Posture measurement system based on virtual instrument and test method

Abstract

The application discloses a posture measurement system and a test method based on a virtual instrument, and the system comprises a posture display and control unit, a simulation unit and a data acquisition and calculation unit.The posture display and control unit is used for generating a sensor input signal for controlling the virtual instrument, acquiring a calculated posture parameter, and storing and displaying the posture parameter.The simulation unit is used for simulating according to the sensor input signal under the data control of a host computer, and obtaining a virtual instrument output parameter.The data acquisition and calculation unit is used for acquiring the virtual instrument output parameter and calculating, and obtaining the posture parameter.The application realizes real-time output of the virtual instrument parameter, solves the problems of high test cost and long time consumption of the posture measurement system in a rotary steering drilling system through an automatic posture measurement method, and can effectively improve the test efficiency of a posture correction algorithm.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of drilling technology, in particular to a posture measurement system and a test method based on a virtual instrument. BACKGROUND

[0002] In drilling engineering, a rotary steerable drilling system can control drilling tools in real time according to a deviation angle and an azimuth angle. A measurement while drilling (MWD) technology can realize continuous and automatic control of a well trajectory, so as to enhance a measurement effect in a well and improve drilling efficiency.

[0003] With continuous improvement of the measurement while drilling technology, the accuracy of an existing posture measurement algorithm needs to be checked to maintain or improve measurement accuracy. At present, scholars and oil companies at home and abroad have successively conducted in-depth research on the posture measurement algorithm of a drilling tool. Data used in the research mainly includes sensor data in a real well, or a Hall coil is used to simulate electromagnetic interference existing in a shielding field in a laboratory environment, and a vibration table is used to obtain data by conducting a vibration experiment on a sensor. However, the above data acquisition methods have three problems: first, the cost of data acquisition and labeling is very high; second, a test site has high requirements; and third, an actual well measurement environment is difficult to meet the test requirements. SUMMARY

[0004] Embodiments of the present application provide a posture measurement system and a test method based on a virtual instrument, to solve the problems of high cost, high site requirement and high environment requirement in the prior art.

[0005] In one aspect, the embodiments of the present application provide a posture measurement system based on a virtual instrument, comprising:

[0006] a posture display and control unit configured to generate a sensor input signal for controlling the virtual instrument, acquire a calculated posture parameter, and store and display the posture parameter;

[0007] a simulation unit configured to simulate according to the sensor input signal under data control of a host computer, and obtain a virtual instrument output parameter;

[0008] a data acquisition and calculation unit configured to acquire the virtual instrument output parameter and calculate the posture parameter.

[0009] In another aspect, the embodiments of the present application further provide a posture test method based on a virtual instrument, comprising:

[0010] generating a sensor input signal for controlling the virtual instrument;

[0011] simulating according to the sensor input signal under data control of a host computer, and obtaining a virtual instrument output parameter;

[0012] The virtual instrument output parameter is acquired and solved to obtain the attitude parameter;

[0013] The attitude parameter is stored and displayed.

[0014] The attitude measurement system and the test method based on the virtual instrument have the following advantages:

[0015] 1. The output data of different types of sensors can be simulated according to different geological conditions;

[0016] 2. The automatic measurement of the sensors under different control modes can be realized.

[0017] 3. The system has high integrity, and the whole process from the virtual sensor automatic control, real-time acquisition, attitude solving, data storage to user interface display is completed, which greatly improves the test efficiency and reduces the test cost. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 The functional module diagram of the attitude measurement system based on the virtual instrument provided by the embodiment of the present application is shown in the figure.

[0020] Figure 2 The functional module diagram of the attitude display and control unit provided by the embodiment of the present application is shown in the figure.

[0021] Figure 3 The functional module diagram of the simulation unit provided by the embodiment of the present application is shown in the figure.

[0022] Figure 4 The functional module diagram of the data acquisition and solving unit provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0024] Figures 1-4A function module diagram of the attitude measurement system based on a virtual instrument is provided for an embodiment of the present application. The embodiment of the present application provides an attitude measurement system based on a virtual instrument, comprising:

[0025] An attitude display and control unit 1 is configured to generate a sensor input signal for controlling the virtual instrument, acquire a calculated attitude parameter, and store and display the attitude parameter.

[0026] A simulation unit 2 is configured to simulate according to the sensor input signal under the data control of the host computer, and obtain a virtual instrument output parameter.

[0027] A data acquisition and calculation unit 3 is configured to acquire the virtual instrument output parameter and calculate the attitude parameter.

[0028] Exemplarily, the attitude parameter includes a deviation angle, an azimuth angle, a tool face angle, a rotation speed and a formation temperature, and the virtual instrument output parameter includes signals output by a three-axis accelerometer, a three-axis magnetometer, a gyroscope and a temperature sensor.

[0029] The present application realizes real-time output of the virtual instrument parameter, solves the problems of high test cost and long time consumption of the conventional drilling tool attitude measurement test environment, and effectively improves the attitude correction algorithm test efficiency.

[0030] In a possible embodiment, the attitude display and control unit comprises a control module 1-1 configured to generate the sensor input signal and send the same to the virtual instrument, a communication module 1-2 configured to acquire the attitude parameter, a storage module 1-3 configured to store the attitude parameter, and a display module 1-4 configured to display the attitude parameter.

[0031] Exemplarily, the control module is obtained by combining a MATLAB program and a C# program, and the MATLAB program is called by using a dynamic link library. The attitude display and control unit 1 is further configured to acquire a control mode selected by a user, the control mode including manual control and automatic control. When the user selects the manual control, the attitude display and control unit 1 further acquires an initial parameter input by the user. When the user selects the automatic control, the attitude display and control unit 1 further acquires a change step input by the user. The control module 1-1 generates the sensor input signal according to the initial parameter, or generates the sensor input signal according to the change step when the user selects the automatic control.

[0032] After the user selects the manual mode, the control module 1-1 outputs only one set of initial parameters each time, while when the user selects the automatic mode, the control module 1-1 increases the initial parameters according to the user inputted change step. There is a timer in the control module 1-1, which controls the MATLAB program to output the angle of the current posture, and poll outputs all the initial parameters until completion. The output range of the well inclination angle is 0-180°, the output range of the azimuth angle is 0-360°, the output range of the tool face angle is 0-360°, and the output range of the rotation speed is 0-360 RPM (Revolutions Per Minute). In the manual control mode, the user only needs to input the temperature, rotation speed and initial parameters, and in the automatic control mode, the user needs to input the step angle and the posture conversion time in addition to the initial parameters, i.e. according to the posture conversion time.

[0033] The communication module 1-2 has a USB (Universal Serial Bus) interface, which is connected to the conversion module through the USB interface. The conversion module is used to convert the USB interface into an RS485 interface, through which the data acquisition and calculation unit 3 can be connected.

[0034] The storage module 1-3 stores the posture parameters received by the communication module 1-2 in an Excel table file. The storage module 1-3 can record the set value and the collected value of the posture parameters, and store the difference value in the Excel table file in chronological order.

[0035] The display mode of the display module 1-4 has two types, including static measurement results and dynamic measurement results. The static measurement results are only used to display the well inclination angle, the azimuth angle, the sensor parameters, the local gravity acceleration value, the local magnetic field strength value and the magnetic inclination angle. The dynamic measurement results also need to display the tool face angle and the rotation speed.

[0036] In a possible embodiment, the simulation unit 2 includes: a sensor simulation module 2-1, which is used to simulate the output signal of the virtual instrument of the real drilling tool in the process of drilling in the well under the data control of the host computer according to the sensor input signal; a signal output device 2-2, which is used to convert the output signal into an analog voltage signal; and a signal conditioning board 2-3, which is used to convert the voltage signal of the virtual accelerometer and gyroscope into a current signal. The current signal is combined with the voltage signal of the magnetometer as the output parameter of the virtual instrument.

[0037] Exemplarily, the sensor simulation module 2-1 simulates the real-time output signal of the virtual instrument in the well through the simulation platform. According to the control mode selected by the control module 1-1, that is, manual control or automatic control, the sensor simulation module 2-1 receives the command of running one or more times, and simulates and adds error data according to the input initial parameters as the initial parameters of program running, wherein the error includes mechanical correction error data, temperature correction error data and vibration error data.

[0038] The signal output device 2-2 converts the data output by the three-axis accelerometer, three-axis magnetometer and gyroscope and the rotational speed and temperature digital quantity signals sent by the sensor simulation module 2-1 into analog voltage signals. Specifically, the signal output device 2-2 adopts four NI USB-6001 data acquisition cards.

[0039] The signal conditioning board 2-3 converts the voltage signals output by the three-axis accelerometer and gyroscope into current signals to be more close to the output signal characteristics of the real accelerometer and gyroscope. The conditioning circuit for converting the voltage signal into the current signal has four paths in total, and the conditioning principles of each path are the same. ADA4000 is selected as the operational amplifier chip, and the supply voltage thereof is ±13V. The capacitor is used for decoupling and filtering of the supply voltage. The voltage value of the input signal is equal to the voltage across the 1K resistor, so the output signal current value is equal to the input voltage / 1K. Therefore, the voltage signal can output the corresponding current value after conditioning, so as to meet the design requirements.

[0040] In the embodiment of the application, the simulation unit runs on the windows 7 platform, and the programming software adopts MATLAB. MATLAB can process complex numerical operations and perform real-time control, and provides a data acquisition toolbox (DAQ) which can connect the computer and the data acquisition card to realize the analog input and output of data.

[0041] In a possible embodiment, the data acquisition and calculation unit 3 includes a signal conditioning module 3-1 configured to amplify, filter and analog-digital convert the voltage signals and current signals output by the signal output device 2-2 and the signal conditioning board 2-3; and a DSP (Digital Signal Processing) module 3-2 configured to calculate the signals output by the signal conditioning module 3-1 to obtain the attitude parameters.

[0042] Exemplarily, the signal conditioning module 3-1 sends out the signals output by the three-axis accelerometer, the three-axis magnetometer and the gyroscope to the signal output device 2-2 and the signal conditioning board 2-3, and performs signal amplification, filtering and analog-digital conversion on the signals. The working principle is that four-way signals of the three-axis accelerometer and the gyroscope are filtered by circuits with the same principle, and the four filters all adopt a multi-feedback topology structure. After the sensor output signals are strictly filtered, the influence of impact and vibration on measurement can be reduced to the maximum extent.

[0043] The DSP module 3-2 processes and calculates the signals processed by the signal conditioning module 3-1, and transmits the calculated attitude parameters to the communication module 1-2 for display by the attitude display and control unit 1. Specifically, the model of the DSP module 3-2 selected is TMS320F28335.

[0044] The application also provides a virtual-instrument-based attitude test method, which comprises the following steps:

[0045] S200, generating a sensor input signal for controlling the virtual instrument;

[0046] S210, under the data control of the upper computer, simulating according to the sensor input signal to obtain a virtual-instrument output parameter;

[0047] S220, obtaining the virtual-instrument output parameter and calculating to obtain an attitude parameter;

[0048] S230, storing and displaying the attitude parameter.

[0049] Exemplarily, before starting, preparation work needs to be performed: the port configuration is set in the communication setting interface, the baud rate, the stop bit, the data bit, the check bit, the port recognized by the USB needs to be the same as the set port, and the port is opened. If the set port is different from the recognized port configuration, the port cannot be opened.

[0050] S200 specifically comprises:

[0051] S201, input initial parameters in the attitude measurement interface module, including inclination, azimuth, tool face angle, rotation speed, and select control mode and measurement mode. In the attitude measurement interface, there are two measurement modes, automatic measurement and manual measurement. Among them, the automatic measurement mode can set the starting angle of the attitude, set the degree of step when the attitude is automatically measured, and the time range of the change of the attitude angle. There are two kinds of measurement data in the automatic measurement mode, one is static data, and the other is dynamic data. Static data refers to the initial attitude data collected after the system is powered on and initialized. Dynamic data refers to continuous data measurement without repeated power-off and power-on operations. The initial parameters to be measured or verified need to be set in the manual measurement mode. The manual measurement mode can also measure two kinds of measurement data;

[0052] S202, the control module 1-1 controls the virtual instrument according to the set time length and step number using the dynamic link library method, and outputs the attitude at regular intervals.

[0053] S210 specifically includes:

[0054] S211, the sensor simulation module 2-1 receives the initial inclination, azimuth, tool face angle, rotation speed and temperature sent by the control module 1-1;

[0055] S212, the sensor simulation module 2-1 simulates and processes the received parameters to obtain a simulation signal. The simulation signal includes the current signal of the three-axis accelerometer, the voltage signal of the three-axis magnetometer, the voltage signal of the gyroscope, and the temperature voltage signal. In the simulation process, the sensor simulation module 2-1 inversely solves the initial parameters, and adds a mechanical error model, a temperature error model and a vibration error model to obtain the output signal of the virtual instrument;

[0056] S213, the signal output device 2-2 receives the output signal of the virtual instrument sent by the sensor simulation module 2-1, converts the digital signal to an analog signal, and outputs the corresponding voltage signal;

[0057] S214, the signal conditioning board 2-3 receives the voltage signal and converts it into a current signal.

[0058] S220 specifically includes:

[0059] S221, the signal conditioning module 3-1 processes the current signal and the voltage signal;

[0060] S222, the DSP module 3-2 receives the signal output by the signal conditioning module 3-1 and solves it to obtain the attitude parameters. The attitude parameters include the inclination angle, azimuth angle, tool face angle, rotation speed, magnetic field intensity, gravitational acceleration and magnetic inclination angle.

[0061] S230 specifically includes:

[0062] S231, the communication module 1-2 receives the attitude parameters solved by the DSP module 3-2 through the RS485 interface;

[0063] S232, the storage module 1-3 stores the attitude parameters received by the communication module 1-2 in real time and generates an EXCEL table file according to the test time sequence;

[0064] S233, the display module 1-4 displays the attitude parameters in the user interface in real time after receiving the attitude parameters, and displays different measurement and solving parameters according to the selected measurement mode.

[0065] In S212, the following simulation steps are included:

[0066] S2120, the sensor simulation module 2-1 receives the initial inclination angle, azimuth angle, tool face angle, rotation speed and temperature sent by the control module 1-1;

[0067] S2121, according to the Euler rotation and coordinate transformation principle, the conversion between the attitude parameters and the virtual instrument output parameters is realized, and the calculation formula is as follows:

[0068] Acceleration signal:

[0069]

[0070] Magnetic signal:

[0071]

[0072] Wherein, I, A, T are inclination angle, azimuth angle and tool face angle respectively, unit is angle; G x , G y , G z is the value of three-axis accelerometer, unit is mA; B x , B y , B z is the value of three-axis magnetometer, unit is V; B t is the local magnetic field intensity, unit is nT; σ is the local magnetic field inclination angle, unit is angle; g is the local gravitational acceleration, unit is m / s 2 .

[0073] S2122, according to the established mechanical error model, added to the three-axis accelerometer and three-axis magnetometer data calculated in S2121. The mechanical error correction matrix in the mechanical error model of the sensor can be obtained by 12 groups of attitude data, and the calculation formula is:

[0074]

[0075] In the formula: T x , T y , T z is the theoretical value of the attitude signal; V x , V y , V z is the measured signal; Bias is the zero drift.

[0076] S2123, on the basis of S2122, add sensor temperature error data, temperature error model is 8 groups of data at different temperatures according to the sensor user manual to carry out three order polynomial curve fitting, obtain the fitting formula and the bias formula, combined to obtain the temperature correction matrix, the calculation formula is:

[0077] SF(T) = SF0 + SF1 · (T-25) + SF2 · (T-25) 2 + SF3 · (T-25) 3

[0078] Bias(T) = Bias0 + Bias1 · (T-25) + Bias2 · (T-25) 2 + Bias·(T-25) 3

[0079] In the formula: SF0, SF1, SF2, SF3 are the fitting coefficients of the temperature fitting matrix at different temperatures; Bias0, Bias1, Bias2, Bias3 are the fitting coefficients of the bias fitting matrix at different temperatures.

[0080] Then the temperature error calculation formula is:

[0081] H(T) = SF(T) · (V-Bias(T))

[0082] In the formula: H(T) is the sensor correction value; SF(T) is the sensor temperature fitting matrix; V is the sensor measurement value; Bias(T) is the bias fitting matrix.

[0083] S2124, on the basis of S2123, add random vibration error data. The vibration error model is divided into axial vibration and lateral vibration, wherein the axial vibration is the impact signal received by the sensor in the X axis; the lateral vibration is the axial vibration received by the sensor in the Y, Z axis direction, and the calculation formula is:

[0084]

[0085] wherein: lat_y is the Y-axis vibration aliasing value; lat_z is the Z-axis vibration aliasing value; lat_yy is the Y-axis one-way vibration value; and lat_zz is the Z-axis one-way vibration value.

[0086] S2125, store the data obtained in S2124 into an Excel table file.

[0087] S2126, MATLAB DAQ creates a NI data acquisition card device object, and adds an acquisition channel and serial communication.

[0088] S2127, output the digital signal of the virtual sensor.

[0089] Although preferred embodiments of the application have been described herein, changes and modifications can be suggested to one skilled in the art and it is intended that the application encompass such changes and modifications as fall within the scope of the appended claims.

[0090] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims, the application can be practiced otherwise than as specifically described herein.

Claims

1. A virtual instrument based attitude measurement system, characterized in that, The application relates to a virtual instrument simulation system, which comprises the following parts: a posture display and control unit (1) for generating sensor input signals for controlling a virtual instrument, obtaining calculated posture parameters, and storing and displaying the posture parameters; a simulation unit (2) for simulating according to the sensor input signals under the control of data set by an upper computer, and obtaining virtual instrument output parameters; a data acquisition and calculation unit (3) for obtaining the virtual instrument output parameters and calculating the posture parameters; the posture display and control unit (1) comprises: a control module (1-1) for generating the sensor input signals; a communication module (1-2) for obtaining the posture parameters; a storage module (1-3) for storing the posture parameters; a display module (1-4) for displaying the posture parameters; the simulation unit (2) comprises: a sensor simulation module (2-1) for simulating output signals of a virtual instrument of a real drilling tool in a drilling process in a well under the control of data set by an upper computer according to the sensor input signals; a signal output device (2-2) for converting the output signals into voltage signals of an analog quantity; a signal conditioning board (2-3) for converting voltage signals of virtual accelerometers and gyroscopes into current signals, and combining voltage signals of magnetometers as the virtual instrument output parameters; the sensor simulation module (2-1) adds mechanical correction error data, temperature correction error data and vibration error data in the sensor input signals to form the output signals of the virtual instrument of the drilling tool in the drilling process in the well, and the sensor simulation module (2-1) receives initial well inclination angles, azimuth angles, tool face angles, rotating speeds and temperatures sent by the control module (1-1); the conversion between the posture parameters and the virtual instrument output parameters is realized according to Euler rotation and coordinate transformation principles; mechanical error data of three-axis accelerometers and three-axis magnetometers calculated is added according to an established mechanical error model; sensor temperature error data is added, a temperature error model is obtained by fitting a third-order polynomial curve according to 8 groups of data at different temperatures obtained from a sensor user manual, a fitting formula and a bias formula are obtained, and a temperature correction matrix is obtained in combination; random vibration error data is added; wherein, a mechanical error correction matrix in the mechanical error model of the sensor is obtained through 12 groups of posture data, and a calculation formula is as follows: Bias wherein T x , T y , T z is the theoretical value of the attitude signal; V x , V y , V z is the measured signal; the fitting formula is as follows: is the zero-point drift; the bias formula is as follows: in the formula, SF0, SF1, SF2 and SF3 are fitting coefficients of temperature fitting matrices at different temperatures; Bias0, Bias1, Bias2 and Bias3 are fitting coefficients of bias fitting matrices at different temperatures; a temperature error calculation formula is as follows: in the formula, H(T) is a sensor correction value; SF(T) is a sensor temperature fitting matrix; V is a sensor measurement value; and Bias(T) is a bias fitting matrix. ​ The vibration error model is divided into axial vibration and lateral vibration, wherein the axial vibration is an impact signal received by the sensor in the X axis; the lateral vibration is axial vibration received by the sensor in the Y and Z axis directions, and the calculation formula is: wherein lat Y-axis vibration aliasing value; y Y-axis vibration aliasing value; lat Y-axis vibration aliasing value; z Y-axis vibration aliasing value; lat Y-axis vibration aliasing value; yy Y-axis vibration aliasing value; lat Y-axis vibration aliasing value; zz Y-axis vibration aliasing value; 2. The virtual-instrument-based attitude measurement system of claim 1, wherein, The attitude display and control unit (1) is also used for acquiring a control mode selected by a user, the control mode including manual control and automatic control, when the user selects the manual control, the attitude display and control unit (1) further acquires an initial parameter input by the user, and when the user selects the automatic control, the attitude display and control unit (1) further acquires a change step length input by the user. The control module (1-1) generates the sensor input signal according to the initial parameter, or generates the sensor input signal according to the change step length when the user selects the automatic control.

3. The virtual-instrument-based attitude measurement system of claim 1, wherein, The output signal includes data output by a three-axis accelerometer, a three-axis magnetometer and a gyroscope, and digital signals of rotation speed and temperature, and the signal output device (2-2) converts the data output by the three-axis accelerometer, the three-axis magnetometer and the gyroscope, and the digital signals of rotation speed and temperature into voltage signals of analog quantities.

4. The virtual-instrument-based attitude measurement system of claim 1, wherein, The data acquisition and calculation unit (3) includes: A signal conditioning module (3-1) for amplifying, filtering and analog-digital conversion processing voltage signals and current signals output by the signal output device (2-2) and the signal conditioning board (2-3); A DSP module (3-2) for calculating signals output by the signal conditioning module (3-1) to obtain the attitude parameter.

5. Test method applied to the virtual-instrument-based attitude measurement system according to any one of claims 1 to 4, characterized in that, It includes: generating a sensor input signal for controlling a virtual instrument; under the data control set by the upper computer, simulating according to the sensor input signal to obtain a virtual instrument output parameter; acquiring the virtual instrument output parameter and calculating to obtain an attitude parameter; storing and displaying the attitude parameter.

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