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摘要: 滑动导向钻井过程中，由于钻柱滑动摩擦阻力较大，工具面角的调整速度较为缓慢，且大多依赖司钻的经验，大大降低了钻井工作效率.论文建立了滑动导向钻井系统工具面控制对象的简化传递函数模型，并针对该模型提出一种具有自适应性的工具面动态控制方法.该方法采用微分正反馈控制律以提高工具面角的调整速度，并利用自适应方法对模型参数进行在线辨识，实时修正控制参数.最后通过动力学仿真验证了该方法能实现工具面角无超调无稳态误差的快速响应，且能根据参数辨识结果自动调整控制参数，无需依赖司钻经验，从而有效提高滑动导向钻井的工具面调整效率.Abstract: In the process of "slide" drilling, the friction between the drillstring and the wellbore is so large that it takes long to implement the tool-face adjustment which is very important to change the current wellbore trajectory. In addition, it is not clear in theory how to adjust the tool face correctly and efficiently, which results in that the tool face adjustment mostly depends on the driller's experience and is very inefficient. In this paper, a simplified transfer function model which describes the tool face adjustment process is proposed. Based on this model, the differential positive feedback control algorithm is used to improve the response speed of toolface adjustment, and an adaptive method is established to identify and correct the parameters of the control model in real time. Finally, the results of the dynamic simulation show the correctness and robustness of the proposed control algorithm which can increase the dynamic response speed of the tool-face adjustment without overshoot or steady-state error. The parameters of the control algorithm is automatically identified and corrected without the driller's experience.1) 本文责任编委 乔俊飞
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图 11 传递函数阶跃响应与仿真结果对比(2 000 m)
Fig. 11 Between step response of transfer function and simulation results (2 000 m)
图 16 顶驱转角与工具面角的增量曲线(1 200 m)
Fig. 16 Angle increment of topdrive and toolface (1 200 m)
图 18 传递函数阶跃响应与仿真结果对比(1 200 m)
Fig. 18 Comparison between step response of transfer function and simulation results (1 200 m)
表 1 定向井眼轨迹参数(2 000 m)
Table 1 Wellbore trajectory parameters of directional well (2 000 m)
测深(m) 井斜角(°) 方位角(°) 垂深(m) +N/-S (m) +E/-W (m) 狗腿度(°/30 m) 扭方位率(°/30 m) 0.00 0.00 0.00 0.00 0.00 0.00 0.000 0.000 200.00 0.00 0.00 200.00 0.00 0.00 0.000 0.000 300.00 10.00 0.00 299.49 8.70 0.00 3.000 0.000 400.00 20.00 0.00 395.96 34.55 0.00 3.000 0.000 500.00 30.00 0.00 486.48 76.76 0.00 3.000 0.000 600.00 40.00 0.00 568.29 134.05 0.00 3.000 0.000 700.00 50.00 0.00 638.91 204.67 0.00 3.000 0.000 800.00 60.00 0.00 696.20 286.48 0.00 3.000 0.000 900.00 70.00 0.00 738.40 377.00 0.00 3.000 0.000 1 000.00 80.00 0.00 764.25 473.46 0.00 3.000 0.000 1 100.00 90.00 0.00 772.96 572.96 0.00 3.000 0.000 1 500.00 90.00 0.00 772.96 972.96 0.00 0.000 0.000 2 000.00 90.00 0.00 772.96 1 472.96 0.00 0.000 0.000 
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表 2 定向井钻具组合参数(2 000 m)
Table 2 BHA parameters of directional well (2 000 m)
# 名称 长度(m) 累长(m) 外直径(mm) 内直径(mm) 线重(kg/m) 总重(kg) 累重(kg) 1 8.5in Bit 0.3 0.3 215.9 - 131.2 39.37 39.37 2 6.75 BH 9.5 9.8 171.5 63.5 140.27 1 332.57 1 332.57 3 6.75 Stablizer 1.524 11.324 171.5 71.44 149.77 228.25 228.25 4 CrossOver 0.91 12.234 158.5 70.1 123.9 112.75 112.75 5 6.75in Collar 8.14 20.374 171.45 71.45 149.74 1 218.88 1 218.88 6 6.75 MWD 7.5 27.874 171.45 73.03 150 1 125 1 125 7 6.75in Collar 9.14 37.014 171.45 71.45 149.74 1 368.62 1 368.62 8 CrossOver 0.91 37.924 158.5 70.1 123.9 112.75 112.75 9 6.25in Collar 50.7 88.624 158.75 71.45 123.89 6 281.22 6 281.22 10 CrossOver 0.91 89.534 158.5 70.1 123.9 112.75 112.75 11 5in HWDP 109.68 199.241 127 76.2 73.96 8 111.93 8 111.93 12 5in DP 1 828.0 2 027.214 127 108.61 34.82 63 650.96 63 650.96
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表 3 定向井井眼轨迹参数(1 200 m)
Table 3 Wellbore trajectory parameters of directional well (1 200 m)
测深(m) 井斜角(°) 方位角(°) 垂深(m) +N/-S (m) +E/-W (m) 狗腿度(°/30 m) 扭方位率(°/30 m) 0.00 0.00 0.00 0.00 0.00 0.00 0.000 0.000 200.00 0.00 0.00 200.00 0.00 0.00 0.000 0.000 300.00 15.00 5.00 298.86 12.97 1.13 4.500 1.500 400.00 30.00 10.00 390.99 50.70 6.64 4.533 1.500 500.00 45.00 15.00 470.12 109.82 20.21 4.588 1.500 600.00 60.00 20.00 530.85 185.12 44.32 4.652 1.500 700.00 75.00 25.00 569.03 270.11 79.76 4.707 1.500 800.00 90.00 30.00 582.05 357.74 125.46 4.738 1.500 900.00 90.00 35.00 582.05 442.05 179.17 1.500 1.500 1000.00 90.00 40.00 582.05 521.36 240.03 1.500 1.500 1 100.00 90.00 45.00 582.05 595.07 307.57 1.500 1.500 1 200.00 90.00 50.00 582.05 662.60 381.27 1.500 1.500
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表 4 定向井钻具组合参数(1 200 m)
Table 4 BHA parameters of directional well (1 200 m)
# 名称 长度(m) 累长(m) 外直径(mm) 内直径(mm) 线重(kg/m) 总重(kg) 累重(kg) 1 8.5in Bit 0.3 0.3 215.9 - 131.234 39.37 39.37 2 6.75BH 8.0 8.3 171.45 63.5 140.27 1 122.16 1 122.16 3 6.75Stablizer 0.5 8.8 158.75 71.44 123.91 61.955 61.955 4 MWD 5.0 13.8 171.45 73.03 150 750 750 5 6.75Stablizer 0.5 14.3 158.75 71.44 123.91 61.955 61.955 6 6.75in Collar 180 194.3 127 71.45 67.95 12 231 12 231 7 5in HWDP 118.82 313.12 139.7 92.08 77.43 9 200.233 9 200.233 8 5in DP 914 1 227.12 127 101.6 43.68 39 923.52 39 923.52
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表 5 动力学仿真控制效果对比
Table 5 Comparison of control effects of dynamic simulation
井深(m) 控制方法 响应时间(s) 稳态误差(°) 超调量(%) 2 000 不加控 750 -23.4 0 2 000 自适应 450 5.2 0 1 200 不加控 500 -1.5 0 1 200 自适应 300 0.2 0
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