旋转导向钻井惯导平台动力学分析与运动研究

Dynamics and Rotational Movement Analysis of Servo Platform for Rotary Steerable Drilling System

将受到井下复杂扰动力矩作用的惯导伺服平台稳定控制在某一特定方位角度,是推靠式全旋转导向钻井系统实现准确导向的关键,但该平台对作用力矩非常敏感,小的扰动即可使其振荡失稳甚至单向旋转。通过对平台主要作用力矩的分析,建立一个考虑摩擦、水力冲击、质量分布偏心、安装误差偏心和涡轮电动机电磁作用等作用力矩的非线性动力学模型。基于该模型,仿真分析平台在无扰动和复杂扰动下的运动,得出了平台结构和扰动作用参数对平台运动影响的一般规律,水力驱动下的力矩测试试验验证了动力学分析的合理性。这些工作为改进系统机械设计和平台控制方法研究奠定了基础。

It is not an easy job to control a cylindrical and rotatable servo platform at a special angle for a push-the-bit rotary steerable drilling system while it is acted by complex applied torque.A nonlinear dynamic model is established which considers such complex torque as friction,hydraulic shock,quality distribution eccentricity,installation error eccentricity and turbine motor electromagnetic torque,etc.The regular pattern of rotational movement about this platform is obtained under no torque and complex applied torque based on simulation of this model,which relates to platform structure and torque parameters.A hydraulic driving torque test is carried out,which indicates that dynamics analysis is reasonable.Some improvement suggestions of structure design are presented.