井斜动态测量理论与实验研究
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摘要
井斜动态测量是指在钻井的同时,进行井眼的井斜角和井斜相对方位角等物理量的实时检测和信息提取,它主要用于自动垂直钻井中的井斜自动检测和控制,是自动垂直钻井中进行井斜自动控制的关键技术之一。
本文具体工作包括:介绍了基于重力加速度传感器进行井斜实时测量的方法,阐述了重力加速度传感器的工作原理及测量井斜的算法,从理论的角度分析了实钻中严重干扰井斜信号的主要因素——噪声、钻具的振动和随机转动,其中噪声和振动信号可采用低通滤波器滤除,而转动使加速度传感器因离心力而产生的测量信号失真,则可通过诸如转速补偿之类的修正去除。低通滤波器可选用一定阶数和转折频率的巴特沃斯滤波器,而加速度传感器的输出补偿则需要预先对加速度传感器进行标定。在此理论分析的基础上,建立了由两维数控转台和垂直振动实验台组成的专门实验装置,并以Delphi语言为基础设计了数控转台的运动控制程序,有效地模拟了同时存在噪声、振动和转动实钻工况。并经过此专门的实验装置做大量的实验验证此井斜测量方法和信号处理的方法可靠性和可行性。
理论和实验研究显示:①采用两轴重力加速度传感器通过间接测量X、Y轴倾角计算井斜角(对应转台倾角),使对转台倾角测量达到较高的精度;②实验显示Butterworth低通滤波器对叠加在加速度计输出信号中的振动信号具有良好的滤除效果,而导向套转动引起传感器信号的失真可通过对加速度传感器预先进行标定的方法进行修正。
The main meaning of the dynamic measurements of the inclination, which is mainly used in automatic measurements and controls of the inclination in automatic vertical drilling and is one of the key techniques of it, is how to pick up information of the inclination and the corresponding direction of well deflection.
The paper includes such details as follows: The approach to measure the inclination with accelerarometer sensors dynamically during drilling is introduced, as well as the operation principle of accelerarometer sensors and the arithmetic to measure the inclination are expatiated in the paper. The factors to distort the inclination measurement data seriously are analyzed theorietically, such as noises, the viberation and random rotation of drilling tools. Generally speaking, the noises and viberations can be eliminated from the inclination measures by using low-pass filter, but the centrifugal force caused by drilling tool rotation, which will distort the accelerateometer outputs can be reviesd owing to the rotation speed compensation and the like. The Butterworth filter with certain exponent numbers and transition frequency can be selected as low-pass filter, and the calibration of accelerometers beforehand is needed for error compensation of accelerometer outputs. On the basis of theoretical analysis above, particular experimental equipment which is composed of a two-dimension numerical control rotary table and a vertical vibration experiment table is established, and kinetic control programmes of numeracal control rotary table are compiled in Delphi, and some operation conditions with existence of noises, vibrations and rotations at the same time are simulated effectively. Then the reliability and feasibility of the approaches introduced above to measure the inclinations and process signals are verified by means of the particular experiments mentioned above.
Both theoretical and practical researches have demonstrated that :1.Higher precision could be reached when the inclination (equivalent to the rake angle of the rotary table) is caculated by measuring rake angles in X and Y axes indirectly.2.The experiments have indicated that the Butterworth low-pass filter works well when viberation signals superimposing in signals output by accelerateometers should be filtered ,while the distortion of signals outlet by sensors ,which is cauzed by the movements of guide sleeve ,could be revised by the calibration of accelerometers beforehand as well.
本文具体工作包括:介绍了基于重力加速度传感器进行井斜实时测量的方法,阐述了重力加速度传感器的工作原理及测量井斜的算法,从理论的角度分析了实钻中严重干扰井斜信号的主要因素——噪声、钻具的振动和随机转动,其中噪声和振动信号可采用低通滤波器滤除,而转动使加速度传感器因离心力而产生的测量信号失真,则可通过诸如转速补偿之类的修正去除。低通滤波器可选用一定阶数和转折频率的巴特沃斯滤波器,而加速度传感器的输出补偿则需要预先对加速度传感器进行标定。在此理论分析的基础上,建立了由两维数控转台和垂直振动实验台组成的专门实验装置,并以Delphi语言为基础设计了数控转台的运动控制程序,有效地模拟了同时存在噪声、振动和转动实钻工况。并经过此专门的实验装置做大量的实验验证此井斜测量方法和信号处理的方法可靠性和可行性。
理论和实验研究显示:①采用两轴重力加速度传感器通过间接测量X、Y轴倾角计算井斜角(对应转台倾角),使对转台倾角测量达到较高的精度;②实验显示Butterworth低通滤波器对叠加在加速度计输出信号中的振动信号具有良好的滤除效果,而导向套转动引起传感器信号的失真可通过对加速度传感器预先进行标定的方法进行修正。
The main meaning of the dynamic measurements of the inclination, which is mainly used in automatic measurements and controls of the inclination in automatic vertical drilling and is one of the key techniques of it, is how to pick up information of the inclination and the corresponding direction of well deflection.
The paper includes such details as follows: The approach to measure the inclination with accelerarometer sensors dynamically during drilling is introduced, as well as the operation principle of accelerarometer sensors and the arithmetic to measure the inclination are expatiated in the paper. The factors to distort the inclination measurement data seriously are analyzed theorietically, such as noises, the viberation and random rotation of drilling tools. Generally speaking, the noises and viberations can be eliminated from the inclination measures by using low-pass filter, but the centrifugal force caused by drilling tool rotation, which will distort the accelerateometer outputs can be reviesd owing to the rotation speed compensation and the like. The Butterworth filter with certain exponent numbers and transition frequency can be selected as low-pass filter, and the calibration of accelerometers beforehand is needed for error compensation of accelerometer outputs. On the basis of theoretical analysis above, particular experimental equipment which is composed of a two-dimension numerical control rotary table and a vertical vibration experiment table is established, and kinetic control programmes of numeracal control rotary table are compiled in Delphi, and some operation conditions with existence of noises, vibrations and rotations at the same time are simulated effectively. Then the reliability and feasibility of the approaches introduced above to measure the inclinations and process signals are verified by means of the particular experiments mentioned above.
Both theoretical and practical researches have demonstrated that :1.Higher precision could be reached when the inclination (equivalent to the rake angle of the rotary table) is caculated by measuring rake angles in X and Y axes indirectly.2.The experiments have indicated that the Butterworth low-pass filter works well when viberation signals superimposing in signals output by accelerateometers should be filtered ,while the distortion of signals outlet by sensors ,which is cauzed by the movements of guide sleeve ,could be revised by the calibration of accelerometers beforehand as well.
引文
[01] The Drilling Revolution. Petroleum Review ,2000 - 06
[02] 张绍槐,张洁. 21 世纪中国石油钻井技术发展战略研究. 探矿工程,2001 , (4) :1～5
[03] 狄勤丰,张绍槐. 井下闭环钻井系统的研究与开发. 石油钻探技术,1997 ,25(2) :56～59
[04] BarrJD,ClaggJM,RussellMK.Steerable Rotary Drilling With Experimental System. SPE29382
[05] Sandro Poli,Franco Donat,Joachim Oppelt,etal.Advanced Tools for Advanced Wells:Rotary Closed Loop Drilling System.SPE36884
[06] Franco Donat, Joachim Oppelt,Detlef Rognitz,etal.Innovative Rotary Closed Loop System.SPE39328
[07] Andereassen E,Blikra H,Hjelle A,etal.RCLS Improves Reservoir Drilling Efficency and Well bore Placement.SPE39329
[08] Johnny Haugen.Rotary steerable system replaces slide mode for Directional drilling.Oil & Gas journal.Mar.1998(2):页码不详
[09] 刘白雁.自动垂直钻井中的井斜动态测量理论与实验研究,石油学报,2006,第 4 期
[10] 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
[11] 苏义脑. 油气直井防斜打快技术——理论与实践. 北京: 石油工业出版社, 2003:67-70.
[12] 章扬烈. 钻柱运动学与动力学[M]. 北京:石油工业出版社,2001:139-143.
[13] 管志川, 靳彦新, 王以法. 直井底部钻柱运动状态的实验研究[J]. 石油学报,2003, 24(6):102-106.
[14] 韩来聚,孙铭新. 石油钻井闭环自动导向机器人系统[J].机器人技术与应用,2001 年第 2期:16-20
[15] Tetsuo Yonezawa, Edward J. Cargill, Tom M. Gaynor,etc. Robotic Controlled Drilling: A New Rotary Steerable Drilling System for the Oil and Gas Industry,SPE 74458,2002
[16] 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.
[17] 苏义脑,李松林,葛云华,冯京海.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.
[18] 李松林 , 苏义脑 , 董海平 . 美国自动旋转导向钻井工具结构及特点 [J]. 石油机械,2000,28(1):42-44.
[19] 周浩敏, 王睿. 测试信号处理技术[M]. 北京:北京航空航天大学出版社, 2004:227-262.
[20] 赵兰涛 , 苏严华 .Delphi 串口通信技术与工程实践 [M]. 北京 : 人民邮电出版社,2004:56-77.
[21] Calderoni A, Savini A, Treviranus J, et al. Outstanding Economic Advantages Based onNew Straight-Hole Drilling Device[R]. SPE 56444,1999:67-79.
[22] Brusco G, Lewis P, Williams M. Drilling Straight Down[J]. Oilfield Review, 2004,16(3):14-17.
[23] Barans M, Garoby J, Huppertz A. Straight-Hole drilling device improves[J]. Oil & Gas Journal, 2001,99(26):45-51.
[24] 苏义脑. 井下控制工程学研究进展[M].北京:石油工业出版社,2003
[25] Brusco G , Lewis P. Drilling Straight Down, Oilfield Review, 2004, 16(3):14-17.
[26] 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
[27] 刘向东,吴芝路,关柏利.油井有线测斜仪的设计[J].哈尔滨理工大学学报,1999:92-94.
[28] 李作会,孙铭新,韩来聚.旋转自动导向钻井技术[J].石油矿场机械,2003,32(4):8-10
[29] 李松林,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.
[30] 周静,尚海蜒,雷景辉,胡金艳.旋转导向闭环钻井中的测斜系统[J].石油仪器,2000,14(3) : 1-5
[31] 狄勤丰.旋转导向井下闭环钻井技术[M].陕西西安:陕西科学技术出版社,1999
[32] cheatham DA 等著,客进友译.磁干扰对水平井方位测量的影响[J].国外钻井技术,1983,1
[33] 赵新瑞,姜敬华,奚艳红,张绍先,井斜控制理论及防斜钻井技术综述[J].钻井工艺,Vol.23,No.1,Jan.2000
[34] 狄勤丰,张绍魁。井下闭环钻井系统的研究与开发[J ] ,石油钻探技术,1997 ,25 (2)
[35] 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,1991 ,20 (1)
[36] 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)
[37] 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)
[38] Oppelt J,Chur C.New concept for vertical drilling of boreholes[C].SEP21905,1991:1-12
[39] 苏义脑,李松林,葛云华,冯京海.自动垂直钻井工具的设计及自动控制方法[J],石油学报 2001
[40] 张绍槐,张洁.21 世纪中国钻井技术发展与创新.石油学报,第六期,第 22 卷,2001,11
[41] G.C. Maitland U Oil and gas production Current Opinion in Colloid & Interface Science 5 2000 301~311
[42] Jeng-Heng Chen,Sou-Chen Lee,Daniel B.Gyroscope free stradown inertial measurement by six linear acceler-ometers.Journal of Guidance Control and Dynamics,March-April 1994;17(2)
[43] Barr JD,Clagg JM,Russell MK.Steerable Rotary Drilling With ExperimentalSystem.SPE29382
[44] Underwood L D,Odell A C.A System Approach to Down-Hole Adjustable Stabilizer Designand Application.SPE 27484
[45] 沈忠厚,王瑞和.现代石油钻井技术 50 年进展和发展趋势[J],石油钻采工艺,2003,05 期.
[46] 赵金海,唐代绪,朱全塔等,国外典型的旋转导向钻井系统[J],国外油田工程,2002,11
[47] 肖庆航,陆定淑等,Delphi 7 数据库开发教程[M].北京:清华大学出版社,2004
[48] Lubinski.A Study of the Bucking of Rotary Drilling String. Dpp,1950
[49] Woods.H.B.Lubinski, A Use of Stabilizers in Controlling Hole Deviation. Dpp,Mar,1955
[50] Mdtheim,K, K.Operators Have Much to Lean about Directional Drilling. OGJ, Nov 6,1978.
[02] 张绍槐,张洁. 21 世纪中国石油钻井技术发展战略研究. 探矿工程,2001 , (4) :1～5
[03] 狄勤丰,张绍槐. 井下闭环钻井系统的研究与开发. 石油钻探技术,1997 ,25(2) :56～59
[04] BarrJD,ClaggJM,RussellMK.Steerable Rotary Drilling With Experimental System. SPE29382
[05] Sandro Poli,Franco Donat,Joachim Oppelt,etal.Advanced Tools for Advanced Wells:Rotary Closed Loop Drilling System.SPE36884
[06] Franco Donat, Joachim Oppelt,Detlef Rognitz,etal.Innovative Rotary Closed Loop System.SPE39328
[07] Andereassen E,Blikra H,Hjelle A,etal.RCLS Improves Reservoir Drilling Efficency and Well bore Placement.SPE39329
[08] Johnny Haugen.Rotary steerable system replaces slide mode for Directional drilling.Oil & Gas journal.Mar.1998(2):页码不详
[09] 刘白雁.自动垂直钻井中的井斜动态测量理论与实验研究,石油学报,2006,第 4 期
[10] 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
[11] 苏义脑. 油气直井防斜打快技术——理论与实践. 北京: 石油工业出版社, 2003:67-70.
[12] 章扬烈. 钻柱运动学与动力学[M]. 北京:石油工业出版社,2001:139-143.
[13] 管志川, 靳彦新, 王以法. 直井底部钻柱运动状态的实验研究[J]. 石油学报,2003, 24(6):102-106.
[14] 韩来聚,孙铭新. 石油钻井闭环自动导向机器人系统[J].机器人技术与应用,2001 年第 2期:16-20
[15] Tetsuo Yonezawa, Edward J. Cargill, Tom M. Gaynor,etc. Robotic Controlled Drilling: A New Rotary Steerable Drilling System for the Oil and Gas Industry,SPE 74458,2002
[16] 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.
[17] 苏义脑,李松林,葛云华,冯京海.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.
[18] 李松林 , 苏义脑 , 董海平 . 美国自动旋转导向钻井工具结构及特点 [J]. 石油机械,2000,28(1):42-44.
[19] 周浩敏, 王睿. 测试信号处理技术[M]. 北京:北京航空航天大学出版社, 2004:227-262.
[20] 赵兰涛 , 苏严华 .Delphi 串口通信技术与工程实践 [M]. 北京 : 人民邮电出版社,2004:56-77.
[21] Calderoni A, Savini A, Treviranus J, et al. Outstanding Economic Advantages Based onNew Straight-Hole Drilling Device[R]. SPE 56444,1999:67-79.
[22] Brusco G, Lewis P, Williams M. Drilling Straight Down[J]. Oilfield Review, 2004,16(3):14-17.
[23] Barans M, Garoby J, Huppertz A. Straight-Hole drilling device improves[J]. Oil & Gas Journal, 2001,99(26):45-51.
[24] 苏义脑. 井下控制工程学研究进展[M].北京:石油工业出版社,2003
[25] Brusco G , Lewis P. Drilling Straight Down, Oilfield Review, 2004, 16(3):14-17.
[26] 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
[27] 刘向东,吴芝路,关柏利.油井有线测斜仪的设计[J].哈尔滨理工大学学报,1999:92-94.
[28] 李作会,孙铭新,韩来聚.旋转自动导向钻井技术[J].石油矿场机械,2003,32(4):8-10
[29] 李松林,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.
[30] 周静,尚海蜒,雷景辉,胡金艳.旋转导向闭环钻井中的测斜系统[J].石油仪器,2000,14(3) : 1-5
[31] 狄勤丰.旋转导向井下闭环钻井技术[M].陕西西安:陕西科学技术出版社,1999
[32] cheatham DA 等著,客进友译.磁干扰对水平井方位测量的影响[J].国外钻井技术,1983,1
[33] 赵新瑞,姜敬华,奚艳红,张绍先,井斜控制理论及防斜钻井技术综述[J].钻井工艺,Vol.23,No.1,Jan.2000
[34] 狄勤丰,张绍魁。井下闭环钻井系统的研究与开发[J ] ,石油钻探技术,1997 ,25 (2)
[35] 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,1991 ,20 (1)
[36] 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)
[37] 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)
[38] Oppelt J,Chur C.New concept for vertical drilling of boreholes[C].SEP21905,1991:1-12
[39] 苏义脑,李松林,葛云华,冯京海.自动垂直钻井工具的设计及自动控制方法[J],石油学报 2001
[40] 张绍槐,张洁.21 世纪中国钻井技术发展与创新.石油学报,第六期,第 22 卷,2001,11
[41] G.C. Maitland U Oil and gas production Current Opinion in Colloid & Interface Science 5 2000 301~311
[42] Jeng-Heng Chen,Sou-Chen Lee,Daniel B.Gyroscope free stradown inertial measurement by six linear acceler-ometers.Journal of Guidance Control and Dynamics,March-April 1994;17(2)
[43] Barr JD,Clagg JM,Russell MK.Steerable Rotary Drilling With ExperimentalSystem.SPE29382
[44] Underwood L D,Odell A C.A System Approach to Down-Hole Adjustable Stabilizer Designand Application.SPE 27484
[45] 沈忠厚,王瑞和.现代石油钻井技术 50 年进展和发展趋势[J],石油钻采工艺,2003,05 期.
[46] 赵金海,唐代绪,朱全塔等,国外典型的旋转导向钻井系统[J],国外油田工程,2002,11
[47] 肖庆航,陆定淑等,Delphi 7 数据库开发教程[M].北京:清华大学出版社,2004
[48] Lubinski.A Study of the Bucking of Rotary Drilling String. Dpp,1950
[49] Woods.H.B.Lubinski, A Use of Stabilizers in Controlling Hole Deviation. Dpp,Mar,1955
[50] Mdtheim,K, K.Operators Have Much to Lean about Directional Drilling. OGJ, Nov 6,1978.
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