CN104453714A - Rotary steering tool controlling method - Google Patents
Rotary steering tool controlling method Download PDFInfo
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- CN104453714A CN104453714A CN201410602852.8A CN201410602852A CN104453714A CN 104453714 A CN104453714 A CN 104453714A CN 201410602852 A CN201410602852 A CN 201410602852A CN 104453714 A CN104453714 A CN 104453714A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/04—Directional drilling
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
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Abstract
The invention discloses a rotary steering tool controlling method which can be used for determining the control mode and steering parameters of a steering tool, achieving automatic control over a hole trajectory, improving the working efficiency of the steering tool, and meeting the requirement of directional drilling for steering control. The method comprises the steps of acquiring surveying data and monitoring the trajectory. By the adoption of the method, steerable drilling efficiency is improved, hole trajectory control precision is improved, and the requirement of extended-reach well drilling, complicated geology structure horizontal well drilling and geosteering drilling for trajectory control can be met.
Description
Technical field
The present invention relates to a kind of control method of directed drilling steering tool, particularly relate to a kind of control method of rotary steerable tool.
Background technology
In prior art, rotary steerable tool owing to realizing the guiding control of well track under drill string rotating state, overcome that frictional resistance in slide-and-guide operation is excessive, landwaste deposition and the defect such as extreme displacement is little, wellbore quality, drilling efficiency and drilling safety can be increased substantially, so be widely used in the guiding construction operation of extended reach well, horizontal well and 3 D complex structure well, it is one of current typical advanced drilling equipment.
Current rotary steerable tool is divided into drill bit pushing type and bit heading formula two kinds of fundamental types by guidance mode, " driving shaft-non rotating cover " structure and " full rotation " structure etc. can be divided into again by power transmission structure mode, wherein full rotation directional type steering tool combines the advantage of directional type guiding and full rotation drilling well, more can adapt to stratum and the working condition of various complexity, drilled darker, drilling speed is higher, develop at Marine oil and gas resource and bore ultradeep well in oil field development complex reservoir, high-leveled and difficult directional well, cluster well, horizontal well, extended reach well, more competitive in the special wells such as Multilateral Wells and 3 D complex structure well.Therefore, it be current drilling engineering and oil-gas exploration and development in the urgent need to a most advanced and sophisticated drilling equipment, be the trend of modern navigational drilling techniques development.
Domestic and international existing a variety of mode in rotary steerable tool design research and development, abroad, there is many difference in the rotary steerable tool of a lot of companies research and development, feature also different in design.The AutoTrack of such as Baker Hughes Inc is the Typical Representative of drill bit pushing type instrument, and " driving shaft-non rotating cover " design feature of research and development is that guiding operation (such as with reference to patent document WO2008101020A, US2013256034A etc.) is carried out in size and the direction with joint efforts that act on the borehole wall by controlling non rotating overcoat lifting force block.And the Revolution (such as with reference to patent document WO2008120025A) of the Geo-Pilot of typical bit heading formula rotary steerable tool such as Halliburton Company (such as with reference to patent document WO2014055068A), Weatherford and the PowerDrive Xceed (such as with reference to patent document NO20061119A) etc. of Schlumberger, wherein said Geo-Pilot and Revolution is static directional type steering tool, feature is that instrument deflecting ability is biased displacement realization by down-hole adjustment steering tool, and can regulate continuously.Described PowerDrive Xceed is " full rotation " structure, i.e. full rotation directional type steering tool, have employed fixed guide bias structure, its build angle rate is realized by the guiding and angle holding drilling pattern replacing change, conducts and control to parameter (tool-face and guiding ratio) under relying on ground system.Due to the restriction of controlled instruction encoding length, pass parameter can not meet borehole track precise controlling needs, and due to formation characteristics etc. cause steering tool build angle rate to change time, pass transfer order down continually, steerable drilling operating efficiency will be affected.
Ye Youduo company and scientific research institution are at research and development rotary steerable tool at home, and existing in type instrument is almost drill bit pushing type guiding mode entirely, and operating principle and external product are substantially identical, just on concrete technical implementation way, present certain difference.And bit heading formula rotary steerable tool is domestic at present is still in space state.
Based on this, the applicant is on the basis of making thorough investigation and study external bit heading formula rotary steerable tool, particularly for the shortcoming that the PowerDrive Xceed full rotation directional type steering tool of Schlumberger exists, propose a kind of self-adaptation control method of full rotation directional type steering tool, not only effectively solve the problem, substantially increase wellbore trajectory control precision and steerable drilling operating efficiency, and fill up the blank of domestic technique.
Summary of the invention
Given this, the object of the invention is to propose a kind ofly can to determine steering tool control model and guiding parameter, realizes the control method of rotary steerable tool that borehole track automatically controls, improves steering tool operating efficiency, meets directed drilling guiding demand for control.
According to the present invention, rotary steerable tool can be optimized and control and realize closed loop guiding to control, improve steerable drilling operating efficiency and wellbore trajectory control precision, the requirement of extended reach well, complicated geological constitution water horizontal well and geologic steering drilling orbits controlling can be met.
Concrete, the invention provides a kind of control method of steering tool, it is characterized in that, comprise the steps:
Arrange the step of guiding data, described guiding data comprises track, measuring point, sampling time and the parameter that initially leads, and described initial guiding parameter comprises guiding length, ratio and tool-face;
Lower brill and system testing step, wherein, ground test steering tool, bore under way-type drilling unit after test is normal, in lower brill way, select one or two system testing point, the functions such as test lower teletype command, underground survey, data upload, after getting into the end under guaranteeing, guidance system can normally work;
Obtain deviational survey data step, under get into shaft bottom and brill when reaching default directional survey point, suspend drillstring motion, guarantee to record hole deviation parameter more accurately, by deviational survey data upload to ground, send instructions under after confirming, and then down-hole and ground all obtain complete deviational survey data;
Orbit monitoring step, after obtaining ground confirmation, send instruction to down-hole and start steerable drilling operation, carry out well track analysis and guiding calculating, magnetometer and data that rotary transformer is surveyed when rotating according to time-out drillstring motion gained deviational survey data or steering tool attitude, earth's magnetic field parameter and steering tool, calculate angle, steering tool dynamic tool face, calculate drill string rotating speed, guiding mandrel rotating speed by magnetometer and position of rotation that rotary transformer is surveyed, realize the control to rotary steerable tool.
When guidance system need change tool-face, according to given tool-face and survey drill string rotating speed, guiding mandrel is driven to reversely rotate (being slower than drill string rotating speed slightly soon or slightly) by motor through reducer, carry out position PID and speed by PID double-loop control, reach outfit face, and maintain stable (guiding mandrel reversely rotates, and controls its rotating speed equal with drill string rotating speed).
In addition, the present invention also provides a kind of Underwell guide tool self-adaptation control method, and it is characterized in that, it comprises the steps:
(1), when reaching the predetermined deviational survey degree of depth by given guiding parameter brill, suspend drillstring motion deviational survey, down-hole and ground obtain complete deviational survey data and steering tool attitude simultaneously;
(2) send confirmation instruction to down-hole, down-hole obtains the current measuring point degree of depth, and initializes speed and displacement;
(3) carry out drilled wellbore trajectories variance analysis, calculate the comprehensive deflecting ability of steering tool and borehole track to be drilled guiding parameter;
(4) upload the guiding parameter that down-hole calculates, ground is analyzed;
(5) down-hole result of calculation is consistent with ground, and when being down-hole automatic guide pattern, automatic guide control is carried out according to calculating guiding parameter and tracking depths or time in down-hole, otherwise underground biography control instruction carries out guiding control;
(6) down-hole measures steering tool attitude in real time, uploads to ground system, trace tool down-hole working control situation;
(7) guide digging is continued, until the guiding end of job.
According to the present invention; in order to realize the down-hole degree of depth and track from motion tracking object; before steering tool is gone into the well; pre stored design track section node data in memory, bore track basic parameter and well survey to be drilled some depth data; during the arrival survey mark degree of depth (being generally the degree of depth that makes up a joint); suspend drillstring motion deviational survey; upload deviational survey data to ground system; then pass down and confirm instruction; down-hole obtains measuring point track basic parameter (depth measurement, hole deviation and orientation); and then analyze well track deviation, determine track to be drilled and guiding parameter.
Further, drilling depth increment after calculating deviational survey, controls borehole track automatically according to calculating guiding parameter (guided mode, segment length and tool face azimuth), reduces lower teletype command, raising guiding operating efficiency and wellbore trajectory control precision.
According to the present invention, in used steering tool, all employ guide offset mechanism, and this guide offset mechanism can adopt constant offset and adjustable skew two kinds of modes.For adjustable offset manner, control side-play amount size by steering tool and realize hole curvature control, complicated in mechanical structure; For constant offset mode, adopt guiding and hold pattern alternately operating to reach required hole curvature by steering tool, frame for movement is simpler.Consider from this point, in order to reduce the complexity of steering tool controlling organization, the reliability of further raising system, adopts constant offset mode usually.For steering tool, determine guiding control model, guiding parameter, realizing design borehole track with the control program of optimum is the key problem that navigational drilling techniques must solve, this is also that the present invention carries out improvements to steering tool control method, is also advantage place of the present invention simultaneously.
In addition, according to the present invention, when hole angle < 5 °, steering tool adopts Magnetic tools face to control usually; When behind hole angle >=5 °, steering tool adopts gravity tool-face to control usually.Based on suspending Magnetic tools face that drillstring motion deviational survey steering tool orientation sensor obtains, gravity tool-face, hole angle, azimuth, geomagnetic inclination and the angle between magnetic north and direction reference north, the conversion relation between described Magnetic tools face and described gravity tool-face can be calculated, and then when leading by gravity tool-face, the steering tool dynamic magnetic tool-face that magnetometer and rotary transformer measurement are tried to achieve can be utilized, calculate gravity tool-face.
Usually, steering tool control model has two kinds, and one is hold pattern, and one is that guided mode carries out.In hold pattern, there is two schemes, a kind of scheme controls guide offset mechanism to reversely rotate, and keep certain speed discrepancy with steering tool; Another kind of scheme controls guide offset mechanism to reversely rotate, and keep same rotational speed between steering tool, forms tool-face stable relative to the earth, and maintain the of short duration duration of tool-face one, then certain angular interval, change tool-face and the fixing of short duration duration of maintenance, reach hold angle drilling well object with this.And in guided mode, usually carry out steering tool control by the tool-face of wellbore trajectory control requirement.
Usually, when adjusting hole curvature, the mode replaced with hold angle and guided mode by controlling steering tool realizes.When adopting down-hole automatic guide pattern, being obtained by axial accelerometer and creeping into segment length, two kinds of patterns can be realized and automatically change.
Wherein, the change of logged well by automatic monitoring oblique angle, azimuth and hole curvature, thus realize steering tool downhole closed loop and control.
Invention effect
According to the control method of steering tool provided by the invention, achieve the control of bit heading formula full rotation steering tool, according to design borehole track and expectation steering tool deflecting ability, determine that steering tool control model, guiding ratio and drilling depth, magnetic or gravity tool-face parameter carry out guide digging operation; Two-way communication is carried out on down-hole and ground, and monitoring guiding simultaneously controls result, calculates the actual deflecting ability of steering tool and borehole track deviation; And then determine guiding parameter or adjust borehole track to be drilled, adapt to the change of steering tool deflecting ability, meet wellbore trajectory control required precision; Utilize down-hole degree of depth autotracker and method, realize guidance system downhole intelligent and control object, teletype command and the bit error rate under minimizing guiding parameter, improve steerable drilling operating efficiency and wellbore trajectory control precision.
Accompanying drawing explanation
Fig. 1 is the rotary steering system schematic diagram of the specific embodiment of the invention.
Fig. 2 is the guiding control method flow chart of the specific embodiment of the invention.
Detailed description of the invention
In conjunction with detailed description of the invention the present invention made with reference to the accompanying drawings and describing in further detail.It should be noted that, the steering tool adopted in the present embodiment and guidance system are exemplary, the concrete technological means taked in control method is also exemplary, the present invention should be not limited only among following detailed description of the invention, in a word, described embodiment is only exemplary, in order to clearer elaboration the present invention.
The schematic diagram of rotary steering system of Fig. 1 for adopting in the specific embodiment of the invention.
Rotary steering system of the present invention, be made up of ground monitoring subsystem, both-way communication subsystem and down-hole guiding subsystem, as shown in Figure 1, rotary steering system down-hole of the present invention basic configuration comprises: information transmission and measurement while drilling unit 1, wireless short pass reception/transmission unit 2, MTR unit 3, wireless short pass transmission/reception unit 4, docking and expanding element 5, power supply unit 6, Measurement & Control unit 7, lead performance element 8.
In FIG, 1. represent that orientation parameter is measured, 2. wireless short pass down-hole information is represented, 3. turbogenerator and battery pack is represented, 4. magnetometer (surveying rotating speed and dynamic magnetic tool-face) is represented, 5. orientation sensor assembly is represented, 6. accelerometer (surveying axially-movable distance) is represented, 7. pressure sensor (breath of delivering a letter under reception) is represented, 8. motor is represented, 9. represent reducer, 10. represent rotary transformer (surveying guiding mandrel rotating speed and guide offset mechanism position)
represent guide offset mechanism,
represent bearing,
represent guiding mandrel,
represent torsion pass parts.
In information transmission and measurement while drilling unit 1, be furnished with positive pulse generator, drive pipe nipple, battery sleeve pipe nipple, orientation parameter, underground vibrating, resistivity and gamma etc. to measure pipe nipple, realize engineering, geologic parameter is measured and underground survey data upload function.When MTR 3 joined by steering tool, adopt the wireless short pass bidirectional communication unit 2 and 4 that motor upper and lower side is equipped with, realize steering tool and transmission and with the information exchange of boring between parameter measurement unit 1, MTR 3 is for improving steering tool rotating speed and drill bit breaks rock moment of torsion and joins; Otherwise adopt data connector to carry out machinery and electrical connection, realize data communication.Docking and expanding element 5 realize steering tool and transmission and measurement while drilling unit 1 is mechanical, be electrically connected.Power supply unit 6 comprises turbine generator and battery pack, is respectively motor and telemetry circuit is powered.Measurement & Control unit 7 comprises lateral magnetic force meter, orientation sensor assembly, axes accelerometers, pressure sensor, rotary transformer, motor and reducer, guide offset mechanism, circuit of measurement and control etc.; Orthogonal magnetometers is adopted to measure the dynamic magnetic tool-face of drill string rotating speed and tool-face groove; General orientation sensor measuring well oblique angle, azimuth and tool-face; In post/annular pressure sensor is used for drilling fluid fluid pressure inside and outside the underground number of delivering a letter, survey tool, monitoring circulation of drilling fluid state; 6. axes accelerometers measures axial acceleration, for calculating axially-movable distance; 10. rotary transformer measures guide offset mechanism
position of rotation and speed; Motor 8. and reducer 9. drive guide offset mechanism
reversely rotate, by the adjustment in rotating speed and position control implementation tool face and form tool-face stable relative to the earth; Circuit of measurement and control is responsible for teletype command under demodulation, is obtained sensor reading, measurement and controlling calculation, down-hole master control, data store with communication, drive to lead and control.Guiding performance element 8 is with action-oriented mandrel
rotate, drive drill bit 9 to carry out guiding operation by appointment tool-face.
Further; in order to realize the down-hole degree of depth and track from motion tracking object; before steering tool is gone into the well; pre stored design track section node data in memory, bore track basic parameter and well survey to be drilled some depth data; during the arrival survey mark degree of depth (being generally the degree of depth that makes up a joint); suspend drillstring motion deviational survey; upload deviational survey data to ground system; then pass down and confirm instruction; down-hole obtains measuring point track basic parameter (depth measurement, hole deviation and orientation); and then analyze well track deviation, determine track to be drilled and guiding parameter.
Axial acceleration sensor is utilized to calculate drilling depth increment after deviational survey, automatically borehole track is controlled according to calculating guiding parameter (guided mode, segment length and tool face azimuth), reduce lower teletype command, improve guiding operating efficiency and wellbore trajectory control precision.
Wherein, as the full rotation directional type steering tool of core component, be made up of docking and expanding element 5, power supply unit 6, measure-controlling unit 7 and the performance element 8 that leads from top to bottom.Docking with expanding element 5 realize with transmit and measurement while drilling unit 1 machinery and be electrically connected, if be connected with wireless short pass unit 4 when joining MTR 3; Power supply unit 6 provides power for Underwell guide tool, is made up of turbine generator, battery, power-supplying circuit etc.; Measure-controlling unit 7 comprises down-hole master control, orientation parameter/drill string rotating speed/external and internal pressure measure portion, realizes underground teletype command and receives and guiding control instruction output function; Guiding performance element 8 comprise motor 8., reducer 9., rotary transformer 10., guide offset mechanism
, bearing group
, guiding mandrel
, torsion pass parts
with hermetically-sealed construction etc.Guiding mandrel upper end is placed in guide offset mechanism, is connected, can rotate relative to guide offset institution freedom by bearing group; Drill string rotating power passes to guiding mandrel by torsion pass parts, drives drill bit 9 rotary drilling of its lower end.
Wherein, drive described guide offset mechanism to reversely rotate by motor with speed identical with drill string, thus form a stable relative to the earth tool-face in described steering tool internal dynamic and carry out guiding operation.
Fig. 2 is the guiding control method flow chart of the specific embodiment of the invention.With regard to steering tool control method, roughly mainly comprise the steps:
(1) guidance system data are set
Mainly comprise following data:
Basic data: earth's magnetic field and gravitational accelerometer reference value, magnetic declination, magnetic dip angle, the convergence of meridians, steering tool and measurement while drilling unit two directional survey point distance, bottom depth, deviational survey data calculation procedure;
Designed path data: design target area, design segment data, Discrete control target and deviation;
Bore track data: the deviational survey data of deviational survey tables of data (depth measurement, hole angle, azimuth) or most end point and coordinate data;
Well deviational survey point degree of depth sequence to be drilled;
Horizon Prognosis rate of penetration table to be drilled;
Downhole data transmission data pattern and lower teletype command are explained;
Sensor sample interval: for annular space/post pressure sensor, axes accelerometers, lateral magnetic force meter, rotary transformer etc., sampling interval is set to pressure sensor 1 second/point usually respectively, accelerometer 0.001 ~ 0.1 second/point, magnetometer 0.001 second/point, rotary transformer 0.001 second/point;
Initial guiding parameter: guiding length, guiding ratio and tool-face.
(2) bore and system testing under
Ground test steering tool, bores under way-type drilling unit after test is normal.In lower brill way, select one or two system testing point, the functions such as test lower teletype command, underground survey, data upload, after getting into the end under guaranteeing, guidance system can normally work.
(3) deviational survey data are obtained
Under get into shaft bottom and brill when reaching default directional survey point, suspend drillstring motion, guarantee to record hole deviation parameter more accurately.Deviational survey data upload is to ground, send instructions under after confirming, and then down-hole and ground all obtain complete deviational survey data (such as depth measurement, hole angle and azimuth) and steering tool face attitude (magnetic tool-face and gravity tool-face), as the foundation of track following analysis and guiding controlling calculation.
(4) calculating of orbit monitoring is carried out
After obtaining ground confirmation, send instruction to down-hole and start steerable drilling operation, carry out well track analysis (such as nearest offset distance, normal plane offset distance) and guiding calculating, according to time-out drillstring motion gained deviational survey data or steering tool attitude, magnetometer and data that rotary transformer is surveyed when earth's magnetic field parameter and steering tool rotate, calculate angle, steering tool dynamic tool face, and according to two measuring point deviational survey data, calculate the comprehensive deflecting ability of steering tool and average hole curvature, drill string rotating speed is calculated by magnetometer and position of rotation that rotary transformer is surveyed, guiding mandrel rotating speed, realize the control to rotary steerable tool.
Wherein, in down-hole in the occasion of motion tracking drilling depth, when suspending drillstring motion deviational survey, initialize motion speed and displacement are 0; After areal receiver-array to surface instruction, obtain current depth data, start to creep into; Utilize and measure axially-movable acceleration, obtain drill string axially-movable displacement, and then realize down-hole from motion tracking drilling depth.
(5) steerable drilling operation is terminated
When brill reach re-set target, pull out of hole more bit change or and steering tool underground work is abnormal time, then terminate guide digging, pull out of hole after circulating fluid.
In fact, in steering tool of the present invention controls, can also realize Self Adaptive Control further, described steering tool self-adaptation control method roughly comprises the steps:
(1), when reaching the predetermined deviational survey degree of depth by given guiding parameter brill, suspend drillstring motion deviational survey, down-hole and ground obtain complete deviational survey data and steering tool attitude simultaneously;
(2) send confirmation instruction to down-hole, down-hole obtains the current measuring point degree of depth, and initializes speed and displacement;
(3) carry out drilled wellbore trajectories variance analysis, calculate the comprehensive deflecting ability of steering tool and borehole track to be drilled guiding parameter;
(4) upload the guiding parameter that down-hole calculates, ground is analyzed;
(5) consistent with ground in down-hole result of calculation, and when being down-hole automatic guide pattern, automatic guide control is carried out according to calculating guiding parameter and tracking depths or time in down-hole, otherwise underground biography control instruction carries out guiding control;
(6) down-hole measures steering tool attitude in real time, uploads to ground system, trace tool down-hole working control situation;
(7) guide digging is continued, until the guiding end of job.
In the present invention, for the guidance system of fixing bent angle, when controlling hole curvature, the object that guiding and hold angle drilling depth or time reach hole curvature control must be controlled.In the present invention, the deflecting ability according to design hole curvature and steering tool determines reasonably to lead scale parameter, optimally approaches design borehole track, and is uploaded to ground.
Although made detailed description with detailed description of the invention to the present invention above; but this description is exemplary; the present invention is not limited only among this detailed description of the invention; to those skilled in the art; they can make various change and modification to the present invention, only otherwise depart from present inventive concept and scope and all should drop among the protection domain of claims the various amendments that the present invention makes.
Claims (2)
1. a steering tool control method, is characterized in that, comprises the steps:
Arrange the step of guiding data, described guiding data comprises track, measuring point, sampling time and the parameter that initially leads, and described initial guiding parameter comprises guiding length, ratio and tool-face;
Lower brill and system testing step, wherein, ground test steering tool, bore under way-type drilling unit after test is normal, in lower brill way, select one or two system testing point, the functions such as test lower teletype command, underground survey, data upload, after getting into the end under guaranteeing, guidance system can normally work;
Obtain deviational survey data step, under get into shaft bottom and brill when reaching default directional survey point, suspend drillstring motion, guarantee to record hole deviation parameter more accurately, by deviational survey data upload to ground, send instructions under after confirming, and then down-hole and ground all obtain complete deviational survey data;
Orbit monitoring step, after obtaining ground confirmation, send instruction to down-hole and start steerable drilling operation, carry out well track analysis and guiding calculating, magnetometer and data that rotary transformer is surveyed when rotating according to time-out drillstring motion gained deviational survey data or steering tool attitude, earth's magnetic field parameter and steering tool, calculate angle, steering tool dynamic tool face, calculate drill string rotating speed, guiding mandrel rotating speed by magnetometer and position of rotation that rotary transformer is surveyed, realize the control to rotary steerable tool.
2. a Underwell guide tool self-adaptation control method, is characterized in that, it comprises the steps:
(1), when reaching the predetermined deviational survey degree of depth by given guiding parameter brill, suspend drillstring motion deviational survey, down-hole and ground obtain complete deviational survey data and steering tool attitude simultaneously;
(2) send confirmation instruction to down-hole, down-hole obtains the current measuring point degree of depth, and initializes speed and displacement;
(3) carry out drilled wellbore trajectories variance analysis, calculate the comprehensive deflecting ability of steering tool and borehole track to be drilled guiding parameter;
(4) upload the guiding parameter that down-hole calculates, ground is analyzed;
(5) down-hole result of calculation is consistent with ground, and when being down-hole automatic guide pattern, automatic guide control is carried out according to calculating guiding parameter and tracking depths or time in down-hole, otherwise underground biography control instruction carries out guiding control;
(6) down-hole measures steering tool attitude in real time, uploads to ground system, trace tool down-hole working control situation;
(7) guide digging is continued, until the guiding end of job.
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| CN201410602852.8A CN104453714B (en) | 2014-11-02 | 2014-11-02 | A kind of control method of rotary steerable tool |
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| CN201410602852.8A CN104453714B (en) | 2014-11-02 | 2014-11-02 | A kind of control method of rotary steerable tool |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105041210A (en) * | 2015-07-13 | 2015-11-11 | 中国海洋石油总公司 | Drilling machine system based on sliding guide drilling closed loop control and drilling method |
| CN105064917A (en) * | 2015-06-30 | 2015-11-18 | 中国石油天然气股份有限公司 | Rotary steering system and control method thereof |
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| CN106703787A (en) * | 2017-02-27 | 2017-05-24 | 中国石油大学(北京) | Well track parameter calculation method and device for radial horizontal well |
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| CN107191177A (en) * | 2017-05-16 | 2017-09-22 | 中国石油天然气集团公司 | Permanent tool face azimuth drilling trace control method |
| CN107201877A (en) * | 2016-03-18 | 2017-09-26 | 中国石油化工股份有限公司 | The closed loop control method and system of a kind of rotary steerable drilling |
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| CN105064917A (en) * | 2015-06-30 | 2015-11-18 | 中国石油天然气股份有限公司 | Rotary steering system and control method thereof |
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| CN105134163A (en) * | 2015-07-13 | 2015-12-09 | 中国海洋石油总公司 | Dynamic control system and method for adaptive drilling tool face in well |
| CN105156091A (en) * | 2015-07-13 | 2015-12-16 | 中国海洋石油总公司 | Drilling machine system based on dynamic control of tool face of self-adaptive downhole drilling tool and well drilling method |
| CN105156021A (en) * | 2015-07-13 | 2015-12-16 | 中国海洋石油总公司 | Drilling machine system based on dynamic control of tool face of self-adaptive downhole drilling tool and well drilling method |
| CN105041210B (en) * | 2015-07-13 | 2017-03-22 | 中国海洋石油总公司 | Drilling machine system based on sliding guide drilling closed loop control and drilling method |
| CN105156091B (en) * | 2015-07-13 | 2018-03-27 | 中国海洋石油总公司 | Borer system and boring method based on adaptive down-hole equipment tool-face dynamic control |
| CN105041210A (en) * | 2015-07-13 | 2015-11-11 | 中国海洋石油总公司 | Drilling machine system based on sliding guide drilling closed loop control and drilling method |
| CN106640033A (en) * | 2015-10-30 | 2017-05-10 | 中石化石油工程技术服务有限公司 | State monitoring method for rotary guiding tool |
| CN106640046B (en) * | 2015-10-30 | 2023-09-08 | 中石化石油工程技术服务有限公司 | Rotary tool face angle testing device |
| CN106640037B (en) * | 2015-10-30 | 2023-10-20 | 中国石油化工集团有限公司 | Rotary guiding tool fluid testing device |
| CN106640046A (en) * | 2015-10-30 | 2017-05-10 | 中石化石油工程技术服务有限公司 | Face angle testing device of rotary tool |
| CN106640034B (en) * | 2015-10-30 | 2021-06-22 | 北京精密机电控制设备研究所 | Inclination stabilizing mode control method for rotary steering drilling |
| CN106640037A (en) * | 2015-10-30 | 2017-05-10 | 中石化石油工程技术服务有限公司 | Fluid testing device of rotary steering tool |
| CN107201877A (en) * | 2016-03-18 | 2017-09-26 | 中国石油化工股份有限公司 | The closed loop control method and system of a kind of rotary steerable drilling |
| CN107201877B (en) * | 2016-03-18 | 2021-04-27 | 中国石油化工股份有限公司 | Closed-loop control method and system for rotary steering drilling |
| CN107060644B (en) * | 2016-12-28 | 2018-12-21 | 中国石油大学(华东) | A kind of wheel rotating state directional type rotary steering system and guiding control method |
| CN107060644A (en) * | 2016-12-28 | 2017-08-18 | 中国石油大学(华东) | A kind of wheel rotating state directional type rotary steering system and guiding control method |
| CN106703787A (en) * | 2017-02-27 | 2017-05-24 | 中国石油大学(北京) | Well track parameter calculation method and device for radial horizontal well |
| CN107191177A (en) * | 2017-05-16 | 2017-09-22 | 中国石油天然气集团公司 | Permanent tool face azimuth drilling trace control method |
| CN107829726A (en) * | 2017-12-14 | 2018-03-23 | 杭州丰禾石油科技有限公司 | A kind of connector for logging while drilling |
| CN107829726B (en) * | 2017-12-14 | 2024-05-14 | 杭州丰禾石油科技有限公司 | Logging while drilling instrument |
| CN112424438A (en) * | 2018-05-04 | 2021-02-26 | 沙特阿拉伯石油公司 | Monitoring operating conditions of a rotary steerable system |
| CN109029570A (en) * | 2018-07-24 | 2018-12-18 | 中国石油集团渤海钻探工程有限公司 | A kind of detection of downhole tool comprehensive parameters closed loop and evaluation system and method |
| CN109268001A (en) * | 2018-08-13 | 2019-01-25 | 中国石油集团工程技术研究院有限公司 | A kind of main stress direction measurement while drilling rotation angle detecting device of level and method |
| CN109268001B (en) * | 2018-08-13 | 2022-02-01 | 中国石油天然气集团有限公司 | Detection device and method for measuring self-rotation angle of horizontal main ground stress direction while drilling |
| CN109779601A (en) * | 2019-02-18 | 2019-05-21 | 北京恒泰万博石油技术股份有限公司 | A kind of lower teletype command self-adaptive decoding method of rotary steerable drilling system |
| CN112554793A (en) * | 2019-09-10 | 2021-03-26 | 中国石油天然气集团有限公司 | Method for adjusting thrust of hydraulic device in real time |
| CN113530439B (en) * | 2021-06-03 | 2024-01-30 | 四川宏华电气有限责任公司 | Automatic tool face adjusting orientation control system and method |
| CN113530439A (en) * | 2021-06-03 | 2021-10-22 | 四川宏华电气有限责任公司 | Control system and method for automatically adjusting orientation of tool face |
| CN113944456A (en) * | 2021-09-26 | 2022-01-18 | 浙江省工程勘察设计院集团有限公司 | Drilling depth measuring method and system, drilling machine and storage medium |
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| CN114017000A (en) * | 2021-10-29 | 2022-02-08 | 中国石油天然气集团有限公司 | Method for judging adaptation of push type rotary steering system to drilling stratum |
| CN114017000B (en) * | 2021-10-29 | 2024-02-09 | 中国石油天然气集团有限公司 | Method for judging adaptation of pushing-leaning rotary guiding system to stratum drilling |
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