CN112459721B - 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 PDFInfo
- Publication number
- CN112459721B CN112459721B CN202110146212.0A CN202110146212A CN112459721B CN 112459721 B CN112459721 B CN 112459721B CN 202110146212 A CN202110146212 A CN 202110146212A CN 112459721 B CN112459721 B CN 112459721B
- Authority
- CN
- China
- Prior art keywords
- fault
- measurement
- motor
- accelerometer
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
- E21B7/06—Deflecting the direction of boreholes
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
- E21B7/06—Deflecting the direction of boreholes
- E21B7/061—Deflecting the direction of boreholes the tool shaft advancing relative to a guide, e.g. a curved tube or a whipstock
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Mining
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
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:
in the formula (I), the compound is shown in the specification,
for measuring and controlling system state quantity, u (t) for measuring and controlling system control quantity, d (t) for unknown input quantity in the measuring and controlling system, y (t) for measuring and controlling system measurement output quantity,
is the derivative of x (t);
constructing a fault detection observer based on the measurement and control system model, wherein the fault detection observer is expressed as:
in the formula (I), the compound is shown in the specification,
in order to detect the observer state variable for a fault,
in order to measure and control the estimation of the state quantity of the system,
in order to measure an estimate of the output of the measurement and control system,
is a 4 x 1 real number matrix,
is the derivative of z (t); r, P, Q is a fault detection observer matrix, where Q ═ E [ (CE)TCE]-1(CE)T，R＝(I-QC)A-P1C，P＝P1+P2，P2＝RQ，P1Designing a matrix to be designed according to actual requirements; i is an identity matrix;
defining the residual error system as:
in the formula (I), the compound is shown in the specification,
in order to measure and control the system residual error,
is the residual error of the motor q-axis current under a d-q coordinate system,
is the residual error of the rotating speed of the motor,
is the residual error of the gyroscope measurement,
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:
in the formula, y1、y2、y3、y4Is a measurement subsystem;
for the measurement subsystem y1Constructing a fault detection observer Ob1 for the measurement subsystem y2Constructing a fault detection observer Ob2 for the measurement subsystem y3Constructing a fault detection observer Ob3 for the measurement subsystem y4Constructing a fault detection observer Ob 4;
defining the state that the residual error processing result of the fault detection observer exceeds the set threshold as 1 and the state that the residual error processing result does not exceed the set threshold as 0, manufacturing a fault decision table according to the fault detection results of the fault detection observer Ob1, the fault detection observer Ob2, the fault detection observer Ob3 and the fault detection observer Ob4 after the fault, performing primary separation on fault sensors according to the fault decision table, and positioning the fault to the faults of a motor current sensor, a motor speed sensor, a gyroscope and an accelerometer;
separating the current sensor of the fault motor by adopting an alpha-beta coordinate transformation method, and positioning the 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, the specific steps of separating the fault motor current sensor by adopting an alpha-beta coordinate transformation method are as follows:
rotating a two-phase rotating coordinate system alpha-beta of the motor to enable an alpha axis to coincide with three axes a, b and c in a three-phase coordinate system respectively to obtain a coordinate system 1, a coordinate system 2 and a coordinate system 3, and obtaining the following redundant measurement relations under the three coordinate systems:
in the formula ia、ib、icRespectively are the measured values of the current sensors of the three-phase motor of the motor,
for motor current control loop idThe setting value of (a) is set,
for motor current control loop iqThe setting value of (a) is set,
for the alpha axis current to be solved by the three phase current under the coordinate system n,
for use under a coordinate system n
The resolved alpha-axis current is calculated, and theta is the electric angle of the motor rotor; defining residual errors
Expressed as:
from residual error
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:
where M is the matrix of measurements on six axes of the accelerometer group, M1、m2、m3、m4、m5、m6Is the sensitive axis of an accelerometer, axIs the component of gravity on the x-axis of the carrier coordinate system, ayIs the component of gravity on the y-axis of the carrier coordinate system, azIs the component of gravity on the z-axis of the carrier coordinate system, H is the measurement matrix of the accelerometer group consisting of the first accelerometer and the second accelerometer,
a parity equation set is constructed from the measurement equations, expressed as:
wherein J is-Ak-Bk，K＝-2Ak，
Ak＝cosα′，BkCos β'; let odd-even equation Ki0, K when i is 1,2, … 6iThe state is 1 when the value is not equal to 0 and i is 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:
in the formula, HfMatrix, M, in which the faulty axis is located, is removed for the measurement matrix HfThe 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;
the first accelerometer is arranged on the stable platform, the x axis of the first accelerometer is coincident with the axis of the stable platform, the y axis of the first accelerometer is parallel to the y axis of the coordinate axis of the stable platform, and the z axis of the first accelerometer is parallel to the z axis of the coordinate axis of the stable platform;
a second accelerometer, mounted on the stabilized platform, at a mounting position obtained by sequentially rotating euler angles c ', b ', a ' around the z-y-x axis at the position of the first accelerometer;
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 schematic diagram of a transformation of an α - β coordinate for fault isolation of a current sensor according to an embodiment of the present invention;
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:
in the formula (I), the compound is shown in the specification,
for measuring and controlling system state quantity, u (t) for measuring and controlling system control quantity, d (t) for unknown input quantity in the measuring and controlling system, y (t) for measuring and controlling system measurement output quantity,
is the derivative of x (t);
constructing a fault detection observer based on the measurement and control system model, wherein the fault detection observer is expressed as:
in the formula (I), the compound is shown in the specification,
in order to detect the observer state variable for a fault,
in order to measure and control the estimation of the state quantity of the system,
in order to measure an estimate of the output of the measurement and control system,
is a real number matrix of 4 x 1,
is the derivative of z (t); r, P, Q is a fault detection observer matrix, where Q ═ E [ (CE)TCE]-1(CE)T，R＝(I-QC)A-P1C，P＝P1+P2，P2＝RQ，P1Designing a matrix to be designed according to actual requirements; i is an identity matrix;
it should be noted that the observer matrix P varies according to the emphasis of the problem to be considered1The design methods of (a) are also various, for example: when measuring noise in the system is mainly considered, P is designed by adopting a mode combined with Kalman filtering1(ii) a When parameter uncertainty in the system is considered, the sum H is adopted∞Norm combination mode design P1。
Defining the residual error system as:
in the formula (I), the compound is shown in the specification,
in order to measure and control the system residual error,
is the residual error of the motor q-axis current under a d-q coordinate system,
is the residual error of the rotating speed of the motor,
is the residual error of the gyroscope measurement,
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 fault, the residual r (t) value fluctuates around zero; 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: chi shape2The 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:
in the formula, y1、y2、y3、y4Is a measurement subsystem;
for the measurement subsystem y1Constructing a fault detection observer Ob1 for the measurement subsystem y2Constructing a fault detection observer Ob2 for the measurement subsystem y3Constructing a fault detection observer Ob3 for the measurement subsystem y4Constructing a fault detection observer Ob 4;
defining the state that the residual error processing result of the fault detection observer exceeds the set threshold as 1 and the state that the residual error processing result does not exceed the set threshold as 0, and making a fault decision table according to the fault detection results of the fault detection observer Ob1, the fault detection observer Ob2, the fault detection observer Ob3 and the fault detection observer Ob4 after the fault, wherein the made fault decision table is shown in table 1.
TABLE 1
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.
Because the a, b and c three-phase currents are respectively measured by using the motor current sensors, and the accelerometers are arranged in a redundant manner, the fault separation logic can only position the fault to the current measurement fault or the accelerometer fault and cannot separate the fault to a specific sensor, so that the alpha-beta coordinate transformation method is adopted to separate the fault motor current sensor and position the fault to the fault of a certain phase motor current sensor; and (4) separating the fault accelerometer by adopting an odd-even equation method, and positioning the fault to a sensitive axis of the accelerometer.
The method for separating the fault motor current sensor by adopting the alpha-beta coordinate transformation method comprises the following specific steps:
referring to fig. 3, a two-phase rotating coordinate system α - β of the motor is rotated, so that an α axis coincides with three axes a, b, and c in a three-phase coordinate system, respectively, to obtain a coordinate system 1, a coordinate system 2, and a coordinate system 3, and the following redundant measurement relationships are obtained under the three coordinate systems:
in the formula ia、ib、icRespectively are the measured values of the current sensors of the three-phase motor of the motor,
for motor current control loop idThe setting value of (a) is set,
for motor current control loop iqThe setting value of (a) is set,
for the alpha axis current to be solved by the three phase current under the coordinate system n,
for use under a coordinate system n
The resolved alpha-axis current is calculated, and theta is the electric angle of the motor rotor; defining residual errors
Expressed as:
from residual error
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. In particular, when the motor current sensor is not faulty,
fluctuating around the 0 value. When a current sensor of a certain phase is in fault, the residual error of the α -axis corresponding to the coincident coordinate system will deviate from 0 value at the time of fault, for example: the a-phase current sensor is out of order
Will deviate from the value of 0 and will,
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:
where M is the matrix of measurements on six axes of the accelerometer group, M1、m2、m3、m4、m5、m6Is the sensitive axis of an accelerometer, axIs the component of gravity on the x-axis of the carrier coordinate system, ayIs the component of gravity on the y-axis of the carrier coordinate system, azIs the component of gravity on the z-axis of the carrier coordinate system, H is the measurement matrix of the accelerometer group consisting of the first accelerometer and the second accelerometer,
a parity equation set is constructed from the measurement equations, expressed as:
wherein J is-Ak-Bk，K＝-2Ak，
Ak＝cosα′，BkCos β'; let odd-even equation Ki0, K when i is 1,2, … 6iAnd (4) when the state is 1 when the value is not equal to 0 and i is 1,2 and … 6, constructing an accelerometer fault separation truth table, wherein the accelerometer fault separation truth table is shown in a table 2.
TABLE 2
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:
in the formula, HfRemoving faulty axes for measurement matrix HMatrix after rows and columns of MfThe 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:
m′Gyro＝mGyr0-fGyro (10)
m 'in the formula'GyroFor compensated gyroscope measurements, mGyroAs a gyroscope measurement, fGyroIs 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;
the first accelerometer is arranged on the stable platform 12, the x axis of the first accelerometer is coincident with the axis 1 of the stable platform, the y axis of the first accelerometer is parallel to the y axis of the coordinate axis of the stable platform 12, and the z axis of the first accelerometer is parallel to the z axis of the coordinate axis of the stable platform 12;
a second accelerometer mounted on the stabilized platform 12 at a mounting location that is rotated sequentially about the z-y-x axis by an euler angle c ', an euler angle b ', and an euler angle a ' at the location of the first accelerometer;
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 ObThe coordinate system of the first accelerometer is Oa1The coordinate system of the second accelerometer is Oa2The origins of the three coordinate systems are all located on the accelerometer mounting platform axis 17. The signal line and the power cord of accelerometer pass through line trough 3 and are connected with the stabilized platform data processing board, and the power module of stabilized platform data processing circuit board provides power supply for the accelerometer, and accelerometer measured signal passes through IIC and transmits for stabilized 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, and the coordinate system of the first accelerometer is parallel to the coordinate system of the accelerometer mounting platformThe three sensitive axes of the first accelerometer are m respectively1、m2And m3Parallel to the x, y, z axes of the accelerometer mounting platform coordinate system, respectively. The second accelerometer is arranged in the second accelerometer mounting groove 4, and during mounting, three sensitive axes of the second accelerometer are firstly parallel to the coordinate system of the accelerometer mounting platform, namely three sensitive axes, m, of the second accelerometer4、m5And m6The rotation angles are respectively c ', b ' and a ' which are parallel to the x, y and z axes of the carrier coordinate system and then respectively rotate according to the sequence of z-y-x. The measurement equations for the 6 sensitive axes of the two accelerometers are:
where M is the matrix of measurements on six axes of the accelerometer group, M1、m2、m3、m4、m5、m6Is the sensitive axis of an accelerometer, axIs the component of gravity on the x-axis of the carrier coordinate system, ayIs the component of gravity on the y-axis of the carrier coordinate system, azIs the component of gravity on the z-axis of the carrier coordinate system, H is the measurement matrix of the accelerometer group consisting of the first accelerometer and the second accelerometer,
gravitational acceleration component on x, y, z axis
As determined by equations (11) and (3), equation (11) is expressed as:
since the spatial position of the second accelerometer, i.e. the euler angle of its rotation, determines the measurability of the accelerometer combinationThe method comprises the steps of firstly configuring a measurement matrix H to meet an optimal measurement performance index H in order to achieve optimal measurement performance and optimal fault diagnosis performanceTH is I, and under the premise, a fault diagnosis performance evaluation function is selected
Obtaining optimal measurement performance and fault diagnosis performance with a minimum configuration scheme, wherein hpTo configure the p-th row vector of the measurement matrix, hqFor configuring the q-th row vector of the measurement matrix.
Through the optimization solution, euler angles a ', b', c meeting the requirements are shown in table 3.
TABLE 3
| a′ | 45°、135°、225°、315° |
| b′ | 19.4712°、160.5288°、199.4712°、340.5288° |
| c′ | 45°、135°、225°、315° |
As can be seen from table 3, there are four options for the euler angles a ', b', c per angle, and there are 64 different combinations.
In the present embodiment, the positions of the gyroscope, the first accelerometer and the second accelerometer are arranged by taking euler angles a ' 45 °, b ' 19.4712 ° and c ' 45 ° as examples, the spatial 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,coordinate system Ob1Mounting the platform coordinate system for the accelerometer, coordinate system Ob2For stabilizing the platform coordinate system, coordinate system OaThe 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. The direction of the gyroscope sensitive axis omega is parallel to the direction of the axis 1 of the stable platform. Sensing axis m of second accelerometer6And m3And m1Has an included angle of alpha' and a sensitive axis m6And m2Is β ', α ' 48.19 °, β ' 109.47 °, the measurement equation of the accelerometer set is
In the formula (I), the compound is shown in the specification,
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 (4)
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;
s3, reconstructing the measurement information of the fault sensor according to the position of the fault sensor;
in step S1, the specific steps of determining whether the measurement and control system has a fault are:
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:
in the formula (I), the compound is shown in the specification,
for measuring and controlling system state quantity, u (t) for measuring and controlling system control quantity, d (t) for unknown input quantity in the measuring and controlling system, y (t) for measuring and controlling system measurement output quantity,
constructing a fault detection observer based on a mathematical model of a measurement and control system, wherein the fault detection observer is expressed as:
in the formula (I), the compound is shown in the specification,
in order to detect the observer state variable for a fault,
in order to measure and control the estimation of the state quantity of the system,
in order to measure an estimate of the output of the measurement and control system,
representing a 4 x 1 matrix of real numbers,
is the derivative of z (t); r, P, Q is a fault detection observer matrix, where Q ═ E [ (CE)TCE]-1(CE)T，R＝(I-QC)A-P1C，P＝P1+P2，P2＝RQ，When measuring noise in a measurement and control system is considered, P is designed in a mode of combining with Kalman filtering1(ii) a When the parameter uncertainty in the measurement and control system is considered, the method adopts the method H∞Norm combination mode design P1(ii) a I is an identity matrix;
defining the residual error system as:
in the formula (I), the compound is shown in the specification,
in order to measure and control the system residual error,
is the residual error of the motor q-axis current under a d-q coordinate system,
is the residual error of the rotating speed of the motor,
is the residual error of the gyroscope measurement,
is the residual error of the tool face angle;
processing the residual vector, and judging whether a fault occurs in the measurement and control system according to whether the residual processing result exceeds a set threshold value; in step S2, the specific steps of performing dynamic separation of sensor faults are:
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:
in the formula，y1、y2、y3、y4Is a measurement subsystem;
for the measurement subsystem y1Constructing a fault detection observer Ob1 for the measurement subsystem y2Constructing a fault detection observer Ob2 for the measurement subsystem y3Constructing a fault detection observer Ob3 for the measurement subsystem y4Constructing a fault detection observer Ob 4;
defining the state that the residual error processing result of the fault detection observer exceeds the set threshold as 1 and the state that the residual error processing result does not exceed the set threshold as 0, manufacturing a fault decision table according to the fault detection results of the fault detection observer Ob1, the fault detection observer Ob2, the fault detection observer Ob3 and the fault detection observer Ob4 after the fault, performing primary separation on fault sensors according to the fault decision table, and positioning the fault to the faults of a motor current sensor, a motor speed sensor, a gyroscope and an accelerometer;
separating the current sensor of the fault motor by adopting an alpha-beta coordinate transformation method, and positioning the fault to the fault of the current sensor of a certain phase motor; separating the fault accelerometer by adopting an odd-even equation method, and positioning the fault to a sensitive axis of the accelerometer;
the method for separating the current sensor of the fault motor by adopting the alpha-beta coordinate transformation method comprises the following specific steps:
rotating a two-phase rotating coordinate system alpha-beta of the motor to enable an alpha axis to coincide with three axes a, b and c in a three-phase coordinate system respectively to obtain a coordinate system 1, a coordinate system 2 and a coordinate system 3, and obtaining the following redundant measurement relations under the three coordinate systems:
in the formula ia、ib、icRespectively are the measured values of the current sensors of the three-phase motor of the motor,
for motor current control loop idThe setting value of (a) is set,
for motor current control loop iqThe setting value of (a) is set,
for the alpha axis current to be solved by the three phase current under the coordinate system n,
for use under a coordinate system n
The resolved alpha-axis current is calculated, and theta is the electric angle of the motor rotor; defining residual errors
Expressed as:
from residual error
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;
the method for separating the fault accelerometer by adopting the odd-even equation method comprises the following specific steps:
the measurement equations for the 6 sensitive axes of the two accelerometers are:
where M is the matrix of measurements on six axes of the accelerometer group, M1、m2、m3、m4、m5、m6Is the sensitive axis of an accelerometer, axIs the component of gravity on the x-axis of the carrier coordinate system, ayIs the component of gravity on the y-axis of the carrier coordinate system, azIs the component of gravity on the z-axis of the carrier coordinate system, and H is the measurement matrix of the accelerometer group consisting of the first accelerometer and the second accelerometer
A parity equation set is constructed from the measurement equations, expressed as:
K1：Jm1+Km2+Jm1+m4+m5＝0
K2：Km1+Jm2+Jm3+m4+m6＝0
K3：Vm1+m2+Vm3+m5+Mm6＝0
K4：Vm1+Vm2+Mm4+m5+m6＝0
K5：Vm1+Vm3+m4+m5+Mm6＝0
K6：Vm2+Vm3+m4+Mm5+m6＝0 (8)
in the formula (I), the compound is shown in the specification,
let odd-even equation Ki0, K when i is 1,2, … 6iWhen not equal to 0, i is 1,2, … 6, the state is 1, so the accelerometer is constructedBarrier separation truth tables;
after the accelerometer has a fault, according to the state of the odd-even equation, a sensitive axis of the acceleration fault can be positioned corresponding to the accelerometer fault separation truth table;
in step S3, under the continuous drilling condition, the method for reconstructing the measurement information of the faulty sensor according to the location of the faulty sensor includes:
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:
in the formula, HfMatrix, M, in which the faulty axis is located, is removed for the measurement matrix HfMeasuring a matrix for the accelerometer group after removing the fault axis;
under the condition of stopping drilling, the method for verifying the fault of the sensor 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.
2. A fault diagnosis apparatus for implementing a fault diagnosis method of a measurement and control system of a rotary steerable drilling tool according to claim 1, 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.
3. 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;
the first accelerometer is arranged on the stable platform, the x axis of the first accelerometer is coincident with the axis of the stable platform, the y axis of the first accelerometer is parallel to the y axis of the coordinate axis of the stable platform, and the z axis of the first accelerometer is parallel to the z axis of the coordinate axis of the stable platform;
a second accelerometer, mounted on the stabilized platform, at a mounting position obtained by sequentially rotating euler angles c ', b ', a ' around the z-y-x axis at the position of the first accelerometer;
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 2.
4. The rotary steerable drilling tool measurement and control system of claim 3, 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110146212.0A CN112459721B (en) | 2021-02-03 | 2021-02-03 | Fault diagnosis method and device for rotary steering drilling tool measurement and control system and application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110146212.0A CN112459721B (en) | 2021-02-03 | 2021-02-03 | Fault diagnosis method and device for rotary steering drilling tool measurement and control system and application |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112459721A CN112459721A (en) | 2021-03-09 |
| CN112459721B true CN112459721B (en) | 2021-04-16 |
Family
ID=74802812
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110146212.0A Active CN112459721B (en) | 2021-02-03 | 2021-02-03 | Fault diagnosis method and device for rotary steering drilling tool measurement and control system and application |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112459721B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113361124B (en) * | 2021-06-22 | 2022-08-02 | 中国石油大学(华东) | Tool face angle estimation method of rotary steering drilling tool system |
| CN116520812B (en) * | 2023-06-28 | 2023-09-08 | 中国石油大学(华东) | Fault estimation method and device for measurement and control device of rotary steering drilling system |
| CN117684946B (en) * | 2024-02-02 | 2024-04-16 | 中国石油大学(华东) | Sensor fault detection method and application thereof in guided drilling tool |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007002135A2 (en) * | 2005-06-21 | 2007-01-04 | Trace Bio Analytics, Llc | Non-signal imidazole reagents for mass spectrometry analysis of phosphomonoesters |
| CN104747079B (en) * | 2013-12-31 | 2017-02-15 | 中国石油化工集团公司 | Rotating guiding tool |
| CN104832088B (en) * | 2015-03-25 | 2015-11-18 | 中国石油大学(华东) | Dynamic guiding type rotary steering drilling tool and investigating method thereof |
| CN106640033A (en) * | 2015-10-30 | 2017-05-10 | 中石化石油工程技术服务有限公司 | State monitoring method for rotary guiding tool |
| CN107269268B (en) * | 2017-06-14 | 2024-04-05 | 中国石油化工集团有限公司 | Measurement and control instrument bus system while drilling |
| CN107515001B (en) * | 2017-09-05 | 2019-11-01 | 中国石油大学(华东) | Rotary steering stabilized platform gravity toolface angle dynamic measurement method and device |
| CN108111455B (en) * | 2017-12-13 | 2020-07-17 | 电子科技大学 | Logging-while-drilling data V-OFDM sound wave transmission method based on compressed sensing |
| CN108729902B (en) * | 2018-05-03 | 2021-09-10 | 西安永瑞自动化有限公司 | Online fault diagnosis system and method for oil pumping unit |
| CN111485873B (en) * | 2020-04-30 | 2022-05-06 | 中国石油天然气集团有限公司 | Rotating guide instruction downloading method based on motor frequency conversion control |
| CN111677718B (en) * | 2020-05-29 | 2021-07-23 | 中国石油天然气集团有限公司 | Hydraulic cylinder unit abnormity detection and handling method suitable for rotary steering system |
| CN111894562B (en) * | 2020-06-09 | 2021-05-04 | 中国科学院地质与地球物理研究所 | Signal transmission method and system of rotary steering drilling tool |
-
2021
- 2021-02-03 CN CN202110146212.0A patent/CN112459721B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112459721A (en) | 2021-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112459721B (en) | Fault diagnosis method and device for rotary steering drilling tool measurement and control system and application | |
| CN107421534A (en) | A kind of redundance type SINS multiple faults partition method | |
| CN103676941B (en) | Satellite control system method for diagnosing faults based on kinematics and dynamics modeling | |
| CN110196049A (en) | The detection of four gyro redundance type Strapdown Inertial Navigation System hard faults and partition method under a kind of dynamic environment | |
| CN112596535A (en) | Unmanned aerial vehicle multi-sensor three-redundancy flight control system, method and storage medium | |
| CN1932444B (en) | Attitude measuring method adapted to high speed rotary body | |
| CN108981709B (en) | Four-rotor-wing roll angle and pitch angle fault-tolerant estimation method based on moment model assistance | |
| CN111024124B (en) | Combined navigation fault diagnosis method for multi-sensor information fusion | |
| CN116520812B (en) | Fault estimation method and device for measurement and control device of rotary steering drilling system | |
| CN109813309A (en) | A kind of six gyro redundance type Strapdown Inertial Navigation System Dual Failures partition methods | |
| CN100575876C (en) | Gyroscopic compass multiple positions self-determination orienting north finding device | |
| CN108592946A (en) | A kind of online monitoring method of inertia device drift based under two sets of rotation inertial navigation redundant configurations | |
| CN111352433A (en) | Fault diagnosis method for horizontal attitude angle of unmanned aerial vehicle | |
| Hall et al. | In-flight parity vector compensation for FDI | |
| CN117405109B (en) | Three-set inertial navigation system attitude voting method based on quaternion spherical linear weighting | |
| CN115992693A (en) | Intelligent sensing system and method for dynamic measurement of drilling tool posture | |
| CN107607114B (en) | Online frequency characteristic soft test method for digital gyroscope stabilization platform | |
| CN115857529B (en) | Method for reconstructing actuator fault of spacecraft attitude control system | |
| Shi et al. | Research on Fault Diagnosis of Three Degrees of Freedom Gyroscope Redundant System | |
| CN111141283A (en) | Method for judging advancing direction through geomagnetic data | |
| CN114526729B (en) | Course optimization method of MEMS inertial positioning system based on redundancy technology | |
| Li et al. | Fault diagnosis for attitude sensors via a bank of extended Kalman filters | |
| JP2009204419A (en) | Failure detector | |
| CN114754791A (en) | Micro-mechanical on-orbit gyroscope fault detection method and device | |
| Notaro et al. | HW VS SW sensor redundancy: Fault detection and isolation observer based approaches for inertial measurement units |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |