CN113361124B - Tool face angle estimation method of rotary steering drilling tool system - Google Patents
Tool face angle estimation method of rotary steering drilling tool system Download PDFInfo
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Abstract
The invention relates to a tool face angle estimation method of a rotary steering drilling tool system, which comprises the following specific steps: s1, establishing a mathematical model of the tool face angle control system; s2, constructing a state observer to obtain an estimation error system; s3 solving parameters of state observer
Completing the design of the state observer; and S4, receiving the measurement data and estimating the tool face angle. The invention can effectively estimate the tool face angle of the rotary steering drilling tool system in real time, improves the estimation precision, reduces the calculation complexity of an estimation algorithm and can further improve the steering drilling precision.
Description
Technical Field
The invention belongs to the technical field of oil field drilling, relates to a drilling tool measuring technology, and particularly relates to a tool face angle estimation method of a rotary steering drilling tool system.
Background
Oil and gas are important resources for strategic development of the country, and the drilling technology is a key technology for oil and gas exploration and development. The rotary steering well drilling technology is one of the most advanced directional well drilling technologies in the world, has the advantages of high mechanical drilling speed, high well trajectory control precision, good well hole purification effect, strong displacement extension capacity and the like, and can greatly improve the oil and gas recovery efficiency. In the development process of recent decades, due to the difference of the guiding mode and the rotation of the drill collar, four types of rotary steering drilling tool systems of static pushing, dynamic pushing, static pointing and dynamic pointing are gradually formed.
The dynamic directional rotary steering drilling tool system consists of an inner ring control system and an outer ring control system, wherein the inner ring control system mainly utilizes a permanent magnet synchronous motor in the rotary steering drilling tool system to accurately control a drill bit to drill along a preset track. The accuracy of the inner ring control system will affect the performance of the entire rotary steerable drilling tool system. In the inner loop control system, the toolface angle represents the drilling direction of the downhole drilling tool at the next moment, and is the core controlled variable. Thus, the accuracy of the tool face angle measurement directly determines the accuracy of the inner ring control system. Due to space and environmental constraints downhole, angular velocity and angular information of the toolface angle are typically collected using gyroscopes and accelerometers in a stabilized platform, respectively. Because the sensors are usually in a severe environment with high temperature, high pressure and strong vibration during the drilling process, the measured data contains a large amount of measurement noise and needs to be filtered.
In the document "a new method for measuring dynamic orientation in rotation of downhole drilling tool" (Yangguang, Jianhaixu, Lexin. oil drilling and production process, 2014,36(1):40-43 "), in order to accurately measure the gravity tool face in real time in the continuous rotation process of the downhole drilling tool, the basic principle of a sensor for describing track basic parameters of the well posture and how to measure the posture parameters in oil drilling is introduced, the structure and the measured parameters of a commonly used directional sensor for measuring the well posture are emphatically introduced, the measurement method of the dynamic gravity tool face when the drilling tool continuously rotates in the rotary guiding drilling process is provided, and the process of calculating the difference angle between the magnetic tool face and the gravity tool face by using a vector rotation method is mainly analyzed.
Documents Wang w, gen y, Wang k, et al, dynamic Toolface estimation for a rotary drilling system, sensors,2018,18(9):1-17, use a complementary filtering algorithm to design a method for estimating the Toolface angle of a rotary steerable drilling tool.
Chinese patent No. CN107515001B, granted publication, discloses a dynamic measurement method and device for a gravity tool face angle of a rotary-guiding stabilized platform, which adopts data of corresponding acceleration, magnetic field and angular velocity of the stabilized platform during movement measured by a dual accelerometer, a three-axis fluxgate sensor and a gyroscope, after pre-filtering, automatically judges sensor faults and switches to a corresponding resolving method to resolve the gravity tool face angle when different conditions and different sensor faults occur, so as to achieve measurement of the gravity tool face angle and improve reliability of measurement of the gravity tool face angle; and the influence of transverse vibration and torsional vibration on the measured value of the surface angle of the gravity tool is weakened through the complementary filtering, the fusion of the surface angle of the gravity tool measured and calculated by the double accelerometers or the single accelerometer or the fluxgate sensor and the ground speed measured by the gyroscope, and the measured value of the surface angle of the gravity tool obtained is more accurate.
However, the above methods directly filter the data of the sensor, and lack the utilization of the known system model information, and the obtained toolface angle still contains a certain noise signal. Therefore, it is urgently required to develop an estimation method based on a state observer to further improve the tool face angle estimation accuracy.
Disclosure of Invention
The invention provides a tool face angle estimation method of a rotary steering drilling tool system, aiming at the problem of low tool face angle estimation precision of the conventional rotary steering drilling tool system, and the method can improve the tool face angle estimation precision, further improve the drilling efficiency and reduce the drilling cost.
In order to achieve the above object, the present invention provides a method for estimating a toolface angle of a rotary steerable drilling tool system, comprising the steps of:
s1, establishing a mathematical model of the tool face angle control system;
combining a mathematical model of a d-q coordinate system of the permanent magnet synchronous motor, constructing a mathematical model of a tool face angle control system as follows:
in the formula (I), the compound is shown in the specification,
x is the state variable, y is the measurement output,
being the first derivative of a state variable x, x 1 ＝i d ,x 2 ＝i q ,x 3 ＝ω m ,
x 5 ＝T L ,i d Current of d-axis, i q Current of q-axis, ω m The number of revolutions of the motor is,
is the tool face angle, T L As a load moment, u d Is the voltage of the d-axis, u q Is the voltage of the q-axis, R s Is stator phase resistance, L d Inductance of d-axis, L q Q-axis inductance, phi permanent magnet excitation flux linkage, p n Is the electrode logarithm, J is the total moment of inertia, mu is the total viscosity coefficient, y 1 And y 2 For sampling the measured value of the resistance, y 3 As measured value of the resolver, y 4 For tool face angle measurements, y, obtained after processing of the data from the stabilized platform gyroscope and accelerometer 5 D is the interference of the tool face angle control system for stabilizing the measured value of the platform gyroscope;
s2, constructing a state observer to obtain an estimation error system;
for the tool face angle control system described in equation (1), a state observer is constructed as follows:
in the formula (I), the compound is shown in the specification,
an estimated value of the state variable x is represented,
representing an estimated value
The first derivative of (a) is,
is a state observer parameter to be set;
combining the toolface angle control system described in equation (1) and the state observer described in equation (2) yields an estimated error system expressed as:
in the formula (I), the compound is shown in the specification,
in order to estimate the error, the error is estimated,
is the first derivative of the estimation error e;
with the taylor-based linear method, the estimation error system shown in equation (3) is approximated as:
in the formula (I), the compound is shown in the specification,
is one with respect to the estimated value
A polynomial matrix of (a);
s3 solving parameters of state observer
Completing the design of the state observer;
constructing a polynomial:
η＝-α T (Ω+εI)α(5)
in the formula (I), the compound is shown in the specification,
ξ 1 >0,ξ 2 >0 is a given scalar, α is any vector of suitable dimensions, β>0 is an unknown positive real number, P>0 is an unknown constant positive definite matrix,
as unknown about the estimated value
A polynomial matrix of (a);
solving the unknowns beta, P sum by SOSTOOLS toolkit in MATLAB
Writing η about the estimate
The form of a sum-of-squares polynomial of the sum vector alpha, and then the state observer parameters
By passing
Obtaining;
will solve outState observer parameters
Substituting into an actual state observer to finish the design of the state observer;
s4, receiving the measurement data and estimating the face angle of the tool;
and solving the designed state observer in real time by using a fourth-order Runge-Kutta algorithm, and substituting the measurement data y and the measurement data b into the fourth-order Runge-Kutta algorithm in the solving process to obtain a real-time estimation value of the tool face angle.
Compared with the prior art, the invention has the advantages and positive effects that:
the tool face angle estimation method of the rotary steering drilling tool system can effectively estimate the tool face angle of the rotary steering drilling tool system, and improves the estimation precision. In addition, the parameters of the state observer designed by the invention can be adaptively changed along with the change of the estimated value without iterative computation, thereby reducing the computation complexity of the estimation algorithm, improving the efficiency of state estimation, saving the computation resource of system hardware and further improving the precision of pilot drilling.
Drawings
FIG. 1 is a flow chart of a method for estimating a toolface angle of a rotary steerable drilling tool system according to an embodiment of the present disclosure;
FIG. 2 is a time domain plot of a method for estimating a toolface angle of a rotary steerable drilling tool system of an embodiment of the present invention versus the results of the toolface angle estimation of the rotary steerable drilling tool system of an embodiment of the present invention.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
Referring to fig. 1, an embodiment of the present invention provides a method for estimating a toolface angle of a rotary steerable drilling tool system, which includes the following specific steps:
s1, establishing a mathematical model of the tool face angle control system; the method comprises the following specific steps:
combining a mathematical model of a d-q coordinate system of the permanent magnet synchronous motor, constructing a mathematical model of a tool face angle control system as follows:
in the formula (I), the compound is shown in the specification,
x is the state variable, y is the measurement output,
being the first derivative of a state variable x, x 1 ＝i d ,x 2 ＝i q ,x 3 ＝ω m ,
x 5 ＝T L ,i d Current of d-axis, i q Current of q-axis, ω m The number of revolutions of the motor is,
is the tool face angle, T L As a load moment, u d Is the voltage of the d-axis, u q Is the voltage of the q-axis, R s Is stator phase resistance, L d Inductance of d-axis, L q Q-axis inductance, phi permanent magnet excitation flux linkage, p n Is the electrode logarithm, J is the total moment of inertia, mu is the total viscosity coefficient, y 1 And y 2 For sampling the measured value of the resistance, y 3 As measured value of the resolver, y 4 For stabilizing platform gyroscope and accelerometer dataTool face angle measurement, y, obtained after processing 5 To stabilize the platform gyroscope measurements, d is the disturbance of the tool face angle control system.
S2, constructing a state observer to obtain an estimation error system; the method comprises the following specific steps:
for the tool face angle control system described in equation (1), a state observer is constructed as follows:
in the formula (I), the compound is shown in the specification,
an estimated value of the state variable x is represented,
representing an estimated value
The first derivative of (a) is,
is a state observer parameter to be set;
combining the toolface angle control system described in equation (1) and the state observer described in equation (2) yields an estimated error system expressed as:
in the formula (I), the compound is shown in the specification,
in order to estimate the error, the error is estimated,
is the first derivative of the estimation error e;
with the taylor-based linear method, the estimation error system shown in equation (3) is approximated as:
in the formula (I), the compound is shown in the specification,
is one with respect to the estimated value
The polynomial matrix of (2).
And the parameters of the state observer are converged by an estimation error system, so that the condition that the input is stable is met.
S3 solving parameters of state observer
Completing the design of the state observer; the method comprises the following specific steps:
constructing a polynomial:
η＝-α T (Ω+εI)α (5)
in the formula (I), the compound is shown in the specification,
ξ 1 >0,ξ 2 >0 is a given scalar, α is any vector of suitable dimensions, β>0 is an unknown positive real number, P>0 is an unknown constant positive definite matrix,
as unknown about the estimated value
A polynomial matrix of (a);
solving the unknowns beta, P sum by SOSTOOLS toolkit in MATLAB
Writing η about the estimate
The form of a sum-of-squares polynomial of the sum vector alpha, and then the state observer parameters
By passing
Obtaining;
the solved parameters of the state observer
And substituting the state observer into an actual state observer to finish the design of the state observer.
S4, receiving the measurement data and estimating the face angle of the tool; the method comprises the following specific steps:
and solving the designed state observer in real time by using a fourth-order Runge-Kutta algorithm, and substituting the measurement data y and the measurement data b into the fourth-order Runge-Kutta algorithm in the solving process to obtain a real-time estimation value of the tool face angle. It should be noted that the state observer is a continuous system, the calculation formula of the state observer is a continuous differential equation and is difficult to solve, and the actual sampling is a discrete process, so the measurement data is discrete data, and the fourth-order longge-kuta algorithm is a discrete method.
According to the tool face angle estimation method of the rotary steering drilling tool system, the tool face angle of the rotary steering drilling tool system can be effectively estimated in real time, and estimation accuracy is improved. In addition, according to the tool face angle estimation method of the rotary steering drilling tool system, the designed parameters of the state observer can be adaptively changed along with the change of the estimated value, iterative calculation is not needed, the calculation complexity of an estimation algorithm is reduced, the efficiency of state estimation is improved, the calculation resources of system hardware are saved, and the steering drilling precision is further improved.
To illustrate the effectiveness of the tool face angle estimation method of the above-described rotary steerable drilling tool system of the present invention, the present invention is further described below in conjunction with a rotary steerable drilling tool system test.
The parameters of the adopted rotary steering drilling tool system are as follows: r s ＝1.52Ω，ψ＝0.02148Wb，μ＝0.00008N·m·s，J＝1.449×10 -5 Kg·m 2 ，p n ＝4，L q ＝0.0021383H，L d ＝0.0021383H。
Solving the parameters of the state observer by MATLAB software
Obtaining:
wherein:
by adopting the tool face angle estimation method provided by the embodiment of the invention, the tool face angle of the rotary steering drilling tool system is estimated, and the estimation result is shown in figure 2. As can be seen from fig. 2, although the measured value of the tool face angle has been subjected to data processing, the measured result includes a certain amount of interference and noise, and particularly, severe buffeting occurs when switching between 0 degrees and 360 degrees, whereas the estimated value of the tool face angle using the method for estimating the tool face angle according to the embodiment of the present invention is smooth and stable, so that interference and noise in the measured value are effectively suppressed, the accuracy is higher, and the effectiveness of the method for estimating the tool face angle according to the embodiment of the present invention is proved.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are possible within the spirit and scope of the claims.
Claims (1)
1. A method for estimating a toolface angle of a rotary steerable drilling tool system is characterized by comprising the following specific steps:
s1, establishing a mathematical model of the tool face angle control system;
combining a mathematical model of a d-q coordinate system of the permanent magnet synchronous motor, constructing a mathematical model of a tool face angle control system as follows:
in the formula (I), the compound is shown in the specification,
x is the state variable, y is the measurement output,
being the first derivative of a state variable x, x 1 ＝i d ,x 2 ＝i q ,x 3 ＝ω m ,
x 5 ＝T L ,i d Current of d-axis, i q Current of q-axis, ω m The number of revolutions of the motor is,
is the tool face angle, T L As a load moment, u d Is the voltage of the d-axis, u q Is the voltage of the q-axis, R s Is stator phase resistance, L d Inductance of d-axis, L q Q-axis inductance, phi permanent magnet excitation flux linkage, p n Is the electrode logarithm, J is the total moment of inertia, mu is the total viscosity coefficient, y 1 And y 2 For sampling the measured value of the resistance, y 3 As measured value of the resolver, y 4 For tool face angle measurements, y, obtained after processing of the data from the stabilized platform gyroscope and accelerometer 5 D is the interference of the tool face angle control system for stabilizing the measured value of the platform gyroscope;
s2, constructing a state observer to obtain an estimation error system;
for the tool face angle control system described in equation (1), a state observer is constructed as follows:
in the formula (I), the compound is shown in the specification,
an estimated value of the state variable x is represented,
representing an estimated value
The first derivative of (a) is,
is a state observer parameter to be set;
combining the toolface angle control system described in equation (1) and the state observer described in equation (2) yields an estimated error system expressed as:
in the formula (I), the compound is shown in the specification,
in order to estimate the error, the error is estimated,
is the first derivative of the estimation error e;
with the taylor-based linear method, the estimation error system shown in equation (3) is approximated as:
in the formula (I), the compound is shown in the specification,
is one with respect to the estimated value
A polynomial matrix of (a);
s3 solving parameters of state observer
Completing the design of the state observer;
constructing a polynomial:
η＝-α T (Ω+εI)α (5)
in the formula (I), the compound is shown in the specification,
ξ 1 >0,ξ 2 >0 is a given scalar, α is any vector of suitable dimensions, β>0 is an unknown positive real number, P>0 is an unknown constant positive definite matrix,
as unknown about the estimated value
A polynomial matrix of (a);
solving the unknowns beta, P sum by SOSTOOLS toolkit in MATLAB
Writing η about the estimate
The form of a sum-of-squares polynomial of the sum vector alpha, and then the state observer parameters
By passing
Obtaining;
the solved parameters of the state observer
Substituting into an actual state observer to finish the design of the state observer;
s4, receiving the measurement data and estimating the face angle of the tool;
and solving the designed state observer in real time by using a fourth-order Runge-Kutta algorithm, and substituting the measurement data y and the measurement data b into the fourth-order Runge-Kutta algorithm in the solving process to obtain a real-time estimation value of the tool face angle.
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