静态推靠式旋转导向控制指令算法

Control command algorithm of static push-the-bit rotary steerable system

 王业强 李士斌 张立刚 李闯 邢恩浩 官兵

 （东北石油大学石油工程学院，黑龙江 大庆 163318）

 (College of Petroleum Engineering, Northeast Petroleum University, Daqing 163318, China)

 旋转导向钻井系统代表了当今最高水平的定向钻进技术，而我国对该项技术的研究仍处于初级阶段，急需对该技术进行深入研究。以静态推靠式旋转导向工具为研究对象，根据其内部结构及导向工作原理，寻求针对该类型导向工具的控制指令算法。采用平面圆弧曲线假设法确定可钻达目标点的待钻井段，通过分析该井段的井斜角、井斜方位角及全角变化率，得到可实现按目标方向钻进的控制指令算法，同时将该算法编入导向工具地面控制系统。实验结果表明，该控制算法可根据轨迹要求，准确求出控制指令，实现导向功能。最后做出静态推靠式旋转导向工具的双向闭环控制图，并加以说明，以供科研人员参考。

 Rotary steerable drilling system represents the highest level of directional drilling technology; however, the study of such technology is still in the primary stage in our country. Much effort should be done for this research. Based on the static push-the-bit rotary steerable system, the internal structures and the working principle, control command algorithm was researched. The drilling section is determined by planar circular arc curve; analyzing the angle of inclination, azimuth and total angular change rate, the right control commands for purposed drilling were realized. At the same time, a set of ground calculating software was developed; the experimental application shows that this method could calculate control commands accurately to implement guiding function. Finally a two-way communication closed-loop control chart of static push-the-bit rotary steering system is supplied for researchers to refer.

10.6056/dkyqt201602029