analyzed and validated by simulating the actual drilling conditions,which included the feasibility of the measurement and control scheme,the validity of the measuring signal processing and the control algorithm.Simulation results showed that the dynamic measurement error of tool face angle has been reduced by 84% by using a complementary filtering algorithm.Moreover,a four-closed-loop control system based on permanent magnet synchronous motor current loop,motor speed loop,stabilized platform to ground speed loop and stabilized platform position loop was proposed.In addition to satisfying the performance index of steerable drilling,the proposed control scheme could restrict the error of tool face angle within 5 degrees under the working condition of the stick-slip grade of 200%.It was shown that the dynamic measurement accuracy of tool face angle could be effectively improved by a complementary filtering algorithm,and the quick and stable control of the tool face angle could be accomplished by the four-closed-loop control system.The measurement and control performance indexes of the prototype satisfied the technical requirements of actual drilling engineering.
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