CN102852511B - A kind of intelligent drilling control system and method for oil-well rig - Google Patents
A kind of intelligent drilling control system and method for oil-well rig Download PDFInfo
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Abstract
The invention discloses a kind of intelligent drilling control system for oil-well rig drilling control and control method.Intelligence drilling control system comprise creep into driver module, creep into detection module, drilling control module.Intelligent control method is the FUZZY ALGORITHMS FOR CONTROL with parameter self-adjusting ability, and algorithm is made up of two control loops, and inner ring is that drilling speed controls, and outer shroud is that the pressure of the drill controls.Each control loop comprises four parts such as fuzzy controller unit, performance evaluation unit, parameter correction unit, decision package, can by the parameter of self-adaptative adjustment fuzzy controller, improve controller performance, realize the Based Intelligent Control of the pressure of the drill to oil-well rig and drilling speed.The present invention can reduce labor strength in borer drilling procedure, and can improve well track precision, the reduction bit wear of drilling well and improve drilling speed.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of control system of the oil-well rig for oil-gas drilling and control method.
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 manual operation rig: the propulsive force of the drill bit that driller personnel foundation rig operations handbook is recommended and rotary speed, according to the dynamics sensation adjustment driller parameters of drilling process.When rig creeps into, between the drill bit of drilling tool and rock stratum, not only there is wet friction, also have dry friction and semi-dry friction.It is uneven that manual operation easily causes drilling tool upper end to be transferred, and causes drill bit load uneven; In addition because the difference of operating technology also can cause the rapid fluctuation of the pressure of the drill.Thus, manually-operated mode can cause the position of holing to offset: the too low meeting of propulsive force causes, and the diffusion of impact energy is slow, makes the propelling speed of drill bit slack-off; The rotation torque of drilling rod diminishes; The position deviation of drilling well can be caused excessive.The too high position deviation that also can increase drilling well of propulsive force; Also the propelling speed of drill bit can not be improved.In order to the drilling quality obtained, need to avoid too low rotary speed.Contrary, too high rotary speed can cause damaging drill bit.
Adopt the method for automatic bit feed can eliminate the shortcoming of manual operation rig: by gathering the parameter in drilling process, such as comprise 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., intelligent control method is adopted to enable drilling tool adapt to different rock stratum, obtain best rock stratum transmission rate, and keep the ability of the collimation of boring.Intelligence drilling control system can not only maintain the accuracy of drilling parameter, also can reduce bit wear, thus improve drilling quality and economic benefit.
Application number be 201010115470.4 Chinese invention patent (a kind of rock entering drilling machine and control system and control method) thereof disclose a kind of control system for rock entering drilling machine: detect the drilling bucket degree of depth and also compare with the depth datum value pre-set, according to comparative result being carried or pressing down drilling bucket; Detect drilling bucket pressure and compare with the pressure reference value pre-set, controlling drilling bucket according to comparative result and stop into rock or continue into rock; Detect drilling bucket speed and compare with Velocity Reference value, controlling master winch according to comparative result and reduce or improve moulding pressure.US Patent No. 6732052B2 (MethodandApparatusforPredictionControlinDrillingDynamics UsingNeuralNetworks) discloses a kind of drilling process forecast Control Algorithm based on neutral net.Down-hole computer for controlling is utilized to control DHA, according to the change Automatic Optimal drilling efficiency of drilling parameter and drilling direction.Upgrade the forecast model of drilling process by neutral net iteration and provide Operating Guideline for driller personnel.A kind of oil-well rig automatic bit feed technology based on fuzzy intelligence technology is proposed in document " oil-well rig intelligence is sent and bored technical research " (" petroleum machinery ", the 34th volume the 12nd phase in 2006, king's equality).Utilize industrial control computer to carry out automatic bit feed control to rig auxiliary motor, the control experience according to skilled operation driller sets up fuzzy rule, realizes permanent the pressure of the drill drilling control.
Traditional drilling control method, mainly by setting up drilling process model, realizes the control of creeping into drilling tool to the feedback of drilling parameter by sensor.But be subject to geological condition, bit wear situation and the isoparametric impact of mud property due to drilling process, 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
(1) technical problem that will solve
For overcoming deficiency of the prior art, technical problem to be solved by this invention is to provide a kind of intelligent drilling control system and control method of oil-well rig, can when not setting up mathematical models, realize the control to oil-well rig drilling process, controling parameters 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 the drill bit for creeping into, and described intelligent drilling control system comprises drilling control module, creeps into detection module, creeps into driver module; Creep into detection module for obtaining the parameter in borer drilling procedure; Drilling control module is used for the described parameter according to creeping into detection module acquisition, calculates the pressure of the drill of drill bit expectation and the drilling speed of expectation; Creep into driver module the pressure of the drill according to described expectation and the drilling speed of expectation, drive described rig to creep into.
According to a kind of detailed description of the invention of the present invention, the described parameter of creeping into parameter that detection module obtains and comprising the vibratory output of drill bit, the pressure of the drill, moment of torsion, drilling speed and drilling fluid, describedly creep into detection module involving vibrations detecting unit, drilling fluid detecting unit, the pressure of the drill detecting unit, torque detecting unit, rotation speed detection unit, drilling speed detecting unit, wherein: vibration detecting unit is used for the vibratory output detecting drill bit in real time; Drilling fluid detection module is used for the parameter detecting drilling fluid in real time; The pressure of the drill detecting unit is for detecting the pressure of the drill of described drill bit; Torque detecting unit is for detecting the moment of torsion of described drill bit; Rotation speed detection unit is for detecting the rotating speed of described drill bit; Drilling speed detecting unit is used for the drilling speed of the pressure of the drill, rotating speed and torque arithmetic drill bit according to described drill bit.
According to a kind of detailed description of the invention of the present invention, described in creep into driver module and comprise drilling tool and to hoist unit and drilling tool rotary unit, the described drilling tool unit that hoists is held drill bit for outstanding and control the pressure of the drill; Described drilling tool rotary unit is for driving bit.
According to a kind of detailed description of the invention of the present invention, described drilling control module comprises inner ring and outer shroud, and described inner ring is for controlling the drilling tool rotary unit of rig, and described outer shroud to hoist unit for the drilling tool controlling rig.
According to a kind of detailed description of the invention of the present invention, described inner ring comprises inner ring fuzzy controller unit, described inner ring fuzzy controller unit stores inner ring scale factor, the performance indications of inner ring quantizing factor and expectation, for according to the rotating speed of described drilling speed detecting unit input and this inner ring scale factor, inner ring quantizing factor calculates drilling speed Indistinct Input amount, and fuzzy reasoning is carried out to this drilling speed Indistinct Input amount, obtain drilling speed fuzzy control quantity, and calculate the digital control amount of drilling speed for controlling drilling tool rotary unit according to this drilling speed fuzzy control quantity, output to this drilling tool rotary unit.
According to a kind of detailed description of the invention of the present invention, described outer shroud comprises outer shroud fuzzy controller unit, described outer shroud fuzzy controller unit stores outer shroud scale factor, the performance indications of outer shroud quantizing factor and expectation, for according to the pressure of the drill of described the pressure of the drill detecting unit input and this outer shroud scale factor, outer shroud quantizing factor calculates the pressure of the drill Indistinct Input amount, and fuzzy reasoning is carried out to this pressure of the drill Indistinct Input amount, obtain the pressure of the drill fuzzy control quantity, and calculate according to this pressure of the drill fuzzy control quantity and to hoist the digital control amount of the pressure of the drill of unit for controlling drilling tool, output to this drilling tool to hoist unit.
The present invention also proposes a kind of intelligent drilling control method of rig, and described rig comprises the drill bit for creeping into, and described method comprises the steps: to obtain the parameter in borer drilling procedure; According to the parameter of described acquisition, 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, described rig is driven to creep into.
(3) beneficial effect
The intelligent drilling control system that the present invention proposes and control method, be of value to the labour intensity reducing driller personnel in borer drilling procedure, improves the well track precision of drilling well, reduces the penetrance of bit wear and drill bit.
Accompanying drawing explanation
Figure 1 shows that the model calling schematic diagram of intelligent drilling control system of the present invention;
Figure 2 shows that the fundamental diagram of intelligent drilling control system of the present invention;
Figure 3 shows that the workflow diagram creeping into detection module of intelligent drilling control system of the present invention;
Figure 4 shows that the control flow schematic diagram of the self-adaptation control method of intelligent drilling control system of the present invention;
Figure 5 shows that the algorithm flow chart of the self-adaptive step random search method of intelligent control method of the present invention;
Figure 6 shows that the flow chart of the parameter tuning algorithm of inner ring fuzzy controller unit of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in further detail.
In oil-well rig drilling process, due to the diversity of the Tectonic Rock Mass of down-hole, when drill bit of drilling machine front end touches 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, and bit damage etc.; Too low the pressure of the drill, drilling speed and moment of torsion make 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, are also conducive to the wearing and tearing reducing drill bit.
When oil-well rig touches rock of different nature, if can not adjust the pressure of the drill, drilling speed and moment of torsion in real time, keep the laminating of drill bit and ROCK CONDITIONS, will cause the unbalance loading of drill bit, even fracture drilling rod.The pressure of the drill FT can be expressed as:
F
T＝MG-F
1-F
2-F
f
Wherein, drilling tool net weight is MG, and the buoyancy of drilling tool in drilling fluid is F
1, the pulling force being subject to wire rope is carried is F
2, the frictional force between drill bit and rock stratum is F
f.
Drilling speed V
twith the rotary speed W of drill bit
twith the pressure of the drill F
trelevant.The rotary speed W of drill bit
tbe equal to the rotating speed W of 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 borer drilling procedure and the parameter of drilling fluid.Drilling control module 1 calculates parameter according to creeping into detection module 2, by the adaptive control algorithm unit 11 with parameter self-adjusting ability stored in drilling control module 1, calculates the pressure of the drill of expectation and the drilling speed of expectation.Creep into driver module 3 the pressure of the drill according to expectation and the drilling speed of expectation, drive rig to creep into.
Creep into detection module to comprise: 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 in real time detects the vibratory output of drill bit in down-hole, i.e. the amplitude of the extensional vibration power of the amplitude of the axial vibration power of drill bit and frequency, drill bit and frequency; Drilling fluid detection module 22 detects physical characteristic and the chemical characteristic of the drilling fluid near downhole drill bit in real time, comprises the parameter informations such as the viscosity of drilling fluid, pH value, temperature and drilling hydraulic; The pressure of the drill detecting unit 23 measures the contact between drill bit and formation downhole in real time; Torque detecting unit 24 measures the moment of torsion of drill bit in drilling process, when comprising horizontal resistance when measuring fractured rock and drilling tool revolution and the size of frictional resistance of hole wall; Rotation speed detection unit 25 detects measures drill speed; Drilling speed detection module 25, according to the pressure of the drill, rotating speed and moment of torsion, calculates rock penetration speed when rock stratum penetrance calculating rig creeps into, i.e. drilling speed.
Creep into driver module 3 to comprise and to hoist unit 31 for the outstanding drilling tool held drill bit and control the pressure of the drill, with for driving bit with the drilling tool rotary unit 32 of broken rock, the preferred drilling tool unit 31 that hoists can comprise winch, auxiliary brake etc. and to hoist drilling tool and the outstanding mechanism of holding drill string and controlling the pressure of the drill; Rig drilling tool rotary unit 32 comprises rotating disk, water tap and drilling tool etc. and rotates with the mechanism of broken rock for driving drilling tool.
For guaranteeing the slickness of the pressure of the drill and drilling speed change in boring procedure, need to adopt intelligence control system and control method, the drilling tool controlling oil-well rig hoists unit 31 and drilling tool rotary unit 32.
Figure 1 shows that the model calling schematic diagram of intelligent drilling control system of the present invention.As shown in Figure 1, the effective object creeping into driver module 3 is formation downhole and mud etc.The output creeping 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 detection in real time and creep into the state of driver module 3 and the state of effective object 4.
Fig. 2 is the fundamental diagram of intelligent drilling control system of the present invention.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 and export, and the information such as drilling speed, drilling control module 1 calculates the drilling speed of the pressure of the drill that subsequent time expects and expectation.Expect the pressure of the drill and expect that drilling speed outputs to and creeps in driver module 3, to hoist unit 31 and drilling tool rotary unit 32 to adjust drilling tool.
Figure 3 shows that the structural representation creeping into detection module 2 of intelligent drilling control system of the present invention.Creep into 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, drilling speed detecting unit 26.Wherein: vibration detecting unit 21 detects the vibration regularity of drill bit in down-hole in real time, can be axial vibration power amplitude, extensional vibration power amplitude; Drilling fluid detecting unit 22 detects the drilling liquid parameter near downhole drill bit in real time, can be the parameters such as the viscosity of drilling fluid, pH value, temperature and drilling hydraulic; The pressure of the drill detecting unit 23 measures the pressure of the drill between drill bit and formation downhole in real time; With the frictional resistance of hole wall when horizontal resistance when torque detecting unit 24 measures drill bit fractured rock in drilling process and drilling tool revolution, 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, according to drill speed, the pressure of the drill and moment of torsion, calculates drilling speed, is shown below:
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 system of the present invention.Self-adaptation control method of the present invention adopts the self-regulating FUZZY ALGORITHMS FOR CONTROL of parameter, is made up of two control loops, and inner ring is that drilling speed controls, and outer shroud is that the pressure of the drill controls.
Drilling control module 1 comprises inner ring and outer shroud, and inner ring comprises inner ring fuzzy controller unit 125, inner ring performance evaluation unit 135, inner ring parameter correction unit 145, inner 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 of inner ring controls by four parts such as inner ring fuzzy controller unit 125, inner ring performance evaluation unit 135, inner ring parameter correction unit 145, inner ring decision packages 155, and the output of inner ring controls the drilling tool rotary unit 31 of rig.The pressure of the drill of outer shroud controls to comprise 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, and the drilling tool that the output of outer shroud controls rig hoists unit 32.
Inner ring fuzzy controller unit 125 stores the performance indications of inner ring scale factor, inner ring quantizing factor and expectation, and this inner ring scale factor and inner ring quantizing factor have an identical adjustability coefficients P.
Described inner ring scale factor refers in inner ring fuzzy controller unit, drilling speed fuzzy control quantity is converted to a parameter of the digital control amount of drilling speed.
in formula, K
ufor inner ring scale factor, y
ufor the digital control amount of drilling speed, L is the supremum of the domain of drilling speed fuzzy control quantity.
Described inner ring quantizing factor refers in inner ring fuzzy controller unit, and the error variance between the drilling speed fuzzy control quantity export the drilling speed fuzzy control quantity of desired output and reality is converted to a parameter of the Indistinct Input amount of corresponding drilling speed error.
in formula, K
efor inner ring quantizing factor, x
efor the supremum of the basic domain of error variance, n is the supremum of the domain of the fuzzy subset of error variance.
This inner ring fuzzy controller unit 125 calculates drilling speed Indistinct Input amount for the rotating speed that inputs according to described drilling speed detecting unit 26 and this inner ring scale factor, inner ring quantizing factor, and fuzzy reasoning is carried out to this drilling speed Indistinct Input amount, obtain drilling speed fuzzy control quantity, and calculate the digital control amount of drilling speed for controlling drilling tool rotary unit 32 according to this drilling speed fuzzy control quantity, output to this drilling tool rotary unit 32.
Inner ring performance evaluation unit 135 is for the performance indications of the expectation according to described inner ring fuzzy controller unit 125 storage with by the parameter in the described borer drilling procedure creeping into the reality that detection module 2 detects, calculate validity function V (x), this validity function V (x) is for evaluating the matching degree of detected parameter and expected performance index.
Inner ring parameter correction unit 145 is for calculating the correction amount P of described adjustability coefficients P according to the digital control gauge of drilling speed.
Inner ring decision package 155 is for the adjustability coefficients P according to described current time t
tand described correction amount P, compare adjustability coefficients P at P
t, P
t+ Δ P, P
tdescribed evaluation function V (x) during-Δ P, V
+(x), V
-x (), selects the adjustability coefficients corresponding to maximum value, as the inner ring scale factor of subsequent time t+1 and the adjustability coefficients of inner ring quantizing 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 and outer shroud quantizing factor have an identical adjustability coefficients P.
Described outer shroud scale factor refers in 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 outer shroud fuzzy controller unit, the error between the pressure of the drill fuzzy control quantity of desired output to the pressure of the drill fuzzy control quantity that reality exports is converted to a parameter of the Indistinct Input amount of corresponding the pressure of the drill speed error.
This outer shroud fuzzy controller unit 125 calculates the pressure of the drill Indistinct Input amount for the pressure of the drill of inputting according to described the pressure of the drill detecting unit 23 and this outer shroud scale factor, outer shroud quantizing factor, and fuzzy reasoning is carried out to this pressure of the drill Indistinct Input amount, obtain the pressure of the drill fuzzy control quantity, and calculate according to this pressure of the drill fuzzy control quantity and to hoist the digital control amount of the pressure of the drill of unit 31 for controlling drilling tool, output to this drilling tool and to hoist unit 31.
Outer shroud performance evaluation unit 136 creeps into the actual parameter that detection module 2 detects calculate validity function V (x) for the performance indications of expectation that stores according to described outer shroud fuzzy controller unit 126 with by described, and this validity function V (x) is for evaluating the matching degree of actual performance index and expected performance index.
Outer loop parameter correcting unit 146 is for calculating the correction amount P of described adjustability coefficients P according to the digital control gauge of the pressure of the drill.
Outer shroud decision package 156 is for the adjustability coefficients P according to described current time t
tand described correction amount P, compare adjustability coefficients P at P
t, P
t+ Δ P, P
tdescribed evaluation function V (x) during-Δ P, V
+(x), V
-x (), selects the adjustability coefficients corresponding to maximum value, as the outer shroud scale factor of subsequent time 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 system of the present invention.As mentioned above, method of the present invention is realized by the inner ring of drilling control module 1 and outer shroud, and on the whole, first the present invention sets up the initial controling parameters of fuzzy controller unit, and then based on strengthening learning algorithm and carry out the parameter adjustment of fuzzy controller unit.
Describe method of the present invention for the parameter adjustment of the inner ring fuzzy controller unit 125 in drilling speed control loop below, the step of the parameter adjustment of the outer shroud fuzzy controller unit 126 in the pressure of the drill control loop is similar.
Inner ring control method comprises:
A1: the controling parameters initializing inner ring fuzzy controller unit 125, preferably, controling parameters comprises inner ring scale factor and inner ring quantizing factor.
A2: inner ring fuzzy controller unit 125 receives the drilling speed provided by drilling speed detecting unit 26, and according to the initial value of described inner ring scale factor and the initial value of inner ring quantizing factor, the drilling speed of input is become the drilling speed Indistinct Input amount that inner ring fuzzy controller unit 125 requires;
A3: inner ring fuzzy controller unit 125, according to a fuzzy rule base, carries out fuzzy reasoning to drilling speed Indistinct Input amount, obtains drilling speed fuzzy control quantity.
A4: the drilling speed fuzzy control quantity that fuzzy reasoning obtains by inner ring fuzzy controller unit 125 is transformed to the digital control amount of drilling speed being actually used in and controlling drilling tool rotary unit 32, then outputs to drilling tool rotary unit 32.
A5: its inner ring scale factor of adjustment inner ring fuzzy controller unit 125 and inner ring quantizing factor.
The method of adjustment of inner ring scale factor and inner ring quantizing factor is by described below.
A6: return steps A 2.
Figure 6 shows that the inner ring scale factor of inner ring fuzzy controller unit 125 of the present invention and the method for adjustment flow chart of inner ring quantizing factor.
According to the present invention, inner ring quantizing factor and inner ring scale factor have an identical adjustability coefficients P.By adjustment P, the inner ring scale factor after just can being adjusted and inner ring quantizing factor.Concrete step describes as follows:
B1: the performance indications arranging the expectation of inner ring fuzzy controller unit 125, preferably can arrange the rise time of the step response of fuzzy controller unit 125, overshoot and amplitude.
B2: inner ring performance evaluation unit 135 is for the performance indications of the expectation according to described inner ring fuzzy controller unit 125 with by described actual performance index calculate validity function V (x) creeping into detection module 2 and detect, and this validity function V (x) is for evaluating the matching degree of actual performance index and expected performance index.
Preferably, the design formulas of described evaluation function V (x) is as follows:
Wherein, β
1, β
2, β
3for the width of the evaluation function of setting; x
0, x
r, x
athe rise time of step response reality, overshoot and amplitude respectively, x
d o, x
d r, x
d rthe rise time of expectation, overshoot and amplitude respectively; Evaluation function V (x) ∈ [0,1].
B3: inner ring parameter adjustment unit 145 calculates the correction amount P of adjustability coefficients P according to the digital control gauge of drilling speed.Preferably, correction amount P be calculated as follows formula:
Wherein, Δ P is the correction of FACTOR P, α
0initial learning rate, V
tthe evaluation function value of t, P
tit is the adjustability coefficients of the fuzzy controller of t.
B4: inner ring decision package is according to the adjustability coefficients P of described current time t
tand described correction amount P, compare adjustability coefficients P at P
t, P
t+ Δ P, P
tdescribed evaluation function V (x) during-Δ P, V
+(x), V
-x (), selects the adjustability coefficients P corresponding to maximum value, as the inner ring scale factor of subsequent time t+1 and the adjustability coefficients P of inner ring quantizing factor.
Outer loop control method comprises:
C1: the controling parameters initializing outer shroud fuzzy controller unit 126, preferably, controling parameters comprises outer shroud scale factor and outer shroud quantizing factor.
C2: outer shroud fuzzy controller unit 126 receives the pressure of the drill provided by the pressure of the drill detecting unit 23, 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 pressure of the drill Indistinct Input amount that outer shroud fuzzy controller unit 126 requires;
C3: outer shroud fuzzy controller unit 126, according to a fuzzy rule base, carries out fuzzy reasoning to the pressure of the drill Indistinct Input amount, obtains the pressure of the drill fuzzy control quantity.
C4: the pressure of the drill fuzzy control quantity that fuzzy reasoning obtains by outer shroud fuzzy controller unit 126 is transformed to be actually used in and controls drilling tool and to hoist the digital control amount of the pressure of the drill of unit 31, then outputs to the pressure of the drill and to hoist unit 31.
C5: its outer shroud scale factor of adjustment outer shroud fuzzy controller unit 126 and outer shroud quantizing factor.
The step of adjustment outer shroud scale factor and outer shroud quantizing factor is similar with the step of adjustment inner ring scale factor and outer shroud quantizing factor, does not repeat them here.
C6: return step C2.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. the intelligent drilling control system of a rig, described rig comprises the drill bit for creeping into, 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 obtaining the parameter in borer drilling procedure, described parameter comprises the parameter of the vibratory output of drill bit, the pressure of the drill button square, drilling speed and drilling fluid, this creeps into detection module (2) and comprises drilling speed detecting unit (26) and the pressure of the drill detection module (23), and 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;
Described the pressure of the drill detection module (23) is for measuring the contact between drill bit and formation downhole in real time;
Drilling control module (1) for according to creeping into the described parameter that detection module (2) obtains, calculates the drilling speed of the pressure of the drill that drill bit expects and expectation;
Creep into driver module (3) the pressure of the drill according to described expectation and the drilling speed of expectation, described rig is driven to creep into, this creeps into driver module (3) and comprises drilling tool and to hoist unit (31) and drilling tool rotary unit (32), the described drilling tool unit (31) that hoists is held drill bit for outstanding and control the pressure of the drill, and described drilling tool rotary unit (32) is for driving bit;
This drilling control module (1) comprises inner ring and outer shroud, and described inner ring is for controlling described drilling tool rotary unit (31), and described outer shroud to hoist unit (32) for controlling described drilling tool;
Described inner ring comprises inner ring fuzzy controller unit (125), inner ring performance evaluation unit (135), inner ring parameter correction unit (145) and inner ring decision package (155), described inner ring fuzzy controller unit (125) stores inner ring scale factor, the performance indications of inner ring quantizing factor and expectation, for the drilling speed that inputs according to described drilling speed detecting unit (26) and this inner ring scale factor, inner ring quantizing factor calculates drilling speed Indistinct Input amount, and fuzzy reasoning is carried out to this drilling speed Indistinct Input amount, obtain drilling speed fuzzy control quantity, and calculate the digital control amount of drilling speed for controlling drilling tool rotary unit (32) according to this drilling speed fuzzy control quantity, output to this drilling tool rotary unit (32), described inner ring scale factor and inner ring quantizing factor have an identical adjustability coefficients P, described inner ring performance evaluation unit (135) is crept into the described parameter that detection module (2) detects calculate validity function V (x) for the performance indications of expectation that stores according to described inner ring fuzzy controller unit (125) with by described, and this validity function is for evaluating the matching degree of detected parameter and expected performance index, described inner ring parameter correction unit (145) is for calculating the correction amount P of described adjustability coefficients P according to the digital control gauge of described drilling speed, described inner ring decision package (155) is for the adjustability coefficients P according to described current time t
tand described correction amount P, compare adjustability coefficients P at P
t, P
t+ Δ P, P
tdescribed validity function V (x) during-Δ P, V
+(x), V
-x (), selects the adjustability coefficients corresponding to maximum value, as the inner ring scale factor of subsequent time t+1 and the adjustability coefficients of inner ring quantizing factor,
Described outer shroud comprises outer shroud fuzzy controller unit (126), outer shroud performance evaluation unit (136), inner ring parameter correction unit (146) and inner ring decision package (156), described outer shroud fuzzy controller unit (126) stores outer shroud scale factor, the performance indications of outer shroud quantizing factor and expectation, for the pressure of the drill of inputting according to described the pressure of the drill detection module (23) and this outer shroud scale factor, outer shroud quantizing factor calculates the pressure of the drill Indistinct Input amount, and fuzzy reasoning is carried out to this pressure of the drill Indistinct Input amount, obtain the pressure of the drill fuzzy control quantity, and calculate according to this pressure of the drill fuzzy control quantity and to hoist the digital control amount of the pressure of the drill of unit (31) for controlling drilling tool, output to this drilling tool to hoist unit (31), described outer shroud scale factor and outer shroud quantizing factor have an identical adjustability coefficients P, described outer shroud performance evaluation unit (136) is crept into the described parameter that detection module (2) detects calculate validity function V (x) for the performance indications of expectation that stores according to described outer shroud fuzzy controller unit (126) with by described, and this validity function is for evaluating the matching degree of detected parameter and expected performance index, described outer loop parameter correcting unit (146) is for calculating the correction amount P of described adjustability coefficients P according to the digital control gauge of described the pressure of the drill, described outer shroud decision package (155) is for the adjustability coefficients P according to described current time t
tand described correction amount P, compare adjustability coefficients P at P
t, P
t+ Δ P, P
tdescribed validity function V (x) during-Δ P, V
+(x), V
-x (), selects the adjustability coefficients corresponding to maximum value, as the outer shroud scale factor of subsequent time t+1 and the adjustability coefficients of outer shroud quantizing factor,
Described correction amount P is calculated as follows formula:
Wherein, Δ P is the correction of FACTOR P, α
0initial learning rate, V
tthe validity function value of t, P
tfor the adjustability coefficients of the fuzzy controller of t;
The design formulas of described validity function V (x) is as follows:
Wherein, β
1, β
2, β
3for the width of the validity function of setting; x
o, x
r, x
athe rise time of step response reality, overshoot and amplitude respectively, x
d o, x
d r, x
d rthe rise time of expectation, overshoot and amplitude respectively, and validity function V (x) ∈ [0,1].
2. intelligent drilling control system according to claim 1, it is characterized in that, the described detection module (2) that creeps into goes back involving vibrations detecting unit (21), drilling fluid detecting unit (22) and torque detecting unit (24), wherein:
Vibration detecting unit (21) is for detecting the vibratory output of drill bit in real time;
Drilling fluid detection module (22) is for detecting the parameter of drilling fluid in real time;
Torque detecting unit (24) is for detecting the moment of torsion of described drill bit.
3. intelligent drilling control system according to claim 2, is characterized in that, the vibratory output of described drill bit comprises the amplitude of the axial vibration power of drill bit and frequency, the amplitude of extensional vibration power of drill bit and frequency.
4. intelligent drilling control system according to claim 2, is characterized in that, the parameter of described drilling fluid comprises the viscosity of drilling fluid, pH value, temperature and drilling hydraulic.
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| CN104806226B (en) * | 2015-04-30 | 2018-08-17 | 北京四利通控制技术股份有限公司 | intelligent drilling expert system |
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| CN107689013B (en) * | 2016-08-03 | 2021-06-15 | 中国石油化工股份有限公司 | Method and device for correcting evaluation parameters before drilling of trap resource amount |
| 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 |
| CN108643884B (en) * | 2018-04-26 | 2021-05-18 | 中国矿业大学 | Jumbolter propelling and rotating system and cooperative self-adaptive control method thereof |
| CN108956118B (en) * | 2018-07-19 | 2020-11-06 | 大连海事大学 | Test bench capable of realizing non-excavation directional drilling parameter detection |
| CN110500081B (en) * | 2019-08-31 | 2022-09-16 | 中国石油集团川庆钻探工程有限公司 | Automatic drilling method based on deep learning |
| CN111878055B (en) * | 2020-07-09 | 2022-03-25 | 中国石油大学(北京) | Control system and control method for drilling speed of drill bit |
| CN113338892B (en) * | 2021-06-01 | 2023-06-02 | 北京市政建设集团有限责任公司 | Performance monitoring method and device for intelligent shallow buried underground excavation |
| CN113503153A (en) * | 2021-09-13 | 2021-10-15 | 四川交达预应力工程检测科技有限公司 | Self-adaptive drilling hole-forming method and system |
| CN115075799B (en) * | 2022-07-19 | 2022-11-08 | 山东九商工程机械有限公司 | Engine rotating speed control method of directional drilling machine for coal mine |
| CN117328850B (en) * | 2023-09-22 | 2024-05-14 | 安百拓(张家口)建筑矿山设备有限公司 | Drilling machine control method, device, terminal and storage medium |
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