| As a new energy source that is expected to replace fossil fuels,natural gas hydrates have shown great application prospects in China.The solid-state fluidized mining method is a new method for green and efficient mining of submarine non-diagenetic natural gas hydrates in China.The horizontal well operation mode is the key to further increase the gas production.However,existing oil and gas exploration equipment is difficult to adapt to horizontal well operations in natural gas hydrate storage areas with shallow depth and thin reservoirs.In this paper,based on the shallow hydrate sediment layer of the seabed,the horizontal well guiding tool is researched.On the basis of the online driving flexible manipulator,a guiding mechanism suitable for the horizontal horizontal well operation of the seabed is proposed.And demonstrate its feasibility.The main research work carried out is as follows:(1)Aiming at the characteristics of reservoir shallow depth,weak cementation and uneven reservoir thickness in the shallow hydrate reservoir area of the seabed,a guiding mechanism suitable for shallow horizontal well operation in the seabed was designed.The well structure and trajectory parameters under the specified turning radius are calculated by using the lateral crushing distance as the index,which provides the parameter equation for the motion control of the subsequent guiding mechanism.(2)Based on the designed guiding mechanism,the static and kinematic analysis of the steering short section is carried out,the feasibility of the guiding mechanism in driving and control is demonstrated,and the static model of the guiding mechanism and the kinematic equation are obtained.In view of the difficulty of traditional D-H kinematics to adapt to the line drive structure,the geometric analysis method is used to model the steering short section of the guiding mechanism,and the relationship between the joint rotation angle,the corresponding bending and deflection angles,and the variation of each driving wire rope is derived.The error of geometric analysis method is analyzed,which proves the rationality of simplification and provides a theoretical basis for the governing equation of the guiding mechanism.The results show that the increase in fluid pressure and flow rate in the high-pressure hose has a linear increase in the load and no coupling.During the bending process of the steering short section,as the rotation angle increases,the bending load of the high-pressure hose filled with fluid exhibits a special variation law,and a tendency of elastic modulus similar to that of the elastoplastic material is obtained.Based on the above analysis,the load of the guiding mechanism in the working process is obtained,which provides the basis for selecting the motor parameters of the driving part.(4)Based on the kinematics equation of the guiding mechanism and the parametric equation of the inclined section,the trajectory planning of the movement of the guiding mechanism is carried out,and the control system is preliminarily planned.The real-time lateral crushing distance is planned by the parametric equation of the inclined section combined with the actual working condition parameters,and the driving short section of the guiding mechanism is controlled by the mapping of the kinematic equation.The programming of the control software was completed by Lab VIEW programming.The feasibility of the design of the guiding mechanism was preliminarily demonstrated,and a research direction was proposed for the subsequent shallow-water shallow guiding mechanism.This paper proposes a guiding mechanism for horizontal directional guidance of marine hydrates.It is applied to the drilling guidance of weakly cemented formations based on the existing industrial robots,and is designed to meet the needs of natural gas hydrate mining.The research results demonstrate a set of highly feasible guiding tools for the horizontal well drilling of marine non-diagenetic hydrate mining,which has a supporting role in the research of marine hydrate mining. |
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