RU2528105C2 - Gyroinertial module of gyroscopic inclinometer - Google Patents

Abstract

FIELD: measurement equipment.

SUBSTANCE: invention relates to precision instruments industry and may be used, for instance, to build well instruments (WI) of continuous small-sized gyroscopic inclinometers (GI) with an autonomous initial setting (AIS) in azimuth for determination of coordinates of the axis of symmetry of wells. A gyroinertial module GI comprises a uniaxial gyrostabiliser (GS), on the platform (9) of which there are two acceleration meters (13, 14) and an attitude gyroscope (12), installed in a rotary frame (RF) (5), the axis of suspension of which is perpendicular to the axis of stabilisation (SA). In the measurement mode the RF (5) is rotated in a position, in which the vector of kinetic moment of the gyroscope (12) is perpendicular to the axis of suspension of the platform (9), and the gyroscope (12) is used as a sensitive element of the GS. In the AIS mode the SA is installed into vertical position by signals of acceleration meters (13, 14), and the RF (5) is rotated by 90°, turning the gyroscope (12) into a bicomponent meter of angular speed. The platform (9) is rotated with permanent speed, its angle of rotation and angular speeds are measured and recorded. Using the received data, the initial azimuth of platform (9) axes is calculated. Using the RF (5) makes it possible to implement measurement logics in one instrument based on using the GS, and AIS logics based on measurement of the horizontal component of the angular speeds of Earth rotation relative to two axes.

EFFECT: invention helps to increase accuracy of determination of initial azimuth, and accordingly accuracy of instrument operation.

4 dwg, 3 tbl

Description

The invention relates to precision instrumentation and can be used, for example, to build downhole tools (SP) of continuous small-sized gyroscopic inclinometers for examining oil, gas and geophysical wells, by continuously moving the SP in the well during an autonomous initial exhibition in azimuth.

Known gyroscopic inclinometer (AS 1788224 USSR, MKI E21B 47/02. Inclinometer. / Rogatykh N.P., Kuklina L.A. // BI 1993, No. 2).

To build a gyro-inertial unit, two identical gyro-half-compasses (GPC) are used (the axes of the outer frames of which coincide with the longitudinal axis of the joint venture) (selectively selected according to drifts). Each CCP consists of external frames in which gyro nodes are installed (internal frames with gyromotors), angle sensors are installed along the suspension axes, which measure the rotation angles of the joint venture relative to the space-stabilized kinetic moment vectors.

Horizontal corrections of the HPA consist of liquid MCE (usually liquid pendulum sensors of the type DZHM-9B) and correction motors. Since in the CCP the vectors of kinetic moments must be rotated with equal angles relative to the base body patterns, the devices must have a mechanical locking system or electrical locking system, which, as the authors indicate, N. N. Rogatykh and Kuklina L.A., conditionally not shown in the diagram. But the introduction of mechanical locking systems will significantly complicate the design and will probably increase the diameter of the joint venture, and for the electric locking system it is necessary to additionally install correction motors along the axes of the suspension of the gyro units, which also increases the diameter of the joint venture.

Known technical solutions include the measuring unit of the inclinometer (AC 1827541 USSR, MKI G01C 19/00. The measuring unit of the inclinometer. / Galkin V.I. et al. // BI 1993, 26).

The measuring unit of the inclinometer consists of a GMP-M type magnetic gyroscope with a spherical rotor of soft magnetic material with a cylindrical cavity along the axis of rotation, which is necessary for the operation of two-coordinate angle sensors and moment sensors.

The GMP-M gyroscope with a passive magnetic rotor suspension can operate as a two-component angular velocity meter and a three-component acceleration meter. To this end, the signals of angle sensors measuring angles of deviation of the rotor relative to the housing in two mutually perpendicular planes, through amplifiers with series-connected scale resistors, from which signals proportional to angular velocities are taken, are connected to the corresponding inputs of the two-coordinate moment sensor.

Disadvantages: the magnetic gyroscope has a complex structure, and the inclinometer itself is point based on the construction ideology.

A gyroscopic type inclinometer is also known (RF Patent 2004786, MKI E21B 47/02. Inclinometer. / Belyanin L.N. et al. // BI No. 45, dated December 15, 1993).

In this scheme of the gyroinertial module (GIM), two approaches are rationally combined: part of the scheme is a fragment of a gimballess orientation system (BSO) containing a two-component accelerometer and an angular velocity sensor (DLS), rigidly fixed to the body, with sensitivity axes perpendicular to the longitudinal axis of the SP, and the second part of the circuit is a classic three-degree gyroscope (TSG) with horizontal pendulum correction. In this case, the principle of the initial exhibition is taken from the BSO-based method, but already for the TSG kinetic moment vector, the signal of the course angle sensor of which is used to form the azimuth of the well, and depending on the operating mode — exhibition or work — horizontal correction is turned on or off in the TSG.

Disadvantages: the presence of TSG in the gimbal suspension, which, when the well is bent, the frames tend to be aligned, as well as significant dimensions in terms of diameter of the joint venture. In addition, when moving in the well, there is a rotation of the SP around the longitudinal axis, which adversely affects the measurements of the accelerometer and TLS.

A gyroscopic inclinometer is also known (RF Patent No. 2030574, MKI E21B 47/02. A method for determining the azimuth of a well at successive points and a gyroscopic inclinometer. / Grigoryev N.I. et al. // Bul. No. 7, 03/10/95), gyroinertial module (GIM) which is built on the basis of two accelerometers (acceleration meters) and two two-coordinate angular velocity sensors (angular velocity meters) based on three-stage gyroscopes, for example, dynamically tuned gyroscopes that are rigidly fixed to the body of the downhole tool. In this case, the angular velocity sensors in the process of forming the measurement information are installed sequentially in two positions, differing from each other by a 180 ° rotation relative to the axis perpendicular to the angular velocity measuring axes, which coincides with the longitudinal axis of the joint venture.

The indicated gyroinertial modules cause the inclinometer the following disadvantages: the inclinometer operates only in the spot mode, which increases the time for examining wells and reduces the productivity of inclinometric work, in addition, such a scheme of the gyroinertial module does not allow the creation of small-sized inclinometers.

Known gyroinertial module of a gyroscopic inclinometer described in RF patent 2100594 "Method for determining the azimuth and zenith angle of the well and gyroscopic inclinometer." / E.A. Porubilkin, B.C. Freiman, S.V. Krivosheev and others // BI No. 36, 1997, adopted as a prototype in which the gyroinertial module is based on a uniaxial indicator gyrostabilizer.

The gyroinertial module of the gyroscopic inclinometer contains a uniaxial indicator gyrostabilizer, on the platform of which acceleration meters are rigidly mounted with mutually perpendicular sensitivity axes and oriented perpendicular to the gyro stabilizer stabilization axis and a three-degree gyroscope, the second angle sensor of which is connected through the stabilization amplifier to the workout motor through a stabilization amplifier connected to a stabilization motor which secures the output angle sensor, made, for example, in the form of a sinus an inus transformer, and a digital processing unit, to the corresponding inputs of which are connected the outputs of the output gyro stabilizer angle sensor, the outputs of the acceleration meters and the output of the angular velocity meter, the first output of the digital processing unit being connected to the control input of the reference current master, the signal output of which is connected to the first torque sensor a gyroscope located on an axis perpendicular to the stabilization axis, and the second and third outputs of the digital processing unit via a wireline cable are connected to the ground calculator.

To determine the initial orientation of the sensitivity axes of the acceleration meters, the platform on which they are installed, in accordance with the method described in this patent, is rotated in azimuth around the stabilization axis (one to two turns). In this case, an array of measurements of the horizontal component of the angular velocity of the Earth’s rotation is formed from the signals of the channel for measuring the angular velocity of a three-stage gyroscope and, using the procedure of numerical optimization of the residual function, which is the sum of the squares of the difference

, $${\omega }_{\mathrm{uh}j}={\omega }_{dR}^{\mathrm{from}}+{\Omega }_{sg}\sin ({\omega }_{\mathrm{at}}j+{\alpha }_{x\mathrm{one}})$$

,

where ω _in - the average angular velocity of rotation of the platform;

Ω _zg - horizontal component of the angular velocity of rotation of the Earth;

- систематическая составляющая дрейфа гироскопа; $${\omega }_{dR}^{\mathrm{from}}$$

- the systematic component of the drift of the gyroscope;

α _x1 is the phase shift, which is the azimuthal angle of the sensitivity axes of the acceleration meters at the time the exhibition starts;

j is the measurement number;

and the measured angular velocity ω _j over the entire set of measurements, minimize it by the phase shift, and the azimuthal angle of the sensitivity axes of the acceleration meters at the end of the exhibition is determined by the formula

α _xb = ψ _in -ψ ₁ + α _x1 ,

where ψ ₁ , ψ _in are the angles of rotation of the sensitivity axes of the acceleration meters relative to the body of the downhole tool around the stabilization axis at the moments of the beginning and end of the exhibition, respectively.

The disadvantage of the gyroinertial module of the prototype is the potentially lower accuracy of determining the initial azimuthal angle α _xv , which is a key element in solving the problem of navigating the movement of SP in the well.

The use of a two-component angular velocity meter in the initial exhibition mode allows you to get redundant information, which, as you know, helps with a certain structure of algorithms to increase the accuracy of determining the parameter that is functionally related to the measured value. In this case, the parameter is the initial azimuthal angle α _xv , and the measured value is the horizontal component of the angular velocity of the Earth's rotation in projection onto the measuring axes of the two-component angular velocity meter.

The technical result of the claimed invention consists in increasing the accuracy of determining the initial azimuthal angle of the sensitivity axes of the accelerometer gyro-inertial module, built according to the scheme of a uniaxial indicator gyrostabilizer, and therefore, in general, to increase the accuracy of the inclinometer.

The technical result is achieved by the fact that in the gyroinertial module of the gyroscopic inclinometer containing a uniaxial gyroscopic stabilizer,

on the platform of which two acceleration meters are rigidly installed with two mutually perpendicular axes of sensitivity, which are perpendicular to the stabilization axis of the gyrostabilizer, a three-stage gyroscope, along the axes of the suspension of which angular sensors and torque sensors are installed, a mining engine connected to the output of the stabilization amplifier and kinematically connected to the stabilization axis, on which the output angle sensor is made, made in the form of a sine-cosine transformer, and a digital processing unit, to the first and second the inputs of which are connected the outputs of the output sensor of the gyrostabilizer angle, the third and fourth - the outputs of the acceleration meters, the sixth - the output of the temperature sensor, and the fifth - the second signal output of the first amplifier of the channel for measuring angular velocity, the signal input of which is connected to the output of the angle sensor relative to the suspension axis the internal frame, and the first signal output of the first amplifier of the channel for measuring angular velocity is connected to the torque sensor relative to the suspension axis of the external frame, while the first output of the digital unit the processing is connected to the control input of the reference current setter, the second and third outputs of the digital processing unit are connected via a wireline cable to the ground computer, new is that

that a three-stage gyroscope is mounted in a rotary frame, the suspension axis of which is perpendicular to the stabilization axis of the gyroscopic stabilizer, coincides with the sensitivity axis of one of the acceleration meters and with which the rotational frame position sensor and the reversal engine are kinematically connected, to the input of which the output of the third controllable motor is connected switch, the first and second control inputs of which are connected to the first and second outputs of the logical device, the first signal the third input of the third managed switch is connected to the second output of the reference current master, the first output of which is connected to the second signal input of the third managed switch and to the signal input of the second managed switch, the output of which is connected to the second input of the stabilization amplifier, the first input of which is connected to the first signal output of the first managed switch, the control input of which is connected to the third output of the logical device, the fourth output of which is connected to the control input and the first and second amplifiers of the channels for measuring the angular velocity and the control input of the second managed switch, the signal input of the first managed switch is connected to the angle sensor relative to the suspension axis of the outer frame, the second signal output of the first managed switch is connected to the signal input of the second amplifier of the channel for measuring angular velocity, the first signal the output of which is connected to a torque sensor relative to the suspension axis of the inner frame, and to the first and second inputs of the logic device the fourth and fifth outputs of the digital processing unit, to the seventh input of which the second signal output of the second amplifier of the channel for measuring angular velocity is connected, and the third and fourth inputs of the logic device are connected to the third and fourth outputs of the signal converter, the first and second outputs of which are connected to the third and fourth the signal inputs of the third managed switch, and the first and second inputs of the signal converter are connected to the outputs of the rotational frame positioning angle sensor.

The invention is illustrated by the drawings shown in figure 1, figure 2, figure 3, figure 4, where

figure 1 is a structural-kinematic diagram of the gyroinertial module of a gyroscopic inclinometer;

figure 2 illustrates the relative position of coordinate systems (SK) when the rotation of the rotary frame at an angle χ;

figure 3 illustrates the relative position of the SK during the rotation of the axes associated with the gyroscope and the platform during the initial azimuthal exhibition;

4 illustrates the operation of the frame positioning angle sensor.

In figure 1, the following notation:

1 - gyroinertial module (GIM) based on a uniaxial gyrostabilizer (GS), which is part of the downhole tool (SP);

2 - wireline cable (QC);

3 - ground computer;

4 - the first managed switch (has one control input, one signal input and two signal outputs);

5 - rotary frame;

6 - digital processing unit (BTsO);

7 - reference current master (has a control input and two outputs);

8 - temperature sensor;

9 - HS platform;

10 - output angle sensor, made in the form of a sine-cosine transformer (SKT);

11 - a mining engine (DO);

12 - three-stage gyroscope (or two-channel gyroscope);

13, 14 - acceleration meters;

15 - the first amplifier channel measuring angular velocity (has one control input, one signal input and two signal outputs);

16 - stabilization amplifier (US);

17 - second amplifier channel measuring the angular velocity (has one control input, one signal input and two signal outputs);

18 - rotor three-stage gyroscope;

19 - inner frame (BP) of a three-stage gyroscope;

20 - outer frame (HP) of a three-stage gyroscope;

21 - angle sensor relative to the axis of the suspension BP (DN1);

22 - torque sensor relative to the suspension axis BP (DM1);

23 - angle sensor relative to the axis of the suspension HP (DN2);

24 - torque sensor relative to the axis of the suspension HP (DM2);

25 - logical device (LU) (has four inputs and four outputs);

26 - reversal engine (DR);

27 - frame positioning angle sensor (DUPR);

28 - amplifier engine reversal (UDR);

29 - signal converter (has two signal inputs and four signal outputs);

30 - the second managed switch (has a control input, signal input and signal output);

31 - the third managed switch (has two control inputs, four signal inputs and one signal output);

X _C Y _C Z _C - SC associated with the body of the joint venture, and Y _C - the longitudinal axis of the joint venture;

X _n Y _n Z _n - SK associated with the platform 9, and Y _p - the axis of suspension of the platform, coincides with the axis Y _C SP;

X _g Y _g Z _g - SC associated with the gyroscope 12 (the X _g and Y _g axes are the measuring axes of the gyroscope in the dual-channel TLS mode when it is rotated through an angle χ = 90 °);

X _A , Z _A - sensitivity axes of accelerometers 13 and 14, and the sensitivity axes coincide with the axes X _p , Z _{n of the} platform 9;

ψ is the angle of rotation of the platform 9 relative to the housing;

U _DO - input voltage DO 11;

U _DR - input voltage DR 26;

- выходные напряжения ЛУ 25; $$U_{\mathrm{one}}^{l\mathrm{at}}...U_{\mathrm{four}}^{l\mathrm{at}}$$

- output voltage LU 25;

U _B - the team transition to the exhibition mode, filed with BCO 6 on LU 25;

U _And - the command to switch to the measurement mode, filed with BCO 6 on LU 25;

U _χ0 , U _χ90 - logical output signals arriving at the LU 25 from the signal converter 29 and corresponding to the presence or absence of output voltages DUPR 27 in the specified ranges;

U _χ1 , U _χ2 are the output voltages of the signal converter 29, proportional to the angle of the frame deviation from the positions χ = 0 ° and χ = 90 °, measured by ARR 27;

U ₁ ... U ₇ - input voltage BCO 6;

U ₀ , -U ₀ - output voltage of the reference current setter 7.

In figure 2 and figure 3 the following notation:

X _g Y _g Z _g - terrestrial geographical SK, with the x _g axis oriented to the north (N), the y _g axis oriented in the local vertical, Z _g complements the coordinate system to the right (facing east);

- СК, связанная с платформой 9, j=1 соответствует положению платформы в начале выставки;X _pj Y _pj Z _pj , $$\text{j}=\overline{\text{one}\text{, n}}$$

- SC associated with platform 9, j = 1 corresponds to the position of the platform at the beginning of the exhibition;

X _pv Y _pv Z _pv - SK associated with platform 9 at the time of transition to the measurement mode;

X _g Z _g Z _g - SC associated with the gyroscope 12; (the axes X _g , Y _g are the measuring axes of the gyroscope in the two-channel TLS mode, when it is rotated through an angle χ = 90 °);

- СК, связанная с поворотной рамой 5 и гироскопом 12, причем в режиме выставки (χ=90°) ось Y_гj совпадает с осью Z_пj.; ось X_гj совпадает с осью X_пj; ось Z_гj (вектор кинетического момента Н) направлена противоположно осям Y_п и Y_g;X _gj Y _gj Z _gj , $$\text{j}=\overline{\text{one}\text{, n}}$$

- SC associated with the rotary frame 5 and the gyroscope 12, and in the exhibition mode (χ = 90 °), the axis Y _gj coincides with the axis Z _pj .; the x-axis _xj coincides with the x- _axis ; the axis Z _gj (the kinetic momentum vector H) is directed opposite to the axes Y _p and Y _g ;

, - угол поворота платформы 9, j=1 соответствует положению платформы в начале выставки;ψ _j , $$\text{j}=\overline{\text{one}\text{, n}}$$

, - the angle of rotation of the platform 9, j = 1 corresponds to the position of the platform at the beginning of the exhibition;

ψ _B is the angle of rotation of the platform 9 at the time of transition to the measurement mode;

χ - angle of rotation of the rotary frame 5;

- азимут оси X_пj платформы 9 и соответственно оси чувствительности Х_А акселерометра 13, j=1 соответствует положению платформы в начале выставки;α _xj $$\text{j}=\overline{\text{one}\text{, n}}$$

- the azimuth of the X axis _{pj of the} platform 9 and, accordingly, the sensitivity axis X _{A of the} accelerometer 13, j = 1, corresponds to the position of the platform at the beginning of the exhibition;

α _xs - azimuth axis X _n platform 9 at the time of transition to the measuring mode;

Δ _j - the angle of rotation of the platform 9 relative to the initial position in the exhibition mode.

In figure 4, the following notation:

Y _g1 - suspension axis HP 20 of the gyroscope 12 at an angle of rotation of the rotary frame 5 equal to χ = χ ₁ ; in this position, DUPR 27 measures the angle Δχ _{0 of the} deviation of the swing frame 5 from the position χ = 0 °;

Y _g2 - suspension axis HP 20 of the gyroscope 12 at an angle of rotation of the rotary frame 5 equal to χ = χ ₂ ; in this position, DUPR 27 measures the angle Δχ _{90 of the} deviation of the swing frame 5 from the position χ = 90 °;

Δχ - zone for measuring the angles of deviation of the rotary frame 5 from the position χ = 0 ° and χ = 90 °.

относительно корпуса составляют 1-2. Сущность изобретения поясняется на примере трехстепенного гироскопа 12, корпус которого устанавливается в поворотной раме 5, которая в свою очередь имеет возможность поворачиваться относительно оси Х_п платформы 9 на угол χ. Для поворота рамы используется двигатель разворота 26. На фиг.2 поворотная рама 5 (вернее СК, связанная с гироскопом) изображена в трех положениях: на фиг.2а (χ=0°) - в режиме измерения (оно же является исходным), фиг.2б - в промежуточном положении; на фиг.2в (χ=90°) - в режиме выставки.Giroinertsialny gyroscopic inclinometer module comprises a platform 9, on which is placed the payload in the form of two accelerometers 13 and 14, the sensitivity axis X _A, Z _A are mutually perpendicular and perpendicular to the axis Y _n suspension platform 9. Also mounted on the platform 9, gyroscopic sensor 12, which can be used as a three-stage gyroscope or a two-channel gyroscope (for example, a gyroscope with an internal elastic suspension or on a spherical support). In this case, the angles of rotation of the vector $$\overline{H}$$

relative to the body are 1-2. The invention is illustrated by the example of a three-stage gyroscope 12, the body of which is mounted in a rotary frame 5, which in turn has the ability to rotate relative to the axis X _{p of the} platform 9 at an angle χ. To rotate the frame, a reversal engine 26 is used. In Fig. 2, the rotary frame 5 (or rather SK connected with a gyroscope) is shown in three positions: in Fig. 2a (χ = 0 °) - in the measurement mode (it is also the initial one), Fig .2b - in an intermediate position; on figv (χ = 90 °) - in the exhibition mode.

, перпендикулярна оси Y_п платформы 9. Ось Х_г подвеса внутренней рамы 19 гироскопа 12 совпадает с осью Х_п и является осью поворота рамы 5.With the zero position of the frame 5 (χ = 0 °) suspension _z axis Y of the outer frame 20 of the gyroscope 12 coincides with the Y axis of suspension platform _claim 9 _{g of} Z axis at which the angular momentum vector directed $$\overline{H}$$

, perpendicular to the axis Y _{p of the} platform 9. The axis X _{g of the} suspension of the inner frame 19 of the gyroscope 12 coincides with the axis X _p and is the axis of rotation of the frame 5.

On the platform 9, stops are installed that limit the angle of rotation of the rotary frame 5 within (0 ° -Δχ; 90 ° + Δχ), where Δχ = 2 ... 5 ° (see figure 4). The rotation angle χ of the swing frame 9 is measured by the angle sensor of the swing frame 27, which measures the deviation Δχ _{0 of the} frame from the position χ = 0 ° or the deviation Δχ _{90 of the} frame from the position χ = 90 °. Accordingly, the outputs proportional to the above deviations are removed from the outputs of the angle sensor 27. As an angle sensor, for example, a sine-cosine transformer can be used, from the sine winding of which a signal corresponding to the deviation Δχ ₀ is removed, and with the cosine winding, the deviation Δχ ₉₀ . Another embodiment of this angle sensor is the use, for example, of an inductive angle sensor having two proportional zones in the positions χ = 0 ° and χ = 90 °, the value of which relative to the given positions is Δχ = ± (2 ... 5) °. If the rotary frame 5 is outside the proportional zones, then the output signals from the angle sensors will be absent.

The output of the angle sensor 21 installed along the suspension axis BP 19 through the first amplifier of the angular velocity measurement loop 15 is connected to the torque sensor 24 along the HP suspension axis, forming an angular velocity measurement circuit in the projection onto the suspension axis BP. In the "measurement" mode, this circuit is an electrical arresting circuit.

The output of the angle sensor 23 installed along the axis of the HP 20 suspension through the first controlled switch 4 and the second amplifier of the angular velocity measurement loop 17 is connected to the torque sensor 22 along the BP 19 suspension axis, forming the angular velocity measurement circuit in the projection onto the HP suspension axis in the " Exhibition". In the "measurement" mode, the output of the angle sensor 23 through the first controllable switch 4 (the second input is the first output) and the stabilization amplifier 16 is connected to the input of the mining engine 11, forming an indicator stabilization circuit.

The central link in the management of the work of the GIM is a logical device (LU) 25, which has four inputs (logical) and four outputs (logical). The first and second inputs of LU 25 receive two control signals U _B and U _AND . These signals are generated in BCO 6 by the command of the ground computer 3, which is transmitted in digital form by a serial code over the wireline 2. At the same time, the signals U _B and U _And determine the operating mode in accordance with table No. 1.

Table 1 U _B U _and Mode of operation 0 0 Bringing and holding the swing frame 5 in the position χ = 0 ° one 0 The command to switch to the "exhibition" mode, in which the rotary frame 5 is rotated and held in position χ = 90 ° one one Directly the exhibition, in which the platform 9 rotates at a constant speed, the rotary frame 5 is in this case χ = 90 ° 0 one The command to switch to the measurement mode Note. Hereinafter, by writing, for example, U _B = 1, it should be understood that the voltage U _B has a high level, which corresponds to a logical unit, and by writing U _B = 0 it should be understood that the voltage U _B has a low level, which corresponds to a logical to zero.

The third and fourth inputs of the LU 25 receive two control signals U _χ0 and U _χ90 , which are generated in the signal converter 29, the inputs of which are connected to the outputs of the frame position angle sensor 27. Moreover, the signal converter works in such a way that the indicated voltages are high (correspond logical unit) in the presence of an output voltage on the corresponding channels of DUPR 27. In the absence of an output voltage, the signals U _χ0 and U _χ90 are low, which corresponds to a logical zero.

The output signals of the logical device are determined in accordance with table No. 2.

, а соответствующие им логические переменные X₁…X₄, Y₁…Y₄.The table does not show the voltages U _B , U _И , U _χ0 , U _χ90 , $$U_{\mathrm{one}}^{l\mathrm{at}}...U_{\mathrm{four}}^{l\mathrm{at}}$$

, and the corresponding logical variables X ₁ ... X ₄ , Y ₁ ... Y ₄ .

table 2 Stage number Title entrance Exit U _B U _and U _χ0 U _χ90

$$U_{\mathrm{one}}^{l\mathrm{at}}$$

$$U_2^{l\mathrm{at}}$$

$$U_3^{l\mathrm{at}}$$

$$U_{\mathrm{four}}^{l\mathrm{at}}$$

X ₁ X ₂ X ₃ X ₄ Y ₁ Y ₂ Y ₃ Y ₄ one. Turn to χ = 0 ° 0 0 0 one 0 0 one 0 2. Turn to χ = 0 ° 0 0 0 0 0 0 one 0 3. Zero position stabilization 0 0 one 0 0 one one 0 four. Turn to χ = 0 ° one 0 one 0 one 0 one 0 5. Turn to χ = 0 ° one 0 0 0 one 0 one 0 6. Stabilization of the position χ = 0 ° one 0 0 one one one one 0 7. Rotation one one 0 one one one one one 8. Repeat Stage 1 0 0 0 one 0 0 one 0 9. Repeat Step 2 0 0 0 0 0 0 one 0 10. Repeat Stage 3 0 0 one 0 0 one one 0 eleven. Measurement 0 one one 0 0 one 0 0

The LU output signals given in table No. 2 can be obtained using the following logical functions:

; $${\text{Y}}_{\text{3}}={\text{X}}_{\text{1}}\wedge {\overline{\text{X}}}_{\text{2}};$$

Y₄=X₁ $$\wedge$$

X₂, в соответствии с которыми оно может быть реализовано.Y ₁ = X ₁ ; $${\text{<figure-callout id="2" label="Y" filenames="00000098.png" state="{{state}}">Y</figure-callout>}}_{\text{2}}=\text{(}{\overline{\text{X}}}_{\text{one}}\wedge {\text{X}}_{\text{3}}\text{)}\vee ({\text{X}}_{\text{one}}\wedge {\text{X}}_{\text{3}})$$

; $${\text{<figure-callout id="3" label="Y" filenames="00000098.png" state="{{state}}">Y</figure-callout>}}_{\text{3}}={\text{X}}_{\text{one}}\wedge {\overline{\text{X}}}_{\text{2}};$$

Y ₄ = X ₁ $$\wedge$$

X ₂ , according to which it can be implemented.

Explanation of the function of the output signals LU 25 are given in the table:

и $$U_2^{лу}$$

поступают на первый и второй управляющие входы третьего управляемого коммутатора 31;one) $$U_{\mathrm{one}}^{l\mathrm{at}}$$

and $$U_2^{l\mathrm{at}}$$

arrive at the first and second control inputs of the third managed switch 31;

поступает на управляющий вход первого управляемого коммутатора 4;2) $$U_3^{l\mathrm{at}}$$

arrives at the control input of the first managed switch 4;

поступает на управляющие входы первого и второго усилителей каналов измерения угловой скорости 15 и 17, изменяя их коэффициенты усиления, при этом изменяются диапазоны измеряемых угловых скоростей.3) $$U_{\mathrm{four}}^{l\mathrm{at}}$$

arrives at the control inputs of the first and second amplifiers of the channels for measuring the angular velocity 15 and 17, changing their gains, while changing the ranges of the measured angular velocities.

в режиме арретирования, разворота дополнительной платформы и движения в скважине, когда корпус гироскопа может поворачиваться с большой угловой скоростью (диапазон - градусы в секунду). $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

in the mode of arresting, turning the additional platform and moving in the well, when the gyroscope body can rotate at a high angular velocity (range - degrees per second).

в режиме выставки, когда измеряется горизонтальная составляющая угловой скорости вращения Земли (диапазон - десятки градусов в час).Voltage $$U_{\mathrm{four}}^{l\mathrm{at}}=\mathrm{one}$$

in the exhibition mode, when the horizontal component of the angular velocity of the Earth’s rotation is measured (range - tens of degrees per hour).

поступает на управляющий вход второго управляемого коммутатора.Also a signal $$U_{\mathrm{four}}^{l\mathrm{at}}$$

arrives at the control input of the second managed switch.

Consider the operation of managed switches.

First Managed Switch 4

Managed switch 4 has one signal input and two signal outputs. The signal input receives the output of the angle sensor 23 along the suspension axis HP 20 of the gyroscope 12. The first signal output is connected to the first input of the stabilization amplifier 16, and the second to the signal input of the second amplifier of the angular velocity measurement loop 17.

, поступающему на его управляющий вход. Причем, если $$U_3^{лу}=1$$

, то выход датчика угла 23 подключен к усилителю канала измерения угловой скорости 17, образуя контур арретирования (измерения угловой скорости). Если $$U_3^{лу}=0$$

, то выход датчика угла 23 подключен к УС 16, образуя контур индикаторной стабилизации.Managed switch 4 is controlled by signal $$U_3^{l\mathrm{at}}$$

entering its control input. Moreover, if $$U_3^{l\mathrm{at}}=\mathrm{one}$$

, then the output of the angle sensor 23 is connected to the amplifier of the channel measuring the angular velocity 17, forming a locking circuit (measuring angular velocity). If $$U_3^{l\mathrm{at}}=0$$

, then the output of the angle sensor 23 is connected to the US 16, forming a loop indicator stabilization.

Second Managed Switch 30

The managed switch 30 has one signal input and one signal output. The signal input is connected to the first output of the reference current setter 7, which, when a corresponding signal is received from its control input from the central control unit 6, generates a voltage U ₀ at the first output.

The output of the managed switch is connected to the second input of the stabilization amplifier 16.

, поступающей на управляющий вход, второй управляемый коммутатор подключает ко второму входу усилителя стабилизации 16 первый выход задатчика эталонного тока 7. При этом платформа 9 начинает поворачиваться с постоянной скоростью. Если $$U_4^{лу}=0$$

, задатчик эталонного тока отключен от усилителя стабилизации 16.On command $$U_{\mathrm{four}}^{l\mathrm{at}}=\mathrm{one}$$

arriving at the control input, the second managed switch connects to the second input of the stabilization amplifier 16 the first output of the reference current setter 7. In this case, the platform 9 starts to rotate at a constant speed. If $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

, the reference current master is disconnected from the stabilization amplifier 16.

Third Managed Switch 31

The managed switch 31 has four signal inputs, one signal output. The outputs of the reference current setter 7 and the outputs of the signal converter 29 are connected to the signal inputs. The reference current setter, upon receipt of the corresponding signal from the CCU 6, generates voltages U ₀ and -U ₀ at its outputs. At the outputs of the signal converter 29, voltages U _χ1 , U _χ2 are generated, which are proportional to the angles Δχ ₀ and Δχ ₉₀ , respectively, of the frame deviation from the positions χ = 0 ° and χ = 90 °, measured by DPR 27 and transmitted in the signal converter 29.

и $$U_2^{лу}$$

, поступающих на управляющие входы управляемого коммутатора, и определяется таблицей №3The output of the managed switch 31 depends on the signals $$U_{\mathrm{one}}^{l\mathrm{at}}$$

and $$U_2^{l\mathrm{at}}$$

received at the control inputs of a managed switch, and is determined by table No. 3

Table 3

$$U_{\mathrm{one}}^{l\mathrm{at}}$$

$$U_2^{l\mathrm{at}}$$

Exit 0 0 -U ₀ 0 one U _χ1 = kΔχ ₀ one 0 U ₀ one one U _χ2 = kΔχ ₉₀

The voltage from the output of the third control switch 31 through the amplifier of the rotation engine 28 is supplied to the rotation engine 26 of the rotary frame 5. In this case, the engine 26 starts to rotate the frame 5 to one of two preset positions χ = 0 ° or χ = 90 °.

GIM can operate in three modes:

“Preparation”, “exhibition” and “measurement”.

GIM control is carried out by the operator from the ground computer 3, which is connected to the digital processing unit (BTSO) 6 through the logging cable 2.

Preparation mode.

In accordance with table No. 2, the mode consists of steps 1-6.

At the beginning of the work, the downhole tool (SP) of the GI is set using clamps in a vertical position at the wellhead. Power is supplied to the GMI GI, while the rotor 18 of the gyroscope 12 starts to accelerate, acceleration meters 13 and 14 begin to work.

At stages 1-3, the rotation frame is brought in and stabilized in the position χ = 0 °. At the command of the operator, the BCO 6 generates voltages U _B = 0, U _И = 0, which are supplied to the LU 25. The signals U _B , U _And maintain their state throughout the stages 1-3.

и $$U_4^{лу}=0$$

, которые сохраняют это состояние на протяжении этапов 1-3. Сигнал $$U_3^{лу}=1$$

поступает на управляющий вход первого управляемого коммутатора 4, который подключает выход ДУ 23 через второй усилитель канала измерения угловой скорости 17 к ДМ 22, образуя контур измерения угловой скорости (контур арретирования). Таким образом, образуются два контура арретирования. Первый контур состоит из ДУ 21, первого усилителя контура измерения угловой скорости 15, датчика момента 24 (этот контур работает на всем протяжении работы ГИМ ГИ). Второй контур состоит из ДУ 23, первого управляемого коммутатора 4, усилителя 17 и ДМ 22. Благодаря контурам арретирования, вектор кинетического момента приводится к положению, перпендикулярному оси подвеса платформы, и удерживается в нем. Другими словами, рамки гироскопа удерживаются в нулевом положении.Regardless of the signals U _χ0 and U _χ90 , and hence the position of the swing frame 5, the LU 25 generates signals $$U_3^{l\mathrm{at}}=\mathrm{one}$$

and $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

that maintain this state during steps 1-3. Signal $$U_3^{l\mathrm{at}}=\mathrm{one}$$

arrives at the control input of the first managed switch 4, which connects the output of the remote control 23 through the second amplifier of the channel for measuring the angular velocity 17 to the DM 22, forming a loop for measuring the angular velocity (locking circuit). Thus, two locking circuits are formed. The first circuit consists of a remote control 21, the first amplifier of the angular velocity measurement loop 15, a torque sensor 24 (this circuit works throughout the operation of the GIM GI). The second circuit consists of a remote control 23, the first controlled switch 4, an amplifier 17 and a DM 22. Thanks to the locking circuits, the kinetic moment vector is brought to a position perpendicular to the platform suspension axis and is held in it. In other words, the gyroscope frames are held in the zero position.

поступает на управляющий вход второго управляемого коммутатора 30 и управляющие входы первого и второго усилителей каналов измерения угловых скоростей 15 и 17. Так как $$U_4^{лу}=0$$

, то усилители 15 и 17 настроены на большой диапазон измерения угловых скоростей. Второй управляемый коммутатор 30 по сигналу $$U_4^{лу}=0$$

отключает задатчик эталонного тока 7 от усилителя стабилизации 16, а следовательно, и от двигателя отработки 11. В результате чего платформа 9 остается неподвижной.Signal $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

arrives at the control input of the second managed switch 30 and the control inputs of the first and second amplifiers of the channels for measuring angular velocities 15 and 17. Since $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

, the amplifiers 15 and 17 are tuned to a large range of angular velocity measurements. The second managed switch 30 on signal $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

disconnects the reference current controller 7 from the stabilization amplifier 16, and hence from the mining engine 11. As a result, the platform 9 remains stationary.

и $$U_2^{лу}$$

, поступающие на управляемые входы третьего управляемого коммутатора 31, зависят от сигналов U_χ0 и U_χ90, поступающих от преобразователя сигналов 29, и определяют этапы работы ГИМ ГИ.Output signals LU 25 $$U_{\mathrm{one}}^{l\mathrm{at}}$$

and $$U_2^{l\mathrm{at}}$$

received at the controlled inputs of the third managed switch 31, depend on the signals U _χ0 and U _χ90 coming from the signal Converter 29, and determine the stages of operation of the GMI GI.

Stage 1

, $$U_2^{лу}=0$$

. Согласно таблице №3 по сигналам ЛУ 25 третий управляемый коммутатор 31 подключает к усилителю двигателя разворота (УДР) 28 напряжение - U₀, формируемое задатчиком эталонного тока. Выход УДР 28 подключен к двигателю разворота (ДР) 26, на который, соответственно, поступает напряжениеStage 1 begins if the swing frame 5 is in a position close to χ = 90 °. In this case, the signals arriving at the LN 25 from the signal converter 29 take the values U _χ0 = 0, U _χ90 = 1. According to table No. 2, the output voltage LU 25 will take values $$U_{\mathrm{one}}^{l\mathrm{at}}=0$$

, $$U_2^{l\mathrm{at}}=0$$

. According to table No. 3, according to the signals of LU 25, the third managed switch 31 connects to the amplifier of the reversal engine (UDR) 28 voltage - U ₀ generated by the reference current master. The output of the UDR 28 is connected to the engine reversal (DR) 26, which, respectively, receives voltage

$$U_{DR}=-k_{\mathrm{At}\mathrm{<figure-callout\; id="0"\; label="D\; R\; U"\; filenames="00000099.png"\; state="\{\{state\}\}">D\; </figure-callout>}R}{U}_{}{}_0,(\mathrm{one})$$

where k _UDR - gain UDR 28.

Under the action of voltage U _DR = -k _UDR U _{0, the} rotary frame 5 begins to rotate towards the zero position. At the same time, leaving the zone of measurement of deviations from the position χ = 90 °, the signal U _χ90 becomes equal to U _χ90 = 0. The voltage U _χ0 is still U _χ0 = 0. This proceeds to step 2.

Stage 2

, $$U_2^{лу}=0$$

, как и на этапе 1. При этом поворотная рама 5 продолжает поворачиваться в сторону нулевого положения под действием напряженияAt this stage, the rotary frame 5 occupies a middle position in which there are no signals from both channels of the frame position angle sensor, while the output voltages of the signal transducer 29 take the values U _χ0 = 0, U _χ90 = 0. According to table No. 2, the output voltage LU 25 will take values $$U_{\mathrm{one}}^{l\mathrm{at}}=0$$

, $$U_2^{l\mathrm{at}}=0$$

, as in step 1. In this case, the rotary frame 5 continues to rotate towards the zero position under the action of voltage

$$U_{DR}=-k_{\mathrm{At}\mathrm{<figure-callout\; id="0"\; label="D\; R\; U"\; filenames="00000099.png"\; state="\{\{state\}\}">D\; </figure-callout>}R}{U}_{}{}_0,(2)$$

entering the DR 26.

When the rotary frame approaches the measurement zone in the zero position region, an ARR signal 27 appears in the deviation measurement channel χ = 0 °. When this signal Converter 29 generates a signal U _χ0 = 1. The voltage U _χ90 is still U _χ90 = 0. This proceeds to step 3.

Stage 3.

, $$U_2^{лу}=0$$

. Согласно таблице №3 по сигналам ЛУ 25 третий управляемый коммутатор 31 подключает к УДР 28 напряжение U_χ], поступающее с преобразователя сигналов 29 и пропорциональное углу отклонения Δχ₀ поворотной рамы 5 от положения χ=0°, измеренное ДУПР 27At this stage, the rotary frame 5 occupies a position close to the position χ = 0 °. In this case, the output voltages of the signal converter 29 take the values U _χ0 = 1, U _χ90 = 0. According to table No. 2, the output voltage LU 25 will take values $$U_{\mathrm{one}}^{l\mathrm{at}}=0$$

, $$U_2^{l\mathrm{at}}=0$$

. According to table No. 3, according to the signals of LU 25, the third managed switch 31 connects to UDR 28 the voltage U _χ] coming from the signal converter 29 and proportional to the angle of deviation Δχ _{0 of the} rotary frame 5 from the position χ = 0 °, measured by DPR 27

$$U_{\chi \mathrm{one}}=\mathrm{<figure-callout\; id="0"\; label="k\; \Delta \; \chi "\; filenames="00000099.png"\; state="\{\{state\}\}">k\; </figure-callout>}\Delta {\chi }_{}{}_0.\left(3\right)$$

The output of the UDR 28 is connected to the DR 26, to which, accordingly, the voltage

$$U_{DR}=k_{\mathrm{At}DR}{U}_{\chi \mathrm{one}}=k_{\mathrm{At}DR}k\Delta {\chi }_0(\mathrm{four})$$

under the influence of which the DR 26 brings the rotary frame 5 to the zero position and holds (stabilizes) the frame in this position with a given accuracy.

After the frame 5 is brought to the zero position with a given accuracy, the operator is invited, using the signals of the accelerometers, to set the SP GI vertically with the required accuracy.

Stage 4.

At the end of the SP exhibition, the operator is prompted with the required accuracy to switch to a gyroscope turn of 90 °. At the command of the operator, the BCO 6 generates voltages U _B = 1, U _AND = 0, which are supplied to LU 25. The signals U _B , U _And retain their state throughout stages 4-6.

и $$U_4^{лу}=0$$

, как и на этапах 1-3. При этом, как было описано ранее, по сигналу $$U_3^{лу}=1$$

первый управляемый коммутатор 4 сохраняет подключение выхода ДУ 23 через второй усилитель канала измерения угловой скорости 17 к ДМ 22, образуя контур измерения угловой скорости (контур арретирования). Контуры арретирования необходимы для удержания вектора кинетического момента гироскопа 12 в положении, перпендикулярном плоскости рамы 5. По сигналу $$U_4^{лу}=0$$

усилители 15 и 17 по-прежнему настроены на большой диапазон измерения угловых скоростей, а напряжение, подаваемое на двигатель отработки 11, равно нулю. Платформа 9 остается неподвижной.Regardless of the signals U _χ0 and U _χ90 , and, consequently, the position of the swing frame 5, LU 25 generates signals $$U_3^{l\mathrm{at}}=\mathrm{one}$$

and $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

as in steps 1-3. In this case, as described previously, by signal $$U_3^{l\mathrm{at}}=\mathrm{one}$$

the first managed switch 4 saves the connection of the output of the remote control 23 through the second amplifier of the channel for measuring the angular velocity 17 to the DM 22, forming a loop for measuring the angular velocity (locking circuit). The locking circuits are necessary to hold the vector of the kinetic moment of the gyroscope 12 in a position perpendicular to the plane of the frame 5. At the signal $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

amplifiers 15 and 17 are still tuned to a large range of angular velocity measurements, and the voltage supplied to the mining engine 11 is zero. Platform 9 remains stationary.

и $$U_2^{лу}$$

, поступающие на управляющие входы третьего управляемого коммутатора 31, зависят от сигналов U_χ0 и U_χ90, поступающих от преобразователя сигналов 29. В начале этапа 4 поворотная рама 5 находится в положении, близком к χ=0°. Поэтому сигналы, поступающие на ЛУ 25 с преобразователя сигналов 29, принимают значения U_χ0=1, U_χ90=0. Согласно таблице №2, выходные напряжения ЛУ 25 примут при этом значения $$U_1^{лу}=1$$

, $$U_2^{лу}=0$$

. Согласно таблице №3 по сигналам ЛУ 25 третий управляемый коммутатор 31 подключает к УДР 28 напряжение U₀. Выход УДР 28 подключен к ДР 26, на который, соответственно, поступает напряжениеOutput signals LU 25 $$U_{\mathrm{one}}^{l\mathrm{at}}$$

and $$U_2^{l\mathrm{at}}$$

received at the control inputs of the third managed switch 31 depend on the signals U _χ0 and U _χ90 coming from the signal converter 29. At the beginning of step 4, the swing frame 5 is in a position close to χ = 0 °. Therefore, the signals arriving at the LN 25 from the signal converter 29 take the values U _χ0 = 1, U _χ90 = 0. According to table No. 2, the output voltage LU 25 will take values $$U_{\mathrm{one}}^{l\mathrm{at}}=\mathrm{one}$$

, $$U_2^{l\mathrm{at}}=0$$

. According to table No. 3 according to the signals LU 25, the third managed switch 31 connects to UDR 28 voltage U ₀ . The output of the UDR 28 is connected to the DR 26, to which, accordingly, the voltage

$$U_{DR}=k_{\mathrm{At}\mathrm{<figure-callout\; id="0"\; label="D\; R\; U"\; filenames="00000099.png"\; state="\{\{state\}\}">D\; </figure-callout>}R}{U}_{}{}_0.(5)$$

поворотная рама 5 начинает поворачиваться в сторону положения χ=90°. При этом, выходя из зоны измерения отклонения от положения χ=0°, сигнал U_χ0 становится равным U_χ0=0. Напряжение U_χ90 по-прежнему U_χ90=0. При этом осуществляется переход к этапу 5.Under stress $$U_{DR}=k_{\mathrm{At}\mathrm{<figure-callout\; id="0"\; label="D\; R\; U"\; filenames="00000099.png"\; state="\{\{state\}\}">D\; </figure-callout>}R}{U}_{}{}_0$$

the pivoting frame 5 begins to pivot toward the position χ = 90 °. In this case, leaving the zone of measurement of deviations from the position χ = 0 °, the signal U _χ0 becomes equal to U _χ0 = 0. The voltage U _χ90 is still U _χ90 = 0. This proceeds to step 5.

Stage 5

, $$U_2^{лу}=0$$

, как и на этапе 4. При этом поворотная рама 5 продолжает поворачиваться в сторону положения χ=90° под действием напряженияAt this stage, the rotary frame 5 occupies a middle position in which there are no signals from both channels of the position angle sensor of the frame 27. In this case, the output voltages of the signal transducer 29 take the values U _χ0 = 0, U _χ90 = 0. Since U _B = 1, U _And = 0, according to table No. 3, the output voltages of LU 25 will take values $$U_{\mathrm{one}}^{l\mathrm{at}}=\mathrm{one}$$

, $$U_2^{l\mathrm{at}}=0$$

, as in step 4. In this case, the rotary frame 5 continues to rotate towards the position χ = 90 ° under the action of voltage

$$U_{DR}=k_{\mathrm{At}\mathrm{<figure-callout\; id="0"\; label="D\; R\; U"\; filenames="00000099.png"\; state="\{\{state\}\}">D\; </figure-callout>}R}{U}_{}{}_0.(6)$$

entering the DR 26.

When the rotary frame approached the measurement zone in the region of the position χ = 90 °, a signal appears in DUPR 27 in the channel for measuring the deviation from the position χ = 90 °. When this signal Converter 29 generates a signal U _χ90 = 1. The voltage U _χ0 is still U _χ0 = 0. This proceeds to step 6.

Stage 6.

, $$U_2^{лу}=1$$

. Согласно таблице №3 по сигналам ЛУ 25 третий управляемый коммутатор 31 подключает к УДР 28 напряжение U_χ2, поступающее с преобразователя сигналов 29 и пропорциональное углу Δχ₉₀ отклонения поворотной рамы 5 от положения χ=90°, измеренное ДУПР 27At this stage, the rotary frame 5 occupies a position close to the position χ = 90 °. In this case, the output voltages of the signal converter 29 take the values U _χ0 = 0, U _χ90 = 1. According to table No. 2, the output voltage LU 25 will take values $$U_{\mathrm{one}}^{l\mathrm{at}}=\mathrm{one}$$

, $$U_2^{l\mathrm{at}}=\mathrm{one}$$

. According to table No. 3, according to the signals of LU 25, the third managed switch 31 connects to UDR 28 the voltage U _χ2 coming from the signal converter 29 and proportional to the angle Δχ _{90 of the} deviation of the rotary frame 5 from the position χ = 90 °, measured by DPR 27

$${\mathrm{<figure-callout\; id="2"\; label="U\; \chi "\; filenames="00000098.png"\; state="\{\{state\}\}">U\; </figure-callout>}}_{\chi }=\mathrm{<figure-callout\; id="90"\; label="k\; \Delta \; \chi "\; filenames="00000099.png"\; state="\{\{state\}\}">k\; </figure-callout>}\Delta {\chi }_{}{}_{90}.\left(7\right)$$

The output of the UDR 28 is connected to the DR 26, to which, accordingly, the voltage

$$U_{DR}=k_{\mathrm{At}DR}{U}_{\chi 2}=k_{\mathrm{At}DR}\mathrm{<figure-callout\; id="90"\; label="k\; \Delta \; \chi "\; filenames="00000099.png"\; state="\{\{state\}\}">k\; </figure-callout>}\Delta {\chi }_{}{}_{90},\left(8\right)$$

under the influence of which the DR 26 brings the rotary frame 5 to the position χ = 90 ° and holds (stabilizes) the frame in this position with a given accuracy.

Exhibition mode.

In accordance with the LU25 operation table, the mode consists of step 7.

Stage 7.

, $$U_2^{лу}=1$$

. При этом на ДР 26, согласно таблице №3, по-прежнему поступает напряжение от УДР 28Upon reaching χ = 90 ° with a given accuracy, the operator is invited to switch to the "Exhibition" mode. At the command of the operator, the BCO 6 generates voltages U _{B =} 1, U _AND = 1, which are supplied to the LU 25. Since the rotary frame 5 is thus held in the position χ = 90 °, the signals generated by the signal converter 29 retain the state U _χ0 = 0, U _χ90 = 1. According to table No. 2, the output voltages of LU 25 will retain the values $$U_{\mathrm{one}}^{l\mathrm{at}}=\mathrm{one}$$

, $$U_2^{l\mathrm{at}}=\mathrm{one}$$

. At the same time, on DR 26, according to table No. 3, the voltage from UDR 28 is still supplied

$$U_{DR}=k_{\mathrm{At}DR}{U}_{\chi 2}=k_{\mathrm{At}DR}\mathrm{<figure-callout\; id="90"\; label="k\; \Delta \; \chi "\; filenames="00000099.png"\; state="\{\{state\}\}">k\; </figure-callout>}\Delta {\chi }_{}{}_{90},\left(9\right)$$

under the influence of which the DR 26 holds (stabilizes) the frame in the position χ = 90 ° with a given accuracy.

и $$U_4^{лу}$$

ЛУ 25 принимают значения $$U_3^{лу}=1$$

, $$U_4^{лу}=1$$

.Output voltage $$U_3^{l\mathrm{at}}$$

and $$U_{\mathrm{four}}^{l\mathrm{at}}$$

LU 25 take values $$U_3^{l\mathrm{at}}=\mathrm{one}$$

, $$U_{\mathrm{four}}^{l\mathrm{at}}=\mathrm{one}$$

.

поступает на управляющий вход первого управляемого коммутатор 4, который по-прежнему образует контур измерения угловой скорости, состоящий из ДУ 23, первого управляемого коммутатора 4, усилителя 17 и ДМ 22.Signal $$U_3^{l\mathrm{at}}=\mathrm{one}$$

arrives at the control input of the first managed switch 4, which still forms an angular velocity measurement circuit, consisting of a remote control 23, a first controlled switch 4, an amplifier 17, and a DM 22.

поступает на управляющий вход второго управляемого коммутатора 30 и управляющие входы первого и второго усилителей каналов измерения угловых скоростей 15 и 17. Так как $$U_4^{лу}=1$$

, то усилители 15 и 17 будут настроены на диапазон измерения, соответствующий угловой скорости вращения Земли. Со вторых выходов первого и второго усилителей канала измерения угловых скоростей 15 и 17 на БЦО 6 поступают сигналы, пропорциональные проекции угловых скоростей на измерительные оси гироскопа 12 (см. фиг.3).Signal $$U_{\mathrm{four}}^{l\mathrm{at}}=\mathrm{one}$$

arrives at the control input of the second managed switch 30 and the control inputs of the first and second amplifiers of the channels for measuring angular velocities 15 and 17. Since $$U_{\mathrm{four}}^{l\mathrm{at}}=\mathrm{one}$$

, then the amplifiers 15 and 17 will be tuned to the measuring range corresponding to the angular velocity of the Earth's rotation. From the second outputs of the first and second amplifiers of the channel for measuring angular velocities 15 and 17, signals are proportional to the projection of the angular velocities onto the measuring axes of the gyroscope 12 (see FIG. 3).

подключает напряжение U₀, формируемое задатчиком эталонного тока 7, ко второму входу усилителя стабилизации 16, с выхода которого на ДО 11 поступает напряжениеThe second managed switch 30 on signal $$U_{\mathrm{four}}^{l\mathrm{at}}=\mathrm{one}$$

connects the voltage U ₀ generated by the reference current master 7 to the second input of the stabilization amplifier 16, from the output of which voltage is supplied to DO 11

$$U_{D\mathrm{ABOUT}}=k_{y2}{\mathrm{<figure-callout\; id="0"\; label="U"\; filenames="00000099.png"\; state="\{\{state\}\}">U</figure-callout>}}_0,\left(10\right)$$

where k _y2 is the gain of DC 16 at the second input. In this case, DO 11 begins to rotate the platform 9 with a constant angular velocity (1-2%).

During the rotation of the platform 9 at the discrete points, projections of the horizontal angular velocity of the Earth's rotation on the axis X _gj and Y _gj are measured and recorded, as well as the readings of SKT 10.

Upon completion of N revolutions, the signals U _B and U _And take the values U _B = 0 and U _AND = 0. In this case, the state of the input signals LU 25 coincides with the state of the input signals at stage 1, i.e. U _В = 0, U _И = 0, U _χ0 = 0, U _χ90 = 1 Thus, steps 8, 9, 10 will coincide with steps 1, 2, 3, respectively.

The rotation of the platform is stopped, and the rotary frame 5 returns to the zero position, which is necessary at the measurement stage.

Using the arrays of angular velocities and signals of SKT 10 stored in the ground computer, the azimuth of the axes of the platform 9 (sensitivity axes of the acceleration meters) at the time the exhibition starts is calculated by the formula

$${\alpha }_{x\mathrm{one}}=arctg\frac{{\displaystyle \sum _{j=\mathrm{one}}^n{\omega }_{x_j}\sin {\Delta }_j+{\displaystyle \sum _{j=\mathrm{one}}^n{\omega }_{y_j}\cos {\Delta }_j}}}{-{\displaystyle \sum _{j=\mathrm{one}}^n{\omega }_{x_j}\cos {\Delta }_j+{\displaystyle \sum _{j=\mathrm{one}}^n{\omega }_{y_j}\sin {\Delta }_j}}}\left(\mathrm{eleven}\right)$$

, $${\omega }_{y_j}$$

- измеренные гироскопом 12 проекции горизонтальной составляющей Ω_зг угловой скорости вращения Земли; Δ_j - приращение угла поворота платформы 9, отсчитываемого от ее положения в момент начала выставки.where α _x1 is the azimuth of the axis X _{p1 of the} platform at the time of the start of the exhibition; $${\omega }_{x_j}$$

, $${\omega }_{y_j}$$

- projected by the gyroscope 12 projections of the horizontal component Ω _{zg of the} angular velocity of rotation of the Earth; Δ _j is the increment of the angle of rotation of the platform 9, counted from its position at the time of the start of the exhibition.

, $${\omega }_{y_j}$$

и эталонными угловыми скоростями $${\omega }_{{}_{x_j}}^{э}$$

, $${\omega }_{{}_{y_j}}^{э}$$

Formula (11) is obtained based on the application of the least squares method to arrays of measured angular velocities and platform rotation angles. In this case, the residual function is formed as the sum of the squares of the difference between the measured $${\omega }_{x_j}$$

, $${\omega }_{y_j}$$

and reference angular velocities $${\omega }_{{}_{x_j}}^{\mathrm{uh}}$$

, $${\omega }_{{}_{y_j}}^{\mathrm{uh}}$$

, $$J={\displaystyle \sum _{j=\mathrm{one}}^n[{({\omega }_{x_j}-{\omega }_{x_j}^{\mathrm{uh}})}^2+}{({\omega }_{y_j}-{\omega }_{y_j}^{\mathrm{uh}})}^2]$$

,

; $${\omega }_{y_j}^{э}={\omega }_{дy}-{\Omega }_{зг}\sin ({\alpha }_{x1}+{\Delta }_j)$$

;Where $${\omega }_{x_j}^{\mathrm{uh}}={\omega }_{dx}+{\Omega }_{sg}\cos ({\alpha }_{x\mathrm{one}}+{\Delta }_j)$$

; $${\omega }_{y_j}^{\mathrm{uh}}={\omega }_{dy}-{\Omega }_{sg}\sin ({\alpha }_{x\mathrm{one}}+{\Delta }_j)$$

;

ω _dx , ω _dy are the systematic components of the drift, which in expanded form takes the form

и минимизируется по трем параметрам α_х1, ω_дх, ω_ду. $$J={\displaystyle \sum _{j=\mathrm{one}}^n[(}{\omega }_{x_j}-{\omega }_{dx}-{\Omega }_{sg}\cos ({\alpha }_{x\mathrm{one}}+{\Delta }_j){)}^2+{({\omega }_{y_j}-{\omega }_{d\mathrm{at}}+{\Omega }_{sg}\sin ({\alpha }_{x\mathrm{one}}+{\Delta }_j))}^2],\left(12\right)$$

and is minimized in three parameters α _x1 , ω _dx , ω _du .

Minimization conditions - three equations representing the partial equality of derivatives with respect to the desired parameters α _x1 , ω _dx , ω _du

$${\displaystyle \sum _{j=\mathrm{one}}^n[(}{\omega }_{x_j}-{\omega }_{dx})\sin ({\alpha }_{x\mathrm{one}}+{\Delta }_j)+({\omega }_{y_j}-{\omega }_{d\mathrm{at}})\cos ({\alpha }_{x\mathrm{one}}+{\Delta }_j)]=0$$

; $$-n{\omega }_{dx}+{\displaystyle \sum _{j=\mathrm{one}}^n(}{\omega }_{x_j}-{\Omega }_{sg}\cos ({\alpha }_{x\mathrm{one}}+{\Delta }_j))=0$$

;

, $$-n{\omega }_{dy}+{\displaystyle \sum _{j=\mathrm{one}}^n(}{\omega }_{y_j}+{\Omega }_{sg}\sin ({\alpha }_{x\mathrm{one}}+{\Delta }_j))=0$$

,

whose solution (provided that the platform makes an integer number of revolutions) are formula (11) and the systematic components of the drift

$${\omega }_{dx}=\frac{\mathrm{one}}{n}{\displaystyle \sum _{j=\mathrm{one}}^n{\omega }_{x_j}};{\omega }_{dy}=\frac{\mathrm{one}}{n}{\displaystyle \sum _{j=\mathrm{one}}^n{\omega }_{y_j}}.\left(13\right)$$

Measurement Mode

Steps 8-10.

The sequence of actions in these stages of work corresponds to the previously considered stages 1-3.

Stage 11.

, $$U_2^{лу}=1$$

, $$U_3^{лу}=0$$

, $$U_4^{лу}=0$$

.Upon completion of the initial exhibition and bringing the rotary frame 5 to the position χ = 0 °, the operator is invited to switch to the measurement mode. Upon receipt of an appropriate command from the operator from BCO 6, LU 25 receives voltages U _B = 0, U _И = 1. The signals coming from the signal Converter 29 have the values U _χ0 = 1, U _χ90 = 0. According to table No. 2, the output voltage LU 25 will take values $$U_{\mathrm{one}}^{l\mathrm{at}}=0$$

, $$U_2^{l\mathrm{at}}=\mathrm{one}$$

, $$U_3^{l\mathrm{at}}=0$$

, $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

.

, $$U_2^{лу}=1$$

третий управляемый коммутатор 31 подключает к УДР 28 напряжение U_χ1, поступающее с преобразователя сигналов 29 и пропорциональное углу отклонения Δχ₀ поворотной рамы 5 от положения χ=0°, измеренное ДУПР 27According to table No. 3 for signals $$U_{\mathrm{one}}^{l\mathrm{at}}=0$$

, $$U_2^{l\mathrm{at}}=\mathrm{one}$$

the third managed switch 31 connects to UDR 28 the voltage U _χ1 coming from the signal converter 29 and proportional to the angle of deviation Δχ _{0 of the} rotary frame 5 from the position χ = 0 °, measured by DPR 27

$$U_{\chi \mathrm{one}}=\mathrm{<figure-callout\; id="0"\; label="k\; \Delta \; \chi "\; filenames="00000099.png"\; state="\{\{state\}\}">k\; </figure-callout>}\Delta {\chi }_{}{}_0.\left(\mathrm{fourteen}\right)$$

The output of the UDR 28 is connected to the DR 26, to which, accordingly, the voltage

$$U_{DR}=k_{\mathrm{At}DR}{U}_{\chi \mathrm{one}}=k_{\mathrm{At}DR}\mathrm{<figure-callout\; id="0"\; label="k\; \Delta \; \chi "\; filenames="00000099.png"\; state="\{\{state\}\}">k\; </figure-callout>}\Delta {\chi }_{}{}_0.\left(\mathrm{fifteen}\right)$$

under the influence of which the DR holds (stabilizes) the frame in the position χ = 0 ° with a given accuracy throughout the measurement mode.

поступает на первый управляемый коммутатор 4, который подключает выход датчика угла 23 к первому входу УС 16, образуя контур индикаторной стабилизации.Signal $$U_3^{l\mathrm{at}}=0$$

arrives at the first managed switch 4, which connects the output of the angle sensor 23 to the first input of the US 16, forming a loop indicator stabilization.

усилитель 15 настраивается на большой диапазон измерения угловых скоростей. При этом контур, состоящий из ДУ 21, усилителя 15 и ДМ 24, выполняет функцию арретира. Второй управляемый коммутатор 30 по сигналу $$U_4^{лу}=0$$

отключает задатчик эталонного тока 7 от усилителя стабилизации 16, а следовательно, и от двигателя отработки 11. В результате чего платформа 9 управляется только по сигналам датчика углов 23 контура индикаторной стабилизации.On signal $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

amplifier 15 is tuned to a large range of angular velocity measurements. Moreover, the circuit, consisting of a remote control 21, an amplifier 15, and a DM 24, performs the function of arresting. The second managed switch 30 on signal $$U_{\mathrm{four}}^{l\mathrm{at}}=0$$

disconnects the reference current master 7 from the stabilization amplifier 16, and therefore from the mining engine 11. As a result, the platform 9 is controlled only by the signals of the angle sensor 23 of the indicator stabilization circuit.

To start the operation of the algorithm for measuring the parameters of the well, it is necessary to know the azimuth α _xv of the sensitivity axes of the accelerometers at the time the measurement begins (see figure 3). The azimuth α _xb can be defined as the sum of the azimuth a _x] calculated as a result of the exhibition and the angle at which platform 9 turned from the moment the exhibition started to the moment the measurement mode started (ψ _B -ψ ₁ )

$${\alpha }_{xB}={\alpha }_{x\mathrm{one}}+{\Psi }_B-{\Psi }_{\mathrm{one}},\left(16\right)$$

where ψ _B is the angle of rotation of the platform 9 at the time of the start of measurement (at the time of the end of the exhibition - see figure 3).

The resulting angle (16) is used to form the initial orientation matrix in accordance with the method described in the prototype.

To the question of the implementation of the gyroinertial module.

According to the idea of building, a GIM is a measuring system with a variable structure, in which the gyroscope, depending on the operating mode, changes its orientation by 90 °. If the vector of the kinetic moment of the gyroscope is parallel to the suspension axis of the platform, then it turns into a two-channel angular velocity meter. If the vector of the kinetic moment of the gyroscope is perpendicular to the axis of the platform suspension, then it turns into an angle sensor for indicator stabilization of the platform.

As in the prototype, the output signals of the GIM are: the signals of two acceleration meters, the stored initial azimuth of the platform, the calculated systematic components of the gyro drift and the output signals of the SKT.

The proposed GIM was designed in such a way that the mathematical support of the gyroinclinometer orientation and navigation algorithms in the Measurement mode, when the downhole tool is lowered (rises) into the well on a wireline, remains unchanged, i.e. would match prototype algorithms.

Thus, the proposed GIM allows you to build a continuous GI with an autonomous azimuthal exhibition of improved accuracy, the algorithm of which during descent (ascent) corresponds to the GI algorithms with a uniaxial indicator gyrostabilizer, as described in patent No. 2100594 of the prototype, the joint venture of which has a diameter of 73 mm

Some issues of technical implementation.

1. As a GIM gyroscope in this device, it is planned to use a serial dynamically tuned gyroscope, for example, GVK-16.

2. The swinging frame will be a mandrel with half shafts, to which the gyroscope is rigidly attached.

3. Frame drive: a small-sized engine of the DPR series, which kinematically, using, for example, gearless gears, will transmit torque to the axis of the rotary frame. Structurally, the DPR will be placed so that the size of the joint venture does not increase in diameter.

4. Development engine: serial DC torque motor with excitation from permanent magnets DS-27 (similar to the prototype).

5. A frame positioning angle sensor, for example, of an inductive type, having two proportional zones in the region of 0 ° and 90 ° of the frame rotation angle.

6. Acceleration meters - small-sized accelerometers AT-1104.

7. The output angle sensor, made in the form of a sine-cosine transformer (similar to the prototype).

8. Electronic components can be implemented on serial analog and digital circuitry elements.

Claims (1)

The gyro-inertial module of the gyroscopic inclinometer containing a uniaxial gyrostabilizer, on the platform of which are two acceleration meters with two mutually perpendicular sensitivity axes, which are perpendicular to the stabilization axis of the gyrostabilizer, a three-stage gyroscope, the angular sensors and the torque sensors are installed along the suspension axes, stabilization amplifier and kinematically connected with the stabilization axis, on which the output angle sensor is fixed in the form e sine-cosine transformer, and a digital processing unit, to the first and second inputs of which the outputs of the output gyro stabilizer angle sensor are connected, the third and fourth - outputs of the acceleration meters, the sixth - the output of the temperature sensor, and the fifth - the second signal output of the first channel amplifier measuring the angular velocity, the signal input of which is connected to the output of the angle sensor relative to the suspension axis of the inner frame, and the first signal output of the first amplifier of the channel measuring angular velocity is connected at a moment relative to the suspension axis of the outer frame, the first output of the digital processing unit connected to the control input of the reference current setter, the second and third outputs of the digital processing unit via a wireline cable connected to a ground computer, characterized the fact that the three-stage gyroscope is mounted in a rotary frame, the suspension axis of which is perpendicular to the stabilization axis of the gyroscopic stabilizer, coincides with the sensitivity axis of one of the acceleration meters and with which the rotational frame position angle sensor and the reversal engine are kinematically connected, to the input of which the output is connected via the reversal engine amplifier the third managed switch, the first and second control inputs of which are connected to the first and second outputs of the logical device, the first signal The first input of the third managed switch is connected to the second output of the reference current master, the first output of which is connected to the second signal input of the third managed switch and to the signal input of the second managed switch, the output of which is connected to the second input of the stabilization amplifier, the first input of which is connected to the first signal output of the first managed switch, the control input of which is connected to the third output of the logical device, the fourth output of which is connected to the control in by the odes of the first and second amplifiers of the angular velocity measurement channels and the control input of the second managed switch, the signal input of the first managed switch is connected to the angle sensor relative to the suspension axis of the outer frame, the second signal output of the first managed switch is connected to the signal input of the second amplifier of the angular velocity measurement channel, the first signal the output of which is connected to the moment sensor relative to the suspension axis of the inner frame, and to the first and second inputs of the logic device the fourth and fifth outputs of the digital processing unit are switched on, the second signal output of the second amplifier of the channel for measuring angular velocity is connected to the seventh input, and the third and fourth outputs of the signal converter are connected to the third and fourth inputs of the logic device, the first and second outputs of which are connected to the third and fourth the signal inputs of the third managed switch, and the first and second inputs of the signal converter are connected to the outputs of the rotational frame positioning angle sensor.

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