基于圆柱螺线法的偏置机构控制算法仿真及实验研究

摘要

The accuracy control of offset displacement for an offset mechanism spindle is a crucial issue to realize the steering drilling .Aiming at a new type of static point‐the‐bit offset mecha‐nism ,its structure was introduced and the control principle was discussed first .Then ,the math‐ematical model of well trajectory control algorithm based on the cylindrical spiral method was es‐tablished ,and a three dimensional multi‐objective well trajectory was taken as an example to show how to realize the well trajectory control with the algorithm proposed ,as well as the estab‐lishment and simulation of the virtual model based on the platform of SolidWorks and ADAMS . Then the motion curve of the offset mechanism were obtained .At last ,experiments on the steer‐ing performance of the new offset mechanism prototype were carried out based on LabVIEW . Comparing both simulation results and experimental measurements with theoretical values ,it was concluded that the algorithm produced a fine control effect .The results verify the feasibility of realizing steering control for the offset mechanism and provide a theoretical reference for the de‐sign and optimization of the practical trajectories control algorithms .%偏置机构芯轴偏心位移的精确控制是实现导向钻进的核心问题。针对一种新型静态指向式偏置机构，首先介绍了其结构组成以及轨迹控制原理；其次，建立基于圆柱螺线法的井眼轨迹控制算法数学模型，并以三维多目标井眼轨迹为例，讨论了如何通过该机构实现井眼轨迹的控制，并基于SolidWorks和ADAMS进行机构虚拟模型的建立和运动仿真，得到偏置机构运动情况曲线；最后，建立基于LabVIEW的实验平台对偏置机构样机的导向性能进行验证。通过仿真结果、实验值和理论值的比较，确定该算法产生较好的控制效果，证明了实现机构导向控制的可行性，从而为旋转导向钻井工具实际轨迹控制算法设计与优化奠定理论基础。