【作者】 孙峰；

【导师】 王瑞和；

【作者基本信息】 中国石油大学（华东） ， 油气井工程， 2012， 博士

【摘要】 自动垂直钻井技术可以有效解决高陡构造及大倾角地层防斜打快等工程技术难题，是一种可实现井下主动防斜纠斜、保持井眼垂直、确保较高钻速和良好井身质量的先进钻井技术。目前国内尚无工程应用系统，主要依靠租用国外设备，成本昂贵且不易维护，因此开发具有自主知识产权的自动垂直钻井系统对于打破国外技术垄断，推动国内自动化钻井进程，增强国际竞争力，抢占技术制高点具有极其重要的现实意义。本研究将航天捷联惯性导航技术与油气井钻井工程实际相结合，研究了以捷联式稳定平台技术为核心，具备自动防斜纠斜能力的自动垂直钻井系统技术方案。该方案参考静态的井斜及方位角测量原理，深入研究重力传感器和磁方位传感器动态信号特征，建立了小井斜且动态旋转条件下的钻具姿态测量模型，并以此为基础提出了垂直钻井系统的井斜和方位的动态测量算法。本文设计并实现了系统测量单元，并根据关键惯性组件信号特征，建立了测量误差传递模型进而提出了基于正交设计和三角函数基数值拟合的两种校准算法。针对低转速、大扭矩、机械动态响应快及跟踪精确的系统技术需求，本文设计了全闭环位置随动控制方案，结合对比测试数据，给出了永磁同步电机的矢量控制策略，提出了基于位置环、速度环和电流环控制的防积分饱和型PID优化算法，实现了系统工作模式的无扰切换及电机的精确平滑控制。在理论研究的基础上，本文给出了垂直钻井系统关键参数测量方法，结合工程实践，研制了钻具姿态、钻铤转速及扭矩负载的模拟测试设备，可同步、实时、精确的测试涡轮转角、转速、盘阀转矩等关键性能参数。本文的研究与设计已应用于捷联式自动垂直钻井系统并在坨181井和宣页1井的钻井施工中进行了现场试验，取得了良好的效果，模拟测试及工程应用验证了本文工作的可行性和有效性。为形成了自动垂直钻井技术的测量及控制理论和技术体系提供了有力的技术支持。更多还原

【Abstract】 Automatic vertical drilling technology (AVDT) can effectively solve the engineeringtechnical problems of drilling fast without deflection in high steep structure and large-angledeviated strata. It is an advanced drilling technology which can realize automatic inclineprevention and correction, keep the borehole vertical, and ensure fast ROP and high quality ofwell trajectory. At present there is no domestic vertical drilling system, and we have to rely onforeign equipment rental, which is expensive and difficult to maintain. Therefore, it is crucialto develop an automatic vertical drilling system with independent intellectual property rightsof our own. Such an action can break through the technology barriers formed by some foreigncompanies, promote domestic automation drilling process and enhance the internationalcompetitiveness.Combining the strap-down inertial navigation technology usually used in spacetechnology and petroleum drilling engineering, this paper present an AVDT solution forautomatic incline prevention and correction with strap-down inertial navigation technology ascore. The measuring principle of hole deviation angle and azimuth angle under staticcondition was referred in this solution, the dynamic signal feature of the gravity sensor andmagnetic location sensor was studied, and the measurement model of well deviation in slimholes and the posture of dynamic rotation drilling tool was set up. Based on the principlesmentioned above, a dynamic measurement algorithm of well deviation and azimuth wasprovided.The design process of the measuring unit and the transfer model for the inaccuracy ofmeasurement were in their detailed forms and two calibration algorithms based on orthogonal design and trigonometric functions base value fitting were also present in this paper.To meet the requirements of AVDT, the following technologies were elaborated: a closedloop position servo control scheme, a permanent magnet synchronous motor vector controlstrategy was given and a PID optimization algorithm to avoid integral saturation based onposition loop, speed loop and current loop control.Based on the theoretical analysis, the measurement method for the key parameters ofAVDT was given in this paper. An instrumentation which takes into consideration the drillingtools posture, the rotating speed of drill collars, and the torque load was developed withcombination of engineering practice.The theory and method present in this paper has been applied to field test. A prototype ofAVDT has been applied to Tuo181Well and Xuanye1Well. Good performance of thisprototype has demonstrated the feasibility and effectiveness of AVDT which will providepowerful technical support for the measurement and control theory of AVDT system.更多还原