CN102852511A - Intelligent drilling control system and method for petroleum drilling machine - Google Patents

Intelligent drilling control system and method for petroleum drilling machine Download PDF

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Publication number
CN102852511A
CN102852511A CN2012103723304A CN201210372330A CN102852511A CN 102852511 A CN102852511 A CN 102852511A CN 2012103723304 A CN2012103723304 A CN 2012103723304A CN 201210372330 A CN201210372330 A CN 201210372330A CN 102852511 A CN102852511 A CN 102852511A
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drilling
control
drill
pressure
unit
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CN2012103723304A
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CN102852511B (en
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苏建华
乔红
戴相富
王鹏
郑碎武
王敏
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中国科学院自动化研究所
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Abstract

The invention discloses an intelligent drilling control system and a method for a petroleum drilling machine. The intelligent drilling control system comprises a drilling driving module, a drilling detection module and a drilling control module. The intelligent control method is a fuzzy control algorithm with a parameter self-adjusting capability; the fuzzy control algorithm consists of two control loops, wherein an inner loop is drilling speed control and the outer loop is drilling pressure control; each control loop comprises a fuzzy controller unit, a performance evaluating unit, a parameter correcting unit and a decision unit; and according to each loop, the intelligent control over the drilling pressure and the drilling speed of the petroleum drilling machine can be realized by self-adaptively adjusting the parameters of the fuzzy controller and improving the performance of the fuzzy controller. According to the intelligent drilling control system and the method disclosed by the invention, the labor intensity of workers in the drilling process of the petroleum drilling machine can be reduced, the track precision of a well hole of a drilling well can be improved, the wear to a drill bit is reduced and the drilling speed is increased.

Description

A kind of intelligent drilling control system and method for oil-well rig
Technical field
The present invention relates to engineering machinery field, particularly a kind of control system and control method of the oil-well rig for oil-gas drilling.
Background technology
Drilling well is one of major way of underground petroleum exploitation.At present, the drilling process of drilling well mainly adopts the mode of manually-operated rig: the driller personnel adjust driller parameters according to propulsive force and the rotary speed of the drill bit of recommending on the rig operation manual according to the dynamics sensation of drilling process.When rig creeps into, wet friction is arranged not only between the drill bit of drilling tool and the rock stratum, also have dry friction and semi-dry friction.It is inhomogeneous that manually-operated causes the drilling tool upper end to be transferred easily, causes drill bit load inhomogeneous; In addition because the difference of operating technology also can cause the rapid fluctuation of the pressure of the drill.Thereby the position that manually-operated mode can cause holing is offset: it's low can causing is past propulsive force, and the diffusion of impact energy is slow, so that the propelling speed of drill bit is slack-off; The rotation torque of drilling rod diminishes; Can cause the position deviation of drilling well excessive etc.The too high position deviation that also can increase drilling well of propulsive force; Also can not improve the propelling speed of drill bit.For the drilling quality that obtains, need to avoid low rotary speed.Opposite, too high rotary speed can cause damaging drill bit.
The method of employing automatic bit feed can be eliminated the shortcoming of manually-operated rig: by gathering the parameter in the drilling process, such as comprising the pressure of the drill, drilling speed, moment of torsion, mud property, rock behavio(u)r, formation pore pressure, well track, hole stability, bit wear situation and mechanical characteristic etc., adopt intelligence control method to make drilling tool can adapt to different rock stratum, obtain best rock stratum transmission rate, and keep the ability of the collimation of boring.Intelligence drilling control system not only can keep the accuracy of drilling parameter, also can reduce bit wear, thereby improves drilling quality and economic benefit.
Application number is that 201010115470.4 Chinese invention patent (a kind of rock entering drilling machine and control system thereof and control method) discloses a kind of control system for rock entering drilling machine: detect the drilling bucket degree of depth and compare with the depth datum value that sets in advance, according to carrying or press down drilling bucket on the comparative result; Detect drilling bucket pressure and compare with the pressure reference value that sets in advance, stop into rock or continue into rock according to comparative result control drilling bucket; Detect drilling bucket speed and compare with the Velocity Reference value, reduce or improve moulding pressure according to comparative result control master winch.US Patent No. 6732052B2 (Method and Apparatus for Prediction Control in Drilling Dynamics Using Neural Networks) discloses a kind of drilling process forecast Control Algorithm based on neutral net.Utilize down-hole control computer control DHA, according to the variation Automatic Optimal drilling efficiency of drilling parameter and drilling direction.Upgrade the forecast model of drilling process and provide Operating Guideline for the driller personnel by the neutral net iteration.In the document " oil-well rig intelligence is sent and bored technical research " (" petroleum machinery ", the 12nd phase of the 34th volume in 2006, king's equality) a kind of oil-well rig automatic bit feed technology based on the fuzzy intelligence technology has been proposed.Utilize industrial control computer that the rig auxiliary motor is carried out automatic bit feed control, set up fuzzy rule according to skilled operation driller's control experience, realize permanent the pressure of the drill drilling control.
Traditional drilling control method mainly is by setting up the drilling process model, the feedback of drilling parameter is realized the control that drilling tool is crept into by sensor.Yet because drilling process is subject to geological condition, bit wear situation and the isoparametric impact of mud property, be difficult to set up accurate Mathematical Modeling.Intelligence drilling control method does not need mathematical models, just can realize the control to nonlinear system.
Summary of the invention
The technical problem that (one) will solve
For overcoming deficiency of the prior art, technical problem to be solved by this invention provides a kind of intelligent drilling control system and control method of oil-well rig, can be in the situation of not setting up mathematical models, realization is to the control of oil-well rig drilling process, and the control parameter comprises the pressure of the drill and the drilling speed of oil-well rig.
(2) technical scheme
The present invention proposes a kind of intelligent drilling control system of rig, and described rig comprises be used to the drill bit that creeps into, and described intelligent drilling control system comprises the drilling control module, creeps into detection module, creeps into driver module; Creep into detection module for the parameter of obtaining borer drilling procedure; The drilling control module is used for according to creeping into the described parameter that detection module obtains, and calculates the pressure of the drill of drill bit expectation and the drilling speed of expectation; Creep into driver module according to the pressure of the drill of described expectation and the drilling speed of expectation, drive described rig and creep into.
According to a kind of specific embodiment of the present invention, describedly creep into the parameter that parameter that detection module obtains comprises vibratory output, the pressure of the drill, moment of torsion, drilling speed and the drilling fluid of drill bit, described detection module involving vibrations detecting unit, drilling fluid detecting unit, the pressure of the drill detecting unit, torque detecting unit, rotation speed detection unit, the drilling speed detecting unit of creeping into, wherein: vibration detecting unit is used for detecting in real time the vibratory output of drill bit; The drilling fluid detection module is used for detecting in real time the parameter of drilling fluid; The pressure of the drill detecting unit is for detection of the pressure of the drill of described drill bit; Torque detecting unit is for detection of the moment of torsion of described drill bit; Rotation speed detection unit is for detection of the rotating speed of described drill bit; The drilling speed detecting unit is used for the drilling speed according to the pressure of the drill, rotating speed and the torque arithmetic drill bit of described drill bit.
According to a kind of specific embodiment of the present invention, the described driver module that creeps into comprises drilling tool hoist unit and drilling tool rotary unit, and the described drilling tool unit that hoists is used for outstanding drill bit and control the pressure of the drill held; Described drilling tool rotary unit is used for driving bit.
According to a kind of specific embodiment of the present invention, described drilling control module comprises interior ring and outer shroud, and described interior ring is used for the drilling tool rotary unit of control rig, the drilling tool that described outer shroud is used for the control rig unit that hoists.
According to a kind of specific embodiment of the present invention, described interior ring comprises interior ring fuzzy controller unit, described interior ring fuzzy controller unit stores the interior chain rate example factor, the performance indications of the interior circular rector factor and expectation, be used for the rotating speed of inputting according to described drilling speed detecting unit and be somebody's turn to do the interior chain rate example factor, the interior circular rector factor calculates the fuzzy input quantity of drilling speed, and this drilling speed is blured input quantity carry out fuzzy reasoning, obtain the drilling speed fuzzy control quantity, and according to the drilling speed digital control amount of this drilling speed fuzzy control quantity calculating for control drilling tool rotary unit, output to this drilling tool rotary unit.
According to a kind of specific embodiment of the present invention, described outer shroud comprises outer shroud fuzzy controller unit, described outer shroud fuzzy controller unit stores the outer shroud scale factor, the performance indications of outer shroud quantizing factor and expectation, be used for the pressure of the drill and this outer shroud scale factor according to described the pressure of the drill detecting unit input, the outer shroud quantizing factor calculates the fuzzy input quantity of the pressure of the drill, and this pressure of the drill is blured input quantity carry out fuzzy reasoning, obtain the pressure of the drill fuzzy control quantity, and calculate according to this pressure of the drill fuzzy control quantity and to be used for the hoist digital control amount of the pressure of the drill of unit of control drilling tool, output to this drilling tool unit that hoists.
The present invention also proposes a kind of intelligent drilling control method of rig, and described rig comprises that be used to the drill bit that creeps into, described method comprises the steps: to obtain the parameter in the borer drilling procedure; According to the described parameter of obtaining, calculate the pressure of the drill of described drill bit expectation and the drilling speed of expectation; According to the pressure of the drill of described expectation and the drilling speed of expectation, drive described rig and creep into.
(3) beneficial effect
Intelligent drilling control system and control method that the present invention proposes are of value to the labour intensity that reduces driller personnel in the borer drilling procedure, improve the penetrance of well track precision, reduction bit wear and the drill bit of drilling well.
Description of drawings
Figure 1 shows that the module connection diagram of intelligent drilling control of the present invention system;
Figure 2 shows that the fundamental diagram of intelligent drilling control of the present invention system;
Figure 3 shows that the workflow diagram that creeps into detection module of intelligent drilling control of the present invention system;
Figure 4 shows that the control flow schematic diagram of the self-adaptation control method of intelligent drilling control of the present invention system;
Figure 5 shows that the algorithm flow chart of the auto-adaptive parameter adjustment of intelligence control method of the present invention;
Figure 6 shows that the flow chart of the parameter adjustment algorithm of interior ring fuzzy controller of the present invention unit.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in further detail.
In the oil-well rig drilling process, because the diversity of the Tectonic Rock Mass of down-hole, when the drill bit of drilling machine front end touched rock of different nature, too high the pressure of the drill and drilling speed may cause the accident, as the drilling rod that fractures, drill bit, drill bit damage etc.; Crossing low the pressure of the drill, drilling speed and moment of torsion makes again drilling efficiency very low.Therefore, in a certain stratum and a certain degree of depth, suitable the pressure of the drill, drilling speed and moment of torsion are very favourable to drilling well, both can improve drilling efficiency, also are conducive to reduce the wearing and tearing of drill bit.
When oil-well rig touches rock of different nature, if can not adjust in real time the pressure of the drill, drilling speed and moment of torsion, keep the applying of drill bit and ROCK CONDITIONS, will cause the unbalance loading of drill bit, even the drilling rod that fractures.The pressure of the drill FT can be expressed as:
F T=MG-F 1-F 2-F f
Wherein, the drilling tool net weight is MG, and the buoyancy of drilling tool in drilling fluid is F 1, the pulling force that is subject to carrying on the wire rope is F 2, the frictional force between drill bit and the rock stratum is F f
Drilling speed V TRotary speed W with drill bit TWith the pressure of the drill F TRelevant.The rotary speed W of drill bit TThe rotating speed W that is equal to the drilling rod top rotary table P
The intelligent drilling control system that the present invention proposes comprises drilling control module 1, creeps into detection module 2, creeps into driver module 3.Creep into detection module 2 and obtain the vibratory output, the pressure of the drill, moment of torsion, drilling speed etc. of the drill bit in the borer drilling procedures and the parameter of drilling fluid.Drilling control module 1 calculates parameter according to creeping into detection module 2, and the adaptive control algorithm unit 11 with parameter self-adjusting ability by storage in the drilling control module 1 calculates the pressure of the drill of expectation and the drilling speed of expectation.Creep into driver module 3 according to the pressure of the drill of expectation and the drilling speed of expectation, drive rig and creep into.
Creeping into detection module comprises: vibration detecting unit 21, drilling fluid detecting unit 22, the pressure of the drill detecting unit 23, torque detecting unit 24, drilling speed detecting unit 25.Wherein: vibration detecting unit 21 detects drill bit in real time in the vibratory output of down-hole, i.e. amplitude and the frequency of the extensional vibration power of the amplitude of the axial vibration power of drill bit and frequency, drill bit; Drilling fluid detection module 22 detects near physical characteristic and the chemical characteristic of the drilling fluid the downhole drill bit in real time, comprises the parameter informations such as viscosity, pH value, temperature and drilling hydraulic of drilling fluid; The pressure of the drill detecting unit 23 is measured the contact between drill bit and the formation downhole in real time; Torque detecting unit 24 is measured the moment of torsion of drill bit in the drilling processes, when comprising horizontal resistance when measuring fractured rock and drilling tool revolution and the size of the frictional resistance of hole wall; Rotation speed detection unit 25 detects measures drill speed; 25 of drilling speed detection modules are according to the pressure of the drill, rotating speed and moment of torsion, the rock penetration speed when calculating the rock stratum penetrance and calculating rig and creep into, i.e. drilling speed.
Creeping into driver module 3 comprises for the outstanding drilling tool of holding drill bit and the control the pressure of the drill unit 31 that hoists, with be used for to drive the drilling tool rotary unit 32 of bit with broken rock, the preferred drilling tool unit 31 that hoists can comprise hoist drilling tool and the outstanding mechanism of holding drill string and control the pressure of the drill such as winch, auxiliary brake; Rig drilling tool rotary unit 32 comprises that rotating disk, water tap and drilling tool etc. are used for driving the drilling tool rotation with the mechanism of broken rock.
Be the slickness of guaranteeing that the pressure of the drill and drilling speed change in the boring procedure, need to adopt intelligence control system and control method, the drilling tool of control oil-well rig hoist unit 31 and drilling tool rotary unit 32.
Figure 1 shows that the module connection diagram of intelligent drilling control of the present invention system.As shown in Figure 1, the effective object that creeps into driver module 3 is formation downhole and mud etc.The output that creeps into detection module 2 connects the input of drilling control module 1; Driver module 3 is crept in the output connection of drilling control module 1; Creep into detection module 2 and detect in real time the state of driver module 3 and the state of effective object 4 of creeping into.
Fig. 2 is the fundamental diagram of intelligent drilling control of the present invention system.According to the drill vibration amount, drilling liquid parameter, the pressure of the drill, moment of torsion, the drill speed that creep into detection module 2 output, and the information such as drilling speed, drilling control module 1 calculates the drilling speed of next the pressure of the drill of constantly expecting and expectation.Expectation the pressure of the drill and expectation drilling speed output to and creep in the driver module 3, to adjust drilling tool hoist unit 31 and drilling tool rotary unit 32.
Figure 3 shows that the structural representation that creeps into detection module 2 of intelligent drilling control of the present invention system.Creep into detection module 2 involving vibrations detecting units 21, drilling fluid detecting unit 22, the pressure of the drill detecting unit 23, torque detecting unit 24, rotation speed detection unit 25, drilling speed detecting unit 26.Wherein: vibration detecting unit 21 detects drill bit in real time at the vibration regularity of down-hole, can be axial vibration power amplitude, extensional vibration power amplitude; Drilling fluid detecting unit 22 detects near the drilling liquid parameter the downhole drill bit in real time, can be the parameters such as viscosity, pH value, temperature and drilling hydraulic of drilling fluid; The pressure of the drill detecting unit 23 is measured the pressure of the drill between drill bit and the formation downhole in real time; When the horizontal resistance when torque detecting unit 24 is measured drill bit fractured rock in the drilling processes and drilling tool revolution with the frictional resistance of hole wall, the acquisition moment of torsion; Rotation speed detection unit 25 detects drill speed, can be the rotary speed of rotating disk; Drilling speed detecting unit 26 calculates drilling speed according to drill speed, the pressure of the drill and moment of torsion, is shown below:
APR = PR / ( PP × RP )
Wherein, APR represents drilling speed, and PR represents drill speed, and PP represents the pressure of the drill, and RP represents moment of torsion.
Figure 4 shows that the control flow schematic diagram of the self-adaptation control method of intelligent drilling control of the present invention system.Self-adaptation control method of the present invention adopts the self-regulating FUZZY ALGORITHMS FOR CONTROL of parameter, is made of two control loops, and interior ring is drilling speed control, and outer shroud is the pressure of the drill control.
Drilling control module 1 comprises interior ring and outer shroud, and interior ring comprises interior ring fuzzy controller unit 125, interior ring performance evaluation unit 135, interior ring parameter correction unit 145, interior ring decision package 155; Outer shroud comprises outer shroud fuzzy controller unit 126, outer shroud performance evaluation unit 136, outer loop parameter correcting unit 146, outer shroud decision package 156.The drilling speed control of interior ring is by four parts such as interior ring fuzzy controller unit 125, interior ring performance evaluation unit 135, interior ring parameter correction unit 145, interior ring decision packages 155, and the drilling tool rotary unit 31 of rig is controlled in the output of interior ring.The control of the pressure of the drill of outer shroud comprises four parts such as outer shroud fuzzy controller unit 126, outer shroud performance evaluation unit 136, outer loop parameter correcting unit 146, outer shroud decision package 156, the drilling tool of the output control rig of the outer shroud unit 32 that hoists.
Interior ring fuzzy controller unit 125 stores the performance indications of the interior chain rate example factor, the interior circular rector factor and expectation, and chain rate example factor has an identical adjustability coefficients P with the interior circular rector factor in this.
The described interior chain rate example factor refers to the drilling speed fuzzy control quantity is converted to a parameter of the digital control amount of drilling speed in the interior ring fuzzy controller unit.
In the formula, K uBe the interior chain rate example factor, y uBe the digital control amount of drilling speed, L is the supremum of the domain of drilling speed fuzzy control quantity.
The described interior circular rector factor refers in the interior ring fuzzy controller unit, the error variance between the drilling speed fuzzy control quantity of the drilling speed fuzzy control quantity of desired output and actual output is converted to a parameter of the fuzzy input quantity of corresponding drilling speed error.
In the formula, K eBe the interior circular rector factor, x eBe the supremum of the basic domain of error variance, n is the fuzzy subset's of error variance the supremum of domain.
Should in ring fuzzy controller unit 125 be used for according to the rotating speed of described drilling speed detecting unit 26 inputs and should in the chain rate example factor, the interior circular rector factor calculate the fuzzy input quantity of drilling speed, and this drilling speed is blured input quantity carry out fuzzy reasoning, obtain the drilling speed fuzzy control quantity, and according to the drilling speed digital control amount of this drilling speed fuzzy control quantity calculating for control drilling tool rotary unit 32, output to this drilling tool rotary unit 32.
Interior ring performance evaluation unit 135 is used for according to the performance indications of the expectation of described interior ring fuzzy controller unit 125 storages with by described parameter of creeping into the borer drilling procedure of the reality that detection module 2 detects, calculate a validity function V (x), this validity function V (x) be used for to estimate the parameter that detects and the matching degree of expected performance index.
Interior ring parameter correction unit 145 is used for calculating according to the digital control amount of drilling speed the correction amount P of described adjustability coefficients P.
The adjustability coefficients P that interior ring decision package 155 is used for according to described current time t tAnd described correction amount P, relatively adjustability coefficients P is at P t, P t+ Δ P, P tDescribed evaluation function V (x), V during-Δ P +(x), V -(x), select the corresponding adjustability coefficients of maximum value, as the interior chain rate example factor of next moment t+1 and the adjustability coefficients of the interior circular rector factor.
Outer shroud fuzzy controller unit 126 stores the performance indications of outer shroud scale factor, outer shroud quantizing factor and expectation, and this outer shroud scale factor has an identical adjustability coefficients P with the outer shroud quantizing factor.
Described outer shroud scale factor refers in the outer shroud fuzzy controller unit, the pressure of the drill fuzzy control quantity is converted to a parameter of the digital control amount of the pressure of the drill.
Described outer shroud quantizing factor refers in the outer shroud fuzzy controller unit, the error between the pressure of the drill fuzzy control quantity of the pressure of the drill fuzzy control quantity of desired output and actual output is converted to a parameter of the fuzzy input quantity of corresponding the pressure of the drill speed error.
This outer shroud fuzzy controller unit 125 is used for calculating the fuzzy input quantity of the pressure of the drill according to the pressure of the drill of described the pressure of the drill detecting unit 23 inputs and this outer shroud scale factor, outer shroud quantizing factor, and this pressure of the drill is blured input quantity carry out fuzzy reasoning, obtain the pressure of the drill fuzzy control quantity, and calculate according to this pressure of the drill fuzzy control quantity and to be used for the hoist digital control amount of the pressure of the drill of unit 31 of control drilling tool, output to this drilling tool unit 31 that hoists.
Outer shroud performance evaluation unit 136 is used for calculating a validity function V (x) according to the performance indications of the expectation of described outer shroud fuzzy controller unit 126 storages with by the described actual parameter that creeps into detection module 2 detections, and this validity function V (x) is used for estimating the matching degree of actual performance index and expected performance index.
Outer loop parameter correcting unit 146 is used for calculating according to the digital control amount of the pressure of the drill the correction amount P of described adjustability coefficients P.
The adjustability coefficients P that outer shroud decision package 156 is used for according to described current time t tAnd described correction amount P, relatively adjustability coefficients P is at P t, P t+ Δ P, P tDescribed evaluation function V (x), V during-Δ P +(x), V -(x), select the corresponding adjustability coefficients of maximum value, as the outer shroud scale factor of next moment t+1 and the adjustability coefficients of outer shroud quantizing factor.
Figure 5 shows that the flow chart of the self-adaptation control method of intelligent drilling control of the present invention system.As mentioned above, method of the present invention realizes by the interior ring of drilling control module 1 and outer shroud, on the whole, and the initial control parameter of model fuzzy controller of the present invention unit, and then carry out the parameter adjustment of fuzzy controller unit based on strengthening learning algorithm.
The parameter adjustment of the interior ring fuzzy controller unit 125 of the below in the drilling speed control loop is described method of the present invention as example, and the step of the parameter adjustment of the outer shroud fuzzy controller unit 126 in the pressure of the drill control loop is similar.
Interior ring control method comprises:
A1: the control parameter of ring fuzzy controller unit 125 in initializing, preferably, the control parameter comprises the interior chain rate example factor and the interior circular rector factor.
A2: the drilling speed that is provided by drilling speed detecting unit 26 is provided in interior ring fuzzy controller unit 125, and according to the initial value of the described interior chain rate example factor and the initial value of the interior circular rector factor, the drilling speed of input is become the fuzzy input quantity of drilling speed of interior ring fuzzy controller unit 125 requirements;
A3: interior ring fuzzy controller unit 125 carries out fuzzy reasoning according to a fuzzy rule base to the fuzzy input quantity of drilling speed, obtains the drilling speed fuzzy control quantity.
A4: the drilling speed fuzzy control quantity that interior ring fuzzy controller unit 125 obtains fuzzy reasoning is transformed to the digital control amount of drilling speed that is actually used in control drilling tool rotary unit 32, then outputs to drilling tool rotary unit 32.
A5: its interior chain rate example factor and interior circular rector factor of ring fuzzy controller unit 125 in adjusting.
The method of adjustment of the interior chain rate example factor and the interior circular rector factor will illustrate below.
A6: return steps A 2.
Figure 6 shows that the interior chain rate example factor of interior ring fuzzy controller of the present invention unit 125 and the method for adjustment flow chart of the interior circular rector factor.
According to the present invention, the interior circular rector factor has an identical adjustability coefficients P with the interior chain rate example factor.By adjusting P, the interior chain rate example factor and the interior circular rector factor after just can being adjusted.The following description of concrete step:
B1: the performance indications of the expectation of interior ring fuzzy controller unit 125 are set, rise time, overshoot and the amplitude of the step response of fuzzy controller unit 125 preferably can be set.
B2: interior ring performance evaluation unit 135 is used for calculating a validity function V (x) according to the performance indications of the expectation of described interior ring fuzzy controller unit 125 with by described actual performance index of creeping into detection module 2 detections, and this validity function V (x) is used for estimating the matching degree of actual performance index and expected performance index.
Preferably, the design formulas of described evaluation function V (x) is as follows:
V ( x ) = exp ( - ( x r - x r d β 1 ) 2 - ( x o - x o d β 2 ) 2 - ( x a - x a d β 3 ) )
Wherein, β 1, β 2, β 3Width for the evaluation function that arranges; x 0, x r, x aRespectively rise time, overshoot and the amplitude of step response reality, x d o, x d r, x d rRespectively rise time, overshoot and the amplitude of expectation; Evaluation function V (x) ∈ [0,1].
B3: interior ring parameter regulon 145 calculates the correction amount P of adjustability coefficients P according to the digital control amount of drilling speed.Preferably, the formula that is calculated as follows of correction amount P:
ΔP = α 0 ( 1 - V t ) ( V t - V t - 1 ) 2 P t - P t - 1
Wherein, Δ P is the correction of FACTOR P, α 0The initial learn rate, V tT evaluation function value constantly, P tIt is the adjustability coefficients of t fuzzy controller constantly.
B4: interior ring decision package is according to the adjustability coefficients P of described current time t tAnd described correction amount P, relatively adjustability coefficients P is at P t, P t+ Δ P, P tDescribed evaluation function V (x), V during-Δ P +(x), V -(x), select the corresponding adjustability coefficients P of maximum value, as the interior chain rate example factor of next moment t+1 and the adjustability coefficients P of the interior circular rector factor.
The outer shroud control method comprises:
C1: initialize the control parameter of outer shroud fuzzy controller unit 126, preferably, the control parameter comprises outer shroud scale factor and outer shroud quantizing factor.
C2: the pressure of the drill that is provided by the pressure of the drill detecting unit 23 is provided in outer shroud fuzzy controller unit 126, and according to the initial value of described outer shroud scale factor and the initial value of outer shroud quantizing factor, the pressure of the drill of input is become the fuzzy input quantity of the pressure of the drill of outer shroud fuzzy controller unit 126 requirements;
C3: outer shroud fuzzy controller unit 126 carries out fuzzy reasoning according to a fuzzy rule base to the fuzzy input quantity of the pressure of the drill, obtains the pressure of the drill fuzzy control quantity.
C4: the pressure of the drill fuzzy control quantity that outer shroud fuzzy controller unit 126 obtains fuzzy reasoning is transformed to and is actually used in the hoist digital control amount of the pressure of the drill of unit 31 of control drilling tool, then outputs to the pressure of the drill unit 31 that hoists.
C5: its outer shroud scale factor and the outer shroud quantizing factor of adjusting outer shroud fuzzy controller unit 126.
The step of adjusting outer shroud scale factor and outer shroud quantizing factor is similar with the step of adjusting the interior chain rate example factor and outer shroud quantizing factor, does not repeat them here.
C6: return step C2.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; be understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (20)

1. the intelligent drilling control system of a rig, described rig comprises be used to the drill bit that creeps into, and it is characterized in that, described intelligent drilling control system comprises drilling control module (1), creeps into detection module (2), creeps into driver module (3);
Creep into detection module (2) for the parameter of obtaining borer drilling procedure;
Drilling control module (1) is used for according to creeping into the described parameter that detection module (2) obtains, and calculates the pressure of the drill of drill bit expectation and the drilling speed of expectation;
Creep into driver module (3) according to the pressure of the drill of described expectation and the drilling speed of expectation, drive described rig and creep into.
2. intelligent drilling control according to claim 1 system, it is characterized in that, describedly creep into the parameter that parameter that detection module (2) obtains comprises vibratory output, the pressure of the drill, moment of torsion, drilling speed and the drilling fluid of drill bit, described detection module (2) involving vibrations detecting unit (21), drilling fluid detecting unit (22), the pressure of the drill detecting unit (23), torque detecting unit (24), rotation speed detection unit (25), the drilling speed detecting unit (26) of creeping into, wherein:
Vibration detecting unit (21) is used for detecting in real time the vibratory output of drill bit;
Drilling fluid detection module (22) is used for detecting in real time the parameter of drilling fluid;
The pressure of the drill detecting unit (23) is for detection of the pressure of the drill of described drill bit;
Torque detecting unit (24) is for detection of the moment of torsion of described drill bit;
Rotation speed detection unit (25) is for detection of the rotating speed of described drill bit;
Drilling speed detecting unit (26) is used for the drilling speed according to the pressure of the drill, rotating speed and the torque arithmetic drill bit of described drill bit.
3. intelligent drilling control according to claim 2 system is characterized in that, the vibratory output of described drill bit comprises amplitude and the frequency of the extensional vibration power of the amplitude of axial vibration power of drill bit and frequency, drill bit.
4. intelligent drilling control according to claim 2 system is characterized in that the parameter of described drilling fluid comprises the viscosity of drilling fluid, pH value, temperature and drilling hydraulic.
5. intelligent drilling control according to claim 2 system is characterized in that described drilling speed detecting unit (26) calculates drilling speed according to following formula:
Wherein APR represents drilling speed, and PR represents drill speed, and PP represents the pressure of the drill of drill bit, and RP represents the moment of torsion of drill bit.
6. intelligent drilling control according to claim 2 system is characterized in that, the described driver module (3) that creeps into comprises drilling tool hoist unit (31) and drilling tool rotary unit (32),
Described drilling tool hoists unit (31) for outstanding drill bit and control the pressure of the drill held;
Described drilling tool rotary unit (32) is used for driving bit.
7. intelligent drilling control according to claim 6 system, it is characterized in that, described drilling control module (1) comprises interior ring and outer shroud, and described interior ring is used for the drilling tool rotary unit (31) of control rig, the drilling tool that described outer shroud is used for the control rig unit (32) that hoists.
8. intelligent drilling control according to claim 7 system, it is characterized in that, described interior ring comprises interior ring fuzzy controller unit (125), described interior ring fuzzy controller unit (125) stores the interior chain rate example factor, the performance indications of the interior circular rector factor and expectation, be used for the rotating speed of inputting according to described drilling speed detecting unit (26) and be somebody's turn to do the interior chain rate example factor, the interior circular rector factor calculates the fuzzy input quantity of drilling speed, and this drilling speed is blured input quantity carry out fuzzy reasoning, obtain the drilling speed fuzzy control quantity, and according to the drilling speed digital control amount of this drilling speed fuzzy control quantity calculating for control drilling tool rotary unit (32), output to this drilling tool rotary unit (32).
9. intelligent drilling control according to claim 8 system, it is characterized in that, described interior ring also comprises interior ring performance evaluation unit (135), described interior ring performance evaluation unit (135) is used for creeping into validity function of described calculation of parameter that detection module (2) detects according to the performance indications of the expectation of described interior ring fuzzy controller unit (125) storage with by described, and this validity function is used for estimating the parameter that detects and the matching degree of expected performance index.
10. intelligent drilling control according to claim 8 system, it is characterized in that, described interior ring also comprises interior ring parameter correction unit (145), the described interior chain rate example factor has an identical adjustability coefficients P with the interior circular rector factor, and described interior ring parameter correction unit (145) is used for calculating according to the digital control amount of described drilling speed the correction amount P of described adjustability coefficients P.
11. intelligent drilling control according to claim 10 system is characterized in that described interior ring also comprises interior ring decision package (155), described interior ring decision package (155) is used for the adjustability coefficients P according to described current time t tAnd described correction amount P, relatively adjustability coefficients P is at P t, P t+ Δ P, P tDescribed evaluation function V (x), V during-Δ P +(x), V -(x), select the corresponding adjustability coefficients of maximum value, as the interior chain rate example factor of next moment t+1 and the adjustability coefficients of the interior circular rector factor.
12. intelligent drilling control according to claim 7 system, it is characterized in that, described outer shroud comprises outer shroud fuzzy controller unit (126), described outer shroud fuzzy controller unit (126) stores the outer shroud scale factor, the performance indications of outer shroud quantizing factor and expectation, be used for the pressure of the drill and this outer shroud scale factor according to described the pressure of the drill detecting unit (23) input, the outer shroud quantizing factor calculates the fuzzy input quantity of the pressure of the drill, and this pressure of the drill is blured input quantity carry out fuzzy reasoning, obtain the pressure of the drill fuzzy control quantity, and calculate according to this pressure of the drill fuzzy control quantity and to be used for the hoist digital control amount of the pressure of the drill of unit (31) of control drilling tool, output to this drilling tool unit (31) that hoists.
13. intelligent drilling control according to claim 12 system, it is characterized in that, described outer shroud also comprises outer shroud performance evaluation unit (136), described outer shroud performance evaluation unit (136) is used for creeping into validity function of described calculation of parameter that detection module (2) detects according to the performance indications of the expectation of described outer shroud fuzzy controller unit (126) storage with by described, and this validity function is used for estimating the parameter that detects and the matching degree of expected performance index.
14. intelligent drilling control according to claim 12 system, it is characterized in that, described outer shroud also comprises outer loop parameter correcting unit (146), described outer shroud scale factor has an identical adjustability coefficients P with the outer shroud quantizing factor, and described outer loop parameter correcting unit (146) is used for calculating according to the digital control amount of described the pressure of the drill the correction amount P of described adjustability coefficients P.
15. intelligent drilling control according to claim 14 system is characterized in that described outer shroud also comprises outer shroud decision package (155), described outer shroud decision package (155) is used for the adjustability coefficients P according to described current time t tAnd described correction amount P, relatively adjustability coefficients P is at P t, P t+ Δ P, P tDescribed evaluation function V (x), V during-Δ P +(x), V -(x), select the corresponding adjustability coefficients of maximum value, as the outer shroud scale factor of next moment t+1 and the adjustability coefficients of outer shroud quantizing factor.
16. the intelligent drilling control method of a rig, described rig comprises be used to the drill bit that creeps into, and it is characterized in that, described method comprises the steps:
Obtain the parameter in the borer drilling procedure;
According to the described parameter of obtaining, calculate the pressure of the drill of described drill bit expectation and the drilling speed of expectation;
According to the pressure of the drill of described expectation and the drilling speed of expectation, drive described rig and creep into.
17. the intelligent drilling control method of rig as claimed in claim 16, it is characterized in that, the described parameter of obtaining comprises the drilling speed of drill bit and/or the pressure of the drill of drill bit, and the step of the drilling speed of the described drill bit expectation of described calculating and/or the pressure of the drill of drill bit comprises the steps:
According to the drilling speed that obtains or the pressure of the drill, the interior chain rate example factor, the interior circular rector factor, calculate the fuzzy input quantity of drilling speed or the fuzzy input quantity of the pressure of the drill;
According to a fuzzy rule base, the fuzzy input quantity of drilling speed or the fuzzy input quantity of the pressure of the drill are carried out fuzzy reasoning, obtain drilling speed fuzzy control quantity or the pressure of the drill fuzzy control quantity;
Drilling speed fuzzy control quantity or the quantitative change of the pressure of the drill fuzzy control quantity that fuzzy reasoning is obtained are changed to the digital control amount of drilling speed or the digital control amount of the pressure of the drill.
18. the intelligent drilling control method of rig as claimed in claim 17, it is characterized in that, described scale factor has an identical adjustability coefficients P with quantizing factor, and the method also comprises: the correction amount P that calculates described adjustability coefficients P according to the digital control amount of described drilling speed or the digital control amount of the pressure of the drill.
19. the intelligent drilling control method of rig as claimed in claim 18 is characterized in that, the formula that is calculated as follows of described correction amount P:
ΔP = α 0 ( 1 - V t ) ( V t - V t - 1 ) 2 P t - P t - 1
Wherein, Δ P is the correction of FACTOR P, α 0The initial learn rate, V tT evaluation function value constantly, P tAdjustability coefficients for t fuzzy controller constantly.
20. the intelligent drilling control method of rig as claimed in claim 19 is characterized in that, the design formulas of described evaluation function V (x) is as follows:
V ( x ) = exp ( - ( x r - x r d β 1 ) 2 - ( x o - x o d β 2 ) 2 - ( x a - x a d β 3 ) ) ,
Wherein, β 1, β 2, β 3Width for the evaluation function that arranges; x o, x r, x aRespectively rise time, overshoot and the amplitude of step response reality, x d o, x d r, x d rRespectively rise time, overshoot and the amplitude of expectation, and evaluation function V (x) ∈ [0,1].
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CN105518252A (en) * 2013-09-25 2016-04-20 哈利伯顿能源服务公司 Workflow adjustment methods and systems for logging operations
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CN107689013A (en) * 2016-08-03 2018-02-13 中国石油化工股份有限公司 Evaluating bearing calibration and device before TRAP RESERVE is bored
CN106837295A (en) * 2017-01-25 2017-06-13 河南理工大学 Intelligent safe and efficient automatic drilling control system and control method
CN106837295B (en) * 2017-01-25 2020-04-07 河南理工大学 Intelligent safe and efficient automatic drilling control system and control method
CN108643884A (en) * 2018-04-26 2018-10-12 中国矿业大学 A kind of jumbolter propulsion rotary system and its cooperative self-adapted control method
CN108956118A (en) * 2018-07-19 2018-12-07 大连海事大学 A kind of testing stand being able to achieve no-dig technique directional drilling parameter detecting

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