CN103310038A - Virtual machine actual electricity simulation system and method for rotary guiding executing mechanism - Google Patents
Virtual machine actual electricity simulation system and method for rotary guiding executing mechanism Download PDFInfo
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- CN103310038A CN103310038A CN2013101934822A CN201310193482A CN103310038A CN 103310038 A CN103310038 A CN 103310038A CN 2013101934822 A CN2013101934822 A CN 2013101934822A CN 201310193482 A CN201310193482 A CN 201310193482A CN 103310038 A CN103310038 A CN 103310038A
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Abstract
The invention discloses a virtual machine actual electricity simulation system for a rotary guiding executing mechanism, which comprises an IPC (Industrial Personal Computer), an electric control device, a measuring device and a rotary guiding executing mechanism, wherein the IPC comprises a guiding simulator, a data collecting module and an interface communication module; the electric control device comprises a motion control card and a data collecting card; the measuring device comprises a sensor group; the rotary guiding executing mechanism comprises a motor module and an executing mechanism module; and the guiding simulator is used for completing the simulation of the guiding and drilling of the rotary guiding executing mechanism. The invention further discloses a virtual machine actual electricity simulation method for the rotary guiding executing mechanism. The method comprises the following steps: a LabVIEW software is taken as a main body, and a SolidWorks software and a MatLab software are combined with the LabVIEW, so as to realize the simulation. According to the invention, the virtual reality technology is used for completing the design, analysis, debugging and analog simulation of the rotary guiding executing mechanism in a unified virtual environment, so that the development cycle of products is shortened, and the simulation system and method can be applied to various rotary guiding executing mechanisms.
Description
Technical field
The present invention relates to analogue system and emulation mode, particularly virtual machine real electric analogue system and the emulation mode of a kind of rotary steering topworks.
Background technology
At present, rotary steerable drilling system is more and more paid close attention to owing to its outstanding advantage is subject to people, and is widely used in the exploitation of the highly difficult wells such as Holes of Complicated Wells, ultra deep well and three-dimensional multi target well.Yet integrating high-tech rotary steerable drilling technology mechanical, electrical, liquid is still monopolized by external several major oil companies at present; for the protection to technology; several major oil companies only provide the lease service of equipment and technology, do not sell relevant equipment and technology.Rack rent and domestic active demand to rotary steering system that foreign oil company collects the rotary steerable drilling technology constantly promote the research and development of the rotary steering system of domestic autonomous innovation.
The research of rotary steerable drilling system be infusion of financial resources large, require mechanical, electrical, the liquid of long union of height, research cycle in the highly difficult systems engineering of one to software and hardware, wherein the research and development of rotary steering topworks are key and the core of whole system research and development.Traditional rotary steering topworks Research Thinking is on the basis of determining guiding principle and preliminary kinematics, dynamic analysis, carry out immediately the trial-production of model machine, then verify by experiment the correctness of principle and design analysis, its major defect has: interactivity and the visual ability of design and analysis phase; The work of design and analysis phase can not provide guidance for the experimental phase, the poor ductility between the different phase; The work of design iterations, analysis, advanced development, the research and development cycle is long, has high input, and the engineering application power is poor.
Summary of the invention
The present invention for solve the technical matters that exists in the known technology provide a kind of by rotary steering topworks is analyzed, analog simulation and debugging shorten the R﹠D cycle and reduce virtual machine real electric analogue system and the emulation mode of the rotary steering topworks of R﹠D costs.
The present invention for the technical scheme that solves the technical matters that exists in the known technology and take is: the virtual machine real electric analogue system of a kind of rotary steering topworks comprises industrial computer, electric control gear, measurement mechanism and rotary steering topworks; Described industrial computer comprises guiding emulator, data acquisition module and interface communication module, described electric control gear comprises motion control card and data collecting card, described measurement mechanism comprises the sensor group, and described rotary steering topworks comprises motor module and actuator module, wherein:
Described interface communication module is used for finishing the data communication between described industrial computer and the described electric control gear;
Described sensor group is used for the status signal of the described rotary steering of Real-time Collection topworks, and the signal that collects is sent to described data collecting card;
Described data collecting card, the analog signals that is used for described sensor group is uploaded converts digital quantity signal to, and sends a signal to described data acquisition module by described interface communication module;
Described data acquisition module is used for reception and processing from the signal of described data collecting card, and sends digital signal to described guiding emulator;
Described guiding emulator, be used for finishing the emulation that described rotary steering topworks guiding is crept into, it receives the signal from described data acquisition module, transmit control signal well track information simultaneously to described motion control card by described interface communication module according to showing after the predetermined algorithm computing;
Described motion control card is used for driving described motor module work;
Described motor module comprises two servomotors, is used for driving described actuator module work;
Described actuator module is used for the axle in the rotary steering topworks is setovered, and realizes leading and creeps into.
Further, described rotary steering topworks is quiescent biasing directional type rotary steering topworks.
Further, described motion control card is multiaxis programmable movements control card, and realizes data interaction with LabVIEW.
Further, described actuator module comprises a cover fewer differential teeth planetary train, and described fewer differential teeth planetary is taken turns rotation and the revolution that realizes planetary gear under the driving that ties up to described two servomotors, thereby drives the axle motion, and axle is setovered.
The present invention also provides the virtual machine real electric emulation mode of a kind of rotary steering topworks, comprises the steps:
1) principle of work of analysis rotary steering topworks is determined the relation between the parameter, adopts MATLAB software to set up corresponding mathematical model;
2) adopt SolidWorks software to set up the three-dimensional model of rotary steering topworks;
3) adopt LabVIEW software, with step 1) mathematical model and the step 2 of gained) three-dimensional model of gained carries out relatedly, sets up the virtual Dynamic Simulation Model of described guiding emulator;
4) described guiding emulator is carried out virtual machine real electric artificial debugging and correction.
11) adopt MATLAB software to set up mathematical model, the mathematical model that comprises hole drift angle and the position angle Relations Among of rotary steering topworks axle center displacement vector and drilled wellbore trajectories, the mathematical model of the corner Relations Among of rotary steering topworks axle center displacement vector and described two servomotors, the mathematical model of the deviation between desirable well track and the drilled wellbore trajectories and rotary steering topworks axle center displacement vector Relations Among;
12) with coordinate figure, hole drift angle and the position angle input steerable drilling database of well track, calculate rate of deviation change and the Tool Face Angle of rotary steering topworks corresponding to trajectory parameters;
13) calculate the biasing amplitude of rotary steering topworks inner axis of heart and the phase place of setovering according to guiding principle and structural parameters;
14) according to default rotary steering topworks axle biasing amplitude and biasing phase place and the revolution angle of the expert star-wheel of described fewer differential teeth planetary train and the mathematical function relationship of angle of rotation, calculate angle of rotation and the revolution angle of described planetary gear;
15) go out the corner of described two servomotors according to the gear ratio calculation of described fewer differential teeth planetary train.
Step 2 wherein) specifically comprises the steps:
21) in SolidWorks software, set up the 3D model of each parts;
22) parts are assembled, generate entire assembly model;
23) assembly is carried out interference checking, if there is interference, then re-start the generation of entire assembly model; If there is not interference, then the 3D entire assembly model is added to SolidWorks Motion module;
24) in SolidWorks Motion module, entire assembly model is defined motor and sensor.
Step 3 wherein) specifically comprises the steps:
31) the control parameter that calculates of MATLAB software is preserved with the TXT text formatting, and is read by LabVIEW software;
32) LabVIEW software drives the 3D assembling model motion in the SolidWorks software Motion module according to the control parameter that reads, and realizes analog simulation;
33) motion conditions of the virtual-sensor Real-Time Monitoring 3D entire assembly model among the SolidWorks Motion, and Monitoring Data is transferred to LabVIEW software front panel;
34) LabVIEW software carries out correlation analysis with the preservation of TXT text formatting with the result of analog simulation, and is read by MATLAB software, thereby draws out the simulation well track of rotary steering topworks in the analog simulation process in MATLAB software.
Step 4 wherein) specifically comprises the steps:
41) described guiding emulator sends the drive and control of electric machine instruction consistent with virtual emulation through described interface communication module to described motion control card when carrying out virtual emulation;
42) described motion control card receives the drive and control of electric machine instruction, drives described motor module and realizes given rotation, makes described actuator module action;
43) described actuator module realizes rotation and the revolution of described planetary gear, thereby axle is setovered under the driving of described motor module;
44) status signal of described sensor group Real-time Collection rotary steering topworks, and the signal that collects transferred to described data collecting card;
45) described data collecting card converts the analog signals that receives to digital quantity signal, and digital quantity signal is transferred to described data acquisition module by described interface communication module;
46) described data acquisition module transfers to described guiding emulator after the signal that receives is processed;
47) described guiding emulator will receive the actual working state signal of rotary steering topworks, compare with the dummy model signal, revise realistic model.
Advantage and good effect that the present invention has are: the design and analysis of rotary steering topworks, debugging and experiment are integrated in the unified virtual environment, utilize the design of computing machine completion system, and develop based on MATLAB software, LabVIEW software and SolidWorks software unite the guiding emulator, to rotary steering topworks analyze, analog simulation and debugging; Simultaneously, the guiding emulator of developing can directly drive real mechanical system, and the working order of true mechanical system and realistic model are consistent, and both obtain same control effect; Utilize simultaneously virtual reality technology in unified virtual environment, to finish design and analysis, debugging and the analog simulation of rotary steering topworks, have preferably interactivity and stronger visual ability in whole process, and can provide guidance for the experimental phase, ductility between the different phase is strong, whole process does not need to carry out the trial-production of model machine simultaneously, just can carry out various analysis verifications and debugging work, be not subjected to the impact in place, by design and analysis, debugging and analog simulation are combined, shortened the construction cycle of product; In the experimental phase, the guiding emulator of developing can directly drive the running of the true mechanical decorum, extra drive arrangements and programming to true mechanical system experimentation have been avoided, simultaneously, in true mechanical system operation process, virtual model emulation carries out synchronously and is consistent, and realizes the perfect adaptation of virtual machine real electric, by motion conditions more between the two, dummy model and true mechanical system are carried out suitable debugging; This invention can be applied to other rotary steering topworkies, such as design and analysis, debugging and the experiment of pushing type rotary steering topworks.
Description of drawings
Fig. 1 is the structured flowchart of the virtual machine real electric analogue system of rotary steering of the present invention topworks;
Fig. 2 is the workflow diagram of the virtual machine real electric emulation mode of rotary steering of the present invention topworks.
Fig. 3 is the software realization flow figure of the virtual machine real electric emulation mode of rotary steering of the present invention topworks.
Embodiment
For further understanding summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and cooperate accompanying drawing to be described in detail as follows:
See also Fig. 1, one of embodiments of the invention provide the virtual machine real electric analogue system of a kind of rotary steering topworks, comprise industrial computer, electric control gear, measurement mechanism and rotary steering topworks; Described industrial computer comprises guiding emulator, data acquisition module and interface communication module, described electric control gear comprises motion control card and data collecting card, described measurement mechanism comprises the sensor group, and described rotary steering topworks comprises motor module and actuator module, wherein:
Described interface communication module is used for finishing the data communication between described industrial computer and the described electric control gear;
Described sensor group is used for the status signal of the described rotary steering of Real-time Collection topworks, and the signal that collects is sent to described data collecting card;
Described data collecting card, the analog signals that is used for described sensor group is uploaded converts digital quantity signal to, and sends a signal to described data acquisition module by described interface communication module;
Described data acquisition module is used for reception and processing from the signal of described data collecting card, and sends digital signal to described guiding emulator;
Described guiding emulator, be used for finishing the emulation that described rotary steering topworks guiding is crept into, it receives the signal from described data acquisition module, transmit control signal well track information simultaneously to described motion control card by described interface communication module according to showing after the predetermined algorithm computing;
Described motion control card is used for driving described motor module work;
Described motor module comprises two servomotors, is used for driving described actuator module work;
Described actuator module is used for the axle in the rotary steering topworks is setovered, and realizes leading and creeps into.
Further, described rotary steering topworks can be quiescent biasing directional type rotary steering topworks.
Preferably, described motion control card can be multiaxis programmable movements control card, and can realize data interaction with LabVIEW.
Preferably, described guiding execution module can comprise a cover fewer differential teeth planetary train, and described fewer differential teeth planetary is taken turns rotation and the revolution that realizes expert star-wheel under the driving that ties up to described two servomotors, thereby drives the axle motion, and axle is setovered.Described two optional DC servo motor of servomotor.
Wherein said guiding emulator is take LabVIEW software as main body, by LabVIEW SoftMotion module, and associating SolidWorks software and MATLAB software and develop.
Please refer to Fig. 2 and Fig. 3, an alternative embodiment of the invention provides the virtual machine real electric emulation mode of a kind of rotary steering topworks, comprises the steps:
1) principle of work of analysis rotary steering topworks is determined the relation between the parameter, adopts MATLAB software to set up corresponding mathematical model;
2) adopt SolidWorks software to set up the three-dimensional model of rotary steering topworks;
3) adopt LabVIEW software, with step 1) mathematical model and the step 2 of gained) three-dimensional model of gained carries out relatedly, sets up the virtual Dynamic Simulation Model of described guiding emulator;
4) described guiding emulator is carried out virtual machine real electric artificial debugging and correction.
11) adopt MATLAB software to set up mathematical model, the mathematical model that comprises hole drift angle and the position angle Relations Among of rotary steering topworks axle center displacement vector and drilled wellbore trajectories, the mathematical model of the corner Relations Among of rotary steering topworks axle center displacement vector and described two servomotors, the mathematical model of the deviation between desirable well track and the drilled wellbore trajectories and rotary steering topworks axle center displacement vector Relations Among;
12) with coordinate figure, hole drift angle and the position angle input steerable drilling database of well track, calculate rate of deviation change and the Tool Face Angle of rotary steering topworks corresponding to trajectory parameters;
13) calculate the biasing amplitude of rotary steering topworks inner axis of heart and the phase place of setovering according to guiding principle and structural parameters;
14) according to default rotary steering topworks axle biasing amplitude and biasing phase place and the revolution angle of the expert star-wheel of described fewer differential teeth planetary train and the mathematical function relationship of angle of rotation, calculate angle of rotation and the revolution angle of described planetary gear;
15) go out the corner of described two servomotors according to the gear ratio calculation of described fewer differential teeth planetary train.
Step 2 wherein) specifically comprises the steps:
21) in SolidWorks software, set up the 3D model of each parts;
22) parts are assembled, generate entire assembly model;
23) assembly is carried out interference checking, if there is interference, then re-start the generation of entire assembly model; If there is not interference, then the 3D entire assembly model is added to SolidWorks Motion module;
24) in SolidWorks Motion module, entire assembly model is defined motor and sensor.
Step 3 wherein) specifically comprises the steps:
31) the control parameter that calculates of MATLAB software is preserved with the TXT text formatting, and is read by LabVIEW software;
32) LabVIEW software drives the 3D assembling model motion in the SolidWorks software Motion module according to the control parameter that reads, and realizes analog simulation, and concrete steps are:
A) build the following project of finishing at the LabVIEW software platform: establishment project, creation procedure block diagram, establishment front panel, definition control algolithm, establishment execute file, analog simulation and analysis etc.;
B) add the SolidWorks model to the LabVIEW project and add the LabVIEW algorithm to the LabVIEW project,
C) carry out operation associated to SolidWorks and LabVIEW;
D) create fantasy sport axle and coordinate system;
E) the related driving and sensor;
F) be confirmed whether to configure fully, if fully configuration then carry out the motion resource deployment, and create execute file at the LabVIEW software platform, if not exclusively configuration then at SolidWorks software platform definition motor and sensor;
33) motion conditions of the virtual-sensor Real-Time Monitoring 3D entire assembly model among the SolidWorks Motion, and Monitoring Data is transferred to LabVIEW software front panel;
34) LabVIEW software carries out correlation analysis with the preservation of TXT text formatting with the result of analog simulation, and is read by MATLAB software, thereby draws out the simulation well track of rotary steering topworks in the analog simulation process in MATLAB software.
Step 4 wherein) specifically comprises the steps:
41) described guiding emulator sends the drive and control of electric machine instruction consistent with virtual emulation through described interface communication module to described motion control card when carrying out virtual emulation;
42) described motion control card receives the drive and control of electric machine instruction, drives described motor module and realizes given rotation, makes described actuator module action;
43) described actuator module realizes rotation and the revolution of described planetary gear, thereby axle is setovered under the driving of described motor module;
44) status signal of described sensor group Real-time Collection rotary steering topworks, and the signal that collects transferred to described data collecting card;
45) described data collecting card converts the analog signals that receives to digital quantity signal, and digital quantity signal is transferred to described data acquisition module by described interface communication module;
46) described data acquisition module transfers to described guiding emulator after the signal that receives is processed;
47) described guiding emulator will receive the actual working state signal of rotary steering topworks, compare with the dummy model signal, revise realistic model.
Guiding emulator of the present invention is take LabVIEW software as main body, by LabVIEW SoftMotion module, and associating SolidWorks software and MATLAB software and develop.
Although the above is described the preferred embodiments of the present invention by reference to the accompanying drawings; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment only is schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away from the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within protection scope of the present invention.
Claims (9)
1. the virtual machine real electric analogue system of a rotary steering topworks is characterized in that, comprises industrial computer, electric control gear, measurement mechanism and rotary steering topworks; Described industrial computer comprises guiding emulator, data acquisition module and interface communication module, described electric control gear comprises motion control card and data collecting card, described measurement mechanism comprises the sensor group, and described rotary steering topworks comprises motor module and actuator module, wherein:
Described interface communication module is used for finishing the data communication between described industrial computer and the described electric control gear;
Described sensor group is used for the status signal of the described rotary steering of Real-time Collection topworks, and the signal that collects is sent to described data collecting card;
Described data collecting card, the analog signals that is used for described sensor group is uploaded converts digital quantity signal to, and sends a signal to described data acquisition module by described interface communication module;
Described data acquisition module is used for reception and processing from the signal of described data collecting card, and sends digital signal to described guiding emulator;
Described guiding emulator, be used for finishing the emulation that described rotary steering topworks guiding is crept into, it receives the signal from described data acquisition module, transmit control signal well track information simultaneously to described motion control card by described interface communication module according to showing after the predetermined algorithm computing;
Described motion control card is used for driving described motor module work;
Described motor module comprises two servomotors, is used for driving described actuator module work;
Described actuator module is used for the axle in the rotary steering topworks is setovered, and realizes leading and creeps into.
2. the virtual machine real electric analogue system of rotary steering according to claim 1 topworks is characterized in that, described rotary steering topworks is quiescent biasing directional type rotary steering topworks.
3. the virtual machine real electric analogue system of rotary steering according to claim 1 topworks is characterized in that, described motion control card is multiaxis programmable movements control card, and realizes data interaction with LabVIEW.
4. the virtual machine real electric analogue system of rotary steering according to claim 1 topworks, it is characterized in that, described actuator module comprises a cover fewer differential teeth planetary train, described fewer differential teeth planetary is taken turns rotation and the revolution that realizes planetary gear under the driving that ties up to described two servomotors, thereby drive the axle motion, axle is setovered.
5. the virtual machine real electric emulation mode of a rotary steering topworks is characterized in that, comprises the steps:
1) principle of work of analysis rotary steering topworks is determined the relation between the parameter, adopts MATLAB software to set up corresponding mathematical model;
2) adopt SolidWorks software to set up the three-dimensional model of rotary steering topworks;
3) adopt LabVIEW software, with step 1) mathematical model and the step 2 of gained) three-dimensional model of gained carries out relatedly, sets up the virtual Dynamic Simulation Model of described guiding emulator;
4) described guiding emulator is carried out virtual machine real electric artificial debugging and correction.
6. the virtual machine real electric emulation mode of rotary steering according to claim 5 topworks is characterized in that, wherein step 1) specifically comprise the steps:
11) adopt MATLAB software to set up mathematical model, the mathematical model that comprises hole drift angle and the position angle Relations Among of rotary steering topworks axle center displacement vector and drilled wellbore trajectories, the mathematical model of the corner Relations Among of rotary steering topworks axle center displacement vector and described two servomotors, the mathematical model of the deviation between desirable well track and the drilled wellbore trajectories and rotary steering topworks axle center displacement vector Relations Among;
12) with coordinate figure, hole drift angle and the position angle input steerable drilling database of well track, calculate rate of deviation change and the Tool Face Angle of rotary steering topworks corresponding to trajectory parameters;
13) calculate the biasing amplitude of rotary steering topworks inner axis of heart and the phase place of setovering according to guiding principle and structural parameters;
14) according to default rotary steering topworks axle biasing amplitude and biasing phase place and the revolution angle of the expert star-wheel of described fewer differential teeth planetary train and the mathematical function relationship of angle of rotation, calculate angle of rotation and the revolution angle of described planetary gear;
15) go out the corner of described two servomotors according to the gear ratio calculation of described fewer differential teeth planetary train.
7. the virtual machine real electric emulation mode of rotary steering according to claim 5 topworks is characterized in that, wherein step 2) specifically comprise the steps:
21) in SolidWorks software, set up the 3D model of each parts;
22) parts are assembled, generate entire assembly model;
23) assembly is carried out interference checking, if there is interference, then re-start the generation of entire assembly model; If there is not interference, then the 3D entire assembly model is added to SolidWorks Motion module;
24) in SolidWorks Motion module, entire assembly model is defined motor and sensor.
8. the virtual machine real electric emulation mode of rotary steering according to claim 5 topworks is characterized in that, wherein step 3) specifically comprise the steps:
31) the control parameter that calculates of MATLAB software is preserved with the TXT text formatting, and is read by LabVIEW software;
32) LabVIEW software drives the 3D assembling model motion in the SolidWorks software Motion module according to the control parameter that reads, and realizes analog simulation;
33) motion conditions of the virtual-sensor Real-Time Monitoring 3D entire assembly model among the SolidWorks Motion, and Monitoring Data is transferred to LabVIEW software front panel;
34) LabVIEW software carries out correlation analysis with the preservation of TXT text formatting with the result of analog simulation, and is read by MATLAB software, thereby draws out the simulation well track of rotary steering topworks in the analog simulation process in MATLAB software.
9. the virtual machine real electric emulation mode of rotary steering according to claim 5 topworks is characterized in that, wherein step 4) specifically comprise the steps:
41) described guiding emulator sends the drive and control of electric machine instruction consistent with virtual emulation through described interface communication module to described motion control card when carrying out virtual emulation;
42) described motion control card receives the drive and control of electric machine instruction, drives described motor module and realizes given rotation, makes described actuator module action;
43) described actuator module realizes rotation and the revolution of described planetary gear, thereby axle is setovered under the driving of described motor module;
44) status signal of described sensor group Real-time Collection rotary steering topworks, and the signal that collects transferred to described data collecting card;
45) described data collecting card converts the analog signals that receives to digital quantity signal, and digital quantity signal is transferred to described data acquisition module by described interface communication module;
46) described data acquisition module transfers to described guiding emulator after the signal that receives is processed;
47) described guiding emulator will receive the actual working state signal of rotary steering topworks, compare with the dummy model signal, revise realistic model.
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