CN116164997B - Ground testing device of rotary steering drilling tool stabilizing platform - Google Patents
Ground testing device of rotary steering drilling tool stabilizing platform Download PDFInfo
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- CN116164997B CN116164997B CN202310456921.8A CN202310456921A CN116164997B CN 116164997 B CN116164997 B CN 116164997B CN 202310456921 A CN202310456921 A CN 202310456921A CN 116164997 B CN116164997 B CN 116164997B
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Abstract
The invention belongs to the technical field of oilfield drilling, and relates to a ground testing device of a rotary steering drilling tool stabilizing platform, which comprises: the first support piece and the second support piece are oppositely placed, and the second support piece is provided with a first mounting hole; the motor shaft of the drill collar motor penetrates through the first support piece to be connected with the drill collar, and a stable platform mounting assembly is arranged in the drill collar; the first vibrating piece is connected with the drill collar, the second vibrating piece is sleeved in the first mounting hole, an elastic piece is arranged between the second vibrating piece and the second supporting piece, and the elastic piece is sleeved on the second vibrating piece; the first vibrating piece end is provided with a first vibrating tooth, the second vibrating piece end is provided with a second vibrating tooth matched with the first vibrating tooth, and the second vibrating piece is provided with a first stop piece matched with a second stop piece arranged in the first mounting hole. The invention can perform vibration, interference loading and high-temperature simulation, and realizes ground test of different types of mechanical stable platforms.
Description
Technical Field
The invention belongs to the technical field of oilfield drilling, relates to a ground testing technology of a drilling tool stabilizing platform, and particularly relates to a ground testing device of a rotary steering drilling tool stabilizing platform.
Background
The complexity of geological resources and hydrocarbon occurrence determines the necessity of guided drilling technology, and hydrocarbon resources can be efficiently developed only through various complex well structure designs and drilling. The rotary steering tool is a closed-loop steering drilling tool which completes the steering function in real time in the rotary drilling process of a drill string. The rotary steering drilling system can automatically adjust the direction of the drill bit or the steering force near the drill bit so as to change the advancing direction of the well track, and the drilling system greatly improves the construction efficiency of the complex well track and has important research and development value.
The stable platform is a reference space for measuring and controlling the direction of a drill bit of the rotary steering drilling tool, and the dynamic performance and the disturbance rejection capability of the stable platform directly determine the steering precision and the reliability of the rotary steering tool. Different stable platform implementations create different technical features of the rotary steerable drilling tool and even determine tool performance metrics and overall dimensions. The stabilizing platform can be a physical platform or a virtual platform, thus two types of implementation methods of the rotary steering drilling tool stabilizing platform are corresponded, one type is a strapdown stabilizing platform, the other type is a mechanical stabilizing platform, and the mechanical stabilizing platform is further divided into a single-motor stabilizing platform and a double-turbine generator stabilizing platform. The strapdown stable platform does not need to design an independent stable platform mechanical structure, but needs to be matched with a complex algorithm to obtain an accurate drilling tool posture, and the calculated amount is large. On the contrary, the mechanical stable platform designs an independent stable platform mechanical structure, and the measurement accuracy is higher. However, the mechanical stabilization platform needs to work for a long time under high temperature and strong vibration environment, and there is no device capable of simulating the working environment in the prior art. If the stable platform is directly placed on the drilling tool for testing, a large amount of material resources and financial resources are consumed, and the problem that the detailed working state of the stable platform cannot be obtained exists. Thus, there is a need to develop specialized stabilized platform floor test equipment.
The mechanical stabilizing platform is further divided into a single-motor stabilizing platform and a double-turbine generator stabilizing platform. The double-turbine generator stable platform is a single-shaft stable platform with autonomous power generation capacity. Two ends of a rotating shaft of the stabilizing platform of the double turbine generator are respectively provided with a turbine generator (respectively called an upper turbine generator and a lower turbine generator), and the stress balance of the stabilizing platform is realized by adjusting the electromagnetic moment of the upper turbine generator and the lower turbine generator, so that the stabilizing platform is static to the ground. The stable platform of the double-turbine generator can drive the turbine generator to work normally only with the assistance of hydraulic circulation, however, the torque of the hydraulic driving turbine is difficult to control accurately, the investment of a hydraulic circulation system is large, and difficulty is brought to the research and development of the control system of the double-turbine generator. In addition, the dual-turbine generator stabilizing platform realizes dynamic balance by utilizing the resultant force of acting forces of two turbines, and the upper turbine generator and the lower turbine generator are mutually influenced in the working process, so that the control difficulty of the stabilizing platform is high. Therefore, the ground test method and the control system design of the dual turbine generator stabilizing platform are also particularly critical.
Chinese patent application publication No. CN 103277047A discloses a single-axis stabilized platform device for rotary steerable drilling tools and a stabilizing method thereof, and specifically discloses a single-axis stabilized platform device and a stabilizing method thereof, but the patent application does not disclose a specific method of control system design, and does not give a ground test method.
The Chinese patent application with publication number of CN 114215501A discloses a control method of a stable platform in a rotary guiding system, and particularly discloses a control method of a stable platform in a rotary guiding system, which is used for solving the problem that the control of the stable platform of the rotary guiding system is easily affected by internal nonlinear interference in the prior art. The patent application also discloses a control method of the torque generator, but does not disclose a busbar voltage control and a toolface angle control method when the upper turbine engine (i.e., upper turbine generator) and the torque generator (i.e., lower turbine generator) are operated together, and does not give a ground test method.
The literature Hamid Alturber, james F, whidborne, patrick Luk, et al, modelling and control of the roll-stabilised control unit of a rotary steerable system directional drilling tool [ J ]. The Journal of Engineering, 2019, 2019 (17): 4555-4559 ] analyzes control methods for a dual turbine generator stabilization platform, and provides control system block diagrams and controller design methods. The control method of the stable platform has the following defects: the control system of the double turbine generator is independently designed, so that the measurement information of the sensor cannot be fully utilized; the document only designs a control method of a dual turbine generator stabilizing platform, and does not give a ground test method.
In summary, it is necessary to design a surface testing device for a rotary steerable drilling tool stabilization platform.
Disclosure of Invention
The invention aims at the problems, and provides a ground testing device for a rotary steering drilling tool stabilizing platform, which can perform vibration simulation, interference loading and high-temperature simulation and realize ground testing of different types of mechanical stabilizing platforms.
In order to achieve the above purpose, the invention provides a ground testing device of a rotary steering drilling tool stable platform, which comprises a drill collar assembly, wherein the drill collar assembly comprises a drill collar and a drill collar motor, and a stable platform mounting assembly is arranged in the drill collar to mount the stable platform; the ground testing device further comprises:
the drill collar motor is arranged on the outer side of the first support, and a motor shaft of the drill collar motor penetrates through the first support to be connected with the drill collar;
the second support piece is arranged opposite to the first support piece and is provided with a first mounting hole;
the vibration mechanism comprises a first vibration piece connected with the drill collar and a second vibration piece sleeved in the first mounting hole, an elastic piece is arranged between the second vibration piece and the second support piece, and the elastic piece is sleeved on the second vibration piece; the end part of the first vibrating piece is provided with a first vibrating tooth, the end part of the second vibrating piece is provided with a second vibrating tooth matched with the first vibrating tooth, and the second vibrating tooth is separated from the first vibrating tooth in the rotation process of the drill collar and meshed with the first vibrating tooth under the action of the elastic piece so as to automatically open and close to generate vibration; the second vibration member is provided with a first stop member which is matched with a second stop member arranged in the first mounting hole so as to prevent the second vibration member from rotating around the axis of the drill collar when the second vibration member moves along the axial direction of the drill collar.
In some embodiments, the ground testing device further comprises a disturbance loading assembly, wherein the disturbance loading assembly comprises a pressing piece arranged on the side wall of the drill collar and a friction piece arranged on the stable platform, and one end of the pressing piece is in close contact with the friction piece so as to generate disturbance moment; the pressure element is connected with the drill collar through threads, and the pressure element is rotated to enable the pressure element to move along the radial direction of the drill collar.
In some embodiments, the stabilized platform mounting assembly includes a first mount within which the stabilized platform body is mounted; the side wall of the first mounting piece is provided with a heating device so as to simulate a high-temperature environment in the pit.
Preferably, the stable platform mounting assembly further comprises a second mounting piece, a third mounting piece and a fourth mounting piece which are detachably connected with the end part of the first mounting piece respectively, the second mounting piece is provided with a first through hole, and the third mounting piece is provided with a second through hole;
when the single-motor stable platform is tested, the second mounting piece or the third mounting piece is mounted at one end of the first mounting piece, and the fourth mounting piece is mounted at the other end of the first mounting piece; a single-motor stable platform driving motor is arranged on one side, far away from the first mounting piece, of the second mounting piece or the third mounting piece, and a motor shaft of the single-motor stable platform driving motor penetrates through the first through hole or the second through hole to be connected with the single-motor stable platform;
When testing the dual turbine generator stabilizing platform, the second mounting piece is mounted at one end of the first mounting piece, and the third mounting piece is mounted at the other end of the first mounting piece; one side of the second mounting piece, which is far away from the first mounting piece, is provided with an upper turbine generator rotor driving motor, and a motor shaft of the upper turbine generator rotor driving motor penetrates through the first through hole to be connected with an upper turbine generator so as to drive the upper turbine generator; and one side, far away from the first mounting piece, of the third mounting piece is provided with a lower turbine generator rotor driving motor, and a motor shaft of the lower turbine generator rotor driving motor penetrates through the second through hole to be connected with a lower turbine generator so as to drive the lower turbine generator.
In some embodiments, the ground test apparatus further comprises a control unit including a main controller, a drive controller including an upper turbine generator drive controller for driving the upper turbine generator to rotate and a lower turbine generator drive controller for driving the lower turbine generator to rotate, and a measurement unit including an upper current sensor for measuring an upper turbine generator current, a lower current sensor for measuring a lower turbine generator current, a toolface angle measurement unit for measuring a toolface angle, a voltage sensor for measuring a bus voltage, and a rotational speed sensor for measuring a rotational speed of the lower turbine generator; the main controller respectively provides current set values for the upper turbine generator driving controller and the lower turbine generator driving controller according to the upper current sensor measurement data, the lower current sensor measurement data, the voltage sensor measurement data, the rotating speed sensor measurement data, the tool face angle measurement unit measurement data, the tool face angle set value, the direct current bus voltage set value and the external working condition information so as to adjust electromagnetic torque of the upper turbine generator and the lower turbine generator.
In some embodiments, the master controller includes:
a stabilized platform controller configured to: receiving a DC bus voltage set point
And tool face angle set point +.>
The method comprises the steps of carrying out a first treatment on the surface of the According to external working condition information, upper current sensor measurement data, lower current sensor measurement data, voltage sensor measurement data, rotation speed sensor measurement data, tool face angle measurement unit measurement data, and set value of a dynamic adjustment busbar voltage controller
WorkerSetting value of face angle controller ++>
The method comprises the steps of carrying out a first treatment on the surface of the Providing a correction amount to the rotational speed controller>
To correct the rotational speed controller;
a bus voltage controller configured to: according to the set value
And the measurement data of the voltage sensor dynamically adjusts the current set value of the upper turbine generator driving controller so as to adjust the electromagnetic torque of the upper turbine generator;
a toolface angle controller configured to: according to
And the tool face angle measuring value obtained by the tool face angle measuring unit dynamically adjusts the set value of the rotating speed controller;
a rotational speed controller configured to: and dynamically adjusting the current set value of the lower turbine generator driving controller according to the rotating speed set value, the rotating speed sensor measured value, the lower current sensor measured value and the rotating speed controller correction amount so as to adjust the electromagnetic torque of the lower turbine generator.
In some embodiments, the upper turbine generator drive controller includes an upper current controller and an upper inverter circuit, the upper inverter circuit being connected to the upper turbine generator; the upper current controller is configured to: and receiving a current set value of the upper vortex generator driving controller given by the bus voltage controller, and dynamically adjusting the conduction state of the upper inverter circuit according to the measurement data of the upper current sensor so as to adjust the electromagnetic moment of the upper turbine generator.
In some embodiments, the lower turbine generator drive controller includes a lower current controller and a lower inverter circuit, the lower inverter circuit being connected to the lower turbine generator; the lower current controller is configured to: and receiving a current set value of a lower vortex generator driving controller given by the rotating speed controller, and dynamically adjusting the conduction state of the lower inverter circuit according to the measurement data of the lower current sensor so as to adjust the electromagnetic moment of the lower turbine generator.
In some embodiments, the stabilized platform controller is built with the following optimization criteria:
the following constraints are satisfied:
in the method, in the process of the invention,
、/>
、/>
and->
Weight coefficients of the optimization objective, +.>
For the measurement of the voltage sensor, +.>
For the measurement of the toolface angle measurement unit, +. >
A ripple boundary allowed for the bus voltage controller set point,
fluctuation boundary allowed for toolface angle controller setting,/->
For the power of the upper turbine generator,
for the power of the lower turbine generator, +.>
Is the rated power of the generator.
In some embodiments, the master controller includes:
a stabilized platform controller configured to: direct to-be-received DC bus voltage set value
Send to bus voltage controller, directly receive toolface angle set value +.>
Sending to a toolface angle controller; and the measurement data of the upper current sensor is used as correction amount +.>
Sending the data to a rotating speed controller;
a bus voltage controller configured to: according to the set value
And the measurement data of the voltage sensor dynamically adjusts the current set value of the upper turbine generator driving controller so as to adjust the electromagnetic torque of the upper turbine generator;
a toolface angle controller configured to: according to
And the tool face angle measuring value obtained by the tool face angle measuring unit dynamically adjusts the set value of the rotating speed controller;
a rotational speed controller configured to: and dynamically adjusting the current set value of the lower turbine generator driving controller according to the rotating speed set value, the rotating speed sensor measured value, the lower current sensor measured value and the rotating speed controller correction amount so as to adjust the electromagnetic torque of the lower turbine generator.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) According to the ground testing device of the stable platform, drill collar rotation in drilling is simulated through the drill collar assembly, the vibration mechanism is matched with the drill collar assembly, underground vibration is generated in the process of drill collar rotation, and different stable platforms are replaced and installed through the stable platform installation assembly, so that ground testing of different types of mechanical stable platforms is achieved.
(2) The ground testing device of the stable platform is provided with the interference loading assembly, so that load interference simulation can be performed, namely, the friction force between the pressurizing piece and the friction piece is adjusted through the rotary pressurizing piece to apply interference moment to the stable platform to be tested, so that moment interference in drilling is simulated and tested, and the influence of the moment interference on the stable platform is tested.
(3) According to the ground testing device of the stable platform, on one hand, the elastic piece is arranged between the second vibrating piece and the second supporting piece of the vibrating mechanism, acting force of the elastic piece is adjusted, vibration force can be adjusted, on the other hand, different vibration conditions can be simulated by changing tooth shapes of the vibrating teeth, and further ground testing of the stable platform under different vibrations is achieved.
(4) According to the ground testing device of the stable platform, the heating device is arranged on the outer side of the first mounting piece of the stable platform mounting assembly, and the heating device is used for heating, so that a high-temperature environment is provided for the stable platform to be tested, and further the influence of underground temperature on the stable platform is simulated and tested.
(5) According to the ground testing device for the stable platform, when the double-turbine stable platform is tested, the control unit adopts the double-layer control design structure, the main controller can acquire all sensor data of the upper turbine generator, the lower turbine generator and the tool face angle measuring unit, and the cooperative control of the upper turbine generator and the lower turbine generator is realized by adjusting the set values of the upper turbine generator driving controller and the lower turbine generator driving controller in real time, so that the control performance of the stable platform is improved.
(6) According to the ground test device for the stable platform, when the ground test is carried out, the upper turbine generator rotor driving motor and the upper turbine generator, the lower turbine generator rotor driving motor and the lower turbine generator simulate the underground working state of the double turbine generator, the ground simulation of the turbine generator can be carried out without drilling fluid circulation, the turbine moment can be simulated by adjusting the moment of the upper turbine generator rotor driving motor and the moment of the lower turbine generator rotor driving motor, and the convenience and the controllability of the ground experiment are improved. In addition, through changing the part subassembly in the stable platform installation component, make it be applicable to single motor stable platform, and then carry out ground test to single motor stable platform.
Drawings
FIG. 1 is a schematic view of a surface testing apparatus for a rotary steerable drilling tool stabilization platform according to an embodiment of the present invention;
FIG. 2 is a schematic view showing a state in which a first vibrating member and a second vibrating member of a vibrating mechanism according to an embodiment of the present invention are engaged and pressed;
FIG. 3 is a three-dimensional schematic view of a vibration mechanism according to an embodiment of the present invention;
FIGS. 4-7 are schematic diagrams of vibrating teeth with different designs of the vibrating mechanism according to the embodiment of the present invention (the diagonal line portion and the dotted line portion represent tooth arrangement positions, and white is a non-tooth arrangement position);
FIG. 8 is a schematic diagram of a surface testing apparatus for a rotary steerable drilling tool stabilization platform of the present invention configured with a dual turbine generator stabilization platform;
FIG. 9 is a schematic diagram of a surface testing apparatus for a rotary steerable drilling tool stabilization platform incorporating a single motor stabilization platform in accordance with an embodiment of the present invention;
FIGS. 10-11 are control block diagrams of a rotary steerable drilling tool stabilization platform surface testing apparatus equipped with a dual turbine generator stabilization platform in accordance with embodiments of the present invention;
FIG. 12 illustrates a toolface angle control effect according to an embodiment of the present invention;
fig. 13 shows the effect of controlling the bus voltage according to an embodiment of the present invention.
In the figure, 1, a first supporting piece, 2, a second supporting piece, 301, a drill collar body, 302, a first end cover, 303, a second end cover, 4, a drill collar motor, 501, a first mounting piece, 502, a second mounting piece, 503, a third mounting piece, 504, a fourth mounting piece, 6, a first vibrating piece, 7, a second vibrating piece, 701, a vibrating part, 702, a connecting part, 8, an elastic piece, 9, a first vibrating tooth, 10, a second vibrating tooth, 11, a first stopping piece, 12, a pressing piece, 13, a stable platform, 14, a friction piece, 15, a stable platform body, 16, a heating device, 17, a single motor stable platform driving motor, 18, a single motor stable platform first end cover, 19, a single motor stable platform second end cover, 20, a first coupler, 21, a first conductive slip ring, 22, a second coupler, 23, a second conductive slip ring, 24, an upper turbine generator rotor driving motor, 25, an upper turbine generator, 26, a lower turbine generator rotor driving motor, 27, a lower turbine generator, 28, a double turbine generator stabilizing platform first end cover, 29, a double turbine generator stabilizing platform second end cover, 30, a third coupler, 31, a fourth coupler, 32, a third conductive slip ring, 33, a fourth conductive slip ring, 34, a drill collar bearing seat, 35, a bottom plate, 36, a stabilizing platform measurement and control circuit mounting bracket, 37, an upper turbine generator driving controller, 38, a lower turbine generator driving controller, 39 and a load.
Detailed Description
The present invention will be specifically described below by way of exemplary embodiments. It is to be understood that elements, structures, and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, an embodiment of the invention provides a ground testing device for a rotary steering drilling tool stabilizing platform, which comprises a first support piece 1, a second support piece 2, a drill collar assembly and a vibration mechanism, wherein the first support piece 1 and the second support piece 2 are oppositely arranged, the drill collar assembly and the vibration mechanism are sequentially arranged between the first support piece 1 and the second support piece 2, the drill collar assembly is connected with the first support piece 1, and the vibration mechanism is connected with the second support piece 2. When the stable platform is subjected to ground test, the drill collar assembly simulates drill collar rotation in drilling, the vibration mechanism is matched with the drill collar assembly, underground vibration is generated in the rotation process of the drill collar, simulation of the vibration environment is realized, and the stable platform is subjected to ground test under different vibrations.
With continued reference to FIG. 1, the drill collar assembly includes a drill collar and a drill collar motor 4 mounted outside the first support 1, a motor shaft of the drill collar motor 4 passing through the first support 1 and connected with the drill collar; a stable platform mounting assembly is arranged in the drill collar so as to mount the stable platform. The drill collar comprises a drill collar body 301, a first end cover 302 connected with a drill collar motor 4 and a second end cover 303 connected with a vibration mechanism, one end of the drill collar body 301 is connected with the first end cover 302 (such as through bolt connection and the like), the other end of the drill collar body 301 is connected with the second end cover 303 (such as through bolt connection and the like), a stable platform mounting assembly is arranged in the drill collar body 301, and two end parts of the drill collar body 301 are fixedly mounted through drill collar bearing seats 34. When the stable platform is subjected to ground test, the drill collar motor drives the drill collar to rotate, the drill collar in the drilling is simulated to rotate, and the rotation speed of the drill collar motor is controlled to simulate different drill collar rotation conditions in the drilling process.
In one embodiment, the drill collar motor 4 is coupled to the first end cap 302 via a first coupling. Power and torque are transmitted through the first coupling 20. The inner side of the first support piece 1 is provided with a first conductive slip ring 21, and the first conductive slip ring 21 is sleeved on a motor shaft of the drill collar motor 4. An external power supply and communication line supply power to the stable platform to be tested through the first conductive slip ring 21. By the action of the first conductive slip ring, the winding of the wire is avoided.
Referring to fig. 1 to 3, the vibration mechanism includes a first vibration member 6 connected to a second end cover 303 and a second vibration member 7 sleeved in a first mounting hole (not shown), an elastic member 8 is disposed between the second vibration member 7 and the second support member 2, and the elastic member 8 is sleeved on the second vibration member 7; the end part of the first vibrating piece 6 far away from the second end cover 303 is provided with a first vibrating tooth 9, the end part of the second vibrating piece 7 is provided with a second vibrating tooth 10 matched with the first vibrating tooth 9, and in the rotation process of the drill collar, the second vibrating tooth 10 is separated from the first vibrating tooth 9 and meshed with the first vibrating tooth 9 under the action of the elastic piece 8 so as to automatically open and close to generate vibration. The elastic member is a compression spring, but is not limited to a compression spring. When vibration testing is carried out on the stable platform, the elastic piece provides acting force for meshing of the first vibration tooth and the second vibration tooth. The force of the elastic piece can be adjusted by adjusting the position of the second supporting piece, so that the vibration force can be adjusted.
It should be noted that the design forms of the vibrating teeth are many, and different vibrating tooth structures can be designed according to different vibration test requirements. For example: referring to fig. 4, the first vibrating teeth and the second vibrating teeth are respectively provided with three first vibrating teeth which are uniformly distributed on the circumference of the end part of the first vibrating member, and the three second vibrating teeth are uniformly distributed on the circumference of the end part of the second vibrating member. Referring to fig. 5, 72 vibrating teeth are uniformly distributed on the circumferences of the ends of the first vibrating member and the second vibrating member, and when the first vibrating teeth and the second vibrating teeth are arranged in the layout, the vibrating mechanism can generate continuous vibration along with the rotation of the drill collar. Referring to fig. 6, 3 vibrating teeth are uniformly distributed on half circumferences of the ends of the first vibrating member and the second vibrating member, and when the first vibrating teeth and the second vibrating teeth are arranged in the layout, the vibrating mechanism can generate non-uniform 3 times of vibration along with the rotation of the drill collar. Referring to fig. 7, only 1 vibrating tooth is provided on the circumference of the first and second vibrating member ends, and when the first and second vibrating teeth are arranged in this arrangement, the vibrating mechanism can generate 1 vibration with the rotation of the drill collar.
Referring to fig. 3, the second vibrating member is provided with a first stop 11 which cooperates with a second stop (not shown) provided in a first mounting hole (not shown) to prevent rotation of the second vibrating member 7 about the drill collar axis as it moves axially along the drill collar. In a specific embodiment, the first stop piece is a groove arranged on the second vibration piece, the second stop piece is a boss which is arranged in the first mounting hole and matched with the groove, the number of the groove and the boss corresponds to that of at least one, and the number of the grooves and the bosses can be 1, or can be 2, 3 or more, and the second stop piece is specifically designed according to actual requirements. In another specific embodiment, the first stop piece is a boss arranged on the second vibration piece, the second stop piece is a groove which is arranged in the first mounting hole and matched with the boss, the number of the boss and the number of the groove are corresponding, at least one, 1, 2, 3 or the like are arranged, and the design is specifically carried out according to actual requirements.
In some specific embodiments, referring to fig. 1 to 3, the second vibration member 7 includes a vibration part 701 and a connection part 702, and the radial dimension of the connection part 702 is smaller than the radial dimension of the vibration part 701; the second vibrating teeth 10 are arranged at the end part of the vibrating part, which is close to the first vibrating piece 6; the elastic piece 8 is sleeved on the connecting part 702 and is positioned between the vibrating part 701 and the second supporting piece 2; the first stopper 11 is provided on the outer wall of the connection portion 702. The radial dimension of the vibration part is larger than that of the connecting part, the position of the elastic piece is limited between the vibration part and the second supporting piece, and after the first vibration tooth and the second vibration tooth are separated in the rotation process of the drill collar, the elastic piece enables the first vibration tooth to be meshed with the second vibration tooth through acting force of the elastic piece so as to generate vibration.
Referring to fig. 1, 2 and 8, the testing device further includes a bottom plate 35, and the first support member 1, the second support member 2 and the drill collar bearing seat 34 are all mounted on the bottom plate 35 by bolts. The base plate 35 is provided with a plurality of mounting holes arranged in sequence at one end for mounting the second supporting member 2, and the second supporting member is mounted in different mounting holes, so that the acting force of the elastic member can be adjusted, and the vibration force can be adjusted.
In some embodiments, referring to fig. 1 and 8, the above-mentioned surface test device further includes a disturbance loading assembly, where the disturbance loading assembly includes a pressing member 12 mounted on a side wall of the drill collar and a friction member 14 mounted on the stabilization platform 13, and one end of the pressing member 12 is in close contact with the friction member 14 to generate a disturbance moment. The pressure element 12 is threadedly connected to the drill collar, and the pressure element 12 moves radially along the drill collar as it rotates. Specifically, the pressurizing piece is a pressurizing rod, and the friction piece is a friction plate. One end of the pressurizing rod is tightly contacted with the friction plate, and the friction force between the pressurizing rod and the friction plate can be adjusted by rotating the pressurizing rod, so that the rotating torque of the drill collar is transmitted to the stable platform for testing the influence of the disturbance moment on the control performance of the stable platform.
Referring to fig. 8 and 9, the stabilized platform mounting assembly includes a first mounting member 501, and the stabilized platform body 15 is mounted inside the first mounting member 501; the sidewall of the first mount 501 mounts the heat generating device 16 to simulate a high temperature environment downhole. Specifically, a groove is provided on a side wall of the first mounting member 501, and the heat generating device is mounted in the groove. In a specific embodiment, a nichrome resistance wire is used as the heating device, the heating device is not limited to the nichrome resistance wire, and other types of heating elements can be used in the design of the heating device.
Referring to fig. 8 and 9, the stabilizer platform mounting assembly further includes a second mounting member 502, a third mounting member 503, and a fourth mounting member 504 detachably connected to the ends of the first mounting member 501, respectively, the second mounting member 502 being provided with a first through hole (not shown), and the third mounting member 503 being provided with a second through hole (not shown).
In testing the twin turbine generator stabilization platform, referring to fig. 8, a second mount 502 is mounted to one end of the first mount 501, and a third mount 503 is mounted to the other end of the first mount 501; the side of the second mounting piece 502, which is far away from the first mounting piece 501, is provided with an upper turbine generator rotor driving motor 24, and a motor shaft of the upper turbine generator rotor driving motor 24 passes through the first through hole and is connected with an upper turbine generator 25 through a second coupling 22 so as to drive the upper turbine generator 25; the third mounting member 503 is mounted on a side remote from the first mounting member 501 with the lower turbine generator rotor driving motor 26, and a motor shaft of the lower turbine generator rotor driving motor 26 passes through the second through hole and is connected with the lower turbine generator 27 through the third coupling 30 to drive the lower turbine generator 27. The dual turbine generator stabilizing platform comprises a stabilizing platform main body 15, a dual turbine generator stabilizing platform first end cover 28 and a dual turbine generator stabilizing platform second end cover 29, wherein one end of the stabilizing platform main body 15 is connected with the dual turbine generator stabilizing platform first end cover 28, and the other end is connected with the dual turbine generator stabilizing platform second end cover 29. The second conductive slip ring 23 is installed on one side of the second installation piece 502, which is close to the first installation piece 501, and the second conductive slip ring 23 is sleeved on the motor shaft of the upper turbine generator rotor driving motor 24. A third conductive slip ring 32 is mounted on a side of the third mounting member 503, which is close to the first mounting member 501, and the third conductive slip ring 32 is sleeved on the motor shaft of the lower turbine generator rotor driving motor 26. An external power supply and communication line provides power to the lower turbine generator rotor drive motor 26 through the third conductive slip ring 32. And the second conductive slip ring is used for preventing wires connected with the rotor driving motor of the upper turbine generator from winding. And the wire connected with the rotor driving motor of the lower turbine generator is prevented from winding through the action of the third conductive slip ring.
It should be noted that, in the dual turbine generator stabilization platform shown in fig. 8, the turbine part mechanical structure of the upper turbine generator and the turbine part mechanical structure of the lower turbine generator are omitted, the rotor of the upper turbine generator is directly connected with the upper turbine generator rotor driving motor, and the rotor of the lower turbine generator is directly connected with the lower turbine generator rotor driving motor.
When the ground test is performed on the dual-turbine generator stable platform, the upper turbine generator rotor driving motor 24 and the upper turbine generator 25 simulate the upper turbine generator function of the dual-turbine generator stable platform together, and the specific operation mode is as follows: assume that the moment generated by the turbine rotor on the slurry brush is
To test the stable platform performance at this moment, the upper turbine generator rotor drive motor 24 is sized +.>
The rotor of the upper turbine generator 25 is driven to rotate, and the test function of the upper turbine generator is realized. Similarly, the lower turbine generator rotor drive motor 26 cooperates with the lower turbine generator 27 to provideSo as to realize the test function of the lower turbine generator.
Referring to fig. 10 and 11, the control unit further includes a control unit including a main controller, a driving controller including an upper turbine generator driving controller for driving the upper turbine generator to rotate and a lower turbine generator driving controller for driving the lower turbine generator to rotate, and a measuring unit including an upper current sensor for measuring an upper turbine generator current, a lower current sensor for measuring a lower turbine generator current, a tool face angle measuring unit for measuring a tool face angle, a voltage sensor for measuring a bus voltage, and a rotation speed sensor for measuring a rotation speed of the lower turbine generator; the main controller respectively provides current set values for the upper turbine generator driving controller and the lower turbine generator driving controller according to the upper current sensor measurement data, the lower current sensor measurement data, the voltage sensor measurement data, the rotating speed sensor measurement data, the tool face angle measurement unit measurement data, the tool face angle set value, the direct current bus voltage set value and the external working condition information so as to adjust electromagnetic torque of the upper turbine generator and the lower turbine generator.
In testing the single motor stabilization platform, referring to fig. 9, a second mount 502 or a third mount 503 is mounted at one end of the first mount 501, and a fourth mount 504 is mounted at the other end of the first mount 501; the second mounting member 502 or the third mounting member 503 is mounted on a side far from the first mounting member 501 with the single motor stabilization platform driving motor 17, and a motor shaft of the single motor stabilization platform driving motor 17 passes through the first through hole or the second through hole to be connected with the single motor stabilization platform. The single motor stabilized platform includes stabilized platform main part 15, single motor stabilized platform first end cover 18, single motor stabilized platform second end cover 19, and stabilized platform main part 15 one end is connected with single motor stabilized platform first end cover 18, and the other end is connected with single motor stabilized platform second end cover 19. The motor shaft of the single motor stabilization platform driving motor 17 is connected with the single motor stabilization platform first end cover 18 through the fourth coupling 31. A fourth conductive slip ring 33 is installed on one side of the second mounting part 502 or the third mounting part 503, which is close to the first mounting part 501, and the fourth conductive slip ring 33 is sleeved on the motor shaft of the single motor stable platform driving motor 17. An external power supply and communication line provides power to the single motor stabilization platform through the fourth conductive slip ring 33. And the wire connected with the single-motor stable platform is prevented from winding through the action of the fourth conductive slip ring.
In some embodiments, referring to fig. 10 and 11, the main controller includes:
a stabilized platform controller configured to: receiving a DC bus voltage set point
And tool face angle set point +.>
The method comprises the steps of carrying out a first treatment on the surface of the According to external working condition information, upper current sensor measurement data, lower current sensor measurement data, voltage sensor measurement data, rotation speed sensor measurement data, tool face angle measurement unit measurement data, and set value of a dynamic adjustment busbar voltage controller
Setting value of tool face angle controller +.>
The method comprises the steps of carrying out a first treatment on the surface of the Providing a correction amount to the rotational speed controller>
To correct the rotational speed controller;
a bus voltage controller configured to: according to the set value
And the measurement data of the voltage sensor dynamically adjusts the current set value of the upper turbine generator driving controller so as to adjust the electromagnetic torque of the upper turbine generator;
a toolface angle controller configured to: according to
And tool face angle measurement value obtained by the tool face angle measurement unit, and dynamically adjusting the rotating speedA set value of the controller;
a rotational speed controller configured to: and dynamically adjusting the current set value of the lower turbine generator driving controller according to the rotating speed set value, the rotating speed sensor measured value, the lower current sensor measured value and the rotating speed controller corrected value so as to adjust the electromagnetic torque of the lower turbine generator.
In some embodiments, referring to fig. 11, upper turbine generator drive controller 37 includes an upper current controller and an upper inverter circuit, the upper inverter circuit being connected to the upper turbine generator; the upper current controller is configured to: and receiving a current set value of the upper vortex generator driving controller given by the bus voltage controller, and dynamically adjusting the conduction state of the upper inverter circuit according to the measurement data of the upper current sensor so as to adjust the electromagnetic moment of the upper turbine generator.
In some embodiments, referring to FIG. 11, lower turbine generator drive controller 38 includes a lower current controller and a lower inverter circuit connected to the lower turbine generator; the lower current controller is configured to: and receiving a current set value of a lower vortex generator driving controller given by the rotating speed controller, and dynamically adjusting the conduction state of the lower inverter circuit according to the measurement data of the lower current sensor so as to adjust the electromagnetic moment of the lower turbine generator.
The stabilized platform controller is constructed with the following optimization indexes:
the following constraints are satisfied:
in the method, in the process of the invention,
、/>
、/>
and->
Weight coefficients of the optimization objective, +.>
For the measurement of the voltage sensor, +.>
For the measurement of the toolface angle measurement unit, +. >
A ripple boundary allowed for the bus voltage controller set point,
fluctuation boundary allowed for toolface angle controller setting,/->
For the power of the upper turbine generator,
for the power of the lower turbine generator, +.>
Is the rated power of the generator.
It should be noted that, the optimization target weight coefficient of the stabilized platform controller may be changed according to the external working condition information, and adjusting the optimization target weight coefficient may change the optimization target of the stabilized platform controller. For example: enlargement
And->
Representing the control performance of the optimization algorithm with more attention to the bus voltage, otherwise, turning up +.>
And->
Representing the optimization algorithm is more concerned with the control performance of the toolface angle.
Based on the main controller structure, the set values of the bus voltage controller and the tool face angle controller are not directly given by the outside any more, but are corrected in real time by the stabilized platform controller according to the current operation condition of the control unit. By dynamically adjusting the set value of the bus voltage controller
And tool face angle controller set point +.>
And the dual-target dynamic optimization process of the main controller is realized.
In some embodiments, referring to fig. 11, the master controller includes:
the stabilized platform controller is configured to: direct to-be-received DC bus voltage set value 
Send to bus voltage controller, directly receive toolface angle set value +.>
Sending to a toolface angle controller; and transmitting the measured data of the upper current sensor as a correction amount to the rotational speed controller;
a bus voltage controller configured to: according to the set value
And the measurement data of the voltage sensor dynamically adjusts the current set value of the upper turbine generator driving controller so as to adjust the electromagnetic torque of the upper turbine generator;
a toolface angle controller configured to: according to
And tool face angle measurement value obtained by the tool face angle measurement unit, and dynamic stateAdjusting a set value of the rotating speed controller;
a rotational speed controller configured to: and dynamically adjusting the current set value of the lower turbine generator driving controller according to the rotating speed set value, the rotating speed sensor measured value, the lower current sensor measured value and the rotating speed controller correction amount so as to adjust the electromagnetic torque of the lower turbine generator.
In particular, the stabilized platform controller will be up to the measurement data of the current sensor
And the correction amount is sent to the rotational speed controller. The method comprises the following steps:
the rotating speed controller is designed by adopting a PID control method, a model-based active disturbance rejection control method or feedback linearization method and the like, and a set value of the lower current controller is obtained 
. The rotating speed controller combines the correction quantity given by the stabilized platform controller to obtain the set value of the lower current controller +.>
。
The design mode of the main controller is adopted to control the tool face angle of the stabilized platform. When the initial setting value of the tool face angle
The set value is set to be 50 DEG, the set value is stepped to 70 DEG at 1.5s, the disturbance rejection effect of the controller is shown in fig. 12 and 13, disturbance moment is added to the stable platform at 1.5s, the stress of the stable platform changes, the direct current bus voltage rapidly returns to the initial set value after short fluctuation, the tool face angle can track the change of the set value, the influence of the disturbance moment can be overcome, the tool face angle is kept stable on the set value, and the final voltage control precision of the controller after the disturbance is added is 6 multiplied by 10 -3 V, tool face angle control accuracy is 2×10 -3 Good control performance can be achieved.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (10)
1. The ground testing device of the rotary steering drilling tool stable platform comprises a drill collar assembly, wherein the drill collar assembly comprises a drill collar and a drill collar motor, and is characterized in that a stable platform mounting assembly is arranged in the drill collar to mount the stable platform; the ground testing device further comprises:
The drill collar motor is arranged on the outer side of the first support, and a motor shaft of the drill collar motor penetrates through the first support to be connected with the drill collar;
the second support piece is arranged opposite to the first support piece and is provided with a first mounting hole;
the vibration mechanism comprises a first vibration piece connected with the drill collar and a second vibration piece sleeved in the first mounting hole, an elastic piece is arranged between the second vibration piece and the second support piece, and the elastic piece is sleeved on the second vibration piece; the end part of the first vibrating piece is provided with a first vibrating tooth, the end part of the second vibrating piece is provided with a second vibrating tooth matched with the first vibrating tooth, and the second vibrating tooth is separated from the first vibrating tooth in the rotation process of the drill collar and meshed with the first vibrating tooth under the action of the elastic piece so as to automatically open and close to generate vibration; the second vibration member is provided with a first stop member which is matched with a second stop member arranged in the first mounting hole so as to prevent the second vibration member from rotating around the axis of the drill collar when the second vibration member moves along the axial direction of the drill collar.
2. The surface testing apparatus of a rotary steerable drilling tool stabilization platform of claim 1, further comprising a disturbance loading assembly comprising a pressure member mounted on a sidewall of the drill collar and a friction member mounted on the stabilization platform, one end of the pressure member being in intimate contact with the friction member to generate a disturbance moment; the pressurizing piece is in threaded connection with the drill collar, and moves along the radial direction of the drill collar when rotating.
3. A surface testing apparatus for a rotary steerable drilling tool stabilization platform as claimed in claim 1 or claim 2 wherein the stabilization platform mounting assembly comprises a first mounting member within which the stabilization platform body is mounted; the side wall of the first mounting piece is provided with a heating device so as to simulate a high-temperature environment in the pit.
4. The surface testing apparatus of a rotary steerable drilling tool stabilization platform of claim 3, wherein the stabilization platform mounting assembly further comprises a second mounting member, a third mounting member, and a fourth mounting member detachably connected to the ends of the first mounting member, respectively, the second mounting member having a first through hole and the third mounting member having a second through hole;
when the single-motor stable platform is tested, the second mounting piece or the third mounting piece is mounted at one end of the first mounting piece, and the fourth mounting piece is mounted at the other end of the first mounting piece; a single-motor stable platform driving motor is arranged on one side, far away from the first mounting piece, of the second mounting piece or the third mounting piece, and a motor shaft of the single-motor stable platform driving motor penetrates through the first through hole or the second through hole to be connected with the single-motor stable platform;
when testing the dual turbine generator stabilizing platform, the second mounting piece is mounted at one end of the first mounting piece, and the third mounting piece is mounted at the other end of the first mounting piece; one side of the second mounting piece, which is far away from the first mounting piece, is provided with an upper turbine generator rotor driving motor, and a motor shaft of the upper turbine generator rotor driving motor penetrates through the first through hole to be connected with an upper turbine generator so as to drive the upper turbine generator; and one side, far away from the first mounting piece, of the third mounting piece is provided with a lower turbine generator rotor driving motor, and a motor shaft of the lower turbine generator rotor driving motor penetrates through the second through hole to be connected with a lower turbine generator so as to drive the lower turbine generator.
5. The surface testing apparatus of a rotary steerable drilling tool stabilization platform of claim 4, further comprising a control unit comprising a main controller, a drive controller and a measurement unit, the drive controller comprising an upper turbine generator drive controller for driving the upper turbine generator to rotate and a lower turbine generator drive controller for driving the lower turbine generator to rotate, the measurement unit comprising an upper current sensor for measuring an upper turbine generator current, a lower current sensor for measuring a lower turbine generator current, a toolface angle measurement unit for measuring a toolface angle, a voltage sensor for measuring a bus voltage, and a rotational speed sensor for measuring a rotational speed of the lower turbine generator; the main controller respectively provides current set values for the upper turbine generator driving controller and the lower turbine generator driving controller according to the upper current sensor measurement data, the lower current sensor measurement data, the voltage sensor measurement data, the rotating speed sensor measurement data, the tool face angle measurement unit measurement data, the tool face angle set value, the direct current bus voltage set value and the external working condition information so as to adjust electromagnetic torque of the upper turbine generator and the lower turbine generator.
6. The surface testing apparatus of a rotary steerable drilling tool stabilization platform of claim 5, wherein the main controller comprises:
a stabilized platform controller configured to: receiving a DC bus voltage set point
And tool face angle set point +.>
The method comprises the steps of carrying out a first treatment on the surface of the According to the external working condition information, upper current sensor measurement data, lower current sensor measurement data, voltage sensor measurement data, rotating speed sensor measurement data, tool face angle measurement unit measurement data and dynamic adjustment of the set value of the busbar voltage controller->
Setting value of tool face angle controller +.>
The method comprises the steps of carrying out a first treatment on the surface of the Providing a correction amount to the rotational speed controller>
To correct the rotational speed controller;
a bus voltage controller configured to: according to the set value
And the measurement data of the voltage sensor dynamically adjusts the current set value of the upper turbine generator driving controller so as to adjust the electromagnetic torque of the upper turbine generator;
a toolface angle controller configured to: according to
And the tool face angle measuring value obtained by the tool face angle measuring unit dynamically adjusts the set value of the rotating speed controller;
a rotational speed controller configured to: and dynamically adjusting the current set value of the lower turbine generator driving controller according to the rotating speed set value, the rotating speed sensor measured value, the lower current sensor measured value and the rotating speed controller correction amount so as to adjust the electromagnetic torque of the lower turbine generator.
7. The surface testing apparatus of a rotary steerable drilling tool stabilization platform of claim 6, wherein the upper turbine generator drive controller comprises an upper current controller and an upper inverter circuit, the upper inverter circuit being connected to the upper turbine generator; the upper current controller is configured to: and receiving a current set value of the upper vortex generator driving controller given by the bus voltage controller, and dynamically adjusting the conduction state of the upper inverter circuit according to the measurement data of the upper current sensor so as to adjust the electromagnetic moment of the upper turbine generator.
8. The surface testing apparatus of a rotary steerable drilling tool stabilization platform of claim 6, wherein the lower turbine generator drive controller comprises a lower current controller and a lower inverter circuit, the lower inverter circuit being connected to the lower turbine generator; the lower current controller is configured to: and receiving a current set value of a lower vortex generator driving controller given by the rotating speed controller, and dynamically adjusting the conduction state of the lower inverter circuit according to the measurement data of the lower current sensor so as to adjust the electromagnetic moment of the lower turbine generator.
9. The surface testing apparatus of a rotary steerable drilling tool stabilization platform of claim 6, wherein the stabilization platform controller is configured with the following optimization criteria:
The following constraints are satisfied:
in the method, in the process of the invention,
、/>
、/>
and->
Weight coefficients of the optimization objective, +.>
For the measurement of the voltage sensor, +.>
For the measurement of the toolface angle measurement unit, +.>
A ripple boundary allowed for the bus voltage controller set point,
fluctuation boundary allowed for toolface angle controller setting,/->
For the power of the upper turbine generator,
for the power of the lower turbine generator, +.>
Is the rated power of the generator.
10. The surface testing apparatus of a rotary steerable drilling tool stabilization platform of claim 5, wherein the main controller comprises:
the stabilized platform controller is configured to: direct to-be-received DC bus voltage set value
Send to bus voltage controller, directly receive toolface angle set value +.>
Sending to a toolface angle controller; and transmitting the measured data of the upper current sensor as a correction amount to the rotational speed controller;
a bus voltage controller configured to: according to the set value
And the measurement data of the voltage sensor dynamically adjusts the current set value of the upper turbine generator driving controller so as to adjust the electromagnetic torque of the upper turbine generator;
a toolface angle controller configured to: according to 
And the tool face angle measuring value obtained by the tool face angle measuring unit dynamically adjusts the set value of the rotating speed controller;
a rotational speed controller configured to: and dynamically adjusting the current set value of the lower turbine generator driving controller according to the rotating speed set value, the rotating speed sensor measured value, the lower current sensor measured value and the rotating speed controller correction amount so as to adjust the electromagnetic torque of the lower turbine generator.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310456921.8A CN116164997B (en) | 2023-04-26 | Ground testing device of rotary steering drilling tool stabilizing platform | |
| US18/242,684 US11879817B2 (en) | 2023-04-26 | 2023-09-06 | Ground testing device for stabilized platform of rotary steerable drilling tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310456921.8A CN116164997B (en) | 2023-04-26 | Ground testing device of rotary steering drilling tool stabilizing platform |
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| CN116164997A CN116164997A (en) | 2023-05-26 |
| CN116164997B true CN116164997B (en) | 2023-06-23 |
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