旋转导向钻井工具姿态测量陀螺仪故障估计与处理方法  

Fault estimation and processing method of attitude measurement gyroscope for rotary steerable tools

作　　者：耿艳峰[1] 孙建 王伟亮[1] 程民彪 GENG Yanfeng;SUN Jian;WANG Weiliang;CHENG Minbiao(School of Control Science and Engineering,China University of Petroleum,Qingdao 266580,China)

机构地区：[1]中国石油大学(华东)控制科学与工程学院,青岛266580

出　　处：《中国惯性技术学报》2021年第2期273-280,共8页Journal of Chinese Inertial Technology

基　　金：国家自然基金重点项目(62033008);山东省重点研发计划(国际合作)(2019GHZ001);中央高校基本科研业务费专项资金(20CX06061A)。

摘　　要：针对旋转导向钻井工具姿态测量系统陀螺仪故障问题,提出一种陀螺仪加性故障估计与处理方法。首先将陀螺仪故障增广为状态变量,融合加速度计测量信息建立非线性测量模型;然后针对由于模型线性化、陀螺仪漂移、钻井过程的高温、高压、强振动等因素导致卡尔曼滤波算法估计精度变差的问题,将测量误差等效为幅值有界但分布未知的误差,提出了一种自适应扩展集员卡尔曼滤波算法,实现了陀螺仪加性故障的准确估计,利用陀螺仪故障估计值校正陀螺仪输出,实现故障条件下工具面角的准确测量。样机模拟实验结果表明在发生陀螺仪故障情况下,基于所提出的算法,工具面角估计值的最大均方根误差为3.841°,满足实际钻井技术需求,为提高旋转导向钻井工具姿态测量系统的可靠性奠定了基础。Aiming at the problem of gyroscope fault of attitude measurement system in rotary steerable drilling tool,a gyroscope additive fault estimation and processing method is proposed.Firstly,the gyroscope fault is augmented to state variables,and the nonlinear measurement model is established by integrating the measurement information of accelerometer.Then taking the model linearization errors,gyroscope drift and the effect of high temperature and high pressure in drilling process,strong vibration and other factors which lead to a reduction in accuracy of Kalman filter as an unknown but bounded error,an adaptive extension set membership Kalman filter algorithm is proposed,with which the accurate estimation of the gyroscope additive fault is obtained.The output of gyroscope is corrected by the gyroscope fault estimation,and the angle of toolface is measured accurately under the fault condition.The experimental results of the prototype show that the maximum root mean square error of the estimated angle of toolface is 3.841°in the case of gyroscope failure,which meets the practical drilling technical requirements and provides a foundation for improving the reliability of the attitude measurement system of rotary steerable drilling tools.

关 键 词：旋转导向 故障估计 故障处理 自适应扩展集员卡尔曼滤波 陀螺仪 

分 类 号：TE921[石油与天然气工程—石油机械设备]