全液压连续油管牵引器工作机理研究  

Research on the Working Mechanism of Full Hydraulic Coiled Tubing Tractor

作　　者：刘清友 赵建国 方世纪 LIU Qingyou;ZHAO Jianguo;FANG Shiji(Chengdu University of Technology,State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation,Chengdu,Sichuan 610059,China)

机构地区：[1]成都理工大学·油气藏地质及开发工程全国重点实验室

出　　处：《钻采工艺》2025年第1期216-227,共12页Drilling & Production Technology

基　　金：国家自然科学基金重大科研仪器研制项目“井下机器人智能钻完井模拟实验系统研制”(编号:52327803);国家自然科学基金面上项目“超长水平井钻井机器人井眼轨迹控制机理研究”(编号:52374006);国家资助博士后研究人员计划项目“超长水平井钻井机器人井地联动协同控制机制研究”(编号:GZC20230331);中国博士后科学基金面上项目“超长水平井钻井机器人井眼轨迹控制机理研究”(编号:2023M730376);四川省科技计划项目“超长水平井钻井机器人关键技术研发与应用”(编号:2024YFHZ0155);四川省博士后科研项目特别资助项目“钻井机器人控制机理研究”(编号:10900-23BZ26-02)。

摘　　要：因井深、水平段长、轨迹上翘、水垂比高、连续油管弯曲刚度小的影响,连续油管极易屈曲自锁,下入效率低、缩短连续油管服役井次,成本增加,严重时甚至无法下到井底。基于此提出全液压连续油管牵引器,利用牵引器拖拽连续油管,从根本上解决摩阻过大导致的屈曲锁死难题;发明了连续油管牵引器全液压控制和驱动系统,可实现远程启停控制和牵引力调节;建立了具有压力补偿特性的集成控制阀-牵引器运动的系统仿真模型;研究了牵引器全液压控制阀压力、流量与运动机构位移、速度演变规律,揭示了全液压牵引器运动顺序控制机理;提出了结合顺序阀和液控单向阀的先导式液控换向阀自动换向机制,可实现液路换向的自动闭环控制;研究发现,压力补偿型节流阀的压力补偿过程是通过流量调节阀体节流阻性的过程,通过数学描述该过程可反映系统压力与流量的调控关系;系统利用了顺序阀用于调控支撑缸与伸缩缸的运动顺序,支撑机构所产生的支撑锚固力将伴随伸缩缸的负载压力增大而同步提升,有利于提升牵引器在不稳定工况下的负载适应性;研制了模拟全液压牵引器的实验样机,完成了全液压牵引器控制逻辑、压力、流量、运动分布规律等实验,试验中模拟液缸的运动顺序与设计运动顺序完全一致,验证了全液压牵引器驱动原理的正确性。研究成果对促进连续油管牵引器研发,提升连续油管水平段延伸能力,提高连续油管作业效率及降低作业成本具有重要意义。Due to the influence of well depth,long horizontal section,upward trajectory,and high horizontal-tovertical ratio,coiled tubing is prone to buckling and self-locking,resulting in low running in hole efficiency,shortened service life of coiled tubing,increased costs,and in severe cases,even inability to descend to the bottom of the well.Based on this,a fully hydraulic coiled tubing tractor is proposed,which uses the tractor to drag the coiled tubing and fundamentally solves the problem of buckling caused by excessive friction;A full hydraulic control and driving system for a coiled tubing tractor is invented,which can achieve remote start stop control and traction force adjustment.a system simulation model for integrated control valve-tractor motion with pressure compensation characteristics is established;The pressure,flow rate,displacement,and velocity evolution laws of the full hydraulic control valve of the tractor are studied,and the mechanism of motion sequence control of the fully hydraulic tractor revealed.A pilot operated hydraulic directional valve automatic reversing mechanism combining sequence valves and hydraulic check valves has been proposed,which can achieve automatic closed-loop control of hydraulic circuit reversing.Research has found that the pressure compensation process of a pressure compensation throttle valve is a process of regulating the throttle resistance of the valve body through flow regulation.The mathematical description of this process can reflect the relationship between system pressure and flow regulation.The system utilizes a sequence valve to regulate the movement sequence of the support cylinder and the telescopic cylinder.The support anchoring force generated by the support mechanism will increase synchronously with the increase of the load pressure of the telescopic cylinder,which is beneficial for improving the load adaptability of the tractor under unstable working conditions;An experimental prototype that simulates a fully hydraulic tractor and completed experiments on th

关 键 词：连续油管 井下水力牵引器 全液压系统 水平井 压力补偿节流阀 

分 类 号：TE9[石油与天然气工程—石油机械设备]