黏滑振动下机械式自动垂直钻具稳定平台的控制性能研究

机械式自动垂直钻具具有耐高温、成本低和适用范围广等优点，其在深部资源勘探领域有广阔的应用前景，但纯机械式结构导致其纠斜精度易受外界环境的干扰。为进一步提高机械式自动垂直钻具的纠斜精度，对不同强度黏滑振动下钻具稳定平台的控制性能进行研究。首先，通过构建钻具稳定平台控制性能的数学分析模型，得到影响稳定平台控制性能的因素。然后，利用ADAMS（automatic dynamic analysis of mechanical systems，机械系统动力学自动分析）软件建立黏滑振动下钻具稳定平台的多刚体动力学仿真模型，并对不同影响因素以及振动强度下稳定平台的控制精度和控制效率进行分析。最后，综合分析得到钻具稳定平台控制性能最优时各影响因素的推荐值。分析结果表明：PDC（polycrystalline diamond compact，聚晶金刚石复合片）半径对钻具稳定平台控制精度的影响最大，而填充物密度的影响极小；轻度和中度黏滑振动对钻具稳定平台控制效率的影响不大，重度黏滑振动可大幅提高控制效率，但黏滑振动强度对控制精度几乎没有影响。研究结果可为黏滑振动下机械式自动垂直钻具的优化设计提供参考。

Research on control performance of mechanical automatic vertical drilling tool stabilization platform under stick-slip vibration

Mechanical automatic vertical drilling tools have the advantages of high temperature resistance, low cost and wide application range, and they have broad application prospects in the field of deep resource exploration. However, the pure mechanical structure causes their deviation correction accuracy to be easily disturbed by the external environment. In order to further improve the deviation correction accuracy of the mechanical automatic vertical drilling tool, the control performance of the drilling tool stabilization platform under different intensities of stick-slip vibration was studied. Firstly, through constructing a mathematical analysis model for the control performance of the drilling tool stabilization platform, the factors influencing the control performance of the stabilization platform were summarized. Then, the multi-rigid body dynamics simulation model of the drilling tool stabilization platform under the stick-slip vibration was established by using the ADAMS (automatic dynamic analysis of mechanical systems) software, and the control precision and control efficiency of the stabilization platform under different influencing factors and vibration intensities were analyzed. Finally, the recommended values of influencing factors when the control performance of the stabilization platform was optimal were obtained through the comprehensive analysis. The analysis results showed that the PDC (polycrystalline diamond compact) radius had the greatest influence on the control accuracy of the drilling tool stabilization platform, while the filling density had a minimal influence on that; the mild and moderate stick-slip vibration had a little effect on the control efficiency of the drilling tool stabilization platform, and the severe stick-slip vibration could greatly improve the control efficiency, but the stick-slip vibration intensity had almost no effect on the control accuracy. The research results can provide reference for the optimization design of mechanical automatic vertical drilling tools under the stick-slip vibration.