For strapdown stabilized platform used in automatic vertical drilling system,a new dynamic measurement algorithm based on three-axis accelerometer and three-axis fluxgate measurement signals is proposed and simulated ...For strapdown stabilized platform used in automatic vertical drilling system,a new dynamic measurement algorithm based on three-axis accelerometer and three-axis fluxgate measurement signals is proposed and simulated under the condition of small inclination dynamic rotation.The error compensation algorithm is also proposed.The bench test of strapdown stabilized platform is designed and carried out.The results show that:When the azimuth angle is the same,the larger the inclination angle is,the greater the error of the measurement results will be.When the inclination angle is the same,the measurement error is the largest when the azimuth angle is 90°and 270°,and the measurement error curve presents a sinusoidal change with the change of azimuth angle.After the error function compensation,the error curve between the calculation results and the true value is basically not affected by the inclination angle and the azimuth angle,and the calculation accuracy is signifi cantly improved.Under the random rotating speed of 0-180 rpm,the minimum error of the measured well inclination value was no more than 0.03°and the maximum was no more than 1.58°.The feasibility of the proposed dynamic azimuth measurement algorithm is verifi ed.This article provides a technical reference for the strapdown automatic drilling system.展开更多
基金The financial supports from National key plan project for research and development of China (2019YFA0708300) and (2023YFC3009200)。
文摘For strapdown stabilized platform used in automatic vertical drilling system,a new dynamic measurement algorithm based on three-axis accelerometer and three-axis fluxgate measurement signals is proposed and simulated under the condition of small inclination dynamic rotation.The error compensation algorithm is also proposed.The bench test of strapdown stabilized platform is designed and carried out.The results show that:When the azimuth angle is the same,the larger the inclination angle is,the greater the error of the measurement results will be.When the inclination angle is the same,the measurement error is the largest when the azimuth angle is 90°and 270°,and the measurement error curve presents a sinusoidal change with the change of azimuth angle.After the error function compensation,the error curve between the calculation results and the true value is basically not affected by the inclination angle and the azimuth angle,and the calculation accuracy is signifi cantly improved.Under the random rotating speed of 0-180 rpm,the minimum error of the measured well inclination value was no more than 0.03°and the maximum was no more than 1.58°.The feasibility of the proposed dynamic azimuth measurement algorithm is verifi ed.This article provides a technical reference for the strapdown automatic drilling system.
