伸缩式井下机器人电液控制系统研制与性能评价

Development and Performance Evaluation of the Electro-Hydraulic Control System of a Telescopic Downhole Robot

彭汉修 赵建国 王菊 韩硕 梁鹏辉

PENG Hanxiu ZHAO Jianguo WANG Ju HAN Shuo LIANG Penghui

中石化石油工程技术研究院有限公司, 北京 102206 油气藏地质及开发工程国家重点实验室（成都理工大学）, 四川成都 610059 西南石油大学机电工程学院, 四川成都 610500

Sinopec Research Institute of Petroleum Engineering Co., Ltd., Beijing, 102206, China State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation, Chengdu University of Technology, Chengdu, Sichuan, 610059, China School of Mechanical Engineering, Southwest Petroleum University, Chengdu, Sichuan, 610500, China

针对水平井钻井、测井过程中管串下入困难的问题，研制了伸缩式井下机器人，而控制系统是影响伸缩式井下机器人可靠性、稳定性的关键技术。基于伸缩式井下机器人的工作原理，提出了一种新的伸缩式井下机器人电液控制系统，并综合考虑电、液系统和执行机构，建立了基于电液耦合控制的数值仿真模型。通过分析机器人系统排量、牵引力及井眼直径对其运动性能的影响，揭示了机器人在不同工作参数条件下的运动规律，并设计了一套电液控制系统试验方案，研究了系统排量对机器人运动周期的影响规律。试验结果表明，不同系统排量下机器人运动周期的仿真曲线和试验曲线趋势基本一致。研究结果为液压伸缩式井下机器人的设计和现场应用提供了理论依据。

a telescopic downhole robot was developed, whose control system is the key point that affects its reliability and stability as well. According to the working mechanism of the robot, a novel electro-hydraulic control system was innovated. Further, a numerical simulation model based on electro-hydraulic coupling control was established by comprehensively considering the electric and hydraulic systems, and actuators as well. By analyzing the influence of system fluid rate, traction, and wellbore diameter on the robot kinematics, the movement of the robot under different working parameters was revealed. An experimental scheme of the electro-hydraulic control system was designed, and the influence of the system fluid rate on the motion cycle of the robot was studied. The experimental results show that the simulation curve of the motion cycle of the robot under different system fluid rate is basically consistent with the experimental curve. The research results can provide a theoretical basis for designing and studying hydraulic telescopic downhole robots.

国家自然科学基金青年基金项目“连续油管钻井牵引机器人钻压-钻速-转速联合控制机理研究”（编号：52004232）、四川省科学技术厅项目“可控旋转滑动钻井系统研制”（编号：2023YFQ0061）、四川省科学技术厅项目“控压钻完井智能联动系统研发及产业化（援疆）”（编号：2022YFQ0061）联合资助

https://doi.org/10.11911/syztjs.2023010