【摘要】：旋轉(zhuǎn)導(dǎo)向鉆井是一種在鉆柱旋轉(zhuǎn)狀態(tài)下用近鉆頭處的自動(dòng)控制裝置控制鉆頭鉆進(jìn)方向的鉆井技術(shù)。穩(wěn)定平臺(tái)是導(dǎo)向工具的核心,起著導(dǎo)向控制的關(guān)鍵作用。如何實(shí)現(xiàn)穩(wěn)定平臺(tái)在鉆井液流量大范圍變化條件下在任意角度位置的穩(wěn)定控制,是困擾調(diào)制式旋轉(zhuǎn)導(dǎo)向鉆井技術(shù)研究的關(guān)鍵問(wèn)題之一。論文針對(duì)穩(wěn)定平臺(tái)渦輪電機(jī)力矩的控制問(wèn)題,從電機(jī)的作用、結(jié)構(gòu)入手,逐一分析了電機(jī)電磁轉(zhuǎn)矩、控制信號(hào)、鉆井液流量、平臺(tái)轉(zhuǎn)速之間的關(guān)系,建立符合實(shí)際情況的渦輪電機(jī)的動(dòng)力學(xué)模型。針對(duì)鉆井液流量大范圍變化影響平臺(tái)控制性能的問(wèn)題,采用仿真的方法,分析了鉆井液流量與渦輪電機(jī)作用力矩的關(guān)系,提出了鉆井液流量前饋補(bǔ)償方法;針對(duì)流量前饋補(bǔ)償實(shí)現(xiàn)困難的問(wèn)題,進(jìn)一步提出了渦輪電機(jī)電壓前饋補(bǔ)償方法,并按照電壓前饋—角度反饋控制方法原理,構(gòu)建了實(shí)現(xiàn)該控制的數(shù)字—模擬混合系統(tǒng)結(jié)構(gòu),設(shè)計(jì)了實(shí)現(xiàn)電壓前饋控制的信號(hào)運(yùn)算電路。對(duì)該電路的測(cè)試表明,其信號(hào)運(yùn)算精度滿(mǎn)足控制要求,其溫度特性滿(mǎn)足井下工作環(huán)境要求。水力驅(qū)動(dòng)實(shí)驗(yàn)表明,采用數(shù)字—模擬實(shí)現(xiàn)方法,平臺(tái)的角度穩(wěn)定控制性能優(yōu)于純數(shù)字實(shí)現(xiàn)方法,實(shí)現(xiàn)了平臺(tái)角度在四個(gè)象限的長(zhǎng)時(shí)間穩(wěn)定控制。所完成的研究工作對(duì)調(diào)制式旋轉(zhuǎn)導(dǎo)向鉆井工具的研究具有理論意義和實(shí)際應(yīng)用價(jià)值。
[Abstract]:Rotary steering drilling is a drilling technique in which the drilling direction is controlled by an automatic control device near the bit under the condition of string rotation. The stable platform is the core of the guidance tool and plays a key role in the guidance control. How to realize the stable control of the stable platform at any angle under the condition of large range of drilling fluid flow is one of the key problems in the research of the adjustable rotary steering drilling technology. Aiming at the torque control problem of stable platform turbine motor, starting with the function and structure of the motor, this paper analyzes the relationship among the electromagnetic torque, control signal, drilling fluid flow rate and platform speed one by one. The dynamic model of turbine motor is established in accordance with the actual situation. Aiming at the problem that the large range of drilling fluid flow affects the control performance of the platform, the relationship between drilling fluid flow and turbine motor acting torque is analyzed by simulation method, and the feedforward compensation method of drilling fluid flow is put forward. Aiming at the difficulty of realizing flow feedforward compensation, a voltage feedforward compensation method for turbine motor is proposed. According to the principle of voltage feed-forward and angle feedback control method, a digital-analog hybrid system structure is constructed to realize the control. The signal operation circuit of voltage feedforward control is designed. The test of the circuit shows that the signal operation accuracy meets the control requirements and the temperature characteristics meet the requirements of the underground working environment. The hydraulic driving experiment shows that the performance of the platform angle stability control is better than that of the pure digital control method by using the digital-analog method, and the long-time stable control of the platform angle in the four quadrants is realized. The research work is of theoretical significance and practical application value to the research of adjustable rotary steering drilling tool.
【學(xué)位授予單位】：西安石油大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TE24

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