Design and Implementation of Servo Control of Strap-Down Automatic Vertical Drilling System
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摘要: 为解决易斜地层中直井钻进的防斜打快问题，实现主动防斜、纠斜控制，开展了捷联式自动垂直钻井工具伺服控制的研究。采用包含位置环、速度环、电流环的三环闭环控制模型，建立了伺服控制系统的硬件结构和软件体系，采用增量式数字PID控制算法，使系统实现快速精确可靠的调节。通过研究电流动态阶跃响应、电机输出轴位置及盘阀工具面角等控制效果，分析了伺服控制系统的动态及稳态特性，最终完成伺服控制系统设计，并投入现场应用。室内试验表明，电机输出轴位置稳态控制精度在0.2°以内，电流环动态阶跃响应时间短于1.2 ms，电机调速范围0~300 r/min，表明控制精度较高，动态性能良好，调速范围较宽，能实现实时控制。在安顺1井现场应用时，输出控制的盘阀工具面角与指定的纠斜工具面角最大偏差不超过2°，达到2.8°/100m以上的降斜效果。捷联式自动垂直钻井工具的伺服控制系统能够快速响应并精确控制电机输出轴的位置，实现直井钻井的防斜、纠斜。Abstract: To solve the problem of deviation control during fast drilling through formations tending to deflection in vertical wells,and realize the deviation correction and prevention actively,the research on servo control of the strap-down automatic vertical drilling tool has been carried out.A three-ring closed-loop control model including position loop,speed loop and current loop was adopted to establish the hardware configuration and software architecture of the servo control system in which the incremental digital PID control law was used to realize the fast and accurate and reliable adjustment to the system.By studying current dynamic step response,the motor output shaft position and the disc valve tool face angle control effect,analyzing the dynamic and static characteristics of the servo control system,the servo control system was ultimately designed then put into field application.Under laboratory conditions,the static control precision of the motor output shaft position was less than 0.2°,the dynamic step response of current loop reached 1.2 ms,and the velocity adjust range was 0 to 300 r/min.Those results show that the servo-control has high control accuracy,good dynamic performance and wide adjustment range,and is able to realize real-time control.In field application in Well Anshun 1,the deviation of the output disc valve tool face angle and the input designated restoring tool face angle was less than 2°,resulting in inclination control of less than 2.8°/100 m.The servo control system of the strap-down automatic vertical drilling tool can respond quickly and control the motor output shaft position accurately to realize deviation correction and prevention in vertical wells.
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