旋转导向钻具组合力学分析

旋转导向系统代表了当今定向钻井的先进水平,是井眼轨道控制技术的发展方向. 为了解决旋转导向钻井轨道控制问题,进行了旋转导向钻具组合(rotary steering bottom hole assembly, RS-BHA) 力学分析. 应用纵横弯曲法建立了典型的柔性RS-BHA 三维力学分析模型,得到了钻头侧向力和导向参数间的相互关系,进而根据极限曲率法可预测旋转导向工具的造斜能力,并计算设计井眼轨道需要的导向参数. 通过力学分析,可以优化RS-BHA,了解井眼轨道控制规律,为旋转导向工具设计和定向钻井自动控制提供理论依据.     

三轴测试台测角系统粗、精耦合的计算机处理

本文针对三轴测试转台的双通道测角系统，设计了一种新的粗、精耦合计算机处理模块，提高了测试转台角度检测的可靠性。同时使测角系统具有定时测角、八平均和自补偿功能，有利于提高测角系统的精度。经长期模拟测试，证明该设计能获得今人满意的效果。     

双轴速率位置台全数字化控制系统实现

讨论了一种适用于双轴测试转台的全数字化控制系统结构。该系统采用了多单片机并行实现的主从分布式控制方法，不仅大大简化了系统硬件设计，提高了可靠性；而且其控制器完全由软件来实现，易于实现模拟电路难以实现的复杂的控制规律；同时也为在不改变硬件的前提下进一步扩展系统功能，改善系统的动、静特性提供了基础。实验表明，文中提出的全数字化控制系统结构完全能满足双轴测试转台的控制需要。     

动态指向式旋转导向钻井工具面角的动态测量

针对钻井过程复杂振动环境下单独使用加速度计和陀螺仪都无法准确获得近钻头处工具面角测量值的情况,提出一种融合单轴陀螺仪和双三轴加速度计测量数据的组合滤波方案。采用扩展卡尔曼滤波算法,根据加速度计测量信息自适应地调整滤波参数使测量结果最佳,能够准确估计出工具面角和陀螺仪漂移。仿真与实际测试结果表明,该方法能够适应钻井工具不同运行工况并大幅减弱井下振动、陀螺仪漂移等因素对工具面角动态测量精度的影响,工具面角误差小于6°,为旋转导向钻井工具的研制奠定了基础。     

基于Pro/E的三轴转台装配与运动学仿真

利用工程软件Pro／ENGINEER Wildfire对UUT型三轴转台进行了三维实体造型设计：以给定的装配序列为条件，在Pro／Animation环境中实现了转台各零部件的装配过程仿真：运用Pro／E的MDX模块，完成了给定运动条件下的转台运动学仿真，获取了反映被测试件运动情况的运动参数曲线，并对转台实施了干涉的动态检查。最后，将仿真过程中的动画输出并保存为多媒体视频文件，为转台设计方案的交流与评估以及转台产品的制造奠定基础。     

带有惯性敏感元件的新型陀螺测试转台系统控制器设计

传统原理的陀螺测试转台使用测角元件测量转台的角速率,其精度与所选的角度(或时间)间隔关系极大,即使综合使用各种控制方法也难以达到理想的速率精度和速率平稳性。提出一种新的测速原理,将惯性敏感元件引入转台测试系统测量瞬时角速率,瞬时速率能够很好地反映速率精度和速率平稳性,通过反馈与控制瞬时角速率信息提高转台的速率精度和速率平稳性。探讨了带有惯性敏感元件的新型转台的控制系统组成,进行控制系统设计时,将闭环系统按功能划分成测量回路和稳定回路,并运用数字控制解决控制器综合问题,使用Matlab软件分析系统主要变量响应过程。最后,由控制器设计过程和所得模型分析结果证实,相对传统转台,新型转台的数字控制系统具有较高鲁棒性,响应时间缩短为0.15 s,更适宜于陀螺仪表的动态测试。     

基于粗集理论的精密测试转台故障诊断

分析了精密测试转台的故障类型及产生机理,研究并提出了基于粗集理论的故障诊断方案．该方案基于不可分辨性的思想和知识简化的方法,在保持分类能力不变的前提下,采用差别矩阵对精密测试转台故障库进行知识约简,从故障样本集中推理出逻辑规则作为诊断规则,揭示了转台故障信息的内在冗余性．实验结果显示,通过该方法可以实现对精密测试转台故障的准确定位,提高了精密测试转台的安全性和可靠性。     

光纤捷联惯性测量单元设计与实现

提出了一种捷联式惯性测量单元的设计与实现方法。该系统以开环光纤陀螺和硅微加速度计作为惯性敏感元件，采用高速DSP作为中央处理器实现数据采集、处理及输出。重点介绍了系统的数据采集模块、处理模块、通讯模块等硬件电路及相应软件的设计。系统通过转台实验进行了离线标定及在线补偿，测试结果表明：系统在功能、精度以及实时性等方面达到了预期的设计目标。     

伺服转台恒温装置结构及控制系统

本文在完成某高精度伺服转台恒温系统的研制任务基础上，全面阐述了伺服转台台面恒温系统的实现措施及理论依据。主要包括结构设计、恒温箱与台面间的非接触密封、恒温箱的设计及模型参数估计、温度检测及控制系统设计     

测试转台温控箱的计算机控制

本文针对测试转台温控箱系统的大滞后特性，设计了一种带Ｓｍｉｔｈ预估器的ＰＩ校正器，并采用了基于８０９８单片机的计算机控制实现。仿真和实验均表明，文中的控制算法能够有效克服纯大滞后对控制系统稳定性的影响，具有良好的鲁棒性及控制性能，而且实现简单，可靠性好。     

Fault estimation for rotary steerable drilling tool systems with strong vibrations and unknown terms

Nonlinear Dynamics - In this paper, the problem of gyro fault estimation is studied for the dynamic point-the-bit rotary steerable drilling tool system (DPRSDTS), and it is essentially the fault...     

Torsional vibration analysis of push-the-bit rotary steerable drilling system

Ordinary drillstring torsional vibration is a very common phenomenon that has been attracted great interesting. Through Measurement data, a series of studies and analysis of torsional vibration characteristics of the bottom hole assembly (BHA) have been developed. However, for rotary steerable system (RSS), especially push-the-bit mode, its drill torsional vibration phenomenon will demonstrate the new properties, because that the underground implementing agencies will generate cycle torque and drag to the BHA in the orientation process. This process is completely different to the previous. A set of “strap-down” measurement system was developed in this paper, and the triaxial accelerometer and triaxial fluxgate were installed near the bit. Proposed a method of solver drill bit rotation speed using real-time downhole measurement data (sampling frequency 100 Hz), and the torsional vibration mathematical model of push-the-bit RSS was established. We found that the torsional vibration phenomenon of push-the-bit RSS is more serious than the ordinary drilling system by downhole measurement data analysis, even in most cases manifested as stick-slip. The torsional vibration was divided into five different modes, which showing different statistical regularities. Corresponding analysis of the angular displacement and speed, we found that the drill bit always appears low-speed in the position of oriented. This is a strong proof of that the RSS implementing agencies pushing the BHA caused the drill bit torsional vibration more serious. This work is supplemented and development of the drill string torsional vibration studies. Contribute to the better understanding of the dynamics of the push-the-bit RSS. Put forward a new way of analysis the rotary steerable drillstring fatigue damage predicted, steering ability and the torsional vibration control.     

Criticality of bifurcation in the tuned axial–torsional rotary drilling model

We study the bifurcation characteristics of a lumped-parameter model of rotary drilling with 1:1 internal resonance between the axial and the torsional modes which leads to the largest stability thresholds. For this special case, the two-degree-of-freedom model for the drill-string reduces to an effectively single-degree-of-freedom system facilitating further analysis. The regenerative effect of the cutting action due to the axial vibrations is incorporated through a delayed term in the cutting force with the delay depending on the torsional oscillations. This state dependency of the delay introduces nonlinearity in the current model. Steady drilling loses stability via a Hopf bifurcation, and the nature of the bifurcation is determined by an analytical study using the method of multiple scales. We find that both subcritical and supercritical Hopf bifurcations are present in this system depending on the choice of operating parameters. Hence, the nonlinearity due to the state-dependent delay term could both be stabilizing or destabilizing in nature, and the self-interruption nonlinearity is essential to capture the global behavior. Numerical bifurcation analysis of a global axial–torsional model of rotary drilling further confirms the analytical results from the method of multiple scales. Further exploration of the rotary drilling dynamics unravels more complex phenomena including grazing bifurcations and possibly chaotic solutions.     

Coupled axial-torsional dynamics in rotary drilling with state-dependent delay: stability and control

Nonlinear motions of a rotary drilling mechanism are considered, and a two degree-of-freedom model is developed to study the coupled axial-torsional dynamics of this system. In the model development, state-dependent time delay and nonlinearities that arise due to dry friction and loss of contact are considered. Stability analysis is carried out by using a semi-discretization scheme, and the results are presented in terms of stability volumes in the three-dimensional parameter space of spin speed, cutting depth, and a cutting coefficient. These stability volume plots can serve as a guide for choosing parameters for rotary drilling operations. A control strategy based on state and delayed-state feedback is presented with the goal of enlargening the stability region, and the effectiveness of this strategy to suppress stick-slip oscillations is illustrated.     

近钻头钻具多源动态姿态组合测量方法

在导向钻井系统的姿态测量过程中,由于近钻头强振动的影响,导致姿态参数测不准甚至不可测,为了消除有规律的干扰、振动等对测量准确性的影响,快速解算出准确的钻具姿态,提出一种新的多源动态姿态组合测量方法。采用三轴加速度计、三轴磁通门以及角速率陀螺仪等构成测量系统,建立基于四元数的姿态测量非线性模型,研究钻具运动状态与振动加速度之间的关系,根据模型及噪声特性,采用基于四元数的无迹卡尔曼滤波方法对振动干扰信号进行滤除。试验结果表明,采用提出的方法能够消除近钻头干扰对姿态参数测量的影响,井斜角在5.2°左右,工具面角误差小于10°,有效地提高了导向钻井工具姿态动态测量的准确性。     

光纤陀螺油井测斜系统硬件研究及设计

为了实现石油测井中井眼轨迹测量，提出了一种基于光纤陀螺油井测斜系统的设计和实现方法，将捷联惯性导航技术应用到油田测井领域。整个系统是以高速数字信号处理器TMS320VC33为核心实现数字滤波和导航解算，以FPGA设计为辅完成DSP外围接口功能，实现对水平井的井斜角、方位角和工具面角的测量。该文重点介绍了惯性测量单元、数据采集与接口电路、通讯电路和导航计算机等方面进行硬件和软件设计，并对已完成的试验样机进行全面测试，达到预期的基本要求。     

Evaluation for energy-saving effect of hybrid drilling rig system based on the logic threshold method

A simulation model of the current rotary drilling rig (RDR) system was built according to the basic configuration of the TR160D-type rotary drilling rig, and the test-rig based on the working principle of the RDR system was built. The results show that simulation model of the RDR system was accurate and reasonable by means of comparative analysis between theoretical computation and test data. The working principle and logic threshold control method of the HDR system were presented to reduce the fuel consumption and improve energy-saving efficiency via the analysis of energy flow of the RDR system, which mainly includes engine, electric motor/generator, super capacitor, AC–DC rectifier/DC–AC inverter and torque coupler, etc. Finally, the comparative analysis of the fuel economy between the RDR and the hybrid drilling rig (HDR) system was completed in the same overall typical operating conditions. The results show that energy-saving efficiency of HDR system is at 18.8% and total fuel economy efficiency of HDR reaches 15.9% relatively in a typical operating condition.     

Development of a vehicle to study the tractive performance of integrated steering-drive systems

This paper describes a test-bed vehicle for studying the integration of the steering system of a wheeled vehicle with the drive system. The vehicle was produced in order to determine whether such an integrated system is practical; to investigate tractive performance compared to other steering-drive systems; and to determine under which conditions such a system has better performance. The integrated steering-drive system of the test-bed vehicle uses a computer to co-ordinate the independently driven wheel speeds of the drive system (which is also the primary steering system) with the steer angles of the non-driven steerable wheels to produce a beneficial secondary steering effect. The secondary steering system assists the primary steering system when side forces act on the vehicle, while producing minimal conflict. This concept can be applied to agricultural vehicles such as tractors, harvesters, mowers, sprayers and self-propelled windrowers. The test-bed vehicle is able to be configured for the following steering-drive systems types: open differential drive with steerable wheels, independent drive wheels with castors, locked differential drive with steerable wheels and a computer integrated steering-drive system. The capacity of the test-bed vehicle to be configured as described is a significant advantage when measuring tractive performance, as the results obtained will be more valid due to the vehicle parameters being the same.     

波动钻压下阶梯钻柱系统稳定性研究

处于狭长井筒中的钻柱,其动力响应受到钻具组合、内外钻井液流动以及钻井参数等因素的影响,钻柱动力失稳导致的剧烈振动是井壁坍塌和钻具失效的重要原因。考虑到钻杆和钻铤在刚度和线密度上存在很大的差别,论文将钻柱简化为单阶梯输液管柱,钻井液沿着钻柱内部向下泵入并从环空返回地面。耦合考虑钻柱自重、随时间简谐变化的波动钻压、稳定器以及钻井液的水动力和阻尼力,建立了直井中钻柱横向振动的解析模型。利用有限单元法离散为四阶常微分方程后,采用Bolotin法得到临界频率方程确定系统的不稳定区范围,研究了钻压、钻杆长度、稳定器安装位置、钻井液的流速和密度等参数对系统稳定性影响的机理。研究表明：钻压的平均值和波动幅值都是钻柱失稳的驱动因素,而系统的稳定性对处于受拉状态的钻杆的长度变化不敏感。在论文所研究的参数范围内,降低钻井液流速和密度、下移稳定器的安装位置均有助于增强系统的稳定性。