一种滑动导向钻井工具面自适应控制方法

滑动导向钻井过程中，由于钻柱滑动摩擦阻力较大，工具面角的调整速度较为缓慢，且大多依赖司钻的经验，大大降低了钻井工作效率.论文建立了滑动导向钻井系统工具面控制对象的简化传递函数模型，并针对该模型提出一种具有自适应性的工具面动态控制方法.该方法采用微分正反馈控制律以提高工具面角的调整速度，并利用自适应方法对模型参数进行在线辨识，实时修正控制参数.最后通过动力学仿真验证了该方法能实现工具面角无超调无稳态误差的快速响应，且能根据参数辨识结果自动调整控制参数，无需依赖司钻经验，从而有效提高滑动导向钻井的工具面调整效率.

An Adaptive Toolface Control Method for Slide Steering Drilling

In the process of "slide" drilling, the friction between the drillstring and the wellbore is so large that it takes long to implement the tool-face adjustment which is very important to change the current wellbore trajectory. In addition, it is not clear in theory how to adjust the tool face correctly and efficiently, which results in that the tool face adjustment mostly depends on the driller's experience and is very inefficient. In this paper, a simplified transfer function model which describes the tool face adjustment process is proposed. Based on this model, the differential positive feedback control algorithm is used to improve the response speed of toolface adjustment, and an adaptive method is established to identify and correct the parameters of the control model in real time. Finally, the results of the dynamic simulation show the correctness and robustness of the proposed control algorithm which can increase the dynamic response speed of the tool-face adjustment without overshoot or steady-state error. The parameters of the control algorithm is automatically identified and corrected without the driller's experience.