基于单片机井下纠斜控制系统的研究
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摘要
本论文所开展的研究工作是国家自然科学基金项目“液控导向的自动垂直钻井工具的理论与技术(No.50574070)”和湖北省自然科学基金项目“垂直钻井的井下机电液系统闭环控制理论与技术研究(2004ABA002)”的一部分,主要是研究深井自动垂直钻进中对自动垂直钻具中的液压导向纠斜机构控制与实现问题。
论文较详细地论述了目前国内外在自动垂直钻井技术及其工具研制方面的现状和进展,针对本校钻井控制研究室所研制的垂直钻井工具样机的结构特点,以及实钻工况、垂直钻井的工艺要求,提出了基于实时控制的微小井斜的井斜测量原理,通过计算证明了用重力加速计的X、Y轴作为测量轴来代替Z轴作为测量轴进行微小井斜测量具有明显的优势。对以单片机为核心的井下纠斜闭环控制系统的设计进行了详细探讨,提出了基于单片机的实时控制策略和控制算法,分析了井下实时控制中所存在的诸如振动、高温、噪声、空间结构狭小、控制能源受限、人工无法干预等特有问题,并针对这些问题,在单片机控制系统的硬软件设计中进行了有意义的探索。本文对单片机系统硬件设计中的总体设计以及采样、串口通信、显示及输出控制等电路给出了较为详细的介绍,对有关的软件实现也给出了必要的说明。
所设计的单片机控制系统最后在室内对模拟钻具进行了实时控制实验,实验结果表明所设计的控制器在无振动工况对模拟井斜角的控制精度为0.1°,在有振动时能够对最小为0.25°的模拟井斜进行有效控制。
The work in this paper is a part of the research work“Theory and Technology of the Automatic Vertical Well Drilling Tool of The Liquid Controlling Guide (No. 5074074)”which is funded by the National Natural Science Foundation of China (NSFC) and the research work " The Close Controlling Theory and Technical Research of Down Hole Electromechanical Liquid System of Vertical Well Drilling (2004ABA002) " which is funded by the National Natural Science Foundation of Hubei. It is mainly about the controlling and realizing of the hydraulic guide auto-deviation device of auto vertical drilling tool in deep well。
The paper has discussed the existing status and progress in terms of automatic vertical drilling technologies and tool development in both home and abroad in detail , puts forward the minute inclination survey principles based on real-time control pointed to the structural characteristics of the vertical drilling model machines developed by drilling control lab in our college and practical operation condition and process requirements to vertical drilling , and then proved that there exits remarkable advantages when we take X and Y axis as gaging spindle instead of Z axis. The paper has also probed into the designs of down hole closed-loop auto-deviation controlling systems ,whose core is single-chip microcomputers , brought forward real-time controlling strategies and cotrolling algorithms based upon single-chip microcomputers ,ananyzed many particular problem existing in down hole real-time controlling conditions such as viberations , high temperatures ,noises, narrow spaces ,limited controlling energies and unavailable manual interventions ,and done much significant research in hardware and software designs in single-chip microcomputer controlling systems in view of the issues above. Finally ,the paper has made specific introduction to the general hardware layouts in single-chip microcomputer systerms and sampling , series communication,display and output circuits, and made necessary statements to relevant software realizations as well。
A real-time controlling experiment has been put on the simulation drilling tools in door by means of the single-chip microprocessor of the design, and then it has been indicated that the control precision of the simulation inclination angle by using the controller of the design could be up to 0.1°on non-vibration condition, and that effective control to the simulation inclination angle no less than 0.25°could be realized with the same controller on vibration condition。
论文较详细地论述了目前国内外在自动垂直钻井技术及其工具研制方面的现状和进展,针对本校钻井控制研究室所研制的垂直钻井工具样机的结构特点,以及实钻工况、垂直钻井的工艺要求,提出了基于实时控制的微小井斜的井斜测量原理,通过计算证明了用重力加速计的X、Y轴作为测量轴来代替Z轴作为测量轴进行微小井斜测量具有明显的优势。对以单片机为核心的井下纠斜闭环控制系统的设计进行了详细探讨,提出了基于单片机的实时控制策略和控制算法,分析了井下实时控制中所存在的诸如振动、高温、噪声、空间结构狭小、控制能源受限、人工无法干预等特有问题,并针对这些问题,在单片机控制系统的硬软件设计中进行了有意义的探索。本文对单片机系统硬件设计中的总体设计以及采样、串口通信、显示及输出控制等电路给出了较为详细的介绍,对有关的软件实现也给出了必要的说明。
所设计的单片机控制系统最后在室内对模拟钻具进行了实时控制实验,实验结果表明所设计的控制器在无振动工况对模拟井斜角的控制精度为0.1°,在有振动时能够对最小为0.25°的模拟井斜进行有效控制。
The work in this paper is a part of the research work“Theory and Technology of the Automatic Vertical Well Drilling Tool of The Liquid Controlling Guide (No. 5074074)”which is funded by the National Natural Science Foundation of China (NSFC) and the research work " The Close Controlling Theory and Technical Research of Down Hole Electromechanical Liquid System of Vertical Well Drilling (2004ABA002) " which is funded by the National Natural Science Foundation of Hubei. It is mainly about the controlling and realizing of the hydraulic guide auto-deviation device of auto vertical drilling tool in deep well。
The paper has discussed the existing status and progress in terms of automatic vertical drilling technologies and tool development in both home and abroad in detail , puts forward the minute inclination survey principles based on real-time control pointed to the structural characteristics of the vertical drilling model machines developed by drilling control lab in our college and practical operation condition and process requirements to vertical drilling , and then proved that there exits remarkable advantages when we take X and Y axis as gaging spindle instead of Z axis. The paper has also probed into the designs of down hole closed-loop auto-deviation controlling systems ,whose core is single-chip microcomputers , brought forward real-time controlling strategies and cotrolling algorithms based upon single-chip microcomputers ,ananyzed many particular problem existing in down hole real-time controlling conditions such as viberations , high temperatures ,noises, narrow spaces ,limited controlling energies and unavailable manual interventions ,and done much significant research in hardware and software designs in single-chip microcomputer controlling systems in view of the issues above. Finally ,the paper has made specific introduction to the general hardware layouts in single-chip microcomputer systerms and sampling , series communication,display and output circuits, and made necessary statements to relevant software realizations as well。
A real-time controlling experiment has been put on the simulation drilling tools in door by means of the single-chip microprocessor of the design, and then it has been indicated that the control precision of the simulation inclination angle by using the controller of the design could be up to 0.1°on non-vibration condition, and that effective control to the simulation inclination angle no less than 0.25°could be realized with the same controller on vibration condition。
引文
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[4] 杨剑锋,张绍魁. 旋转导向闭环钻井系统[J]. 石油钻采工艺. 2003, 25(1):1?5.
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[7] Brusco G, Lewis P, Williams M. Drilling Straight Down[J]. Oilfield Review, 2004, 16(3): 14?17
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[11] Steve Bell. Innovative Methods Lower Drilling Costs.Petroleum Engineer International. 1993.2.
[12] Geoff Downton, Trond Skei Klausen, et al.New Directions in Rotary Steerable Drilling. Oilfield Review, 12, No.1(Spring2000):18?29.
[13] Barans M, Garoby J, Huppertz A. Straight-Hole drilling device improves[J]. Oil & Gas Journal, 2001,99(26):45?51.
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[15] 苏义脑, 李松林, 葛云华等. 自动垂直钻井工具的设计及自动控制方法[J]. 石油学报. 2001, 22(4):87?91.
[16] 马延荣, 韩金亭, 滕子军. 智能化自动垂直钻进系统设计方案[J]. 山东煤炭科技. 2002. 16(3): 54?55.
[17] 张绍魁,张洁. 21 世纪中国石油钻井技术发展战略研究[J]. 探矿工程(岩土钻掘工程). 2001(4):1?5.
[18] 傅华明, 阮静洁, 罗大鹏. 一种垂钻过程检测与控制器的设计及室内试验[J]. 石油仪器. 2004, 18(1):13?15.
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[21] 刘白雁, 苏义脑等. 自动垂直钻井中井斜动态测量理论与实验研究[J]. 石油学报. 2006, 27(4):105?109.
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[23] 邱成军,卜丹,平占彪. 定向井轨迹的单片机单/多点测量系统[J]. 哈尔滨理工大学学报. 2004, 9(2):97?99.
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[25] 窦振中编著. PIC 系列单片机原理和程序设计[M]. 北京航天航空大学出版社.
[26] 李广弟等编著,单片机基础[M],北京航天航空大学出版社.
[27] PICRICE for windows 用户指南[M]. 贝能科技有限公司.
[28] 高鹏, 安涛, 寇怀成编著. 电路设计与制版 Protel99 入门与提高[M]. 人民邮电出版社.
[29] 刘和平等编著. PIC16F87X 单片机实用软件与接口技术[M]. 北京航空航天大学出版社.
[30] 周琴 , 姚爱国 , 徐德明 . 自动垂直钻进系统的液压系统设计 [J]. 石油机械 . 2003,31(12):12?14.
[31] 白家祉, 苏义脑. 井斜控制理论与实践[M]. 北京:石油工业出版社. 1990:73?98.
[32] 苏义脑. 关于井眼轨迹控制研究的新思考[J]. 石油学报. 1993, 14(4):117?122.
[33] 苏义脑,陈元顿. 连续控制钻井技术在我国的初步实践[J]. 西部探矿工程. 1994, 6(6):23?26.
[34] 苏义脑,陈元顿. 连续控制钻井技术在我国的初步实践[J]. 石油钻采工艺. 1995, 17(1):1?6.
[35] 黄兆祥,郭麦成,沈利香. 提高测井系统数据采集质量的几点建议[J]. 石油仪器. 2004,18(2):62?65.
[36] OppeltJ, ChurC. Newconcept for vertical drilling of boreholes[C]. SPE21905, 1991:1～12.
[37] Ligrone A, Oppelt J. The fattest way to the bottom:straighthol drilling device-drilling concept,design considerations,and fidld experience[C]. SPE 36826, 1996:1?12.
[38] 李权林,苏义脑. 自动垂直钻井工具的发展[J]. 国外石油机械. 1999, 10(5):10?15.
[39] 张进双,胡金艳. 现代井下钻井工具及旋转导向闭环钻井系统[J]. 石油大学学报(自然科学版). 2001, 25(6):47?51.
[40] MONTI R L, et al. Optimezed Drilling-closing the Loop[R]. The 12th World Petroleumconference,1987.
[41] OELL A C, et al. Application of a highly variable gauge stabilizer at wytch farm to extend the ERD envelop[J]. SPE 30642,1995.
[42] SANDRO Poli, FRONCO Donati. Advanced tools for advanced wells: rotary closed loop drilling system-results of prototype field testing[J]. SPE 36884,1996.
[43] 赵 金 海 , 唐 代 绪 等 . 国 外 典 型 的 旋 转 导 向 钻 井 系 统 [J]. 海 外 油 田 工 程 . 2002,18(11):33?36.
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[56] 汪海阁,苏义脑. 直井防斜打快理论研究进展[J]. 石油学报. 2004,25(3):86?90.
[2] 赵新瑞, 姜敬华等. 井斜控制理论及防斜钻井技术综述[J]. 钻井工艺. 2000, 23(1): 4?8.
[3] 汪海阁,苏义脑. 直井防斜快打理论研究进展[J]. 石油学报. 2004, 25(3):86?90.
[4] 杨剑锋,张绍魁. 旋转导向闭环钻井系统[J]. 石油钻采工艺. 2003, 25(1):1?5.
[5] Sandro Poli, Fronco Donati. Advanced tools for Advanced Wells: Rotary Closed Loop Drilling System-Results of Prototype Field Testing.SPE36884.
[6] Tetsuo Yonezawa, Edward J Cargill, Tom M Gaynor, et al. Robotic Controlled Drilling:a New Rotary Steerable Drilling System for the Oil and Gas Industry.IADC/SPE 74458, 2002:1?15.
[7] Brusco G, Lewis P, Williams M. Drilling Straight Down[J]. Oilfield Review, 2004, 16(3): 14?17
[8] 赵金海,唐代绪等. 国外典型的旋转导向钻井系统[J]. 国外油田工程. 2002, 18(11):33?36.
[9] DC PATER C J. Mark D Zoback, et al.Complications with Stress Tests Insights from a fracture experiment in the ultra deep KTB borehole[J].SPE 36437,1996.
[10] Patton Bob J. Automatical Directional Drilling Shows Promise. Petroleum Engineer International. 1992. 4.
[11] Steve Bell. Innovative Methods Lower Drilling Costs.Petroleum Engineer International. 1993.2.
[12] Geoff Downton, Trond Skei Klausen, et al.New Directions in Rotary Steerable Drilling. Oilfield Review, 12, No.1(Spring2000):18?29.
[13] Barans M, Garoby J, Huppertz A. Straight-Hole drilling device improves[J]. Oil & Gas Journal, 2001,99(26):45?51.
[14] 苏义脑, 梁涛.井眼轨迹自动控制系统设计的几个基本问题[J]. 石油学报. 1999, 20(1):67?72.
[15] 苏义脑, 李松林, 葛云华等. 自动垂直钻井工具的设计及自动控制方法[J]. 石油学报. 2001, 22(4):87?91.
[16] 马延荣, 韩金亭, 滕子军. 智能化自动垂直钻进系统设计方案[J]. 山东煤炭科技. 2002. 16(3): 54?55.
[17] 张绍魁,张洁. 21 世纪中国石油钻井技术发展战略研究[J]. 探矿工程(岩土钻掘工程). 2001(4):1?5.
[18] 傅华明, 阮静洁, 罗大鹏. 一种垂钻过程检测与控制器的设计及室内试验[J]. 石油仪器. 2004, 18(1):13?15.
[19] 苏义脑等. 井下控制工程学研究进展[M]. 北京:石油工业出版社,2001.
[20] 英格里斯 T A. 定向钻井[M].苏义脑等译. 北京:石油工业出版社. 1995:139?143.
[21] 刘白雁, 苏义脑等. 自动垂直钻井中井斜动态测量理论与实验研究[J]. 石油学报. 2006, 27(4):105?109.
[22] Ligrone A, Oppelt J, Calderoni A, et al. The fastest way to the bottom: Straighthole drilling device-drilling concept,design considerations,and field experience[R]. SPE 36826, 1996: 115-126
[23] 邱成军,卜丹,平占彪. 定向井轨迹的单片机单/多点测量系统[J]. 哈尔滨理工大学学报. 2004, 9(2):97?99.
[24] 李学海编著. PIC 单片机实用教程[M]. 基础篇和提高篇. 北京航空航天大学出版社.
[25] 窦振中编著. PIC 系列单片机原理和程序设计[M]. 北京航天航空大学出版社.
[26] 李广弟等编著,单片机基础[M],北京航天航空大学出版社.
[27] PICRICE for windows 用户指南[M]. 贝能科技有限公司.
[28] 高鹏, 安涛, 寇怀成编著. 电路设计与制版 Protel99 入门与提高[M]. 人民邮电出版社.
[29] 刘和平等编著. PIC16F87X 单片机实用软件与接口技术[M]. 北京航空航天大学出版社.
[30] 周琴 , 姚爱国 , 徐德明 . 自动垂直钻进系统的液压系统设计 [J]. 石油机械 . 2003,31(12):12?14.
[31] 白家祉, 苏义脑. 井斜控制理论与实践[M]. 北京:石油工业出版社. 1990:73?98.
[32] 苏义脑. 关于井眼轨迹控制研究的新思考[J]. 石油学报. 1993, 14(4):117?122.
[33] 苏义脑,陈元顿. 连续控制钻井技术在我国的初步实践[J]. 西部探矿工程. 1994, 6(6):23?26.
[34] 苏义脑,陈元顿. 连续控制钻井技术在我国的初步实践[J]. 石油钻采工艺. 1995, 17(1):1?6.
[35] 黄兆祥,郭麦成,沈利香. 提高测井系统数据采集质量的几点建议[J]. 石油仪器. 2004,18(2):62?65.
[36] OppeltJ, ChurC. Newconcept for vertical drilling of boreholes[C]. SPE21905, 1991:1～12.
[37] Ligrone A, Oppelt J. The fattest way to the bottom:straighthol drilling device-drilling concept,design considerations,and fidld experience[C]. SPE 36826, 1996:1?12.
[38] 李权林,苏义脑. 自动垂直钻井工具的发展[J]. 国外石油机械. 1999, 10(5):10?15.
[39] 张进双,胡金艳. 现代井下钻井工具及旋转导向闭环钻井系统[J]. 石油大学学报(自然科学版). 2001, 25(6):47?51.
[40] MONTI R L, et al. Optimezed Drilling-closing the Loop[R]. The 12th World Petroleumconference,1987.
[41] OELL A C, et al. Application of a highly variable gauge stabilizer at wytch farm to extend the ERD envelop[J]. SPE 30642,1995.
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