井眼轨迹控制工具导向运动控制研究

摘要

The mathematical model of steering mechanism was established and the formation and decomposition method of bias units in the steering process base on the structure characteristics of well trajectory control tool were analyzed.A control equation of the spindle to the target point is derived with considering the influence of the deformation of the shell on the spindle and the small rotation of nor-rotation shell.According to the initial position of the inner and outer eccentric straps and the coordinate of the target point the optimal path is selected to make the shortest adjusting time.To demonstrate the correctness of the equation,the simulation curves are presented by using the experimental data of the well trajectory control tool experiment device.%基于井眼轨迹控制工具的结构特点,建立导向机构的数学模型,分析了导向过程中偏置机构合位移的形成及其分解方法.考虑了工具外套变形对主轴偏置运动的影响,以及不旋转外套发生微小转动的情况,推导出调整主轴到目标点的控制方程.根据内外偏心环初始位置及目标点坐标选择最优路径,从而使调整时间最短.利用井眼轨迹控制工具试验装置的试验数据得出仿真曲线,验证了推导方程的正确性.