【摘要】：在實(shí)時(shí)鉆井中,準(zhǔn)確測(cè)量井下姿態(tài)參數(shù),(即井斜角I、工具面角T、方位角A)是實(shí)現(xiàn)井下全角度導(dǎo)向鉆井的關(guān)鍵因素。采用正交坐標(biāo)系時(shí),傳感器在垂直小角度附近輸出的信號(hào)很微弱,經(jīng)過(guò)AD采樣和數(shù)值計(jì)算等后續(xù)處理后,誤差仍很大,從而影響了參數(shù)計(jì)算精度。采用同類(lèi)或不同類(lèi)型傳感器組合改進(jìn)測(cè)量方法,建立各種誤差模型補(bǔ)償誤差,均無(wú)法回避原始信號(hào)小的固有難題。本文對(duì)自動(dòng)化鉆井技術(shù)、國(guó)內(nèi)外自動(dòng)垂直鉆井技術(shù)作了簡(jiǎn)要介紹,同時(shí)重點(diǎn)介紹了姿態(tài)更新算法中的方向余弦法。分析了姿態(tài)測(cè)量的基本原理,推導(dǎo)了采用石英撓性加速度計(jì)作為傳感器的輸出公式。研究了姿態(tài)測(cè)量參數(shù)的常規(guī)計(jì)算方法,分析了傳統(tǒng)正交坐標(biāo)系垂直姿態(tài)測(cè)量精度不足的內(nèi)在原因�；谔岣咴紲y(cè)量信號(hào)幅度及其信噪比的目的,提出一種非正交坐標(biāo)系,研究了其理論模型和測(cè)量誤差,并對(duì)其進(jìn)行了理論驗(yàn)證。針對(duì)鉆井過(guò)程中測(cè)斜儀各軸與理想坐標(biāo)系各軸不重合引入的位置誤差問(wèn)題,提出一種系數(shù)補(bǔ)償方法,對(duì)安裝位置誤差進(jìn)行校正。實(shí)驗(yàn)結(jié)果表明,非正交坐標(biāo)系在垂直姿態(tài)時(shí)可將原始信號(hào)幅度增強(qiáng)10倍以上,較大地提高了垂直姿態(tài)測(cè)量的總精度。采用系數(shù)補(bǔ)償法對(duì)姿態(tài)參數(shù)校正后,各工具面角的實(shí)際數(shù)值與趨勢(shì)線(xiàn)的估計(jì)值之間的擬合程度高。各井斜角的相對(duì)誤差明顯減小了,基本上實(shí)現(xiàn)了等精度,達(dá)到了較理想的校正效果。
[Abstract]:In real time drilling, accurate measurement of downhole attitude parameters (I. e., well inclination angle, tool face angle, azimuth angle A) is the key factor to realize downhole full angle guided drilling. When the orthogonal coordinate system is adopted, the signal output from the sensor near the vertical small angle is very weak. After AD sampling and numerical calculation, the error is still very large, which affects the accuracy of parameter calculation. Using the same or different sensor combination to improve the measurement method and to establish a variety of error models to compensate for errors can not avoid the inherent problem of small original signal. In this paper, the automatic drilling technology and automatic vertical drilling technology at home and abroad are briefly introduced, and the directional cosine method in attitude updating algorithm is emphasized. The basic principle of attitude measurement is analyzed, and the output formula of quartz flexible accelerometer is derived. The conventional calculation method of attitude measurement parameters is studied, and the inherent reasons for the deficiency of vertical attitude measurement accuracy in traditional orthogonal coordinate system are analyzed. In order to improve the amplitude of the original signal and its signal-to-noise ratio, a non-orthogonal coordinate system is proposed, its theoretical model and measurement error are studied, and its theoretical verification is carried out. In order to solve the problem of the position error caused by the inconsistency between each axis of the inclinometer and the axis of ideal coordinate system during drilling, a method of coefficient compensation is proposed to correct the position error of installation. The experimental results show that the amplitude of the original signal can be increased by more than 10 times in the non-orthogonal coordinate system in the vertical attitude, and the total accuracy of the vertical attitude measurement is greatly improved. After the attitude parameter is corrected by the coefficient compensation method, the fitting degree between the actual value of the tool face angle and the estimated value of the trend line is high. The relative error of the inclined angle of each well is obviously reduced, and the equal precision is basically achieved, and the ideal correction effect is achieved.
【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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