Based on the studies on technologies and applications of branch well home and abroad, the problems existing in the technologies for branch well in Liaohe Oilfield and the corresponding ones which are need to solve are pointed out in this paper, including the designing of branch well path, path control and well completion.

The hardware-in-loop simulation research about trajectory control on hydraulic excavator;

Techniques of trajectory control and liner running-in of the shallow multi-target horizontal well

The paper presented the profile optimizing technique,make-up of string,trajectory control technique,and MWD GAMMA geologic survey technique.

Track Control Theory and Experiment Research of Hybrid-Driven Mechanism;

Study on Path Planning and High Precision Track Control for Unconstrained Mobile;

According to the basic features of old wells in Shengli petroliferous province, the technology of directional sidetracking inside casing is studied in milled window in casing, open hole drilling, track control, drilling fluids and well completion, a complete set of sidetracking technology and equipment has been formed.

Some simple optimal control algorithm are developed to obtain the orbital state S(t), optimal control orbit u(t) and the two group comparative tests.