一种6自由度柔索并联机器人的动力学研究

采用串联约束 /并联驱动的原理 ,通过加入约束机构 ,设计一种新型柔索驱动并联机器人。然而由于约束机构的引入 ,机器人的动力学分析变得更为复杂。在对机器人进行运动学分析的基础上 ,利用牛顿 欧拉法建立机器人动力学方程。仿真结果证明了该方法的有效性

基于3自由度并联机器人的船载炮6维运动模拟系统

本文系统基于3自由度并联机器人和3维图形仿真实现了空间6维运动的模拟，构造了一种3自由度并联机构来模拟船的3维转动，并给出了并联平台的运动学逆解，采用图形仿真虚拟作战环境，模拟船的3维移动，并分析了图形驱动原因。

叠前叠后联合反演技术及其在QHD32-6油田的应用研究

What geophysical inversion studied includes the common mathematics physical property of inversion and the constitution and appraisal method of solution in geophysics domain, i.e. using observed physical phenomenon from the earth surface to infer space changing and physical property structure of medium within the earth. Seismic inversion is a branch of geophysical inversion. The basic purpose of seismic inversion is to utilizing seismic wave propagating law in the medium underground to infer stratum structure and space distribution of physical property according to data acquisition, processing and interpretation, and then offer the vital foundation for exploratory development. Poststack inversion is convenient and swift, its acoustic impedance inversion product can reflect reservoir interior changing rule to a certain degree, but poststack data lack abundant amplitude and travel time information included in prestack data because of multiple superimpose and weaken the sensitiveness which reflecting reservoir property. Compared with poststack seismic inversion, prestack seismic inversion has better fidelity and more adequate information. Prestack seismic inversion, including waveform inversion, not only suitable for thin strata physical property inversion, it can also inverse reservoir oil-bearing ability. Prestack seismic inversion and prestack elastic impedance inversion maintain avo information, sufficiently applying seismic gathering data with different incident angle, partial angle stack, gradient and intercept seismic data cube. Prestack inversion and poststack inversion technology were studied in this dissertation. A joint inversion method which synthesize prestack elastic wave waveform inversion, prestack elastic impedance inversion and poststack inversion was proposed by making fully use of prestack inversion multiple information and relatively fast and steady characteristic of poststack inversion. Using the proposed method to extract rock physics attribute cube with clear physical significance and reflecting reservoir characterization, such as P-wave and S-wave impedance, P-wave and S-wave velocity, velocity ratio, density, Poisson ratio and Lame’s constant. Regarding loose sand reservoir in lower member of Minghuazhen formation, 32-6 south districts in Qinhuangdao,as the research object, be aimed at the different between shallow layer loose sand and deep layer tight sand, first of all, acquire physical property parameters suitable for this kind of heavy oil pool according to experimental study, establishing initial pressure and shear wave relational model; Afterwards, performing prestack elastic wave forward and inversion research, summarizing rules under the guidance of theoretical research and numerical simulation, performing elastic impedance inversion, calculating rock physics attributes; Finally, predicting sand body distribution according to rock physics parameters, and predicting favorable oil area combine well-logging materials and made good results.

鄂尔多斯盆地环县地区长6-长8沉积相及储层研究

The exploration in recent years shows that the Yanchang Formation in the southwest of Ordos Basin is of great resource potential and good exploration and exploitation prospect. In the thesis ，sedimentary source analysis，sedimentary system，sedimentary microfacies，sandstones distribution and reservoir characteristic are studied and favorable oil area are forecasted in Chang6-Chang8 of Yanchang formation in HuanXian region， by mainly study on the data of field section observation ，core observation, well logging explaination and routine microscope slice identification，scanning Electron Microscope and reservoir analysis of lithology and physical property , Under the guidance of such advanced theories and methods as sedimentology，reservoir sedimentology，lithological oil pool and so on. The stratum of Chang6-Chang8 of Yanchang formation could be divided into pieces of member following the principles that firstly contrasting the big segments, then contrasting the small segments, being controlled by cycle and consulting the thickness etc.And the characteristic of stratum are detailed discussed , respectively. Based on the source direction of the central basin, heavy and light minerals are used to analyse source direction of Chang6 and Chang8 member, in HuanXian area. Research result shows that the source of Chang6 and Chang8 member is mixed provenance,including west-south,west and east-north. By the study of rock types、 sedimentary conformation、lithology and electromotive curve combination and palaeo-biology,lake、delta and braided delta mianly developed in study area are recognized, Subaqueous distributary channels in delta front and in braided delta front, and sand body in deep-lake turbidite, are the main reservoir.forthermore,the characteristic of depositional system and sandy body in space are discussed. Applied with routine microscope slice identification, Scanning Electron Microscope, reservoir lithology and physical property analysis and other analytic machinery, Feldspar-lithic fine-sandstone and feldspar fine-sandstone are mainly sandstone of Y Chang6-Chang8 in Huanxian area, small pore and tiny pore are the main pore types, tiny throat type and micro-fine throat type are widely developed , secondary dissolution porosity, intercrystal porosity, tiny pore and micro-crack are main pore types.Intergranular porosity and dissolution porosity secondary is the main pore secondary. The dominant diagenesis types in the area are compaction, cementation, replacement and dissolution. Chlorite films cementation facies, carbonate cementation facies ,mud cementation compaction facie, compaction 、pressure solution facies are the main diagenetic facies,in which Chlorite films cementation facies is the best diagenetic facies in study area. Reservoir influence factor analysis ,rock types are the main factor forming this low-pore and low-permeability of Chang6-Chang8 member in study area,and relatively higher permeability area are cortrolled by sedimentary facies distribution, diagenesis improved reservoir physical property. According to the distributing of sedimentary micro-facies and sandy body , and the test oil, favorable region in Chang6-Chang8 are forecasted.

孤岛油田中二北区Ng3～6储层建筑结构与油水分布规律研究

The reservoir of Zhongerbei region in Gudao Oilfield is a typical fluvial facies deposit, its serious heterogeneity of the reservoir caused the distribution of remaining oil in mature reservoirs is characterized by highly scattered in the whole field, and result to declination of production, tap potential and stabilize production is more difficult. Reservoir modeling based on lay scale can not fulfill requirement. How to further studied reservoir heterogeneity within the unit and establish the finer reservoir modeling is a valid approach to oil developing. The architectural structure elements analysis is the effectively method to study reservoir heterogeneity. Utilize this method, divide the reservoirs of Gudao Oilfield into ten hierarchies. The priority studying is sixth, seven hierarchies, ie single sand layers sand bodies By the identification of sixth, seven hierarchies, subdivide the reservoir to the single genetic unit. And to subdivide by many correlation means, such as isometry and phase transition, accomplish closure and correlation of 453 wells.Connectting fluvial deposit pattern, deposition characteristic with its log, build the inverting relation between “sedimentary facies” and “electrofacies” The process emphasize genetic communication and collocation structure of genetic body in space. By detailed architecture analyses sandbodies’ structure, this paper recognize seven structure elements, such as major channel, abandoned channel, natural levee, valley flat, crevasse splay, crevasse channel and floodplain fine grain.Combination identification of architectural structure elements with facieology and study of deposition characteristic, can further knowing genesis and development of abandoned channel. It boost the accuracy to separation in blanket channel bodies distribution, and provide reference to retrieving single channel boundary. Finally, establish fine plane and section construction. On basis architectural structure map, barrier beds and interbeds isopach map and mini-structure map, considering single thin layers to be construction unit, the main layer planimetric maps have drawn and the inner oil-water boundary have revealed. All account that architectural structure elements control remaining oil distribution in layer, and develop the study on architectural structure elements to direct horizontal well is succesful.

陕北何家集区延长组长4＋5－长6储层特征研究

Abstract： Hejiaji area lies on eastern part of Shanbei Slope in Ordos Basin and the primary oil-bearing bed is Chang 4＋5 and Chang 6 of Yanchang Formation. It is indicated that the sedimentary facies and reservoir characteristics restricted the hydrocarbon accumulation regularity by the geological information. Therefore, Applied with outcrop observation，core description, geophysical logging interpretation, thin section determination, Scanning Electron Microscope, reservoir lithology and physical property analysis and other analytic machinery, the sedimentary facies ,micro-characteristic and master control factors on hydrocarbon reservoir of Yanchang Formation in Hejiaji area are studied deeply by means of sedimentology，reservoir geology and petroleum geology and provide a reliably reference for later prospect . Delta facies are identified in Hejiaji area and of which distributary channels in delta plain microfacies controlled the distribution of sand bodies and accumulation of oil and gas.The distribution of sand bodies distributed from northeast to southwest are dominated by sedimentary facies . It was shown that the sandstones are medium to granule arkose，which the mud matrix is r and including，calcite，the content of matrix is lower and that mostly are cements which are mainly quartz and feldspar overgrowths and chlorite films, in the second place are hydromica and ferrocalcite. All the sandstones have entered a period of late diagenetic stage in which the dominant diagenesis types in the area are compaction, cementation and dissolution. Remnant intergranular porosity and feldspar dissolved pore are main pore types which are megalospore and medium pore. Medium-fine throat, fine throat and micro-fine throat are the mainly throat type. Pore texture can be classified as megalospore and fine throat type, medium-pore and micro-fine throat type mainly, and they are main accumulate interspace in research region. The reservoir of Yanchang Formation in Hejiaji area is low- pore and low- permeability in the mass which have strong heterogeneity in bed, interbedded and plane. Studying the parameter of pore and permeability comprehensively and consulting prevenient study results of evaluation of reservoir, the reservoir is classifiedⅡ，Ⅲ and Ⅳ three types in which the Ⅱand Ⅲ can be divided into Ⅱa and Ⅱb, Ⅲa and Ⅲb respectively. Ⅱb and Ⅲa are the main reservoir type in Hejiaji area which are about 72.73％and 80％percent of whole reservoir and effective reservoir respectively.

苏里格气田苏6加密井区山1-盒8层段河流沉积体系分析

Sulige gas field is located in Northwest of Yi-Shan Slope of the Ordos Basin. The Shan 1 Member of the Shanxi Formation and He8 Member of the ShiHeZi Formation are not only objective strata of research but also main producing strata of the Sulige Field. From core and wireline log data of 32 wells in well Su6 area of Sulige field, no less than six lithofaice types can be recognised. They are Gm,Sl,Sh,Sm,Sp,Fl,Fm. Box-shaped, bell-shaped, funnel-shaped and line-segment-shaped log are typcial gamma-ray log characters and shapes. The Depositonal system of the Shan1-He8 strata in research area have five bounding-surface hierarchies and was composed of six architectural elements, CH, LS,FF（CH）,SB,LA,GB. The depositional model of Shan 1 was the type of a sandy meandering river with natural levee, abandoned channels and crevasse splay. Channel depth of this model maybe 7-12 m and the fullest-bank flow can reach 14 m high. Based on analysis of depositional causes, a sandy braided river model for the depositional system of He 8 can be erected. It consists of active main channels, active chute channels, sheet-like sand bars, abandoned main channels and abandoned chute channels. Channel depth of this model can be 3-4 m with 9 m of highest flow. Six gamma-ray log cross sections show that the connectivity of sandbodies through Shan 1 Member is lower than He 8. Influenced by occurrence of mudy and silty deposits, vertical connectivity of sandbodies through He 8 is not high.