CN101710467A - Method for simulating overflow for drilling simulator - Google Patents
Method for simulating overflow for drilling simulator Download PDFInfo
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- CN101710467A CN101710467A CN200910263421A CN200910263421A CN101710467A CN 101710467 A CN101710467 A CN 101710467A CN 200910263421 A CN200910263421 A CN 200910263421A CN 200910263421 A CN200910263421 A CN 200910263421A CN 101710467 A CN101710467 A CN 101710467A
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Abstract
The invention discloses a method for simulating overflow for a drilling simulator, which comprises the following steps: (1) reading state parameters and operating orders of front-end equipment; (2) according to the equipment state parameters and the types of the operating orders and a pre-established overflow model, calculating operational data for realizing a overflow simulation cartoon; (3) according to a set data format, communicating with a specialized graphic processor unit and exchanging initialized data and the operational data; (4) according to the exchanged data, finishing the cartoon representation of the overflow by the graphic processor unit; and (5) according to the set data format and the graphic processor unit for communication, exchanging the state information of the cartoon. Based on computer stimulation technology and according to the on-site actual operational processes of drilling operation, vivid stimulation of the principle and operation method of overflow is carried out, which is used for the technical skill training of on-site drilling operators and students; therefore, the presence of teaching training is enhanced, the training period is shortened, the training effect is improved, and the training cost is reduced.
Description
Technical field
The present invention relates to a kind of drilling simulation method, particularly relate to a kind of method for simulating overflow for drilling simulator.
Background technology
Petroleum industry is a kind of technology-intensive industry, and drilling operation is that petroleum industry is taken reserves, gone up one of important means of output.Because the restriction of petroleum drilling working condition and the complicacy of down-hole situation make petroleum drilling operation face great risk.In order to obtain better production efficiency and economic benefit, reduce the generation of human accident, situ of drilling well operating personnel and engineering technical personnel's technical skill training is just seemed very important.Creep into the two parts that are in outbalance in the drilling process with closing well, thus creep into the closing well process in overflow control is just seemed very important.
At present, the drill-well operation training is mainly carried out in the production scene, because the restriction of various conditions and factor makes training contents be subjected to great restriction, the systematicness of training, result of training and start-up's quantity etc. all are subjected to great influence.
Summary of the invention
Purpose of the present invention promptly is to overcome the shortcoming of prior art, a kind of method for simulating overflow for drilling simulator based on computer simulation technique is provided, this method is the practical operation flow process with reference to the drilling operation scene, principle of work and method of operating to the drilling simulator overflow are carried out realistic simulation, strengthen the presence of teaching, training, shortening training cycle, enhancement training effect, the training cost that reduces.
Purpose of the present invention is achieved through the following technical solutions: method for simulating overflow for drilling simulator, specially at the simulating overflow for drilling simulator control program, realize the simulation of flooded conditions in the drilling process according to following steps:
(1) reads the state parameter and the operational order of front-end equipment;
(2) according to the equipment status parameter that obtains and operational order classification and the drilling simulator overflow model set up in advance, calculate the work data of realizing the simulating overflow for drilling simulator animation;
(3) according to data layout of setting and the special Graphics Processing Unit communication that is provided with, exchange initialization data and work data, the animation that Graphics Processing Unit is finished the drilling simulator overflow according to these data represents;
(4) according to data layout and the Graphics Processing Unit communication set, exchange animated state information;
(5) repeat abovementioned steps (1)～(4).
The simulating overflow for drilling simulator control program must continually communicate with front-end equipment, with the equipment state of obtaining front end and the operating process of obtaining the trainee.Done following reason like this:
(1) obtain the equipment state of front end hardware in real time after, handle through the simulating overflow for drilling simulator control program, can produce and the synchronous animation process of hardware device operation by the drive pattern processing unit.Such as in Graphics Processing Unit, the rising of hook and decline process are subjected to the front end winch clutch exactly, foot throttle, brake lever, the control of parts such as clutch coupling gear.
(2) the front-end equipment state that obtains in real time also is the basic data of simulation mathematical model in the simulating overflow for drilling simulator control program.
The drilling well overflow parameter that the simulating overflow for drilling simulator control program is calculated also needs real-time Transmission to give front-end equipment, so that the communication between simulating overflow for drilling simulator control program and the front-end equipment possesses is two-way, at a high speed and stable properties.
The operational order classification comprises: normal drilling well and closing well instruction, trip-out and closing well instruction, a drill collar and closing well instruction and empty well instruction.
Normally creeping into the process of operating with closing well is: begin this subjob, normally creep into, judge whether to occur overflow, then normally do not creep into if overflow occurs, if overflow occurs, open throttle manifold, close annular preventer, first envelope preventer, annular preventer, throttling valve, J2A flat valve, well logging finishes this subjob then.
Trip-out with the process of closing well operation is: begins this subjob, unloads square kelly, play vertical rod, judge whether overflow, then do not returned vertical rod, connect the drilling tool preventer as if finding that overflow is then robbed if find overflow, and closing well, well logging finishes this subjob at last.
The process that plays the operation of drill collar and closing well is: begins this subjob, plays drill collar, judge whether overflow, then do not returned drill collar, take over control the spray single pole as if finding that overflow is then robbed if find overflow, and closing well, well logging finishes this subjob at last.
The process of empty well and closing well operation is: begin this subjob, play finishing drilling quickly, judge whether spillway discharge is big, if spillway discharge greatly then closing well, well logging finishes this subjob at last; Rob if spillway discharge is little and to take over control the spray single pole, closing well, well logging finishes this subjob at last.
Simulating overflow for drilling simulator of the present invention must be based upon on the strict mathematics model basis, so just can make the situation at the realistic scene of various parameters of simulating overflow for drilling simulator, just can reach good result of training.
Simulating overflow for drilling simulator model of the present invention comprises drilling well flooding process analogy model and closing well flooding process analogy model.The equipment status parameter that model uses comprises original state parameter and dynamic parameter, and the original state parameter comprises bit pressuredrop P
b, than the pressure of the drill W, stratum statistics drillability K
d, actual or design mud density ρ, brake drum friction force F
System, transmission efficiency η
Bar, compressibility coefficient Zs, the temperature T s under the standard state, natural gas density ρ under the gravity acceleration g, seepage flow coefficient C, standard state
g, in the overflow segment annular space annular space divide hop count n, the cross-sectional area A of potpourri
a, slurry body integration amount in the potpourri
Natural-gas integration amount in the potpourri
With the reservoir pressure added value P that considers balance safety
e
Dynamic parameter comprises: brake drum friction force F
System, pulling speed V
P, the stable angular velocity omega that hoists of certain retaining
C, drill bit total footage F, well depth H, stratum effective pressure P
P, shaft bottom effective pressure P
b, discharge capacity Q, bore rotational speed N, rate of penetration V, gas seepage flow Q
Gs, every section potpourri base pressure and every section potpourri top pressure.
The hypothesis of simulating overflow for drilling simulator model condition:
(1) drilling fluid annular space large rock-carrying ability Lc 〉=0.5; Annular space drilling cuttings concentration C a＜0.09; Annular space fluid stable parameter value Z≤hole stability value Z value.
(2) all general equation for drilling rate is to be based upon the stratum to add up on the basis of drillability, and it has reflected the macroscopic law of heterogeneity formation drillability.As long as select corresponding bite type by " drilling well handbook (Party A) ", set up formation drillability gradient formula accurately, include the program of design in, can draw realistic result.
(3) analysis of surge pressure and calculating are based upon on rigidity fluid column (tubing string is incompressible in drilling fluid and the well) theoretical foundation.
When (4) in the drilling well overflow taking place, the aerating mud that enters the gentle body formation of mud of annular space in the unit interval is mixed uniformly.Under this hypothesis, we can regard the gas content in the mixed mud of unit volume as equal.
(5) after the discovery overflow, the closing well of termination of pumping in time.Before the borehole pressure balance, formation gas still can constantly enter in the well.Therefore, in supposing to stablize during this period of time, form one section continuous pure gas column in the well from the termination of pumping closing well to closing well; And in the kill-job process, this continuous gas column is not destroyed.
(6) gas enters pit shaft and meets Darcy's law from the stratum.
(7) if the overflow that enters in the well is a gas, then suppose will expand when gas overflow rises in annular space, its expansion process meets the equation of gas state, and ignores the gas slippage phenomenon.If the overflow that enters in the well is a liquid, suppose that then liquid flooding does not expand and slippage phenomenon in uphill process.
(8) output power of motor is pressed the steady state value consideration.
(9) suppose that the underground temperature gradient in the well is a constant, then:
Bottomhole wellbore pressure=underground temperature gradient * well depth+wellhead temperature
(10) the formation-parting pressure gradient is a constant, and then the formation-parting pressure of any point multiply by the formation-parting pressure gradient for this well depth in the well.
(11) general drilling speed equation is the funtcional relationship of setting up on the basis of the independent variable that is independent of each other in these single factors such as the pressure of the drill index, rotating speed index, hydraulic parameters, drilling fluid density difference and formation macro that hypothesis influences drilling speed.
Because this model is mainly used in simulation training, therefore, computing time, computational accuracy and and accuracy when clashing, in principle based on guarantor's time, and undue complicated mathematical model has been carried out suitable simplification, but has guaranteed the accuracy of qualitative aspect.
The simulating overflow for drilling simulator model of setting up comprises:
(1), drilling well flooding process analogy model
In when, in drilling process overflow taking place, along with the increase of opening gas pay thickness, the gas flow that enters from the stratum in the pit shaft also increases, and bottomhole wellbore pressure will constantly reduce, the gas admission velocity will constantly increase, and the variation of all parameters all is the continuous function of time in this process.For this reason, if in a quite little time interval Δ t, air inflow satisfies the secondary linear equation.
1, gas flow calculates
In the formula: Q
Gs--corresponding to P
bStandard state under the gas seepage flow, rice
3/ second
P
P, P
b--stratum, shaft bottom effective pressure, kPa
C--seepage flow coefficient, rice
3/ kPa second
At j Δ t in the time constantly:
2, every section potpourri length Δ H
Mi * (j)(j=1,2,3 ... n-1)
ΔH
mi×(j)＝{Q[P
(j)-P
(j-1)]+U
jQ
gs(j)ln[P
(j)/P
(j-1)]}/(gρQ)
In the formula: steam piano discharge capacity when Q--creeps into, rice
3/ second
U
j--Z
jT
jP
S/ Z
ST
S, kPa
P
(j)--j section potpourri base pressure, kPa
P
(j-1)--j section potpourri top pressure, kPa
ρ--mud density, gram per centimeter
3
G--acceleration of gravity, meter per second
2
3, annular space potpourri total length
4, spillway discharge in the well
5, every section mixture density is determined
In the formula:
--slurry body integration amount in the potpourri,
A
a--this overflow segment annular space cross-sectional area, millimeter
2
ρ
g--natural gas density, gram per centimeter
3
Because ρ
gρ, so following formula can be rewritten as:
(2), closing well flooding process analogy model
The closing well process is actually the process that bottomhole wellbore pressure recovers.Just during closing well, because bottomhole wellbore pressure lack of equilibrium reservoir pressure, resident fluid also will continue to enter pit shaft, and the gases at high pressure that enter constantly increase casing pressure and standpipe pressure.Along with the prolongation of shut-in time, bottomhole wellbore pressure increases gradually, and the resident fluid admission velocity reduces gradually, to the last the bottomhole wellbore pressure equilibrium strata pressure.In the closing well process, no matter be pit shaft or stratum, all parameters all are the functions of time.Because of mathematical model and the computing method thereof of describing this process are very complicated, be not described further at this.Only provide relevant parameter calculation formulas such as shaft bottom, the stable back of closing well potpourri length below.
1, shaft bottom, the stable back of closing well potpourri length
In the formula: Δ P=g ρ Q Δ t/A
a
The hop count that divides potpourri in the n--annular space
2, the length of the pure gas column in closing well shaft bottom, stable back
H
mix(n+1)＝H
mixO-H
mix(n)
Drilling simulator overflow control program is undertaken by being extensive use of ICP/IP protocol with communicating by letter of Graphics Processing Unit.Drilling simulator overflow control program is sent to Graphics Processing Unit with the data relevant with figure that obtain by data processing, so just can issue graphic element to control signals such as the state of exercises in the drilling simulator overflow and situ of drilling well various device, locus and data accurately, make figure can reflect front-end operations person's exercises rapidly, exactly.The data layout that drilling simulator overflow control program is communicated by letter with Graphics Processing Unit is as follows:
(1) the simulating overflow for drilling simulator control program sends to the initialization and the work data form of Graphics Processing Unit
{
struct
{
Unsigned short state; // 0: expression primary data, 1: the expression work data
Unsigned short d1; // expression action command
Float d2; // expression suspension ring lower plane is represented object speed (unit: m/s can just can bear) up and down from the rig floor level under job state under original state
Float d3; // under original state, represent well depth, rotational speed (unit: r/min can just can bear) is driven on the expression top under job state
Unsigned short d4; // expression downhole tool quantity under original state (unit: root), the front/rear angle of inclination of expression suspension ring under job state (unit: degree, can just can bear)
Unsigned short d5; // under original state, hang drilling rod quantity (note: if d5 has value, then the value of d4 is nonsensical) under the expression hook, the expression suspension ring anglec of rotation under job state (unit: degree, can just can bear)
Unsigned short d6; // expression vertical rod box drilling rod quantity (unit: post) under original state
Unsigned short d7; // very quantity (unit: root) is bored in the expression down-hole under original state
Unsigned short d8; // expression vertical rod box bores very quantity (unit: post) under original state
Unsigned short d9; // whether this operation of expression is kill operation under original state
Unsigned short d10; // under original state, whether there are 3 to salvage line on the expression drilling rod
}data；
struct
{
Float js; // well depth
Float gaslength1; // overflow gas length
Float gasheight1; // overflow gas bottom is apart from the shaft bottom height
Float gaslength2; // useless in existing operation, keep
Float gasheight2; // useless in existing operation, keep
Float hkkillmudlength; Kill mud length in the // annular space
Float hkkillmudheight; Kill mud is apart from the shaft bottom height in the // annular space
Float hkovermudlength; Heavy mud length in the // annular space
Float hkovermudheight; Heavy mud is apart from the shaft bottom height in the // annular space
Float zzkillmudlength; Kill mud length in the // drill string
Float zzkillmudheight; Kill mud is apart from the well head height in the // drill string
Float zzovermudlength; Heavy mud length in the // drill string
Float zzovermudheight; Heavy mud is apart from the well head height in the // drill string
Unsigned short JingKongFlag; // whether this operation of expression is kill operation under original state
Undigned short fireflag; // igniting sign
}jk；
}；
(2) Graphics Processing Unit sends to the data layout of simulating overflow for drilling simulator control program
union?JSRevTUData
{
struct
{
Float d1; // hook height
Float d2; // hook speed
Unsigned short d3; // each action mark of completing
Unsigned short d4; // half envelope state, 0 expression is closed, 1 expression intermediateness, 2 expressions are opened
Unsigned short d5; // seal state entirely, 0 expression is closed, 1 expression intermediateness, 2 expressions are opened
Unsigned short d6; // annularity, 0 expression is closed, 1 expression intermediateness, 2 expressions are opened
Unsigned short d7; Whether // mouse hole has bar, the no bar of 0 expression, and 1 expression has bar
Unsigned short d8; // suspension ring hanging object whether under the rig floor plane, 0 be illustrated in below, 1 be illustrated in above
}data；
}；
Because system scale is bigger, design is complicated, and the design of graphics drawing program is based on OO.More in view of the object that relates in the drilling simulator overflow, and each object has different characteristics aspect different, therefore before design, should determine the criterion of design class.For the purpose of the present invention, what be concerned about here is how to realize drilling simulator overflow flow process with object, so the design of class should need be carried out around the animated function of object, and involved Graphics Processing Unit comprises graphics drawing program and scene simulation control program.
Wherein, graphics drawing program mainly comprises equipment class graphic plotting, particle class graphic plotting, administrative class graphic plotting and technology animate, and scene simulation control program mainly comprises scene initialization, the control of technology animation, collision is handled and special efficacy is played up.The design of class comprises:
(1) equipment class
The object that relates to animation in the simulating overflow for drilling simulator has some identical characteristics, and for example each object all has characteristics such as scene coordinate, the anglec of rotation, just comes out to be integrated into class Device with the same alike result in each class and method are abstract.Class Device is a parent, and it provides some public attributes and method to subclass.With regard to attribute, in the attribute of class Device except scene coordinate, the anglec of rotation, ascending velocity, also attributes such as ID, Device.preObject, Device.subObject should be arranged.Wherein ID is used for indicating object type, because the object type that relates to of animation is more in the drilling simulation, utilizes the type that ID can easy-to-look-up object.And attribute Device.preObject, Device.subObject can offer convenience for the front and back object of searching object.Actions such as in addition, class Device also should have public method, and the object in the drilling well all has rotation, move, so moving method MoveDevice () and spinning solution RotateDevice () must be arranged in the method.In view of all objects all will show on computers with three-dimensional picture, therefore the method for drafting of object also should be arranged, i.e. Draw ().
(2) particle class
Simulation microcosmic things has diversity in the simulating overflow for drilling simulator, has therefore designed the particle class, in system design particIe system abstract be a class, called after Particle.Identical Particle with Device is for finishing parent designed in the particle simulation function.The attribute of parent Particle has particle respectively in position on the XYZ coordinate axle and the positional increment on the coordinate axis, also has the particle life state.And the subclass of Particle has Fire class, Gas class and Blowout class.The Fire class is mainly used in the simulation of flame combustion effect; The Gas class is mainly used in when getting into gas-bearing formation in the normal drilling process, the simulation that gas overflows; The Blowout class is mainly used in when blowout takes place, the effect simulation that well head mud is gushed.
(3) Shader administrative class
The use of Shader is by calling the function among the OpenGL API, and this function can directly drive with OpenGL by the application of Shader and be connected, and it is indispensable data structure of the painted fragment of OpenGL of storage.These data structures are called as colored object (Shader Object).After a colored object created, application program offered colored object to painted code by calling glShaderSourceARB.In order effectively to use and to manage the Shader that writes, in design process specialized designs the GLShader class.This class is mainly used to set the Shader object, reads in the Vertex file and the Fragment file that write, reads in parameter type and parameter value, reads in texture information, and Shader uses and deletion etc.The design of GLShader class can make the use of Shader more effective, has improved dirigibility and reusability that Shader uses.
Scene simulation control program is mainly finished following work:
(1) scene initialization
Before a new operation began, Graphics Processing Unit is the initialization current scene after receiving the job instruction that drilling simulator overflow control program sends, for example: current quantity, state and the position of each functional unit on the drilling platform.
(2) technology animation control
To handle with simulating overflow for drilling simulator control program parameter and the data that obtain that intercom mutually, embody the kinematic parameter of various control system on the rig floor, concrete action, view selection (comprising upward angle of visibility, visual angle, down-hole, preventer visual angle, the demonstration of many views etc.) etc.
(3) collision is handled
Be that the situation that does not allow " through walls and cross " takes place in the motion simulation process of three-dimensional picture, therefore will do the processing of collision detection moving object.In order to follow the sense of reality of model sport, scene simulation control program comprises the detection and the processing section of collision.
(4) special efficacy is played up
Realization uses GLSL to realize the lighting effect of movie-level to the gush simulation of effect of flame, bubble, liquid, can distinguish illumination mode such as simulate day, night, searchlight, has improved the graphical effect and the sense of reality widely.
The invention has the beneficial effects as follows: a kind of analogy method to simulating overflow for drilling simulator is provided, promptly with reference to the practical operation flow process at drilling operation scene, principle of work and method of operating to the drilling simulator overflow are carried out realistic simulation, strengthen the presence of teaching, training, shortening training cycle, enhancement training effect, the training cost that reduces.
Description of drawings
The composition structural drawing of Fig. 1 drilling simulator
The control program composition frame chart of Fig. 2 drilling simulator overflow
Fig. 3 simulating overflow for drilling simulator control program process flow diagram
Fig. 4 simulating overflow for drilling simulator control program block diagram of communicating by letter with front-end equipment
Normal drilling well of Fig. 5 and closing well process flow diagram
Fig. 6 pulls out of hole and the closing well process flow diagram
Fig. 7 plays drill collar and closing well process flow diagram
Fig. 8 empty well and closing well process flow diagram
The composition frame chart of Fig. 9 Graphics Processing Unit
The structure of Figure 10 equipment class and part subclass thereof
The structure of Figure 11 particle class and part subclass thereof
The implementation of Figure 12 Shader in OPENGL
Call relation between Figure 13 equipment class, particle class and the Shader administrative class
Embodiment
The technical scheme that the invention is further illustrated by the following examples the invention is not restricted to described embodiment.
In order to implement technical solutions according to the invention, made up a drilling simulation system, as Fig. 1, it comprises main control computer, the graphics process computing machine, front-end equipment and projector equipment, main control computer and graphics process computing machine are interconnected by TCP/IP, front-end equipment and main control computer are interconnected by Siemens PPI agreement, the graphics process computing machine connects projector equipment, the control program of operation simulating overflow for drilling simulator on the main control computer, graphics process computer run Graphics Processing Unit, front-end equipment comprises throttle manifold, high pressure pipe joint, the preventer control desk, the flow plug control desk, remote console and driller's control cabinet, projector equipment comprise two projector and a large scale screen.
As Fig. 2 is the composition of simulating overflow for drilling simulator control program, the simulating overflow for drilling simulator control program comprises the communication module and the simulating overflow module of communicating by letter with front end hardware equipment and Graphics Processing Unit, with the front end hardware devices communicating be in order to obtain in real time the hardware device state, pass through relevant mathematical model then in inside, the process of simulation overflow, simulating overflow comprise normal drilling well and closing well operation simulation, trip-out and closing well operation simulation, play drill collar and closing well operation simulation and empty well and closing well operation simulation.And then by ICP/IP protocol to the Graphics Processing Unit transmitting control commands, the drive pattern processing unit produces and the synchronous animation process of hardware device operation, and gives front end hardware with signal feedback, makes the demonstration of front end instrument parameter meet field condition.
As Fig. 3, method for simulating overflow for drilling simulator, the simulating overflow for drilling simulator control program, realize simulating overflow according to following steps:
(1) reads the state parameter and the operational order of front-end equipment;
(2), calculate the work data of the simulation animation of realizing flooded conditions according to the equipment status parameter that obtains and operational order classification and the drilling simulator overflow model set up in advance;
(3) according to data layout of setting and the special Graphics Processing Unit communication that is provided with, exchange initialization data and work data, the animation that Graphics Processing Unit is finished overflow according to these data represents;
(4) according to data layout and the Graphics Processing Unit communication set, exchange animated state information;
(5) repeat abovementioned steps (1)～(4).
Because front-end equipment adopts PLC to control and handle, therefore in system, adopt general OPC technology to realize communication process.
The S7-200OPC Server that opc server uses Siemens Company to provide.And the mapping relations of the PLC hardware system storage unit of in the PCAccess software that Siemens Company provides, setting up opc server and needing to visit.
In the simulating overflow for drilling simulator control program, realize the OPC client functionality.Utilize the IOCOMP assembly of supporting C++Builder can easily set up the communication process of client and server.
As Fig. 4 is the simulating overflow for drilling simulator control program block diagram of communicating by letter with front-end equipment.This communication block diagram comprises: the OPC client computer, and opc server and PLC system, wherein the OPC client computer is connected with opc server by the OPC interface, and opc server is connected with the PLC system by the PPI cable.
The operational order classification mainly comprises normal drilling well and closing well instruction, trip-out and closing well instruction, plays drill collar and closing well instruction and empty well and closing well instruction.
Fig. 5 normally creeps into and the closing well operational flowchart, its workflow roughly can be described as: begin this subjob, normally creep into, judge whether to occur overflow, if overflow not occurring then normally creeps into, if overflow occurs, open throttle manifold, close annular preventer, first envelope preventer, annular preventer, throttling valve, J2A flat valve, well logging finishes this subjob then.
Fig. 6 pulls out of hole and the closing well operational flowchart, and its workflow roughly can be described as: begin this subjob, unload square kelly, play vertical rod, judge whether overflow, then do not returned vertical rod, connect the drilling tool preventer if the discovery overflow is then robbed if find overflow, closing well, well logging finishes this subjob at last.
Fig. 7 has been drill collar and closing well operational flowchart, and its workflow roughly can be described as: begin this subjob, play drill collar, judge whether overflow, then do not returned drill collar, take over control the spray single pole if the discovery overflow is then robbed if find overflow, closing well, well logging finishes this subjob at last.
Fig. 8 is empty well and closing well operational flowchart, and its workflow roughly can be described as: begin this subjob, play finishing drilling quickly, judge whether spillway discharge is big, if spillway discharge greatly then closing well, well logging finishes this subjob at last; Rob if spillway discharge is little and to take over control the spray single pole, closing well, well logging finishes this subjob at last.
Simulating overflow for drilling simulator of the present invention must be based upon on the strict mathematics model basis, so just can make the situation at the realistic scene of various parameters of simulating overflow for drilling simulator, just can reach good result of training.
Simulating overflow for drilling simulator model of the present invention comprises drilling well flooding process analogy model and closing well flooding process analogy model.The equipment status parameter that model uses comprises original state parameter and dynamic parameter, and the original state parameter comprises bit pressuredrop P
b, than the pressure of the drill W, stratum statistics drillability K
d, actual or design mud density ρ, brake drum friction force F
System, transmission efficiency η
Bar, compressibility coefficient Zs, the temperature T s under the standard state, natural gas density ρ under the gravity acceleration g, seepage flow coefficient C, standard state
g, in the overflow segment annular space annular space divide hop count n, the cross-sectional area A of potpourri
a, slurry body integration amount in the potpourri
Natural-gas integration amount in the potpourri
With the reservoir pressure added value P that considers balance safety
e
Dynamic parameter comprises: brake drum friction force F
System, pulling speed V
P, the stable angular velocity omega that hoists of certain retaining
C, drill bit total footage F, well depth H, stratum effective pressure P
P, shaft bottom effective pressure P
b, discharge capacity Q, bore rotational speed N, rate of penetration V, gas seepage flow Q
Gs, every section potpourri base pressure and every section potpourri top pressure.
As Fig. 9 is the composition frame chart of Graphics Processing Unit, and it comprises full three-dimensional entity model storehouse, graphics drawing program and a scene simulation control program.
Set up a perfect model, be that the drilling simulation system sense of reality embodies of paramount importance element, the implementation procedure of virtual environment was divided into for three steps substantially in the drilling simulation system: the first step is a Geometric Modeling, mainly comprises the three-dimensional profile that constitutes object with polygon or triangle; Second step was a physical modeling, comprised that mainly the result to Geometric Modeling carries out processing such as texture, color, illumination; The 3rd step was specific procedure control, mainly by the object of which movement simulation under the method realization virtual environment of motion modeling.First two steps are building processs of virtual scene, and the 3rd step then was a motion modeling.
Geometric Modeling is one of the most basic in the development of virtual reality system, most important work.Geometric model in the virtual environment is the expression of geometric data of bodies, relates to the data structure of representing geological information, relevant structure and the algorithm of handling this data structure.Each object in the virtual environment comprises shape and two aspects of outward appearance.The shape of object is determined that by each polygon, triangle and the summit of constructed object the outward appearance of object is then decided by superficial makings, color, illumination coefficient etc.Therefore, the model file that is used for storing virtual environment geometric model should be able to provide above information, also will satisfy three common counters of virtual modeling technique simultaneously: mutual display capabilities, interactive maneuvering capability, the ability that is easy to construct are to the requirement of virtual objects model.
Geometrical Modeling Technology is divided into voxel and two aspects of structure.Voxel is used for the atomic unit of constructed object, voxel choose the object range that has determined that modeling can be constructed.Structure is with deciding voxel how to form new object.
Physical modeling refers to the modeling of features such as the quality, weight, inertia, superficial makings, hardness, deformation pattern of virtual objects, and these features merge mutually with Geometric Modeling and law of honor, form a virtual environment that has more the sense of reality.Physical modeling be in the virtual reality system than the modeling of higher level, it needs physics to cooperate with computer graphics, relates to the feedback problem of power, mainly is the embodiment of thingness such as weight modeling, surface deformation and soft durometer.
In virtual environment, the characteristic of object also relates to position change, collides, catches, convergent-divergent and surface deformation etc., and only setting up static three solids is not enough to virtual reality system.
Object's position comprises the moving of object, rotation and convergent-divergent.In virtual reality system, not only to relate to absolute coordinate system, also to relate to the relative coordinate system of each object.Collision detection is the important technology of VR technology, and it often uses in motion modeling, and for example in the virtual environment, the people can not be through walls and mistake.The collision detection technology is a kind of recognition technology of colliding between object and the object in the virtual environment.In order to save system overhead, in drilling simulation system, adopt the square boundary detection method.
Set up the model of all devices in the present embodiment with D modeling tool 3ds max, the model that 3ds max is drawn imports among the real-time 3D environment virtual reality Virtools of software for editing, all characteristics according to model among the physical characteristics configuration Virtools of equipment, use the motion and the demonstration of Virtools controlling models, under original state, can realize the roaming of whole audience scape, build the Cave environment and realize full three-dimensional artificial.
The design of graphics drawing program is OO, and the present invention is divided three classes the object that relates in the drilling simulator overflow: equipment class figure, particle class and shader administrative class.
The object that relates to animation in the system has some identical characteristics, and for example each object all has characteristics such as scene coordinate, the anglec of rotation, so just can come out to be integrated into class Device with the same alike result in each class and method are abstract.Class Device is a parent, and it provides some public attributes and method to subclass.With regard to attribute, in the attribute of class Device except scene coordinate, the anglec of rotation, ascending velocity, also attributes such as ID, Device.preObject, Device.subObject should be arranged.Wherein ID is used for indicating object type, because the object type that animation relates in the Graphics Processing Unit among the present invention is more, utilizes the type that ID can easy-to-look-up object.And attribute Device.preObject, Device.subObject can offer convenience for the front and back object of searching object.Actions such as in addition, class Device also should have public method, and the object in the trip-out all has rotation, move, so moving method MoveDevice () and spinning solution RotateDevice () must be arranged in the method.In view of all objects all will show on computers with three-dimensional picture, therefore the method for drafting of object also should be arranged, i.e. Draw ().According to analysis, deriving from what get off from parent is subclasses such as hook, hydraulic tongs, and they have not only inherited the publicly-owned attribute and the method for parent, also have attribute and the method for oneself.For example hook just has this method of SetState () so that the current state of hook to be set.
Figure 10 is equipment class and the part subclass thereof that relates in the drilling simulator flooding process.
Because the diversity of system simulation microcosmic things, the use of particIe system also has higher reusability in total system, has therefore designed the particle class.
Figure 11 has showed particle class and subclass thereof.In system design particIe system abstract be a class, called after Particle.Identical Particle with Device is for finishing parent designed in the particle simulation function.The attribute of parent Particle has particle respectively in position on the XYZ coordinate axle and the positional increment on the coordinate axis, also has the particle life state.And the subclass of Particle has Fire class, Gas class and Blowout class.The Fire class is mainly used in the simulation of flame combustion effect; The Gas class is mainly used in when getting into gas-bearing formation in the normal drilling process, the simulation that gas overflows; The Blowout class is mainly used in when blowout takes place, the effect simulation that well head mud is gushed.These subclasses also have the attribute of oneself respectively, for example: particle size, size increment, color component R/G/B etc.
The method of Particle class mainly is Init (), Draw (), is used for initialization and drafting to particle, and has introduced the polymorphism notion of inheriting in the structure in the subclass.Because the mathematical model difference that Fire, Gas, Blowout particIe system adopt, so method for drafting separately all is not quite similar, each subclass all has init state and the method for drafting of oneself.Except total Init (), Draw () method, each subclass has the private method of oneself, and for example: the Fire class just has methods such as the wake flame of calculating, vector calculation.
OpenGL is the present cross-platform engine of three-dimensional picture the most widely, and its excellent in performance on photo realism graphic is made makes it to become the graphics standard of all major companies, so OpenGL becomes the three-dimensional picture industrial standard of a new generation.
Figure 12 has illustrated the implementation of Shader in OpenGL, and the use of Shader is by calling the function among the OpenGL API.OpenGL provides a new function glCreateShaderObjectARB, and this function can directly be connected with the OpenGL driving by the application of Shader, and it is indispensable data structure of the painted fragment of OpenGL of storage.These data structures are called as colored object (Shader Object).After a colored object created, application program offered colored object to painted code by calling glShaderSourceARB.
In order effectively to use and to manage the Shader that writes, in design process specialized designs the GLShader class.This class is mainly used to set the Shader object, reads in the Vertex file and the Fragment file that write, reads in parameter type and parameter value, reads in texture information, and Shader uses and deletion etc.The design of GLShader class can make the use of Shader more effective, has improved dirigibility and reusability that Shader uses.
Because parent Device and all attribute and the methods of Particle all are publicly-owned, so subclass can be called all methods of parent.More in view of subclass, only provide the call relation between parent here, as shown in figure 13.Object Oriented method is very flexible, and system can add new class, attribute and method as required easily, is very favorable to the expansion of program.
Scene simulation control program mainly is responsible for the communication with the simulating overflow for drilling simulator control program, obtain the instruction and data of real-time animation, graphics drawing program is sent the drafting that job instruction is finished real-time animation, owing to being that the situation that does not allow " the through walls mistake " takes place in the motion simulation process of three-dimensional picture, so scene simulation control program will be done collision detection and processing to moving object, in order to improve the graphical effect and the sense of reality, adopt render effects, simulating flame, bubble, the liquid effect of gushing, also use GLSL to realize the lighting effect of movie-level, can distinguish illumination mode such as simulate day, night, searchlight.
After operation begins, sending instruction by drilling well controller overflow control program allows the visual angle fix, also can send instruction by the simulating overflow for drilling simulator control program allows figure be divided into three parts to carry out split screen and show, the simulating overflow for drilling simulator control program receives various instructions and the parameter information that sends from front-end operations person, and parallel data is handled.The data relevant with figure that obtain after with data processing by ICP/IP protocol are sent to Graphics Processing Unit then, and these data comprise: the signal of the speed that makes a trip, rotary speed, the exercises of control figure; Drilling fluid color in the kill-job, gas column length etc., after Graphics Processing Unit obtains data, make concrete reflection, embody the kinematic parameter of various control system on the rig floor, concrete action, view selection (comprising upward angle of visibility, visual angle, down-hole, preventer visual angle, the demonstration of many views etc.) etc., and some equipment status parameters and graphic plotting are finished mark feed back to the simulating overflow for drilling simulator control program.
The data layout of communicating by letter between Graphics Processing Unit and the simulating overflow for drilling simulator control program is as follows:
A simulating overflow for drilling simulator control program sends to the initialization and the work data form of Graphics Processing Unit:
union?JSSendTUData
{
unsigned?char?buff[100]；
struct
{
Unsigned short state; // 0: expression primary data, 1: the expression work data
Unsigned short d1; // expression action command
Float d2; // expression suspension ring lower plane is represented object speed (unit: m/s can just can bear) up and down from the rig floor level under job state under original state
Float d3; // under original state, represent well depth, rotational speed (unit: r/min can just can bear) is driven on the expression top under job state
Unsigned short d4; // expression downhole tool quantity under original state (unit: root), the front/rear angle of inclination of expression suspension ring under job state (unit: degree, can just can bear)
Unsigned short d5; // under original state, hang drilling rod quantity (note: if d5 has value, then the value of d4 is nonsensical) under the expression hook, the expression suspension ring anglec of rotation under job state (unit: degree, can just can bear)
Unsigned short d6; // expression vertical rod box drilling rod quantity (unit: post) under original state
Unsigned short d7; // very quantity (unit: root) is bored in the expression down-hole under original state
Unsigned short d8; // expression vertical rod box bores very quantity (unit: post) under original state
Unsigned short d9; // whether this operation of expression is kill operation under original state
Unsigned short d10; // under original state, whether there are 3 to salvage line on the expression drilling rod
}data；
struct
{
Float js; // well depth
Float gaslength1; // overflow gas length
Float gasheight1; // overflow gas bottom is apart from the shaft bottom height
Float gaslength2; // useless in existing operation, keep
Float gasheight2; // useless in existing operation, keep
Float hkkillmudlength; Kill mud length in the // annular space
Float hkkillmudheight; Kill mud is apart from the shaft bottom height in the // annular space
Float hkovermudlength; Heavy mud length in the // annular space
Float hkovermudheight; Heavy mud is apart from the shaft bottom height in the // annular space
Float zzkillmudlength; Kill mud length in the // drill string
Float zzkillmudheight; Kill mud is apart from the well head height in the // drill string
Float zzovermudlength; Heavy mud length in the // drill string
Float zzovermudheight; Heavy mud is apart from the well head height in the // drill string
Unsigned short JingKongFlag; // whether this operation of expression is kill operation under original state
Undigned short fireflag; // igniting sign
}jk；
}；
The B Graphics Processing Unit sends to the status information data form union JSRevTUData of simulating overflow for drilling simulator control program
{
unsigned?char?buff[20]；
struct
{
Float d1; // hook height
Float d2; // hook speed
Unsigned short d3; // each action mark of completing
Unsigned short d4; // half envelope state, 0 expression is closed, 1 expression intermediateness, 2 expressions are opened
Unsigned short d5; // seal state entirely, 0 expression is closed, 1 expression intermediateness, 2 expressions are opened
Unsigned short d6; // annularity, 0 expression is closed, 1 expression intermediateness, 2 expressions are opened
Unsigned short d7; Whether // mouse hole has bar, the no bar of 0 expression, and 1 expression has bar
Unsigned short d8; // suspension ring hanging object whether under the rig floor plane, 0 be illustrated in below, 1 be illustrated in above
}data；
}；
So just control signals such as the state of exercises in the drilling simulator overflow flow process and situ of drilling well various device, locus and data are issued Graphics Processing Unit accurately, make figure can reflect front-end operations person's exercises rapidly, exactly, finish the simulation of full-three-dimensional real-time drilling simulation device overflow.
Claims (6)
1. method for simulating overflow for drilling simulator is characterized in that: at the control program of simulating overflow for drilling simulator, realize the simulation of flooded conditions according to following steps specially:
(1) reads the state parameter and the operational order of front-end equipment;
(2) according to the model of the equipment status parameter that obtains and operational order classification and the simulating overflow for drilling simulator set up in advance, calculate the work data of realizing the simulating overflow animation;
(3) according to data layout of setting and the special Graphics Processing Unit communication that is provided with, exchange initialization data and work data, the animation that Graphics Processing Unit is finished overflow with data in view of the above represents;
(4) according to data layout and the Graphics Processing Unit communication set, exchange animated state information;
(5) repeat abovementioned steps (1)～(4).
2. method for simulating overflow for drilling simulator according to claim 1 is characterized in that: described equipment status parameter comprises original state parameter and dynamic parameter, and wherein, the original state parameter comprises bit pressuredrop P
b, than the pressure of the drill W, stratum statistics drillability K
d, actual or design mud density ρ, brake drum friction force F
System, transmission efficiency η
Bar, compressibility coefficient Zs, the temperature T s under the standard state, natural gas density ρ under the gravity acceleration g, seepage flow coefficient C, standard state
g, in the overflow segment annular space annular space divide hop count n, the cross-sectional area A of potpourri
a, slurry body integration amount in the potpourri
Natural-gas integration amount in the potpourri
With the reservoir pressure added value P that considers balance safety
e
Dynamic parameter comprises: brake drum friction force F
System, pulling speed V
P, the stable angular velocity omega that hoists of certain retaining
C, drill bit total footage F, well depth H, stratum effective pressure P
P, shaft bottom effective pressure P
b, discharge capacity Q, bore rotational speed N, rate of penetration V, gas seepage flow Q
Gs, every section potpourri base pressure and every section potpourri top pressure.
3. method for simulating overflow for drilling simulator according to claim 1 is characterized in that: described operational order comprises normal drilling well and closing well instruction, trip-out and closing well instruction, plays drill collar and closing well instruction and empty well and closing well instruction.
4. method for simulating overflow for drilling simulator according to claim 1 is characterized in that: described drilling simulator overflow model comprises drilling well flooding process analogy model and closing well flooding process analogy model.
5. method for simulating overflow for drilling simulator according to claim 1 is characterized in that: described data layout comprises initialization data form, work data form and animated state information format.
6. method for simulating overflow for drilling simulator according to claim 1, it is characterized in that: described Graphics Processing Unit comprises graphics drawing program and scene simulation control program, wherein, graphics drawing program comprises equipment class graphic plotting, particle class graphic plotting, administrative class graphic plotting and technology animate, and scene simulation control program comprises that the control of technology animation, collision are handled, special efficacy is played up and parameter shows.
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Application publication date: 20100519 |