CN105041212B - A kind of rotary steerable drilling control system and its control method - Google Patents
A kind of rotary steerable drilling control system and its control method Download PDFInfo
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Abstract
The invention discloses a kind of rotary steerable drilling control system and its control method, wherein, control system includes ground control system, ground control box, by-passing valve, mwd system, the underground master control plate with decoding unit and can control the master control borad that rib acts in steering tool；Also include downhole generator, generator construction section, coupler and coupler construction section, nearly drill bit attitude data securing component and power panel for installing the coupler.Control method comprises the following steps：A, well head is tested；B, nearly drill bit attitude data is obtained, designs well track；C, send instructions under；D, Intelligent closed-loop controls.Rotary steerable drilling control system proposed by the invention and its control method can help to realize automation, intellectuality, high efficiency drilling well, achieve preferable control effect.
Description
Technical field
The invention belongs to oil exploration and development fields, and in particular to a kind of rotary steerable drilling control system and its controlling party
Method.
Background technology
Rotary steerable drilling technology originates from the later stage eighties in last century, and the technology is carried as relevant technical is horizontal
Height, grow up to meet being actually needed on slide-and-guide drilling technology and Process ba- sis for petroleum industry.Its base
This thinking be exactly while rotary drilling, under the cooperation of the pressure of the drill drilling speed and pump amount, by specific Underwell guide tool,
Near nearly drill bit, certain continuous variable side force is applied in particular directions to the drill string of rotation, manually changed
The direction that drill bit advances, and then geometry guiding or the purpose of geosteering in rotation.
Compared with traditional drilling technology, rotary steerable drilling technology can make drill bit be in constantly rotation status, therefore well
Eye clean-up effect is more preferable, and wellbore trajectory control accuracy is higher, and faster, it is smaller the probability of the accidents such as bit freezing occur, position for bit speed
It is stronger to move extension ability.If mix geosteering pipe nipple, it is possible to allow drill bit to be crept into shaft bottom Automatic-searching oil reservoir, therefore it is right
The exploration and exploitation of petroleum resources, the rate of oil and gas recovery for improving oil field are significant.
At present, rotary steerable drilling technology is mainly grasped in several petroleum technology service company hands abroad, is based on
Its own interests, its own guiding control technology, steering tool instrument are holded in close confidence, and monopolized in price,
Technically restrict when limitation, International Competitive Bidding Work, delay in service, had a strong impact on entering for China Petroleum drilling technology
Step, constrains the competitiveness that domestic drilling crew 5 opens up overseas drilling market, turns into China's oil probing industry technology development
Progressive bottleneck.
In the prior art, the patent that notification number is CN102022082B discloses a kind of control rotary steering drilling tool
Surface instruction down transmission method and device.But when this is used for drilling well using the technical scheme, because the track of drill bit drilling can be with design
Well track between there is deviation, therefore need to by its ground control system come the repeated multiple times control instruction that passes down to rotary steering
Drilling tool is adjusted to the track of drilling, is caused the extension of drilling period, is limited the lifting of drilling efficiency.
Above-mentioned background is based on, applicant expands the registration study for rotary steerable drilling technology.
Rotary steerable drilling technology can be divided into two kinds of state type and dynamic type from the motion mode of guiding mechanism, from guiding force
Caused mode can be divided into two kinds of pushing type and directional type, and domestic user is generally led using the rotation of quiescent biasing pushing type at present
To drilling tool.By research and development for many years, applicant has completed quiescent biasing pushing type rotary steering drilling tool overall structure
Design, and the series technical project (notification number that theme is " quiescent biasing pushing type rotary steering drilling tool " is proposed in succession
Respectively CN103939017A, CN203783462U, CN203783488U and CN203783461U), and above-mentioned " quiescent biasing pushes away
Reclining rotary steering drilling tool " can replace same kind of products at abroad to carry out by the advantages that its is rational in infrastructure, high reliability
Use.
But applicant is in practice, it has been found that only propose that " (notification number is quiescent biasing pushing type rotary steering drilling tool
CN103939017A technical scheme) ", be also difficult to modern petroleum exploration industry it is required automate, intelligent, high efficiency
Ground drilling well.
Therefore applicant considers to combine " quiescent biasing pushing type rotary steering drilling tool " structure to design correspondingly
Rotary steerable drilling control system and its control method, to realize with automation, intelligent, high efficiency functional characteristics drilling well
Control.
The content of the invention
For above-mentioned the deficiencies in the prior art, the technical problems to be solved by the invention are：How with reference to " quiescent biasing pushes away
Reclining rotary steering drilling tool " structure (notification number is respectively CN103939017A), come provide one kind can realize automation,
Intelligent, the rotary steerable drilling control system and its control method of high efficiency drilling well.
In order to solve the above-mentioned technical problem, present invention employs following technical scheme：
A kind of rotary steerable drilling control system, including ground control system, ground control box, by-passing valve, mwd system,
Underground master control plate with decoding unit and the master control borad that rib acts in steering tool can be controlled；Wherein,
The ground control system includes being provided with the host computer of control software；
The ground control system is electrically connected with the ground control box；
The by-passing valve is arranged on the bypass branch pipe being connected with hydraulic fill pipeline, and the signal control terminal on the by-passing valve
It is electrically connected with the ground control box；The hydraulic fill pipeline is used to convey drilling fluid and is directed to instrument and is arranged on ground
Slush pump is connected；
Also include downhole generator, generator construction section, coupler and the coupler for installing the coupler to install
Section, nearly drill bit attitude data securing component and power panel；
The downhole generator is fixedly mounted on the inside of generator construction section overall cylindrical and with hollow structure,
The end of the generator construction section connects and is fixedly connected with the end of the coupler construction section on steering tool；
The underground master control plate is arranged on the coupler construction section, has on the underground master control plate and is sent out with the underground
The connected receiving terminal of the output end of motor, and be used to receive the electric energy of the generation of the underground engine and pass through decoding unit
To be decoded to the instruction carried in mud；The underground master control plate also has what is be connected with the primary coil of the coupler
Connection end, the signal end being connected with the mwd system signal；
The secondary coil of the coupler is connected with the master control partitioned signal；
The nearly drill bit attitude data securing component and power panel are fixedly mounted in the circuit storehouse on steering tool；Its
In, the nearly drill bit attitude data securing component includes Z-direction and the three axis accelerometer of the coaxial setting of the circuit storehouse, described
Three axis accelerometer is connected with the master control partitioned signal；The power supply delivery end of the master control borad passes through in power panel and circuit storehouse
Battery is connected；The control signal end of hydraulic mechanism of the master control borad with being used to control rib to act is connected.
As an improvement, the nearly drill bit attitude data securing component also includes temperature sensor, the temperature sensor and
The master control partitioned signal connection.
Because sensor (the technical program is three axis accelerometer and pressure sensor) is usually constructed with certain temperature coefficient,
Its output signal can be varied with temperature and drifted about, and be referred to as " temperature drift ", in order to reduce temperature drift, using some indemnifying measures in certain journey
The temperature drift of its output is offset or reduced on degree, and here it is temperature-compensating.Therefore when nearly drill bit attitude data securing component includes peace
After the temperature sensor in circuit storehouse, you can environment temperature of the detection at drill bit in real time, so as to according to the temperature value
To carry out temperature-compensating to sensor, so that it is guaranteed that more accurately data, further raising are beneficial to ensure this for sensor output
The control accuracy of control system.In addition, the setting of temperature sensor, additionally it is possible to detected to downhole temperature and early warning, allow and lead
Electronic device into instrument can be within the temperature range of suitable services, reliable so as to improve the utilization of this control system
Property.
As an improvement, the underground master control plate is connected by MWD pinboards with the mwd system.
After implementing above-mentioned improvement, because mwd system is a complete subsystem, therefore underground master control plate can pass through MWD pinboards
To form the electric interfaces on the physical link being connected with mwd system (being " QBUS is electrically connected "), so as to nearly
Drill bit attitude data is uploaded by mwd system.It is the signal simple (one because QBUS that above-mentioned selection QBUS, which is electrically connected,
Root signal wire, a ground wire) and communication distance it is longer, be not easy to be disturbed.
A kind of rotary steerable drilling control method, comprises the following steps：
A, well head is tested
By Hole clean data inputting ground control system, Track desigh curve, the Track desigh curve bag are formed
Include design target area, design segment data, Discrete control target and allow the error range occurred；Track data record will have been bored simultaneously
Enter ground control system；
B, nearly drill bit attitude data is obtained, designs well track
Under when being drilled into kickoff point (KOP), suspend it is lower bore, and hole angle α is obtained by three axis accelerometer1, pass through mwd system
To obtain azimuthThe hole angle α measured in master control borad by the three axis accelerometer is uploaded by mwd system1；If
Target hole angle and azimuth are respectively α2、The build angle rate of steering tool is KC, according to below equation solving device angle ω and
Need the well section length Δ D of drilling wellm：
Cos ω=(cos α1cosγ-cosα2)/sinα1sinγ (2)
By (1) formula, dog-leg severity γ can be tried to achieve, dog-leg severity γ substitutions (2) formula is tried to achieve into tool face angle ω；
WhenFor negative value when, ω takes negative value, if cos ω=c,
ω=cos-1c (4)
ω=- cos-1c (5)
ΔDm=30 γ/KC (6)
C, send instructions under
By the tool face angle ω being calculated in upper step, need the well section length Δ D of drilling wellmNumerical value is put into ground control system
In instruction, after by it is described instruction be issued to master control borad；
D, Intelligent closed-loop controls
Master control borad stores to instruction；Master control borad combines the instruction of storage to current according to nearly drill bit attitude data
Drilling state is analyzed, if the deviation between nearly drill bit attitude data and instruction in error range, by current instruction
Continue automatic drilling；If the deviation between nearly drill bit attitude data and instruction outside error range, master control borad by calculate come
The execution for voluntarily adjusting three pieces of ribs acts and eliminates deviation, completes the Intelligent closed-loop control of drilling well.
" the Intelligent closed-loop control " of the control method of the rotary steerable drilling control system of the present invention：Refer to ground control system
System only need to issue once command, and master control borad not only stores the instruction after parsing, additionally it is possible to obtains nearly drill bit posture number in real time
According to, and target direction is compared, hydraulic mechanism is constantly adjusted to control rib to promote to creep into towards direction initialization.The Intelligent closed-loop control
System comprises the following steps that：
1. master control borad receives, parses and stores deflecting that ground control system issues, turns round the various instructions such as orientation；
2. entering different processing routines by the different instruction received, the gravity toolface angle of current nearly drill bit is extracted
(being measured by three axis accelerometer) real-time parameter, the hydraulic pressure according to reasonable decomposition algorithm by various Command Resolutions to each rib
Mechanism；
After 3. the hydraulic mechanism of each rib receives the corresponding command, perform relevant action；
4. master control borad gathers nearly drill bit attitude data in real time, the situation of change in drill bit direction is judged, if in error range
Outside, then disassembly instruction and hydraulic mechanism is handed down to again, adjusts drill bit advancing direction, ensure that drilling tool is bored by the direction specified
Enter；If in error range, do not adjust；Whole process only needs ground to issue, and the realization of once command can is intelligent to close
Ring controls.
Preferably, make a concerted effort decomposition algorithm according to what is wherein stored voluntarily to adjust holding for three pieces of ribs in the master control borad
Action is made, and the decomposition algorithm of making a concerted effort is as follows：
Wherein, F target forces size, F_Angle target force directions, Angle are current gravity toolface angle angle value, and PI is
Pi；Three ribs are respectively：Rib A, rib B, rib C, and three ribs are distribution at equal intervals；Wherein, the wing is defined
Rib A tool face azimuth is 0 °, then rib B and rib C tool face azimuth are respectively 120 ° and 240 °, according to active force and reaction force
Principle, F_Angle targets force direction must be between two adjacent ribs, according to above-mentioned formula, you can are calculated point
Solution is to the power size Fm of one of rib in above-mentioned two neighboring rib, and another in above-mentioned two neighboring rib
The power size Fn of rib.
It is the displacement vector by calculating executing agency mostly that existing rotary steering power, which performs method, and present invention control is
System will be made a concerted effort the control method that decomposes different ribs using collection gravity toolface angle, and so not only algorithm is more easy,
Operand is reduced, improves the operation efficiency of master control borad, while can also have high reliability.
As an improvement, also include in " c, under send instructions " step：After master control borad receives the instruction issued, pass through well
The command information is uploaded to ground by lower master control plate to extract the instruction that master control borad is stored by mwd system.
After implementing above-mentioned improvement, you can judge whether master control borad is accurately received the command information issued, so as to for
The operation of next step provides correct instruction.
As an improvement, the control method is further comprising the steps of：E, the nearly drill bit of underground master control plate extraction master control borad storage
Data in attitude data securing component are simultaneously uploaded by mwd system.
After implementing above-mentioned improvement, drilling situation can be monitored by the data of mwd system upload at any time, improve drilling well
Reliability.When in normal drilling well working condition, it is necessary to generator to circuit storehouse in master control borad power, have electricity inside mwd system
Pond, it is not necessary to external power source；During normal work, system uploads a data in every three minutes by MWD passages.When in stop bore shape
During state, master control borad gathers and stored nearly drill bit attitude data by storage battery power supply.
When in use, signal stream therein is divided into uplink and downlink to control system of the present invention：It is descending to refer to instruction from ground
Process of the control system to steering tool；It is up to refer to that nearly drill bit attitude data obtains nearly drill bit attitude data securing component collection
The data such as posture be back to the process of ground (part for being located at ground in ground control system or mwd system).
It is descending to be embodied in：The instruction that ground control box is issued by ground control system controls the switch of by-passing valve,
Make the pressure in hydraulic fill pipeline that the fluctuations specified be presented；Downhole generator receives instruction simultaneously by detecting the fluctuations
It is issued on the master control plate of underground and is decoded by decoding unit, while power supply is provided for underground master control plate；Underground master control plate
The instruction of downhole generator transmission and caused electric energy are transferred to master control borad (master by (coupler) wireless coupling mode
Control plate corresponds to notification number CN103939017A, and theme is in " quiescent biasing pushing type rotary steering drilling tool " technical scheme
" control board 25 ") on, the instruction received is decomposed (and descending into each rib control panel) and controlled by master control borad
Hydraulic mechanism processed produces the thrust to rib so that rib is protruding and be pushed against on the borehole wall to synthesize guiding force.
The up pressure for being embodied in nearly the drill bit attitude parameter and rib that underground master control plate returns master control borad and returning
Mwd system is sent to etc. parameter, then ground is uploaded to (positioned at ground in ground control system or mwd system by mwd system
Part).
In control system of the present invention, for battery (high temperature rechargeable battery) in circuit storehouse, main purpose is that system is stopped
(powering-off state when stacks etc. need to close slush pump and cause downhole generator stalling) can provide electricity for master control borad when electric
Source so that master control borad can ceaselessly gather the nearly drill bit attitude data of static state in real time, and foundation is provided for accurate control.
In normally drilling work, downhole generator output voltage is rectified, after voltage stabilizing to underground master control plate, master control borad
Power supply, while battery is charged.
In power failure stacks, battery supplying power for outside, master control borad collection three axis accelerometer, TEMP are switched to
Device, pressure sensor (for the pressure sensor set in oil filling pipeline, correspond to notification number CN103939017A, theme is " quiet
In state biasing pushing type rotary steering drilling tool " technical scheme " pressure sensor 18 ") etc. static data, not to controlling the wing
The hydraulic mechanism transmitting order to lower levels of rib action；The static data of collection is stored simultaneously, when system re-powers, by the static state of storage
The data very first time is uploaded to mwd system, and the program in master control borad is by the static data of storage and the dynamic number that collects in real time
According to being compared, the correct parameter of quick obtaining, next step drilling is instructed to act according to this.
Compared with the existing technology compared with rotary steerable drilling control system of the invention and its control method are with beneficial below
Technique effect：
1st, simpler, efficient, the cost-effective and time is controlled.
Control system of the present invention is only needed to issue once command, and instruction storage is arrived into master control borad.Because of master control borad and electricity
Each sensor that Lu Cangzhong is used to measure nearly drill bit attitude data is connected, therefore can obtain nearly drill bit attitude data in real time, and
The nearly drill bit attitude data is compared with the data of above-mentioned instruction in real time, once find that deviation occur divides according to making a concerted effort
Resolving Algorithm and current nearly drill bit attitude data send instructions to control rib to be oriented under decomposing, so as to eliminate above-mentioned deviation.Can
See, the present invention can combine " quiescent biasing pushing type rotary steering drilling tool " structure, and (notification number is respectively
CN103939017A intelligentized closed-loop control) is realized, is automatically and efficiently crept into by the track of design, and causes ground
The monitoring of control system only serves booster action.And in rotary steering control system of the prior art, ground control system
Control plays a leading role, it is necessary to creep into situation by ground control system to monitor drill bit, and need to be more by ground control system
It is secondary to issue control instruction to be adjusted to drill bit drilling trace.
In addition, also because nearly drill bit attitude data securing component is fixedly mounted in the circuit storehouse on steering tool, adjacent brill
Head sets (the distance between nearly drill bit attitude data securing component and drill bit are in 0.5-1.5 rice or so), so, you can make
Obtain each sensor in nearly drill bit attitude data securing component and obtain attitude data closer to the posture number at drill bit place
According to so as to may be such that control speed, the degree of accuracy and the precision of control system of the present invention are higher, you can obtain more preferably control effect
Fruit.
2nd, abundanter data are obtained, realize more effective situ of drilling well monitoring.
Using the control system of the present invention, it can come in master control borad to gather by the data transfer passage of mwd system, calculate
Obtained data and the warning message being likely to occur upload in time.The command information issued, timing or real-time storage can be stored
Collect the data of each sensor for measuring nearly drill bit attitude data.So can be in ground control system or positioned at ground
Store and show largely abundant data in the mwd system in face, these data are all big for on-site supervision and completion post analysis
There is benifit.
Brief description of the drawings
Fig. 1 is the semi-cutaway of publication number CN103939017A quiescent biasing pushing type rotary steering drilling tool.
Fig. 2 be publication number CN103939017A quiescent biasing pushing type rotary steering drilling tool in circuit construction section
Profile.
Fig. 3 is the structured flowchart of rotary steerable drilling control system of the present invention.
Fig. 4 is the flow chart of rotary steerable drilling control method of the present invention.
Fig. 5 is that the guiding of steering tool is made a concerted effort illustraton of model.
In figure, 1-not rotary sleeve, 2-taper roll bearing, 3-O-ring, 4-rib integrated package, 5-rib, 6-
Plunger, 7-rotating shaft, 8-back-moving spring, 10-oil-way integrated block, 12-motor cabinet, 14-servomotor, 15-hookup,
16-plunger pump, 19-pump mounting seat, 21-joint, 22-circuit storehouse, 23-resistance to compression cylinder, 24-sealing ring, 25-control electricity
Road plate (being " master control borad " in control system of the present invention), 26-battery, 27-external pressure transducer filter screen, 28-external pressure pass
Sensor, 29-testing cover plate, 30-coupler shell, 31-coupler (being " coupler " in control system of the present invention),
32-outlet cover plate, 33-top chock, 34-rotary core shaft, 35-lower contact (are used to connect drill bit).
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.Wherein, for description using it is such as upper and lower, left,
The exemplary term such as right, it is therefore intended that help reader to understand, without being intended for limiting.
As shown in Figures 1 to 4, a kind of rotary steerable drilling control system, including ground control system (not shown),
Face control cabinet (not shown), by-passing valve (not shown), mwd system (not shown), the well with decoding unit
Lower master control plate (not shown) and steering tool can be controlled (" steering tool " herein is publication number
CN103939017A quiescent biasing pushing type rotary steering drilling tool) in rib 5 act master control borad 25；Wherein,
The ground control system includes being provided with the host computer of control software；
The ground control system is electrically connected with the ground control box；
The by-passing valve is arranged on the bypass branch pipe being connected with hydraulic fill pipeline, and the signal control terminal on the by-passing valve
It is electrically connected with the ground control box；The hydraulic fill pipeline is used to convey drilling fluid and is directed to instrument and is arranged on ground
Slush pump is connected；
Also include downhole generator, generator construction section, coupler and the coupler for installing the coupler to install
Section, nearly drill bit attitude data securing component and power panel；
The downhole generator is fixedly mounted on the inside of generator construction section overall cylindrical and with hollow structure,
The end of the generator construction section connects and is fixedly connected with the end of the coupler construction section on steering tool；
The underground master control plate is arranged on the coupler construction section, has on the underground master control plate and is sent out with the underground
The connected receiving terminal of the output end of motor, and be used to receive the electric energy of the generation of the underground engine and pass through decoding unit
To be decoded to the instruction carried in mud；The underground master control plate also has what is be connected with the primary coil of the coupler
Connection end, the signal end being connected with the mwd system signal；
The secondary coil of the coupler is connected with the master control partitioned signal；
The nearly drill bit attitude data securing component and power panel are fixedly mounted in the circuit storehouse 22 on steering tool；Its
In, the nearly drill bit attitude data securing component includes Z-direction and the three axis accelerometer of the 22 coaxial setting of circuit storehouse, institute
Three axis accelerometer is stated to be connected with the master control partitioned signal；The power supply delivery end of the master control borad passes through power panel and circuit storehouse 22
In battery 26 be connected；The control signal end of hydraulic mechanism of the master control borad with being used to control rib 5 to act is connected.
When it is implemented, the master control borad includes processing module, and deposited respectively with what the processing module was connected
Store up module, power module and interface module；The master control borad is connected by power module with power panel；The master control borad passes through interface
Module is connected with nearly drill bit attitude data securing component signal.
Pressure sensor is provided with oil filling pipeline in steering tool, the pressure sensor is connected with master control borad 25
Connect.So, master control borad 25 (can be obtained rib and touch well by pressure sensor to measure the pressure value in oil filling pipeline
Inwall suffered by reaction force), because the inwall of well may be than relatively soft, the numerical value that is now measured by pressure sensor,
Available for the thrust of more preferable adjustment rib, so as to better conform to the drillng operation under current environment, so as to which accurately synthesis is oriented to
Power, more accurate guiding is played, improve the effect of drilling efficiency.
When it is implemented, for control the part that rib 5 acts to include to be connected to master control borad and hydraulic mechanism it
Between rib control panel (not shown), the rib control panel communicated by CAN with master control borad, realize receive,
Send instructions under execution, return the function such as rib parameter and relative alarm information；Connected simultaneously with pressure sensor, gather oil fuel tube
Real-time pressure in road, also it is connected with BLDC (brushless direct-current electric current), by pid algorithm controlled motor, plays and change pressure
Effect.
When it is implemented, the downhole generator can use in the prior art, notification number is CN201078306Y, entitled " well
Lower mud turbine generator ".
The coupler can use the Application No. 201510371056.2 that the applicant is proposed, a kind of entitled " well
The transmitter of lower wireless two-way signal and electric energy ", or use in the prior art that notification number is CN103180539B, entitled " well
Lower inductive device assembly ", electric energy and signal can be transmitted simultaneously.
Wherein, the nearly drill bit attitude data securing component also includes temperature sensor, the temperature sensor with it is described
Master control partitioned signal connects (not shown).
In the ground monitoring of this control system in addition to the data measured by the self-sensor device that mwd system uploads, also pass through
Nearly drill bit attitude data securing component uploads the nearly drill bit attitude data and alarm parameters information that gather by MWD passages
To ground, consequently facilitating carrying out more accurate monitoring to drilling process, and can be made by oneself according to the different needs of Practical Project drilling well
Justice uploads data, and makes full use of the upper transfer efficiency of mwd system.
The species that this control system can upload nearly drill bit attitude data is as follows：
Hole angle, gravity toolface angle, vibration values, battery electric quantity, the pressure value of each rib 5, the temperature value of each rib 5,
Busbar voltage, environmental pressure, each motor speed, current of electric, FLASH capacity, temporal information (year, month, day, hour, min, second, star
Phase), fault alarm information (servomotor failure, locating assembly failure, various communication failures, various sensor faults etc.).Portion
Divide calculation method of parameters as follows：
1st, inclination angle
Inclination angle can reflect the inclination conditions of downhole drill bit, and the scope at inclination angle is for [0 °, 180 °] calculation formula：Cause
It is [0 °, 180 °] for the scope at inclination angle, then inclination angle can be judged according to the size of z-axis：
z>When 0, inclination angle
z<When 0, inclination angle
Wherein, x serves as reasons and (measured by three axis accelerometer) projection components of the gravitational vectors in X-axis, and y is by gravitational vectors
In the projection components of Y-axis.
2nd, gravity toolface angle
Gravity toolface angleIt can be asked with the gravitational vectors measured after X and the projection components of Y-axis ratio negate tangent
；Its span is [0 °, 360 °].If x and y value is 0, i.e., when inclination angle is 0 °, this formula
And do not apply to.Arc tangent algorithm is rightSolution be decomposed into 8 piecewise functions, simplify calculating process, can
Setting such as following formula：
(formula 2)
Then T value is inevitable in [0 °, 45 °], such tool face azimuthCan is segmented in 4 quadrants and is expressed as on T
Function, gravity toolface angleSolution be converted to calculating to T.Piecewise function represents as follows：
Wherein, the underground master control plate is connected by MWD pinboards with the mwd system.
When it is implemented, the mwd system includes ground installation and device for subsurface measuring, wherein, the underground measuring instrument
Device is arranged in the installation pipe nipple being fixedly connected with quiescent biasing pushing type rotary steering drilling tool；
The underground master control plate includes first processor, and the storage mould being connected respectively with the first processor
Block, the first communication module, power module and interface module；The interface module and the primary coil signal of the coupler connect
Connect；
The MWD pinboards include second processor, and the second communication mould being connected respectively with the second processor
Block and level translator；The level translator is also connected with the device for subsurface measuring signal；First communication module with
Connection is communicated between second communication module.
So, master control plate in underground can upload nearly drill bit attitude data using the data uplink passage of mwd system,
And mwd system uploads a data in every three minutes, therefore nearly drill bit attitude data can be uploaded in time.And cause above-mentioned
Control system has simple in construction and lower-cost advantage, also allows for ground and drilling state is monitored in time, and
Obtain the data more conducively realized and be accurately oriented to.
The control method of above-mentioned rotary steerable drilling control system, comprises the following steps：
A, well head is tested
By Hole clean data inputting ground control system, Track desigh curve, the Track desigh curve bag are formed
Include design target area, design segment data, Discrete control target and allow the error range occurred；Track data record will have been bored simultaneously
Enter ground control system；
B, nearly drill bit attitude data is obtained, designs well track
Under when being drilled into kickoff point (KOP), suspend it is lower bore, and hole angle α is obtained by three axis accelerometer1, pass through mwd system
To obtain azimuthThe hole angle α measured in master control borad by the three axis accelerometer is uploaded by mwd system1；If
Target hole angle and azimuth are respectively α2、The build angle rate of steering tool is KC, according to below equation solving device angle ω and
Need the well section length Δ D of drilling wellm：
Cos ω=(cos α1cosγ-cosα2)/sinα1sinγ (2)
By (1) formula, dog-leg severity γ can be tried to achieve, dog-leg severity γ substitutions (2) formula is tried to achieve into tool face angle ω；
WhenFor negative value when, ω takes negative value, if cos ω=c,
ω=cos-1c (4)
ω=- cos-1c (5)
ΔDm=30 γ/KC(6)
C, send instructions under
By the tool face angle ω being calculated in upper step, need the well section length Δ D of drilling wellmNumerical value is put into ground control system
In instruction, after by it is described instruction be issued to master control borad；
D, Intelligent closed-loop controls
Master control borad stores to instruction；Master control borad combines the instruction of storage to current according to nearly drill bit attitude data
Drilling state is analyzed, if the deviation between nearly drill bit attitude data and instruction in error range, by current instruction
Continue automatic drilling；If the deviation between nearly drill bit attitude data and instruction outside error range, stores in foundation master control borad
Make a concerted effort decomposition algorithm voluntarily to adjust three pieces of ribs 5 perform action, the Intelligent closed-loop for completing drilling well controls.
When it is implemented, in the course of work is crept into, pass through the data acquired in three axis accelerometer, additionally it is possible to drill bit
Vibration Condition is monitored, and is specifically had：
Vibration is divided into three kinds of situations：(wherein, x, y, z is gravitational vectors three for horizontal vibration, vertical vibration and vibration summation
Component on individual axle)：
——
--- vertical vibration=y；
——
Above-mentioned vibration data is obtained after above-mentioned calculating is completed in master control borad, so can be by vibration data and master control borad
Program in corresponding data contrasted, to detect Vibration Condition.Because the situation of underground is very complicated, as depth increases ground
Matter situation can complicate, and the influence to drill bit also can be bigger.By detecting Vibration Condition, can reduce to drill bit and its master control borad
Influence, the appearance of bit freezing situation is avoided, so as to improve the safety and reliability of drilling well.
In above-mentioned control method, make a concerted effort decomposition algorithm according to what is wherein stored voluntarily to adjust three pieces of wings in the master control borad
Rib performs action, and the decomposition algorithm of making a concerted effort is as follows：
Wherein, F target forces size, F_Angle target force directions, Angle are current gravity toolface angle angle value, and PI is
Pi；Three ribs are respectively：Rib A, rib B, rib C, and three ribs are distribution at equal intervals；Wherein, the wing is defined
Rib A tool face azimuth is 0 °, and (during implementation, rib A and the coaxial setting of three axis accelerometer, i.e. 3-axis acceleration are calculated as close to the wing
That side that rib A sets and is located in the circumference of circuit storehouse where rib A), then rib B and rib C tool face azimuth are respectively
120 ° and 240 °, according to active force and reaction force principle, F_Angle targets force direction must be located at two adjacent ribs it
Between, according to above-mentioned formula, you can the power size Fm of the one of rib decomposed in above-mentioned two neighboring rib is calculated,
And the power size Fn of another rib in above-mentioned two neighboring rib.
In above-mentioned control method, also include in " c, under send instructions " step：After master control borad receives the instruction issued,
By underground master control plate to extract the instruction that master control borad is stored, and the command information is uploaded to by ground by mwd system.
It is further comprising the steps of in above-mentioned control method：E, the nearly drill bit posture of underground master control plate extraction master control borad storage
Data in data acquisition component are simultaneously uploaded by mwd system.
When it is implemented, the control method of the present invention also includes three axis accelerometer static demarcating method：
When considering the influence of imbalance and sensitivity, three axis accelerometer output is as follows：
AOUT=AOFF+(Gain*AACTUAL) (7)
AOFFFor offset error, unit g；Gain is three axis accelerometer gain, ideal value 1, AACTUALFor actual acceleration
Angle value；
Calibration method is in three dimensional space coordinate and tests on X-axis, Y-axis, Z axis respectively at 2 points, and axle is placed in into+1g
During with -1g fields, the output valve measured is A+1gAnd A-1g；
A+1g=AOFF+(1g*Gain) (8)
A-1g=AOFF-(1g*Gain) (9)
Derived by formula (7) and (8)
AOFF=0.5* (A+1g+A-1g) (10)
Then divided by gain with reference to formula (7), imbalance value first is subtracted from three axis accelerometer measured value, after obtaining calibration
Value it is as follows：
Although three axis accelerometer has been subjected to adjustment when dispatching from the factory, after control system assembling, on three axis accelerometer
Any static stress may all influence imbalance and sensitivity, when the two caused error is added, error as a result may be non-
Chang great, acceptable limits in may being applied considerably beyond deviational survey.Just can using above-mentioned three axis accelerometer static demarcating method
This error is reduced, imbalance and sensitivity should be calibrated, and inclination angle is carried out by calibrated output acceleration
Measure, so as to obtain more accurately measurement data, so as to it is also possible that control accuracy is more accurate (using above-mentioned complete mark
After determining method, one thousandth can be reached by repeatedly measurement, control accuracy).
When it is implemented, also well head can be additionally included in by external power supply to circuit storehouse 22 in " a, well head test " step
Middle master control borad power supply, the lower circuit storehouse 22 of detection is powered, communicated, the working condition of sensor；Detect the pressure switch letter of mwd system
Number and its ground decoding apparatus it is whether normal.
As shown in figure 5, directed drilling well track is generally made up of straightway and arc section, between two sections tangent line it is intersecting with
Reduce the resistance to drilling rod.Common casing programme has 2 segmentations, 3 segmentations, 5 segmentations etc. several.Adopted in the control method of the present invention
Decomposition algorithm with joint efforts, in drilling process, is directed laterally to resultant force vector and is located within drill string cross section, gravity flash and horizontal stroke
Section meets at peak on circumference, and be oriented to the various projection components of resultant force vector circumferentially has difference for directed drilling
Effect.Such as：The component of gravity flash is directed upwards towards, deflecting (increase hole deviation) is played a decisive role, therefore is just increasing hole angle power
(positive Build Force)；In the component of 90 ° of tool-face right directions, increase orientation is played a decisive role, therefore just cry increasing side
Position power；Increasing hole angle drop angle is collectively referred to as becoming oblique, increases drop orientation and is collectively referred to as turning round orientation etc..
With joint efforts control be first depending on resultant direction that ground control system issues and size instruction calculate decompose it is each
The pressure value of rib 5, in actual drilling process, because the not rotary sleeve that drilling rod rotating band comes rotates, accelerated according to three axles
What the pressure sensor set in the oil filling pipeline of current gravity toolface angle degree and hydraulic mechanism that degree meter is got returned
The pressure value of rib 5 comes the direction that constantly adjustment is made a concerted effort in real time, is allowed to the purpose advance towards setting.
It the above is only the preferred embodiment of the present invention, need to point out it is not depart from this skill for those skilled in the art
On the premise of art scheme, several modifications and improvements can also be made, the technical scheme of above-mentioned modification and improvement equally should be considered as
Enter this application claims scope.
Claims (5)
1. a kind of control method of rotary steerable drilling control system, described rotary steerable drilling control system is controlled including ground
System processed, ground control box, by-passing valve, mwd system, the underground master control plate with decoding unit and steering tool can be controlled
The master control borad of middle rib action；Wherein,
The ground control system includes being provided with the host computer of control software；
The ground control system is electrically connected with the ground control box；
The by-passing valve is arranged on the bypass branch pipe being connected with hydraulic fill pipeline, and the signal control terminal on the by-passing valve and institute
State ground control box electric connection；The hydraulic fill pipeline is used to convey drilling fluid and is directed to instrument and is arranged on the mud on ground
Pump is connected；
Characterized in that, also include downhole generator, generator construction section, coupler and the coupling for installing the coupler
Device construction section, nearly drill bit attitude data securing component and power panel；
The downhole generator is fixedly mounted on the inside of generator construction section overall cylindrical and with hollow structure, described
The end of generator construction section connects and is fixedly connected with the end of the coupler construction section on steering tool；
The underground master control plate is arranged on the coupler construction section, has and the downhole generator on the underground master control plate
The connected receiving terminal of output end, and the electric energy of the generation for receiving the downhole generator and by decoding unit come pair
The instruction carried in mud is decoded；The underground master control plate also has the connection being connected with the primary coil of the coupler
End, the signal end being connected with the mwd system signal；
The secondary coil of the coupler is connected with the master control partitioned signal；
The nearly drill bit attitude data securing component and power panel are fixedly mounted in the circuit storehouse on steering tool；Wherein, institute
Stating nearly drill bit attitude data securing component includes Z-direction and the three axis accelerometer of the coaxial setting of the circuit storehouse, three axle
Accelerometer is connected with the master control partitioned signal；The power supply delivery end of the master control borad passes through the electric power storage in power panel and circuit storehouse
Pond is connected；The control signal end of hydraulic mechanism of the master control borad with being used to control rib to act is connected；
The control method comprises the following steps：
A, well head is tested
By Hole clean data inputting ground control system, Track desigh curve is formed, the Track desigh curve includes setting
Meter target area, design segment data, Discrete control target and the error range for allowing appearance；Bored with will track data typing simultaneously
Face control system；
B, nearly drill bit attitude data is obtained, designs well track
Under when being drilled into kickoff point (KOP), suspend it is lower bore, and hole angle α is obtained by three axis accelerometer1, obtained by mwd system
AzimuthThe hole angle α measured in master control borad by the three axis accelerometer is uploaded by mwd system1；If target well
Oblique angle and azimuth are respectively α2、The build angle rate of steering tool is KC, according to below equation solving device angle ω and need drilling well
Well section length Δ Dm：
Cos ω=(cos α1cosγ-cosα2)/sinα1sinγ (2)
By (1) formula, dog-leg severity γ can be tried to achieve, dog-leg severity γ substitutions (2) formula is tried to achieve into tool face angle ω；
WhenFor negative value when, ω takes negative value, if cos ω=c,
ω=cos-1c (4)
ω=- cos-1c (5)
ΔDm=30 γ/KC (6)
C, send instructions under
By the tool face angle ω being calculated in upper step, need the well section length Δ D of drilling wellmNumerical value is put into the instruction of ground control system
In, after by it is described instruction be issued to master control borad；
D, Intelligent closed-loop controls
Master control borad stores to instruction；Master control borad combines the instruction of storage to current drilling well according to nearly drill bit attitude data
State is analyzed, if the deviation between nearly drill bit attitude data and instruction is continued in error range by current instruction
Automatic drilling；If the deviation between nearly drill bit attitude data and instruction is outside error range, master control borad is by calculating come voluntarily
The execution of three pieces of ribs of adjustment acts and eliminates deviation, completes the Intelligent closed-loop control of drilling well；
Inclination angle and gravity toolface angle are obtained by the nearly drill bit attitude data securing component：
Inclination angle can reflect the inclination conditions of downhole drill bit, and the scope at inclination angle is for [0 °, 180 °] calculation formula：Because incline
The scope at oblique angle is [0 °, 180 °], then can judge inclination angle according to the size of z-axis：
z>When 0, inclination angle
z<When 0, inclination angle
Wherein, x be by by the gravitational vectors that three axis accelerometer measures X-axis projection components, y be by gravitational vectors in Y
The projection components of axle；
Gravity toolface angleIt can be tried to achieve with the gravitational vectors measured after X and the projection components of Y-axis ratio negate tangent；Its span is [0 °, 360 °]；If x and y value is 0, i.e., when inclination angle is 0 °, this formula is simultaneously
It is inapplicable；Arc tangent algorithm is rightSolution be decomposed into 8 piecewise functions, simplify calculating process, can set
Fixed such as following formula：
Then T value is inevitable in [0 °, 45 °], such tool face azimuthCan is segmented the letter being expressed as on T in 4 quadrants
Number, gravity toolface angleSolution be converted to calculating to T；Piecewise function represents as follows：
Make a concerted effort decomposition algorithm according to what is wherein stored in the master control borad and perform action, the conjunction come voluntarily adjust three pieces of ribs
Power decomposition algorithm is as follows：
<mrow>
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<mo>=</mo>
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<mi>F</mi>
<mo>*</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
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<mo>(</mo>
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<mn>120.0</mn>
<mo>+</mo>
<mi>A</mi>
<mi>n</mi>
<mi>g</mi>
<mi>l</mi>
<mi>e</mi>
<mo>-</mo>
<mi>F</mi>
<mo>_</mo>
<mi>A</mi>
<mi>n</mi>
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<mi>l</mi>
<mi>e</mi>
</mrow>
<mo>)</mo>
<mo>*</mo>
<mi>P</mi>
<mi>I</mi>
<mo>/</mo>
<mn>180.0</mn>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mi>F</mi>
<mi>n</mi>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mfrac>
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<mn>2</mn>
<msqrt>
<mn>3</mn>
</msqrt>
</mrow>
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</mfrac>
<mo>)</mo>
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<mi>F</mi>
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<mrow>
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<mn>180.0</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein, F target forces size, F_Angle target force directions, Angle are current gravity toolface angle angle value, and PI is circumference
Rate；Three ribs are respectively：Rib A, rib B, rib C, and three ribs are distribution at equal intervals；Wherein, define rib A's
Tool face azimuth is 0 °, then rib B and rib C tool face azimuth are respectively 120 ° and 240 °, according to active force and reaction force principle,
F_Angle targets force direction must be between two adjacent ribs, according to above-mentioned formula, you can be calculated and decompose
State the power size Fm of one of rib in two neighboring rib, and another rib in above-mentioned two neighboring rib
Power size Fn.
2. the control method of rotary steerable drilling control system according to claim 1, it is characterised in that the nearly drill bit
Attitude data securing component also includes temperature sensor, and the temperature sensor is connected with the master control partitioned signal.
3. the control method of rotary steerable drilling control system according to claim 1, the underground master control plate passes through MWD
Pinboard is connected with the mwd system.
4. according to the control method of the rotary steerable drilling control system described in claim 1, it is characterised in that " c, under bristle with anger
Make " also include in step：After master control borad receives the instruction issued, stored by underground master control plate to extract master control borad
Instruction, and the command information is uploaded to by ground by mwd system.
5. according to the control method of the rotary steerable drilling control system described in claim 1, it is characterised in that the control method is also
Comprise the following steps：E, master control plate in underground extracts the data in the nearly drill bit attitude data securing component of master control borad storage and passed through
Mwd system uploads.
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| CN107191177A (en) * | 2017-05-16 | 2017-09-22 | 中国石油天然气集团公司 | Permanent tool face azimuth drilling trace control method |
| CN107395449B (en) * | 2017-06-15 | 2021-09-24 | 大连理工大学 | Ground experiment device of rotary steering drilling equipment communication system and use method thereof |
| CN107227949A (en) * | 2017-06-19 | 2017-10-03 | 北京恒泰万博石油技术股份有限公司 | A kind of dynamic directional survey apparatus and method of nearly drill bit |
| CN107589473B (en) * | 2017-08-23 | 2020-02-28 | 东营煜信电子技术有限公司 | Method for eliminating orthogonal error of measurement while drilling sensor |
| US10738587B2 (en) * | 2018-05-04 | 2020-08-11 | Saudi Arabian Oil Company | Monitoring operating conditions of a rotary steerable system |
| CN109854569B (en) * | 2019-01-29 | 2020-07-07 | 中国科学院地质与地球物理研究所 | Testing device for hydraulic control system of rotary steering tool |
| CN109779601B (en) * | 2019-02-18 | 2022-05-03 | 北京恒泰万博石油技术股份有限公司 | Adaptive decoding method for downlink instruction of rotary steering drilling system |
| CN109798070B (en) * | 2019-02-19 | 2020-10-20 | 中国海洋石油集团有限公司 | Four-wing rotary steering control method |
| CN111608580B (en) * | 2020-04-30 | 2021-12-24 | 中国石油天然气集团有限公司 | Rotary steering intelligent instruction downloading system and method |
| CN111677718B (en) * | 2020-05-29 | 2021-07-23 | 中国石油天然气集团有限公司 | Hydraulic cylinder unit abnormity detection and handling method suitable for rotary steering system |
| CN113846965A (en) * | 2020-06-09 | 2021-12-28 | 中国石油化工股份有限公司 | System for controlling downhole steering tool |
| CN112302536B (en) * | 2020-10-16 | 2023-03-24 | 安徽中勘钻探工程有限公司 | Intelligent directional drilling system and directional drilling method thereof |
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| CN113107361B (en) * | 2021-05-28 | 2023-10-27 | 山东科技大学 | Coal bed gas guiding drilling measurement and control device and method thereof |
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| GB2415972A (en) * | 2004-07-09 | 2006-01-11 | Halliburton Energy Serv Inc | Closed loop steerable drilling tool |
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