连续管钻井定向器定向技术研究进展

Research Progress on Orientation Technology of Orientators for Coiled Tubing Drilling

摘要: 连续管钻井技术是开发深层及非常规油气资源的重要手段，但管柱无法旋转的特性使其井下定向钻进面临严峻挑战。本文从定向器执行机构的结构与驱动、运动学与动力学建模、轨迹跟踪控制策略、参数优化与验证方法四个层面，系统梳理了连续管钻井定向器定向技术的研究进展。综述表明，定向器驱动方式正从液控式向电液控式和电控式方向演进；建模方法已从确定性几何描述拓展至考虑多源参数不确定性的概率统计分析；控制策略正从依赖人工经验向智能闭环控制方向发展。然而，当前研究在建模–控制一体化、多目标优化稳定性约束以及井下复杂工况验证等方面仍存在明显不足。本文旨在为该领域后续研究及工程应用提供参考。

Abstract: Coiled tubing drilling serves as a vital technology for the exploitation of deep and unconventional oil and gas resources. However, the inherent non-rotatable property of coiled tubing strings creates formidable obstacles for downhole directional drilling operations. This paper systematically reviews the research progress of orientation technologies for coiled tubing drilling orientators from four dimensions: the structural design and driving modes of orientator actuators, kinematic and dynamic modeling, trajectory tracking control strategies, and parameter optimization and verification methodologies. The review reveals three developmental trends: the driving schemes of orientators are evolving from purely hydraulic control to electro-hydraulic control and full electric control; modeling approaches have expanded from deterministic geometric characterization to probabilistic statistical analysis that accounts for multi-source parametric uncertainties; control strategies are transitioning from manual experience-dependent adjustment to intelligent closed-loop control. Nevertheless, existing research still suffers from conspicuous limitations, including insufficient integration of modeling and control, incomplete stability constraints for multi-objective optimization, and inadequate experimental validation under complex downhole operating conditions. This paper intends to offer theoretical and practical references for follow-up research and field engineering applications within this discipline.