CN112459721A - Fault diagnosis method and device for rotary steering drilling tool measurement and control system and application - Google Patents

Fault diagnosis method and device for rotary steering drilling tool measurement and control system and application Download PDF

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CN112459721A
CN112459721A CN202110146212.0A CN202110146212A CN112459721A CN 112459721 A CN112459721 A CN 112459721A CN 202110146212 A CN202110146212 A CN 202110146212A CN 112459721 A CN112459721 A CN 112459721A
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王伟亮
耿艳峰
程民彪
盛立
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China University of Petroleum East China
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
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    • E21B7/00—Special methods or apparatus for drilling
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
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Abstract

The invention relates to a fault diagnosis method, a device and an application of a measurement and control system of a rotary steering drilling tool, wherein the fault diagnosis method comprises the following specific steps: s1, judging whether the measurement and control system has a fault according to the collected motor current, the motor rotating speed, the gyroscope measuring value and the tool face angle, if not, continuing to judge, and if so, executing the step S2; s2, judging the current working condition, if the current working condition is a continuous drilling working condition, dynamically separating the sensor faults, and positioning the positions of the fault sensors; if the working condition is the drill stopping working condition, performing sensor fault verification and positioning the position of a fault sensor; and S3, reconstructing the measurement information of the fault sensor according to the position of the fault sensor. The invention can automatically diagnose the fault of the rotary steering drilling tool sensor, automatically position the faulty sensor and automatically switch to the corresponding reconstruction scheme, thereby improving the reliability of the measurement and control system and being beneficial to improving the drilling efficiency.

Description

Fault diagnosis method and device for rotary steering drilling tool measurement and control system and application
Technical Field
The invention belongs to the technical field of oil field drilling, relates to a drilling tool measurement technology, and particularly relates to a fault diagnosis method, a fault diagnosis device and application of a rotary steering drilling tool measurement and control system.
Background
In the oil directional drilling technology, the method can be divided into a push type and a directional type according to different guiding modes, and each guiding mode can be divided into a static type and a dynamic type according to whether a drill collar rotates or not, so that four rotary steering drilling technologies are combined. The dynamic directional rotary steering system realizes the closed-loop control of the tool face angle, and the principle is as follows: a stable platform controlled by a motor to rotate is designed in the rotary steering drilling tool, and under the assistance of a high-precision measurement and control system, the stable platform can keep static to the ground at any angular position in the drill collar, so that the control of a tool face angle is realized. The measurement and control system of the rotary steering drilling tool comprises a motor measurement and control system and a tool face angle measurement and control system, wherein in the motor measurement and control system, a current sensor acquires three-phase current of a motor, and a rotary transformer acquires an angular position of a motor rotor and a rotating speed of the motor; in the tool face angle measurement and control system, high-precision tool face angle dynamic measurement values are obtained by fusing measurement data of an accelerometer and a gyroscope.
The measurement and control system realizes high-precision control, increases the complexity of the system, reduces the reliability of the system to a certain extent, and particularly improves the failure rate of devices when a drilling tool works in a severe environment with high temperature, high pressure and strong vibration for a long time in the field of petroleum drilling. If the instrument breaks down in the pit, the drilling precision is influenced slightly, and if the instrument breaks down in the pit, the drilling maintenance causes huge economic loss and even causes accidents. The reliability of drilling tools has become a critical issue that limits the increase in drilling efficiency and the reduction in drilling costs. The measurement and control system of the rotary steering drilling tool is a core component for normal work of the dynamic directional rotary steering drilling tool, and the reliability of the measurement and control system is very important. Therefore, it is necessary to develop and design a dynamic directional rotary steerable drilling tool measurement and control system and method with high reliability.
Chinese patent application publication No. CN110107281A discloses a drill collar attitude measurement method based on actual sensor data acquisition, which includes the following steps: (a) according to the movement process of the drill collar and the data characteristics of the sensor, low-pass filtering is carried out on the accelerometer data; (b) estimating accelerometer zero offset using drill collar stationary time data; (c) compensating the zero offset of the accelerometer according to the result of the step (b), and correcting the output of the accelerometer in the rotary motion stage of the drill collar; (d) calculating the projection of the magnetic tool face angle and gravity of the drill collar under the corresponding time sequence on the drill collar; (e) the well deviation tool face angle and the well deviation angle in the corresponding time series are calculated. The patent application can improve the resolving stability of the face angle of the drill collar magnetic tool, the well inclination angle and the well inclination tool face angle. But has the disadvantages that: 1. an accelerometer and a fluxgate are respectively adopted to measure a gravity tool face angle and a magnetic tool face angle, but the spatial layout mode of a sensor is not published; 2. in the disclosed drill collar attitude measurement system, reliability is not considered.
Chinese patent No. CN105180889B discloses a dynamic rotation attitude measurement device and method for drilling, the device includes: the suspension paddle comprises a suspension paddle and a pressure-resistant cylinder, wherein a power panel, a circuit board, a magnetic sensor, an accelerometer and a gyroscope are arranged in the pressure-resistant cylinder. Firstly, measuring earth magnetic field components, earth gravity components and the rotating speed of the whole device respectively through a magnetic sensor, an accelerometer and a gyroscope, and converting physical input collected by each sensor into voltage output; then removing a harmful acceleration item from the output item of the accelerometer according to the installation error coefficient and the rotating speed obtained by the gyroscope, and realizing error compensation; and then calculating the dynamic rotation attitude of the drilling well according to the earth magnetic field and the earth gravity data acquired by the accelerometer and the magnetic sensor. The patent can measure the drilling attitude in the dynamic rotation state, namely the borehole inclination angle and the borehole inclination azimuth angle in the dynamic rotation state, but has the defects that: 1. a method for measuring the face angle of a gravity tool is not disclosed; 2. the gyroscope, the acceleration sensor and the magnetic sensor are adopted to measure the underground attitude, and the reliability problem of a measuring system is not considered.
Chinese patent No. CN107515001B, granted publication, discloses a dynamic measurement method and device for a gravity tool face angle of a rotary guide stabilized platform, which adopts a dual accelerometer, a three-axis fluxgate sensor and a gyroscope to measure corresponding acceleration, magnetic field and angular velocity data when the stabilized platform moves, after pre-filtering, automatically judges sensor faults and switches to a corresponding resolving method to resolve the gravity tool face angle when different working conditions and different sensor faults occur, thereby achieving measurement of the gravity tool face angle and improving the 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, so that the measured value of the surface angle of the gravity tool is more accurate. This patent uses a combination of dual triaxial gravity accelerometers, gyroscopes and fluxgates to measure the toolface angle and gives a back-up measurement scheme for toolface angle in the event of sensor failure. But the method has the following disadvantages: 1. no specific method for detecting and separating the faults of the tool face angle measuring sensor is given; 2. only a reliability measuring method when a sensor in a tool face angle measuring system fails is considered, and the reliability problem of a motor control system in a rotary steering measurement and control system is not considered.
The method for measuring the tool face angle by the gravity accelerometer is analyzed in the literature (Liu self-care, Severe health, Kangsi people, and the like, a method for measuring redundant attitude of a guiding drilling tool and reconstructing a system [ J ]. Petroleum institute, 2015, 36(11): 1433-. The method has the following disadvantages: the two groups of non-orthogonal four-axis gravity accelerometers are consistent in spatial installation direction, even if measurement data of eight axes can be obtained, the fault-tolerant measurement capability is low due to small spatial layout complexity, the fault detection and separation method is simple, and fault false alarm or false alarm is easy to occur.
Disclosure of Invention
Aiming at the problems of poor reliability and the like of the existing rotary steering drilling tool measuring system, the invention provides the fault diagnosis method, the fault diagnosis device and the application of the rotary steering drilling tool measuring and controlling system with high reliability, which can improve the accuracy of fault detection, further improve the drilling efficiency and reduce the drilling cost.
In order to achieve the aim, the invention provides a fault diagnosis method of a measurement and control system of a rotary steering drilling tool, which comprises the following specific steps:
s1, judging whether the measurement and control system has a fault according to the collected motor current, the motor rotating speed, the gyroscope measuring value and the tool face angle, if not, continuing to judge, and if so, executing the step S2;
s2, judging the current working condition, if the current working condition is a continuous drilling working condition, dynamically separating the sensor faults, and positioning the positions of the fault sensors; if the working condition is the drill stopping working condition, performing sensor fault verification and positioning the position of a fault sensor;
and S3, reconstructing the measurement information of the fault sensor according to the position of the fault sensor.
Preferably, in step S1, the specific step of determining whether the measurement and control system has a fault is:
according to the motor current, the motor rotating speed, the gyroscope measured value and the tool face angle, a mathematical model of the measurement and control system is constructed, and the mathematical model of the measurement and control system is expressed as follows:
Figure 686947DEST_PATH_IMAGE001
（1）
in the formula (I), the compound is shown in the specification,
Figure 322197DEST_PATH_IMAGE002
in order to measure and control the state quantity of the system,u(t) In order to measure and control the control quantity of the system,d(t) In order to measure and control unknown input quantities in the system,y(t) The measurement and control system measures the output quantity,
Figure 570775DEST_PATH_IMAGE003
；ẋ(t) Is composed ofx(t) A derivative of (a);
Figure 434826DEST_PATH_IMAGE004
，
Figure 452461DEST_PATH_IMAGE005
，
Figure 491567DEST_PATH_IMAGE006
，
Figure 696284DEST_PATH_IMAGE007
are coefficient matrices;i q is composed ofd-qMotor under coordinate systemqThe current of the shaft is measured by the current sensor,ω m the number of revolutions of the motor is,ω g in order to take the measurements of the gyroscope,φin order to be the face angle of the tool,R s is the resistance of the stator and is,L q =L d =Lto representd,qThe stator on the shaft is equivalent to the inductance,K m is the torque coefficient of the motor and is,μis the coefficient of the stick-slip friction,ψ f in order to provide a magnetic linkage of the rotor,Jis the moment of inertia of the rotor and,T L is the torque of the load, and,P n is the number of pole pairs of the motor,λ、ηis a unit transform coefficient;
constructing a fault detection observer based on the measurement and control system model, wherein the fault detection observer is expressed as:
Figure 82135DEST_PATH_IMAGE008
（2）
in the formula, for the fault detection observer state variable,
Figure 150902DEST_PATH_IMAGE010
for estimating the state quantity of the measurement and control system and for estimating the measurement output of the measurement and control system,
Figure 65079DEST_PATH_IMAGE012
is a 4 x 1 real number matrix,ż(t) Is composed ofz(t) A derivative of (a);R、P、His a matrix of fault detection observers, wherein,Q=E[(CE) T CE]-1(CE) T ，R=(I-QC)A-P 1 C，P=P 1+P 2，P 2=RQ，P 1designing a matrix to be designed according to actual requirements;Iis an identity matrix;
defining the residual error system as:
Figure 791727DEST_PATH_IMAGE013
（3）
in the formula (I), the compound is shown in the specification,
Figure 939680DEST_PATH_IMAGE014
in order to measure and control the system residual error,
Figure 384568DEST_PATH_IMAGE015
is composed ofd-qMotor under coordinate systemqThe residual of the axis current is the difference between the axis current,
Figure 862954DEST_PATH_IMAGE016
is the residual error of the rotating speed of the motor,
Figure 463350DEST_PATH_IMAGE017
is the residual error of the gyroscope measurement,
Figure 1778DEST_PATH_IMAGE018
is the residual error of the tool face angle;
and processing the residual vector, and judging whether the measurement and control system has a fault according to whether the residual processing result exceeds a set threshold value.
Preferably, in step S2, the specific steps for performing dynamic separation of sensor faults include:
selecting any three of four measurement values contained in the mathematical model output vector of the measurement and control system to form a measurement subsystem, namely:
Figure 183230DEST_PATH_IMAGE019
（4）
in the formula (I), the compound is shown in the specification,y 1、y 2、y 3、y 4is a measurement subsystem;
for measurement subsystemsy 1Building fault detection observerOb1, for the measurement subsystemy 2Building fault detection observerOb2, for the measurement subsystemy 3Building fault detection observerOb3, for the measurement subsystemy 4Building fault detection observerOb4；
Defining the state that the residual error processing result of the fault detection observer exceeds the set threshold value as 1 and the state that the residual error processing result does not exceed the set threshold value as 0, and detecting the observer according to the fault after the faultOb1. Fault detection observerOb2. Fault detection observerOb3. Fault detection observerOb4, making a fault decision table according to the fault detection result, performing primary separation on the fault sensor according to the fault decision table, and positioning the fault to the faults of the motor current sensor, the motor rotating speed sensor, the gyroscope and the accelerometer;
by usingα-βSeparating a fault motor current sensor by a coordinate transformation method, and positioning a fault to the fault of the current sensor of a certain phase motor; and (4) separating the fault accelerometer by adopting an odd-even equation method, and positioning the fault to a sensitive axis of the accelerometer.
Preferably, use is made ofα-βThe specific steps of separating the fault motor current sensor by the coordinate transformation method are as follows:
two-phase rotating coordinate system for motorα-βIs rotated so thatαAxes being associated with three-phase coordinate systems, respectivelya,b,cThree axes coincide to obtain a coordinate system 1, a coordinate system 2 and a coordinate system 3, and the following redundant measurement relations are obtained under the three coordinate systems:
Figure 199727DEST_PATH_IMAGE020
（5）
in the formula (I), the compound is shown in the specification,i a 、i b 、i c respectively measured values of current sensors of a three-phase motor of the motor, namely the motorCurrent control loopi d Is a motor current control loopi q The setting value of (a) is set,
Figure 514930DEST_PATH_IMAGE023
in a coordinate systemnResolved by three-phase currentαAxial current in a coordinate systemnFor use under
Figure 140133DEST_PATH_IMAGE025
Solved forαThe current of the shaft is measured by the current sensor,θis the electrical angle of the motor rotor;
defining residual errors
Figure 551522DEST_PATH_IMAGE026
Expressed as:
Figure 940522DEST_PATH_IMAGE027
（6）
from residual error
Figure 829981DEST_PATH_IMAGE028
And if the current sensor deviates from the 0 value, separating the current sensor of the fault motor, and positioning the fault to the fault of the current sensor of a certain phase motor.
Preferably, the method for separating the faulty accelerometer by using the parity equation comprises the following specific steps:
the measurement equations for the 6 sensitive axes of the two accelerometers are:
Figure 505813DEST_PATH_IMAGE029
（7）
in the formula (I), the compound is shown in the specification,Ma matrix of measurements for six axes of the accelerometer array,m 1、m 2、m 3、m 4、m 5、m 6is the sensitive axis of the accelerometer and is,a x in-carrier coordinate system for gravityxThe component on the axis of the light beam,a y in-carrier coordinate system for gravityyComponent on axis，a z In-carrier coordinate system for gravityzThe component on the axis of the light beam,His a measurement matrix of an accelerometer group consisting of a first accelerometer and a second accelerometer,
Figure 71792DEST_PATH_IMAGE030
；
a parity equation set is constructed from the measurement equations, expressed as:
Figure 465864DEST_PATH_IMAGE031
（8）
in the formula (I), the compound is shown in the specification,
Figure 893435DEST_PATH_IMAGE032
；
let the parity equationK i =0,iState 0 when =1,2, … 6,K i ≠0,ithe state is 1 when =1,2 and … 6, and an accelerometer fault separation truth table is constructed;
and after the accelerometer has a fault, positioning the sensitive axis of the acceleration fault corresponding to the fault separation truth table of the accelerometer according to the state of the parity equation.
Preferably, under the continuous drilling condition, the method for reconstructing the measurement information of the fault sensor according to the position of the fault sensor comprises the following steps:
for the fault of the motor current sensor, cutting off a fault phase measurement signal, and calculating a fault phase current by using a normal two-phase current measurement value according to a kirchhoff current law;
aiming at the faults of the motor speed sensor, a position-loop-free control mode is adopted for motor control;
cutting off a gyroscope measurement signal aiming at a gyroscope fault, and calculating a tool face angle by using an accelerometer;
for accelerometer failure, the failed axis is removed, and the measurement equation of the accelerometer is reconstructed using the other axes, expressed as:
Figure 174505DEST_PATH_IMAGE033
（9）
in the formula (I), the compound is shown in the specification,H f for measuring matricesHThe matrix behind the row and column where the failed axis is located is removed,M f the matrix is measured for the accelerometer group after the failed axis is removed.
Preferably, the method for verifying the sensor fault and reconstructing the measurement information of the fault sensor according to the position of the fault sensor under the condition of drill stopping comprises the following steps: comparing a gyroscope measured value with a motor rotating speed set value, if the gyroscope measured value cannot track the motor rotating speed set value, confirming that a gyroscope fault occurs, obtaining a fault form according to a difference value between the gyroscope measured value and the motor rotating speed set value, abandoning the gyroscope measured value under the condition of complete failure fault, and reconstructing the gyroscope measured value in a reverse compensation mode under the condition of non-complete failure fault; if the measured value of the gyroscope tracks the set value of the rotating speed of the motor, the gyroscope has no fault, the fault of the accelerometer is verified by adopting an odd-even equation method, the sensitive axis of the accelerometer with the fault is separated after the fault of the accelerometer is confirmed, and the measured value of the accelerometer is reconstructed by adopting the measured data of other sensitive axes of the accelerometer.
In order to achieve the above object, the present invention also provides a failure diagnosis apparatus including:
the data interaction unit is used for acquiring the measurement information of the sensor;
the fault detection unit is connected with the data interaction unit and is used for detecting whether the sensor has faults or not according to the acquired measurement information;
the working condition monitoring unit is connected with the fault detection unit and used for judging the current working condition according to the measurement information;
the fault static verification unit is connected with the working condition monitoring unit and is used for statically verifying the gyroscope fault and the accelerometer fault when the working condition is judged to be a drilling stop working condition;
the dynamic fault separation unit is connected with the working condition monitoring unit and used for positioning the position of the fault sensor when the working condition is judged to be a drilling working condition;
and the reconstruction unit is respectively connected with the data interaction unit, the fault static verification unit and the dynamic fault separation unit, reconstructs the measurement information of the fault sensor according to the positioned position of the fault sensor and sends the information to the data interaction unit.
In order to achieve the above object, the present invention further provides a measurement and control system for a rotary steerable drilling tool, comprising:
a stable platform;
the driving unit comprises a motor connected with the stable platform and a stable platform motor driving plate connected with the motor;
a sensor unit comprising:
the gyroscope is arranged on the surface of the stable platform, and the sensitive shaft of the gyroscope is parallel to the axis of the stable platform;
a first accelerometer mounted on the stabilized platform, whichxThe shaft is superposed with the axis of the stable platform,yaxes of axes and stable platformsyThe axes are parallel to each other and the axis is parallel,zaxes of axes and stable platformszThe axes are parallel;
a second accelerometer mounted on the stabilized platform and positioned to surround the first accelerometer in sequence at the position of the second accelerometerz-y-xEuler angle of shaft rotationc'Euler angleb'Euler anglea'The obtained mounting position;
the motor rotating speed sensor is arranged at the tail part of the motor and used for detecting the rotating speed of the motor;
the motor current sensor is arranged on the motor driving plate of the stable platform and used for detecting the motor current;
the data acquisition unit is respectively connected with the gyroscope, the first accelerometer, the second accelerometer, the motor speed sensor and the motor current sensor;
the tool face angle control unit is respectively connected with the data acquisition unit and the motor and is used for controlling an inverter bridge circuit of a motor driving plate of the stable platform to generate a PWM signal for controlling the rotation of the motor according to the deviation between the set value of the tool face angle and the acquired actual sensor measurement value;
and the fault diagnosis device is connected with the data acquisition unit and adopts the diagnosis device.
And the gyroscope, the first accelerometer and the second accelerometer are connected with the data acquisition unit through the stabilized platform data processor to filter the acquired measurement data.
Compared with the prior art, the invention has the advantages and positive effects that:
the invention can carry out autonomous fault diagnosis on the rotary steering drilling tool sensor, adopts a mode of combining continuous drilling working condition fault separation and drill stopping working condition fault verification according to different drilling working conditions, has high fault detection accuracy, can automatically position the faulty sensor and automatically switch to a corresponding reconstruction scheme, improves the reliability of a measurement and control system, is beneficial to improving the drilling efficiency and reducing the drilling cost, and saves the calculation resources of system hardware because the fault detection and the fault separation are carried out independently.
Drawings
FIG. 1 is a flow chart of a fault diagnosis method according to an embodiment of the present invention;
FIG. 2 is a flow chart of sensor fault isolation and reconfiguration under continuous drilling conditions according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating current sensor fault isolation according to an embodiment of the present inventionα-βA schematic diagram of coordinate transformation;
FIG. 4 is a flowchart illustrating fault verification and reconfiguration of a tool face angle sensor under a drill-stop condition according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating a fault diagnosis result according to an embodiment of the present invention;
fig. 6 is a control schematic diagram of the failure diagnosis apparatus according to the embodiment of the present invention;
FIG. 7 is a schematic diagram of a spatial layout of gyroscopes and accelerometers in a rotary steerable drilling tool measurement and control system according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a stabilized platform device in a measurement and control system of a rotary steerable drilling tool according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of an accelerometer mounting platform in a measurement and control system of a rotary steerable drilling tool according to an embodiment of the present invention;
FIG. 10 is a control schematic diagram of a steerable drilling tool measurement and control system according to an embodiment of the present invention.
In the figure, 1, a stable platform axis, 2, a first accelerometer mounting groove, 3, a line wiring groove, 4, a second accelerometer mounting groove, 5, an accelerometer mounting platform mounting plane, 6, a drill collar, 7, a motor rotating speed sensor, 8, a motor, 9, a supporting plate, 10, a conductive slip ring, 11, a coupler, 12, a stable platform, 13, a gyroscope mounting groove, 14, an accelerometer mounting platform mounting groove, 15, a stable platform fixed bearing, 16, a stable platform electronic bin, 17 and an accelerometer mounting platform axis.
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.
Example 1: the embodiment provides a fault diagnosis method for a measurement and control system of a rotary steering drilling tool, and referring to fig. 1, the method comprises the following specific steps:
and S1, judging whether the measurement and control system has a fault according to the collected motor current, the motor rotating speed, the gyroscope measuring value and the tool face angle, if not, continuing to judge, and if so, executing the step S2.
Specifically, the specific steps of judging whether the measurement and control system fails are as follows:
according to the motor current, the motor rotating speed, the gyroscope measured value and the tool face angle, a mathematical model of the measurement and control system is constructed, and the mathematical model of the measurement and control system is expressed as follows:
Figure 662119DEST_PATH_IMAGE034
（1）
in the formula (I), the compound is shown in the specification,
Figure 277908DEST_PATH_IMAGE002
in order to measure and control the state quantity of the system,u(t) In order to measure and control the control quantity of the system,d(t) In order to measure and control unknown input quantities in the system,y(t) The measurement and control system measures the output quantity,
Figure 24016DEST_PATH_IMAGE003
；ẋ(t) Is composed ofx(t) A derivative of (a);
Figure 408861DEST_PATH_IMAGE035
，
Figure 67375DEST_PATH_IMAGE036
，
Figure 912404DEST_PATH_IMAGE037
，
Figure 681777DEST_PATH_IMAGE038
are coefficient matrices;i q is composed ofd-qMotor under coordinate systemqThe current of the shaft is measured by the current sensor,ω m the number of revolutions of the motor is,ω g in order to take the measurements of the gyroscope,φin order to be the face angle of the tool,R s is the resistance of the stator and is,L q =L d =Lto representd,qThe stator on the shaft is equivalent to the inductance,K m is the torque coefficient of the motor and is,μis the coefficient of the stick-slip friction,ψ f in order to provide a magnetic linkage of the rotor,Jis the moment of inertia of the rotor and,T L is the torque of the load, and,P n is the number of pole pairs of the motor,λ、ηis a unit transform coefficient;
constructing a fault detection observer based on the measurement and control system model, wherein the fault detection observer is expressed as:
Figure 452286DEST_PATH_IMAGE039
（2）
in the formula, for the fault detection observer state variable,
Figure 590193DEST_PATH_IMAGE040
the estimation of the state quantity of the measurement and control system and the estimation of the measurement and control system measurement output are real number matrixes of 4 multiplied by 1,ż(t) Is composed ofz(t) A derivative of (a);R、P、His a matrix of fault detection observers, wherein,Q=E[(CE) T CE]-1(CE) T ，R=(I-QC)A-P 1 C，P=P 1+P 2，P 2=RQ，P 1designing a matrix to be designed according to actual requirements;Iis an identity matrix;
it should be noted that the observer matrix is different according to the emphasis of the problemP 1The design methods of (a) are also various, for example: when measuring noise in a system is mainly considered, the method is designed by combining with Kalman filteringP 1(ii) a Taking into account the uncertainty of the parameters in the system, the method of the present inventionH ∞Norm combination mode designP 1。
Defining the residual error system as:
Figure 8164DEST_PATH_IMAGE042
（3）
in the formula (I), the compound is shown in the specification,
Figure 69530DEST_PATH_IMAGE014
in order to measure and control the system residual error,
Figure 711864DEST_PATH_IMAGE015
is composed ofd-qMotor under coordinate systemqThe residual of the axis current is the difference between the axis current,
Figure 925807DEST_PATH_IMAGE016
is the residual error of the rotating speed of the motor,
Figure 844828DEST_PATH_IMAGE017
is the residual error of the gyroscope measurement,
Figure 409802DEST_PATH_IMAGE018
is the residual error of the tool face angle;
and processing the residual vector, and judging whether the measurement and control system has a fault according to whether the residual processing result exceeds a set threshold value.
It should be noted that, when the system is not in failure, the residual error isr(t) The value of (a) fluctuates around a zero value; when the system fails, the system state estimated by the observer deviates from the true value of the system, and the residual error also deviates from the zero value. A reasonable residual processing method may be selected to process the residual vector, for example:χ 2the method comprises a method, a sequential probability ratio method, a residual weighted sum of squares method and the like, and a reasonable set threshold is selected according to a residual processing method.
S2, judging the current working condition, if the current working condition is a continuous drilling working condition, dynamically separating the sensor faults, and positioning the positions of the fault sensors; and if the working condition is the drill stopping working condition, verifying the fault of the sensor and positioning the position of the fault sensor.
It should be noted that the motor drives the stabilizing platform to rotate along with the drill collar under the drilling working condition; and under the working condition of stopping drilling, the drill bit is lifted away from the well bottom, and the drill collar is kept static. Under the drilling working condition, the measured values of the motor rotating speed sensor and the gyroscope are all non-zero values, and under the drilling stopping working condition, the measured values of the sensors are all zero values. Therefore, the current drilling working condition can be judged by combining the characteristics of the motor rotating speed sensor and the gyroscope measuring signal.
Referring to fig. 2, the specific steps for performing dynamic separation of sensor faults are as follows:
selecting any three of four measurement values contained in the mathematical model output vector of the measurement and control system to form a measurement subsystem, namely:
Figure 324668DEST_PATH_IMAGE043
（4）
in the formula (I), the compound is shown in the specification,y 1、y 2、y 3、y 4is a measurement subsystem;
for measurement subsystemsy 1Building fault detection observerOb1, for the measurement subsystemy 2Building fault detection observerOb2, for the measurement subsystemy 3Building fault detection observerOb3, for the measurement subsystemy 4Building fault detection observerOb4；
Defining the state that the residual error processing result of the fault detection observer exceeds the set threshold value as 1 and the state that the residual error processing result does not exceed the set threshold value as 0, and detecting the observer according to the fault after the faultOb1. Fault detection observerOb2. Fault detection observerOb3. Fault detection observerObAnd 4, making a fault decision table according to the fault detection result, and referring to the table 1 for the made fault decision table.
TABLE 1
Figure 642386DEST_PATH_IMAGE044
And performing primary separation on the fault sensor according to the fault decision table, and positioning the fault to the faults of the motor current sensor, the motor speed sensor, the gyroscope and the accelerometer.
Due to the fact thata、b、cThe three-phase current is measured by using a motor current sensor respectively, the accelerometers are arranged in a redundant manner, and the fault separation logic can only locate the fault to a current measurement fault or an accelerometer fault and cannot separate the fault to a specific sensor, so that the method adopts the technical scheme that the fault separation logic can only locate the fault to the current measurement fault or the accelerometer fault and cannot separate the fault to the specific sensorα-βSeparating a fault motor current sensor by a coordinate transformation method, and positioning a fault to the fault of the current sensor of a certain phase motor; and (4) separating the fault accelerometer by adopting an odd-even equation method, and positioning the fault to a sensitive axis of the accelerometer.
By usingα-βThe specific steps of separating the fault motor current sensor by the coordinate transformation method are as follows:
referring to FIG. 3, two phases of the rotating coordinate system for the motorα-βIs rotated so thatαAxes being associated with three-phase coordinate systems, respectivelya,b,cThree axes are superposed to obtain a coordinate system 1, a coordinate system 2 and a coordinate system 3, and the following coordinate systems are obtainedRedundant measurement relationships:
Figure 984506DEST_PATH_IMAGE045
（5）
in the formula (I), the compound is shown in the specification,i a 、i b 、i c respectively the measured value of the current sensor of the three-phase motor of the motor, and the current control loop of the motori d Is a motor current control loopi q The setting value of (a) is set,
Figure 429022DEST_PATH_IMAGE023
in a coordinate systemnResolved by three-phase currentαAxial current in a coordinate systemnFor use under
Figure 730876DEST_PATH_IMAGE025
Solved forαThe current of the shaft is measured by the current sensor,θis the electrical angle of the motor rotor;
defining residual errors
Figure 253124DEST_PATH_IMAGE026
Expressed as:
Figure 296166DEST_PATH_IMAGE046
（6）
and separating the current sensor of the fault motor according to whether the residual error deviates from the 0 value, and positioning the fault to the fault of the current sensor of a certain phase motor. Specifically, when the motor current sensor is not faulty, it fluctuates around the value 0. When a current sensor of a certain phase motor fails, at the time of failure,αthe residual error for an axis corresponding to this coinciding coordinate system will deviate from a value of 0, for example:athe phase motor current sensor is out of order
Figure 273502DEST_PATH_IMAGE047
Will deviate from the value of 0 and will,
Figure 436630DEST_PATH_IMAGE048
still around the 0 value. The fault phase motor current sensor is isolated according to the logic described above.
The method for separating the fault accelerometer by adopting the parity equation comprises the following specific steps:
the measurement equations of 6 sensitive axes of two accelerometers in the measurement system are as follows:
Figure 291454DEST_PATH_IMAGE029
（7）
in the formula (I), the compound is shown in the specification,Ma matrix of measurements for six axes of the accelerometer array,m 1、m 2、m 3、m 4、m 5、m 6is the sensitive axis of the accelerometer and is,a x in-carrier coordinate system for gravityxThe component on the axis of the light beam,a y in-carrier coordinate system for gravityyThe component on the axis of the light beam,a z in-carrier coordinate system for gravityzThe component on the axis of the light beam,His a measurement matrix of an accelerometer group consisting of a first accelerometer and a second accelerometer,
Figure 290765DEST_PATH_IMAGE049
；
a parity equation set is constructed from the measurement equations, expressed as:
Figure 889237DEST_PATH_IMAGE050
（8）
in the formula (I), the compound is shown in the specification,
Figure 641292DEST_PATH_IMAGE051
；
let the parity equationK i =0,iState 0 when =1,2, … 6,K i ≠0,ithe state is 1 when =1,2 and … 6, an accelerometer fault separation truth table is constructed, and the accelerometer fault separation truth table is shown in table 2.
TABLE 2
Figure 181864DEST_PATH_IMAGE052
And after the accelerometer has a fault, positioning the sensitive axis of the acceleration fault corresponding to the fault separation truth table of the accelerometer according to the state of the parity equation.
And S3, reconstructing the measurement information of the fault sensor according to the position of the fault sensor.
Specifically, under the continuous drilling working condition, the method for reconstructing the measurement information of the fault sensor according to the position of the fault sensor comprises the following steps:
for the fault of the motor current sensor, cutting off a fault phase measurement signal, and calculating a fault phase current by using a normal two-phase current measurement value according to a kirchhoff current law;
aiming at the faults of the motor speed sensor, a position-loop-free control mode is adopted for motor control;
cutting off a gyroscope measurement signal aiming at a gyroscope fault, and calculating a tool face angle by using an accelerometer;
for accelerometer failure, the failed axis is removed, and the measurement equation of the accelerometer is reconstructed using the other axes, expressed as:
Figure 386580DEST_PATH_IMAGE053
（9）
in the formula (I), the compound is shown in the specification,H f for measuring matricesHThe matrix behind the row and column where the failed axis is located is removed,M f the matrix is measured for the accelerometer group after the failed axis is removed.
The fault diagnosis of the gyroscope and the accelerometer is greatly influenced by vibration, and false alarm may occur under the drilling working condition, so that the fault detection results of the gyroscope and the accelerometer are confirmed under the drilling stopping working condition by combining the actual working condition of a single joint in the drilling process, and the accuracy of the fault diagnosis result is improved. Under the condition of drill stopping, referring to fig. 4, the method for verifying the sensor fault and reconstructing the measurement information of the fault sensor according to the position of the fault sensor comprises the following steps: comparing a gyroscope measured value with a motor rotating speed set value, if the gyroscope measured value cannot track the motor rotating speed set value, confirming that a gyroscope fault occurs, obtaining a fault form according to a difference value between the gyroscope measured value and the motor rotating speed set value, abandoning the gyroscope measured value under the condition of complete failure fault, and reconstructing the gyroscope measured value in a reverse compensation mode under the condition of non-complete failure fault; if the measured value of the gyroscope tracks the set value of the rotating speed of the motor, the gyroscope has no fault, the fault of the accelerometer is verified by adopting an odd-even equation method, the sensitive axis of the accelerometer with the fault is separated after the fault of the accelerometer is confirmed, and the measured value of the accelerometer is reconstructed by adopting the measured data of other sensitive axes of the accelerometer. It should be noted that, a fault verification motor control program is integrated in a motor controller on a motor drive board of the stable platform, the motor controller controls the motor to rotate according to a preset program, the motor is controlled by a rotating speed loop and a current loop in a double closed loop manner, when fault verification is executed, a set value of the rotating speed loop of the motor is set to be a known constant value, and the motor rotates at a constant speed according to a set rotating speed under the control action of the rotating speed loop.
Specifically, the gyroscope measurement value is reconstructed in a reverse compensation mode, and the compensated gyroscope measurement value is represented as:
Figure 521500DEST_PATH_IMAGE054
（10）
in the formula (I), the compound is shown in the specification,m' Gyro for the purpose of the compensated gyro measurements,m Gyro in order to take the measurements of the gyroscope,f Gyro is identified as a gyroscope failure.
In this embodiment, the measurement noise of the sensor is mainly considered, the kalman filter fault detection observer is combined, a 2-norm-based residual error processing mode is adopted, a fault detection threshold value is selected according to experience, the fault detection effect of the observer constructed based on the mathematical model of the measurement and control system is verified through simulation, and the result is shown in fig. 5. Simulation verification is respectively carried out on the faults of the motor current sensor, the motor speed sensor, the gyroscope and the accelerometer, the faults of the sensors are added in the simulation in the 5 th second, and as can be seen from the graph in FIG. 5, after the faults of the sensors occur, a residual error evaluation curve exceeds a fault detection threshold value, and the faults are detected.
According to the method, the autonomous fault diagnosis is carried out on the rotary steering drilling tool sensor, a mode of combining continuous drilling working condition fault separation and drill stopping working condition fault verification is adopted according to different drilling working conditions, the fault detection accuracy is high, the faulty sensor can be automatically positioned and automatically switched to a corresponding reconstruction scheme, and the reliability of a measurement and control system is improved.
Example 2: referring to fig. 6, the present embodiment provides a fault diagnosis apparatus for implementing the fault diagnosis method of the measurement and control system of the rotary steerable drilling tool according to embodiment 1, the fault diagnosis apparatus includes:
the data interaction unit is used for acquiring the measurement information of the sensor;
the fault detection unit is connected with the data interaction unit and is used for detecting whether the sensor has faults or not according to the acquired measurement information;
the working condition monitoring unit is connected with the fault detection unit and used for judging the current working condition according to the measurement information;
the fault static verification unit is connected with the working condition monitoring unit and is used for statically verifying the gyroscope fault and the accelerometer fault when the working condition is judged to be a drilling stop working condition;
the dynamic fault separation unit is connected with the working condition monitoring unit and used for positioning the position of the fault sensor when the working condition is judged to be a drilling working condition;
and the reconstruction unit is respectively connected with the data interaction unit, the fault static verification unit and the dynamic fault separation unit, reconstructs the measurement information of the fault sensor according to the positioned position of the fault sensor and sends the information to the data interaction unit.
Specifically, with reference to fig. 6, the fault diagnosis apparatus further includes a fault diagnosis control board, and the data interaction unit, the fault detection unit, the operating condition monitoring unit, the static fault verification unit, the dynamic fault separation unit, and the reconstruction unit are all disposed on the fault diagnosis control board.
When the fault diagnosis device described in this embodiment performs fault diagnosis on the measurement and control system of the rotary steering drilling tool, the specific method steps are referred to in embodiment 1, and are not described herein again.
Example 3: referring to fig. 7 to 10, the present embodiment provides a measurement and control system for a rotary steerable drilling tool, including:
a stabilizing platform 12;
the driving unit comprises a motor 8 connected with the stable platform 12 and a stable platform motor driving plate connected with the motor 8;
a sensor unit comprising:
the gyroscope is arranged in a gyroscope mounting groove 13 arranged on the surface of the stabilizing platform 12, and a sensitive shaft of the gyroscope is superposed with the axis 1 of the stabilizing platform;
a first accelerometer mounted on the stabilized platform 12, whichxThe shaft coincides with the axis 1 of the stabilized platform,yaxes with respect to the axis of the stabilization platform 12yThe axes are parallel to each other and the axis is parallel,zaxes with respect to the axis of the stabilization platform 12zThe axes are parallel;
a second accelerometer mounted on the stabilized platform 12 at a position sequentially surrounding the first accelerometerz-y-xEuler angle of shaft rotationc'Euler angleb'Euler anglea'The obtained mounting position;
the motor rotating speed sensor 7 is arranged at the tail part of the motor 8 and used for detecting the rotating speed of the motor 8;
the motor current sensor is arranged on the motor driving plate of the stable platform and used for detecting the current of the motor 8;
the stable platform data processor is respectively connected with the gyroscope, the first accelerometer and the second accelerometer and is used for filtering the measurement data acquired by the gyroscope and the accelerometers;
the data acquisition unit is respectively connected with the stable platform data processor, the motor rotating speed sensor 7 and the motor current sensor;
the tool face angle control unit is respectively connected with the data acquisition unit and the motor and is used for controlling an inverter bridge circuit of a motor driving plate of the stable platform to generate a PWM signal for controlling the rotation of the motor according to the deviation between the set value of the tool face angle and the acquired actual measured value, so that the rotation of the motor is controlled to enable the measured value of the tool face angle to follow the set value;
the fault diagnosis device is connected with the data acquisition unit and used for detecting whether the measurement and control system has faults according to the measurement information of the sensor, judging the current working condition, positioning the position of the fault sensor and reconstructing the measurement information of the sensor, and the fault diagnosis device comprises:
the data interaction unit is used for carrying out data interaction with the data acquisition unit;
the fault detection unit is connected with the data interaction unit and is used for detecting whether the sensor has faults or not according to the acquired measurement information;
the working condition monitoring unit is connected with the fault detection unit and used for judging the current working condition according to the measurement information;
the fault static verification unit is connected with the working condition monitoring unit and is used for statically verifying the gyroscope fault and the accelerometer fault when the working condition is judged to be a drilling stop working condition;
the dynamic fault separation unit is connected with the working condition monitoring unit and used for positioning the position of the fault sensor when the working condition is judged to be a drilling working condition;
and the reconstruction unit is respectively connected with the data interaction unit, the fault static verification unit and the dynamic fault separation unit, reconstructs the measurement information of the fault sensor according to the positioned position of the fault sensor and sends the information to the data interaction unit.
In particular, with continued reference to fig. 8, the motor 8 is connected to a stabilization platform 12 via a coupling 11.
Specifically, the system further comprises a stable platform data processing board, and the stable platform data processor is arranged on the stable platform data processing board.
Specifically, with continued reference to fig. 10, the system further includes a main control board, and the data acquisition unit and the tool face angle control unit are both disposed on the main control board.
Specifically, with reference to fig. 10, the fault diagnosis apparatus further includes a fault diagnosis control board, and the data interaction unit, the fault detection unit, the operating condition monitoring unit, the static fault verification unit, the dynamic fault separation unit, and the reconstruction unit are all disposed on the fault diagnosis control board.
Specifically, with continued reference to fig. 8, a gyroscope mounting slot 13 is disposed on the surface of the stabilization platform 12, an accelerometer mounting slot 14 and a stabilization platform electronic bin 16 are further disposed on the stabilization platform 12, the axis of the accelerometer mounting slot 14 coincides with the stabilization platform axis 1, the accelerometer mounting slot 14 is used for mounting the accelerometer mounting platform, and the stabilization platform electronic bin 16 is used for mounting, stabilizing the platform data processor, the main control board and the fault diagnosis control board.
Continuing to refer to fig. 9, a first accelerometer mounting groove 2, a line wiring groove 3 and a second accelerometer mounting groove 4 are arranged in the accelerometer mounting platform, the first accelerometer mounting groove 2 and the second accelerometer mounting groove 4 are mounted at intervals, and the coordinate system of the accelerometer mounting platform is thatO b The coordinate system of the first accelerometer isO a1The coordinate system of the second accelerometer isO a2The origins of the three coordinate systems are all located on the accelerometer mounting platform axis 17. The signal line and the power line of the accelerometer are connected with the stable platform data processing board through the line wiring groove 3, the power module of the stable platform data processing circuit board provides a power supply for the accelerometer, and the measurement signal of the accelerometer passes through
Figure 862483DEST_PATH_IMAGE055
And transmitting to a stable platform data processor. The accelerometer mounting platform is mounted on the stabilization platform 12 by an accelerometer mounting platform mounting plane 5. And injecting high-temperature silicon rubber for sealing treatment after the sensor and the accelerometer mounting platform are mounted and fixed. The first accelerometer is arranged in the first accelerometer mounting groove 2, the coordinate system of the first accelerometer is parallel to the coordinate system of the accelerometer mounting platform, and three sensitive axes of the first accelerometer are respectivelym 1、m 2Andm 3respectively with accelerometer-mounted platform coordinate systemx、y、zThe axes are parallel. The second accelerometer is arranged in the second accelerometer installation groove 4, when in installation, three sensitive axes of the second accelerometer are firstly parallel to the coordinate system of the accelerometer installation platform, namely the three sensitive axes of the second accelerometer,m 4、m 5andm 6respectively with a carrier coordinate systemx、y、zThe axes are parallel and then followz-y-xAre rotated in sequence, the Euler angles of the rotation are respectivelyc'、b'、a'. The measurement equations for the 6 sensitive axes of the two accelerometers are:
Figure 573956DEST_PATH_IMAGE056
（7）
in the formula (I), the compound is shown in the specification,Ma matrix of measurements for six axes of the accelerometer array,m 1、m 2、m 3、m 4、m 5、m 6is the sensitive axis of the accelerometer and is,a x in-carrier coordinate system for gravityxThe component on the axis of the light beam,a y in-carrier coordinate system for gravityyThe component on the axis of the light beam,a z in-carrier coordinate system for gravityzThe component on the axis of the light beam,His a measurement matrix of an accelerometer group consisting of a first accelerometer and a second accelerometer,
Figure 531547DEST_PATH_IMAGE057
；
x、y、zcomponent of gravitational acceleration on axis
Figure 737401DEST_PATH_IMAGE058
As determined by equations (11) and (3), equation (11) is expressed as:
Figure 214781DEST_PATH_IMAGE059
（11）
since the spatial position of the second accelerometer, i.e. the euler angle of its rotation, determines the measurement performance and the fault detection performance of the accelerometer combination, in order to achieve the optimum measurement performance and fault diagnosis performance, the measurement matrix is configured firstHMake it meet the optimal measurement performance indexH T H=IUnder the premise, selecting a fault diagnosis performance evaluation function
Figure 847887DEST_PATH_IMAGE060
And a minimum configuration scheme, obtaining optimal measurement performance and fault diagnosis performance, wherein,h p to configure a measurement matrixpA number of the row vectors are determined,h q to configure a measurement matrixqA row vector.
Through optimization solution, the Euler angle meeting the requirementsa'、b'、c'As shown in table 3.
TABLE 3
Figure 10884DEST_PATH_IMAGE061
As can be seen from Table 3, the Euler anglea'、b'、c'There are four options for each angle, so there are 64 different combinations.
In this embodiment, the Euler angle is defined asa'=45°、b'=19.4712 ° andc'the positions of the gyroscope, the first accelerometer and the second accelerometer are arranged by 45 degrees as an example, the space layout of the accelerometer group consisting of the first accelerometer and the second accelerometer and the gyroscope on the stable platform is shown in fig. 7, and the coordinate system is shown in fig. 7O b1Mounting a platform coordinate system for an accelerometer, the coordinate systemO b2For stabilising the platform coordinate system, coordinate systemO a The coordinate system is an installation coordinate system of the accelerometer group, and the origin points of the coordinate system are all positioned on the axis 1 of the stable platform. Sensitive axis of gyroscopeωThe direction is parallel to the direction of the stabilizing platform axis 1. Sensitive axis of second accelerometerm 6And m 3andm 1is at an included angle ofα'Sensitive shaftm 6Andm 2is at an included angle ofβ'，α'=48.19°，β'=109.47 °, the measurement equation for the accelerometer group is
Figure 223691DEST_PATH_IMAGE062
（3）
In the formula (I), the compound is shown in the specification,
Figure 287069DEST_PATH_IMAGE063
。
with reference to fig. 8, when the system of the present embodiment is used, the system is installed inside the drill collar 6, the motor 8 is fixed inside the drill collar 6 through the supporting plate 9, the stable platform fixing bearing 15 is installed between the stable platform 12 and the drill collar 6, and the main control board of the stable platform electronic cabin 16 supplies power to the motor 8 and the motor speed sensor 7 through the conductive slip ring 10 and collects measurement data of the motor speed sensor 7.
In the system, the spatial redundancy layout of the tool face angle measurement sensors (namely, the gyroscope and the accelerometer) is designed firstly, then whether the system has faults or not is detected by acquiring measurement signals of the sensors in the system, different processing modes are adopted according to the fault detection result aiming at different working conditions, and when the system has faults, the faults of the sensors are subjected to online real-time fault separation and reconstruction under the continuous drilling working condition, so that the normal operation of the system is ensured; and under the condition of stopping drilling, verifying the fault detection result of the tool face angle measurement controller, and ensuring the accuracy of the fault detection result.
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 (10)

1. A fault diagnosis method for a measurement and control system of a rotary steering drilling tool is characterized by comprising the following specific steps:
s1, judging whether the measurement and control system has a fault according to the collected motor current, the motor rotating speed, the gyroscope measuring value and the tool face angle, if not, continuing to judge, and if so, executing the step S2;
s2, judging the current working condition, if the current working condition is a continuous drilling working condition, dynamically separating the sensor faults, and positioning the positions of the fault sensors; if the working condition is the drill stopping working condition, performing sensor fault verification and positioning the position of a fault sensor;
and S3, reconstructing the measurement information of the fault sensor according to the position of the fault sensor.
2. The method for diagnosing faults of a measurement and control system of a rotary steerable drilling tool according to claim 1, wherein in step S1, the specific step of determining whether the measurement and control system has faults is as follows:
according to the motor current, the motor rotating speed, the gyroscope measured value and the tool face angle, a mathematical model of the measurement and control system is constructed, and the mathematical model of the measurement and control system is expressed as follows:
Figure 357952DEST_PATH_IMAGE001
（1）
in the formula (I), the compound is shown in the specification,
Figure 806251DEST_PATH_IMAGE002
in order to measure and control the state quantity of the system,u(t) In order to measure and control the control quantity of the system,d(t) In order to measure and control unknown input quantities in the system,y(t) The measurement and control system measures the output quantity,
Figure 664617DEST_PATH_IMAGE003
；ẋ(t) Is composed ofx(t) The derivative of (a) of (b),
Figure 325405DEST_PATH_IMAGE004
，
Figure 218406DEST_PATH_IMAGE005
，
Figure 572027DEST_PATH_IMAGE006
，
Figure 901377DEST_PATH_IMAGE007
are coefficient matrices;i q is composed ofd-qMotor under coordinate systemqThe current of the shaft is measured by the current sensor,ω m the number of revolutions of the motor is,ω g in order to take the measurements of the gyroscope,φin order to be the face angle of the tool,R s is the resistance of the stator and is,L q =L d =Lto representd,qThe stator on the shaft is equivalent to the inductance,K m is the torque coefficient of the motor and is,μis the coefficient of the stick-slip friction,ψ f in order to provide a magnetic linkage of the rotor,Jis the moment of inertia of the rotor and,T L is the torque of the load, and,P n is the number of pole pairs of the motor,λ、ηis a unit transform coefficient;
constructing a fault detection observer based on the measurement and control system model, wherein the fault detection observer is expressed as:
Figure 379239DEST_PATH_IMAGE008
（2）
in the formula (I), the compound is shown in the specification,
Figure 313697DEST_PATH_IMAGE009
in order to detect the observer state variable for a fault,
Figure 838219DEST_PATH_IMAGE010
in order to measure and control the estimation of the state quantity of the system,
Figure 671177DEST_PATH_IMAGE011
in order to measure an estimate of the output of the measurement and control system,
Figure 939347DEST_PATH_IMAGE012
to representA matrix of 4 x 1 real numbers,ż(t) Is composed ofz(t) A derivative of (a);R、P、His a matrix of fault detection observers, wherein,Q=E[(CE) T CE]-1(CE) T ，R=(I-QC)A-P 1 C，，P=P 1+P 2，P 2=RQ，P 1designing a matrix to be designed according to actual requirements;Iis an identity matrix;
defining the residual error system as:
Figure 728311DEST_PATH_IMAGE013
（3）
in the formula (I), the compound is shown in the specification,
Figure 236784DEST_PATH_IMAGE014
in order to measure and control the system residual error,
Figure 9568DEST_PATH_IMAGE015
is composed ofd-qMotor under coordinate systemqThe residual of the axis current is the difference between the axis current,
Figure 550271DEST_PATH_IMAGE016
is the residual error of the rotating speed of the motor,
Figure 865846DEST_PATH_IMAGE017
is the residual error of the gyroscope measurement,
Figure 502144DEST_PATH_IMAGE018
is the residual error of the tool face angle;
and processing the residual vector, and judging whether the measurement and control system has a fault according to whether the residual processing result exceeds a set threshold value.
3. The method for diagnosing faults of a measurement and control system of a rotary steerable drilling tool as claimed in claim 2, wherein in step S2, the steps for dynamically separating the faults of the sensors are as follows:
selecting any three of four measurement values contained in the mathematical model output vector of the measurement and control system to form a measurement subsystem, namely:
Figure 293383DEST_PATH_IMAGE019
（4）
in the formula (I), the compound is shown in the specification,y 1、y 2、y 3、y 4is a measurement subsystem;
for measurement subsystemsy 1Building fault detection observerOb1, for the measurement subsystemy 2Building fault detection observerOb2, for the measurement subsystemy 3Building fault detection observerOb3, for the measurement subsystemy 4Building fault detection observerOb4；
Defining the state that the residual error processing result of the fault detection observer exceeds the set threshold value as 1 and the state that the residual error processing result does not exceed the set threshold value as 0, and detecting the observer according to the fault after the faultOb1. Fault detection observerOb2. Fault detection observerOb3. Fault detection observerOb4, making a fault decision table according to the fault detection result, performing primary separation on the fault sensor according to the fault decision table, and positioning the fault to the faults of the motor current sensor, the motor rotating speed sensor, the gyroscope and the accelerometer;
by usingα-βSeparating a fault motor current sensor by a coordinate transformation method, and positioning a fault to the fault of the current sensor of a certain phase motor; and (4) separating the fault accelerometer by adopting an odd-even equation method, and positioning the fault to a sensitive axis of the accelerometer.
4. A method of fault diagnosis in a measurement and control system of a rotary steerable drilling tool according to claim 3, wherein the method employsα- βThe specific steps of separating the fault motor current sensor by the coordinate transformation method are as follows:
two-phase rotating coordinate system for motorα-βIs rotated so thatαAxes being associated with three-phase coordinate systems, respectivelya,b,cThree axes coincide to obtain a coordinate system 1, a coordinate system 2 and a coordinate system 3, and the following redundant measurement relations are obtained under the three coordinate systems:
Figure 450826DEST_PATH_IMAGE020
（5）
in the formula (I), the compound is shown in the specification,i a 、i b 、i c respectively the measured value of the current sensor of the three-phase motor of the motor, and the current control loop of the motori d Is a motor current control loopi q The setting value of (a) is set,
Figure 277946DEST_PATH_IMAGE023
in a coordinate systemnResolved by three-phase currentαAxial current in a coordinate systemnFor use under
Figure 122722DEST_PATH_IMAGE025
Solved forαThe current of the shaft is measured by the current sensor,θis the electrical angle of the motor rotor;
defining residual errors
Figure 596429DEST_PATH_IMAGE026
Expressed as:
Figure 299943DEST_PATH_IMAGE027
（6）
from residual error
Figure 799188DEST_PATH_IMAGE028
And if the current sensor deviates from the 0 value, separating the current sensor of the fault motor, and positioning the fault to the fault of the current sensor of a certain phase motor.
5. The method for diagnosing faults in a measurement and control system of a rotary steerable drilling tool according to claim 3, wherein the step of separating the faulty accelerometer by using an odd-even equation method comprises the steps of:
the measurement equations for the 6 sensitive axes of the two accelerometers are:
Figure 537337DEST_PATH_IMAGE029
（7）
in the formula (I), the compound is shown in the specification,Ma matrix of measurements for six axes of the accelerometer array,m 1、m 2、m 3、m 4、m 5、m 6is the sensitive axis of the accelerometer and is,a x in-carrier coordinate system for gravityxThe component on the axis of the light beam,a y in-carrier coordinate system for gravityyThe component on the axis of the light beam,a z in-carrier coordinate system for gravityzThe component on the axis of the light beam,Hmeasurement matrix for accelerometer group consisting of first accelerometer and second accelerometer
Figure 181945DEST_PATH_IMAGE030
；
A parity equation set is constructed from the measurement equations, expressed as:
Figure 185804DEST_PATH_IMAGE031
（8）
in the formula (I), the compound is shown in the specification,
Figure 941271DEST_PATH_IMAGE032
；
let the parity equationK i =0,iState 0 when =1,2, … 6,K i ≠0,ithe state is 1 when =1,2 and … 6, and an accelerometer fault separation truth table is constructed;
and after the accelerometer has a fault, positioning the sensitive axis of the acceleration fault corresponding to the fault separation truth table of the accelerometer according to the state of the parity equation.
6. The method for diagnosing faults of a measurement and control system of a rotary steerable drilling tool as recited in claim 5, wherein under continuous drilling conditions, the method for reconstructing the measurement information of the fault sensor according to the position of the fault sensor comprises the following steps:
for the fault of the motor current sensor, cutting off a fault phase measurement signal, and calculating a fault phase current by using a normal two-phase current measurement value according to a kirchhoff current law;
aiming at the faults of the motor speed sensor, a position-loop-free control mode is adopted for motor control;
cutting off a gyroscope measurement signal aiming at a gyroscope fault, and calculating a tool face angle by using an accelerometer;
for accelerometer failure, the failed axis is removed, and the measurement equation of the accelerometer is reconstructed using the other axes, expressed as:
Figure 268347DEST_PATH_IMAGE033
（9）
in the formula (I), the compound is shown in the specification,H f for measuring matricesHThe matrix behind the row and column where the failed axis is located is removed,M f the matrix is measured for the accelerometer group after the failed axis is removed.
7. The method for diagnosing the faults of the measurement and control system of the rotary steering drilling tool as claimed in claim 1, wherein the method for verifying the faults of the sensor and reconstructing the measurement information of the faulty sensor according to the position of the faulty sensor under the condition of the drill stopping comprises the following steps: comparing a gyroscope measured value with a motor rotating speed set value, if the gyroscope measured value cannot track the motor rotating speed set value, confirming that a gyroscope fault occurs, obtaining a fault form according to a difference value between the gyroscope measured value and the motor rotating speed set value, abandoning the gyroscope measured value under the condition of complete failure fault, and reconstructing the gyroscope measured value in a reverse compensation mode under the condition of non-complete failure fault; if the measured value of the gyroscope tracks the set value of the rotating speed of the motor, the gyroscope has no fault, the fault of the accelerometer is verified by adopting an odd-even equation method, the sensitive axis of the accelerometer with the fault is separated after the fault of the accelerometer is confirmed, and the measured value of the accelerometer is reconstructed by adopting the measured data of other sensitive axes of the accelerometer.
8. A fault diagnosis apparatus for implementing a fault diagnosis method of a measurement and control system of a rotary steerable drilling tool according to any one of claims 1 to 7, comprising:
the data interaction unit is used for acquiring the measurement information of the sensor;
the fault detection unit is connected with the data interaction unit and is used for detecting whether the sensor has faults or not according to the acquired measurement information;
the working condition monitoring unit is connected with the fault detection unit and used for judging the current working condition according to the measurement information;
the fault static verification unit is connected with the working condition monitoring unit and is used for statically verifying the gyroscope fault and the accelerometer fault when the working condition is judged to be a drilling stop working condition;
the dynamic fault separation unit is connected with the working condition monitoring unit and used for positioning the position of the fault sensor when the working condition is judged to be a drilling working condition;
and the reconstruction unit is respectively connected with the data interaction unit, the fault static verification unit and the dynamic fault separation unit, reconstructs the measurement information of the fault sensor according to the positioned position of the fault sensor and sends the information to the data interaction unit.
9. A rotary steerable drilling tool measurement and control system, comprising:
the stable platform device comprises a stable platform, a motor connected with the stable platform and a stable platform motor driving plate connected with the motor;
a sensor unit comprising:
the gyroscope is arranged on the surface of the stable platform, and the sensitive shaft of the gyroscope is parallel to the axis of the stable platform;
a first accelerometer mounted on the stabilizing plateOn a table, itxThe shaft is superposed with the axis of the stable platform,yaxes of axes and stable platformsyThe axes are parallel to each other and the axis is parallel,zaxes of axes and stable platformszThe axes are parallel;
a second accelerometer mounted on the stabilized platform and positioned to surround the first accelerometer in sequence at the position of the second accelerometerz-y-xEuler angle of shaft rotationc'Euler angleb'Euler anglea'The obtained mounting position;
the motor rotating speed sensor is arranged at the tail part of the motor and used for detecting the rotating speed of the motor;
the motor current sensor is arranged on the motor driving plate of the stable platform and used for detecting the motor current;
the data acquisition unit is respectively connected with the gyroscope, the first accelerometer, the second accelerometer, the motor speed sensor and the motor current sensor;
the tool face angle control unit is respectively connected with the data acquisition unit and the motor and is used for controlling an inverter bridge circuit of a motor driving plate of the stable platform to generate a PWM signal for controlling the rotation of the motor according to the deviation between the set value of the tool face angle and the acquired actual sensor measurement value;
a failure diagnosis device connected to the data acquisition unit, the failure diagnosis device employing the failure diagnosis device according to claim 8.
10. The rotary steerable drilling tool measurement and control system of claim 9, further comprising a stabilization platform data processor, wherein the gyroscope, the first accelerometer, and the second accelerometer are all connected to the data acquisition unit via the stabilization platform data processor.
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