静态推靠式旋转导向控制指令算法

Control command algorithm of static push-the-bit rotary steerable system

旋转导向钻井系统代表了当今最高水平的定向钻进技术,而我国对该项技术的研究仍处于初级阶段,急需对该技术进行深入研究。以静态推靠式旋转导向工具为研究对象,根据其内部结构及导向工作原理,寻求针对该类型导向工具的控制指令算法。采用平面圆弧曲线假设法确定可钻达目标点的待钻井段,通过分析该井段的井斜角、井斜方位角及全角变化率,得到可实现按目标方向钻进的控制指令算法,同时将该算法编入导向工具地面控制系统。实验结果表明,该控制算法可根据轨迹要求,准确求出控制指令,实现导向功能。最后做出静态推靠式旋转导向工具的双向闭环控制图,并加以说明,以供科研人员参考。

Rotary steerable drilling system represents the highest level of directional drilling technology; however,the study of such technology is still in the primary stage in our country.Much effort should be done for this research.Based on the static push-the-bit rotary steerable system,the internal structures and the working principle,control command algorithm was researched.The drilling section is determined by planar circular arc curve; analyzing the angle of inclination,azimuth and total angular change rate,the right control commands for purposed drilling were realized.At the same time,a set of ground calculating software was developed; the experimental application shows that this method could calculate control commands accurately to implement guiding function.Finally a two-way communication closed-loop control chart of static push-the-bit rotary steering system is supplied for researchers to refer.