连续管钻井定向器执行机构运动轨迹跟踪及测试

Motion Trajectory Tracking and Testing of the Actuator of the Coiled Tubing Drilling Steering Tool

摘要: 连续管钻井(CTD)技术以其高效、灵活、成本低的优势在复杂油气藏开发中应用日益广泛。定向器执行机构作为CTD实现精确井眼轨迹控制的核心部件，其运动轨迹跟踪精度直接影响钻井效率和工程质量。本文针对连续管钻井定向器执行机构的运动轨迹跟踪问题，深入分析其结构原理与动力学特性，设计一种基于自适应模糊PID控制器的轨迹跟踪策略，并搭建室内模拟测试平台进行性能验证。测试结果表明，所提出的控制方法能有效克服井下复杂扰动，显著提升轨迹跟踪精度和系统鲁棒性，为连续管钻井精准导向提供了可靠的技术支撑。

Abstract: Coiled Tubing Drilling (CTD) technology is increasingly employed in the development of complex hydrocarbon reservoirs due to its advantages of high efficiency, operational flexibility, and cost-effectiveness. The steering tool actuator, serving as the core component for achieving precise wellbore trajectory control in CTD, directly influences drilling efficiency and project quality through its motion trajectory tracking accuracy. This paper addresses the motion trajectory tracking problem of the CTD steering tool actuator. It conducts an in-depth analysis of its structural principles and dynamic characteristics, proposes a trajectory tracking strategy based on an adaptive fuzzy PID controller, and establishes a laboratory-simulated testing platform for performance validation. Test results demonstrate that the proposed control method effectively overcomes complex downhole disturbances, significantly enhances trajectory tracking accuracy and system robustness, thereby providing reliable technical support for precise steering in coiled tubing drilling operations.