CN104481436B - Method and system for regulating precision pressure-control well drilling throttle valve - Google Patents
Method and system for regulating precision pressure-control well drilling throttle valve Download PDFInfo
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- CN104481436B CN104481436B CN201410742931.9A CN201410742931A CN104481436B CN 104481436 B CN104481436 B CN 104481436B CN 201410742931 A CN201410742931 A CN 201410742931A CN 104481436 B CN104481436 B CN 104481436B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B21/00—Methods or apparatus for flushing boreholes, e.g. by use of exhaust air from motor
- E21B21/10—Valve arrangements in drilling-fluid circulation systems
Abstract
An embodiment of the invention provides a method and a system for regulating a precision pressure-control well drilling throttle valve. The method includes acquiring displacement of a mud pump of a precision pressure-control well drilling system, displacement of a back-pressure pump and opening values of the throttle valve at a current moment and within a preset duration before the current moment in real time; predicting opening values of the throttle valve within a preset number of sampling periods after the current moment in real time according to the acquired displacement of the mud pump, the acquired displacement of the back-pressure pump and the acquired opening values of the throttle valve; adjusting opening of the throttle valve within the preset number of sampling periods after the current moment so that the opening of the throttle value is equal to the predicted opening values of the throttle valve. Precision pressure-control well drilling requirements can be met by bottom hole pressures corresponding to the predicted opening values of the throttle valve. According to the scheme, the method and the system have the advantages that the opening values of the throttle valve within the preset number of sampling periods after the current moment are predicted according to the displacement of the mud pump, the displacement of the back-pressure pump and the opening values of the throttle valve at the current moment and within the preset duration after the current moment, and accordingly the precision pressure-control well drilling throttle valve regulation effectiveness can be improved.
Description
Technical field
The present invention relates to fine controlled pressure drilling technical field, more particularly to a kind of regulation side of fine controlled pressure drilling choke valve
Method and system.
Background technology
Fine controlled pressure drilling technology is a technology that can realize balance or near-balance drilling.Its object is to determine well
Bottom pressure window, precise control annular pressure section, the pressure for making whole pit shaft maintains formation pore pressure and fracture pressure
Between, solve the difficult problem in drilling well.Its workflow is：In the circulatory system of closing, drilling fluid is from slurry tank by boring
Well pump drops to drilling rod into standpipe, by float valve and the annular space on drill bit top, the then annular from below rotating control assembly
Preventer flows out.Again slurry tank is eventually passed back to vibratory sieve or degasser by a series of choke valve.Its control pressure is former
Reason is：In drilling process, the strata pressure equilibrium equation in pit shaft is：Bottom pressure=wellhead back pressure+fluid pressure+annular space
Pressure consumption, in actual well drilled work, because fluid pressure, annular pressure lost are in set wellbore conditions, property of drilling fluid and a constant current
It is geostationary under the conditions of amount, only wellhead back pressure is easily changed, therefore by controlling wellhead back pressure bottom pressure can be made to exist
Suitable interval, realization is not leaked and do not overflow or controlled micro- leakage or micro- overflow.Needed for depending on pressure balance, by adjusting
Throttle valve opening on choke manifold is finally reached the pressure balance of pit shaft changing wellhead back pressure, improves the security of drilling well.
The key of fine controlled pressure drilling normal work be can stable and accurate control throttle valve opening, and to realize this
Target, it is necessary to set up accurately fine controlled pressure drilling and control computation model, but one side, due to consider multiple parameters, such as
Back pressure, fluid density, fluid rheology, annular space liquid level, flow resistance and well geometric shape etc., even if the control meter set up
Model is calculated, its structure is also sufficiently complex, it is difficult to which realization is accurately controlled；On the other hand, from application of engineering project, the control of foundation
Model need to simplify as far as possible, remain to maintain good performance under the influence of uncertain factor, and require that control algolithm is simple, easily
In realization, to meet the needs of real-time control, and actual well drilled process usually has non-linear, time variation and uncertainty；Cause
This makes it difficult to set up accurate fine controlled pressure drilling control computation model.
At present, fine controlled pressure drilling controls throttling using PID (proportional-integral-differential) control methods in prior art
The regulation of valve, but the uncertain factor that PID control method can only deacclimatize drilling process with one group of changeless pid parameter,
Tend not to comply fully with the complication systems such as this Multivariable Coupling of bored shaft stratum system, non-linear, large dead time, and work as
When pid parameter change exceedes certain limit, the performance of bored shaft stratum system can substantially be deteriorated, or even be unable to reach requirement,
So that during throttle valve opening in control bored shaft stratum system, it is impossible to overcome the changeable of bored shaft stratum system
Probabilistic impacts such as amount coupling, non-linear, large dead time, reduce the validity to fine controlled pressure drilling throttle valve adjustment.
The content of the invention
A kind of control method of fine controlled pressure drilling choke valve is embodiments provided, fine pressure control is bored with improving
The validity of well throttle valve adjustment.The method includes：It is fine in preset duration before obtaining current time and current time in real time
The opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve in managed pressure drilling system；According to the row of the slush pump for obtaining
The opening value of amount, the discharge capacity of backpressure pump and choke valve, presets the choke valve in a sampling period after real-time estimate current time
Opening value, the corresponding bottom pressure of throttle valve opening value of the prediction meets the safety requirements of fine controlled pressure drilling；When will be current
The aperture that choke valve in a sampling period is preset after quarter is adjusted to the throttle valve opening value of prediction.
In one embodiment, the aperture that choke valve in a sampling period is preset after current time is adjusted to into prediction
Throttle valve opening value, including：According to the drilling condition of fine controlled pressure drilling, the reference well at fine each moment of controlled pressure drilling is set
Mouth back pressure, this meets the safety requirements of fine controlled pressure drilling with reference to the corresponding bottom pressure of wellhead back pressure；In real time by the section of prediction
The corresponding wellhead back pressure of stream valve opening value is compared with the reference wellhead back pressure, obtains the difference of the wellhead back pressure of the two；According to
The difference of the wellhead back pressure of the two calculate and the wellhead back pressure the corresponding throttle valve opening value of difference；According to the section for calculating
Stream valve opening value, adjust obtain the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve opening value, and according to adjustment after
The opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve, presets a sampling period after predicting current time again
Interior throttle valve opening value；The aperture that choke valve in a sampling period is preset after current time is adjusted to the section predicted again
Stream valve opening value.
In one embodiment, the aperture that choke valve in a sampling period is preset after current time is adjusted to into prediction
After throttle valve opening value, also include：The bottom pressure that the moment is specified in a sampling period is preset after detection current time；Will
The corresponding throttle valve opening of specified moment bottom pressure for detecting deducts the throttle valve opening value at the specified moment of prediction, obtains
Go out the difference of the throttle valve opening value of the two；By the choke valve after the specified moment in the default sampling period after current time
Aperture, be adjusted to the throttle valve opening value of prediction and the difference of the throttle valve opening value and.
The embodiment of the present invention additionally provides a kind of regulating system of fine controlled pressure drilling choke valve, to improve to fine pressure control
The validity of drilling well throttle valve adjustment.The system includes：Sensor, for pre- before obtaining current time and current time in real time
If in duration in fine managed pressure drilling system the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve opening value, and will obtain
The opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve export to the regulating system of fine controlled pressure drilling choke valve
Outside computing device；Receiving interface, for presetting a sampling period after the current time for receiving the computing device transmission
Interior choke valve prediction opening value, choke valve prediction opening value be the computing device according to the discharge capacity of the slush pump for obtaining,
What the discharge capacity of backpressure pump and the opening value prediction of choke valve were obtained, the corresponding bottom pressure of choke valve prediction opening value meets essence
The safety requirements of thin controlled pressure drilling；Choke valve, for the aperture that choke valve in a sampling period is preset after current time to be adjusted
It is whole to predict opening value for choke valve.
In one embodiment, also include：Input equipment, for receive user according to the spudder of fine controlled pressure drilling
Condition, the reference wellhead back pressure at fine each moment of controlled pressure drilling of setting, this meets with reference to the corresponding bottom pressure of wellhead back pressure
The safety requirements of fine controlled pressure drilling；Comparator, choke valve in a sampling period will be preset for choke valve after current time
Aperture be adjusted to before choke valve prediction opening value, by the choke valve corresponding wellhead back pressure of prediction opening value and the reference well
Mouth back pressure is compared, and obtains the difference of the wellhead back pressure of the two；Output interface, it is described for the difference of the wellhead back pressure to be conveyed to
Computing device；The receiving interface, is additionally operable to receive default sampling after the new current time that the computing device sends
Choke valve prediction opening value in cycle, the new choke valve prediction opening value is the computing device according to the wellhead back pressure
The opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve that obtains of difference adjustment after, prediction again is obtained；It is described
Choke valve, is additionally operable to for the aperture that choke valve in sampling period is preset after current time to be adjusted to new choke valve prediction and opens
Angle value.
In one embodiment, also include：Detector, for the choke valve sampling week will be preset after current time
The aperture of choke valve is adjusted to after choke valve prediction opening value in phase, is preset a sampling period after real-time detection current time
The bottom pressure at interior specified moment；Subtracter, for the corresponding throttle valve opening of the specified moment bottom pressure for detecting to be subtracted
The choke valve for going the specified moment predicts opening value, draws the difference of the throttle valve opening value of the two；The choke valve, be additionally operable to by
The aperture that the choke valve after the moment is specified in a sampling period is preset after current time, choke valve prediction opening value is adjusted to
And the throttle valve opening value difference and.
In embodiments of the present invention, due to by fine controlled pressure drilling in preset duration before current time and current time
The opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve is come default sampling after predicting current time in system
Throttle valve opening value in cycle, can well overcome various uncertain and complicated change during fine controlled pressure drilling right
The impact of bottom pressure control；The corresponding bottom pressure of throttle valve opening value of the prediction meets the safety of fine controlled pressure drilling will
Ask, and fine controlled pressure drilling is throttled such that it is able to improve adjusting the aperture of choke valve according to the throttle valve opening value of prediction
The validity of valve regulation, and then bottom pressure during fine controlled pressure drilling can be caused effectively to maintain balance.
Description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, not
Constitute limitation of the invention.In the accompanying drawings：
Fig. 1 is a kind of flow chart of the control method of fine controlled pressure drilling choke valve provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of fine managed pressure drilling system provided in an embodiment of the present invention；
Fig. 3 is a kind of structured flowchart of the regulating system of fine controlled pressure drilling choke valve provided in an embodiment of the present invention.
Specific embodiment
It is right with reference to embodiment and accompanying drawing to make the object, technical solutions and advantages of the present invention become more apparent
The present invention is described in further details.Here, the exemplary embodiment of the present invention and its illustrate for explaining the present invention, but and
It is not as a limitation of the invention.
In embodiments of the present invention, there is provided a kind of control method of fine controlled pressure drilling choke valve, as shown in figure 1, should
Method includes：
Step 101：Mud in fine managed pressure drilling system in preset duration before obtaining current time and current time in real time
The opening value of the discharge capacity of stock pump, the discharge capacity of backpressure pump and choke valve；
Step 102：According to the opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve for obtaining, real-time estimate
The throttle valve opening value in a sampling period, the corresponding bottom pressure of throttle valve opening value of the prediction are preset after current time
Meet the safety requirements of fine controlled pressure drilling；
Step 103：The aperture that choke valve in a sampling period is preset after current time is adjusted to into the choke valve of prediction
Opening value.
Flow process as shown in Figure 1 understands, in embodiments of the present invention, due to by pre- before current time and current time
If the opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve is worked as to predict in fine managed pressure drilling system in duration
The throttle valve opening value in a sampling period is preset after the front moment, can be overcome well various during fine controlled pressure drilling
Impact of the uncertain and complicated change to bottom pressure control；The corresponding bottom pressure of throttle valve opening value of the prediction meets
The safety requirements of fine controlled pressure drilling, and according to the throttle valve opening value of prediction adjusting the aperture of choke valve, such that it is able to carry
The high validity to fine controlled pressure drilling throttle valve adjustment, and then bottom pressure during fine controlled pressure drilling can be caused effective
Maintain balance.
When being embodied as, can by the devices such as sensor come before Real-time Collection current time and current time preset when
The opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve, (Fig. 2 as shown in Figure 2 in long interior fine managed pressure drilling system
Middle solid line is drilling fluid flow circuits, and dotted line is the control circuit of fine controlled pressure drilling throttle valve adjustment), the sensor can divide
An Zhuan not be at slush pump 201, choke valve 202 and backpressure pump 203, and by by the current time for collecting and current time
Before opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve etc. is counted in fine managed pressure drilling system in preset duration
According to being transferred to nonlinear prediction device 205, before the nonlinear prediction device 205 is according to the current time and current time for receiving
The data such as opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve in fine managed pressure drilling system in preset duration,
Carry out the throttle valve opening value preset in a sampling period after real-time estimate current time, and the throttle valve opening value of prediction is passed
Choke valve 202 is defeated by, so that the aperture preset after current time in a sampling period to be adjusted to choke valve 202 section of prediction
Stream valve opening value, the drilling fluid in mud pit 204 is entered in pit shaft 206, so that smart by adjusting the choke valve 202 of aperture
The wellhead back pressure of thin controlled pressure drilling pit shaft 206 causes the shaft bottom of fine controlled pressure drilling pit shaft 206 in control claimed range
Pressure reaches the safety requirements for meeting fine controlled pressure drilling while control is required.
When being embodied as, those skilled in the art are known how according to the discharge capacity of slush pump, the discharge capacity of backpressure pump and throttling
Predicting throttle valve opening value, specifically, above-mentioned nonlinear prediction device 205 predicts the mistake of throttle valve opening value to the opening value of valve
Journey can realize that the Nonlinear Prediction Models can specifically adopt existing below equation by Nonlinear Prediction Models：
～x (k)=fp[～x (k-1) ,～u (k-1) ,～v (k-1)] (1)
～y (k)=gp[～x (k)] (2)
fpBe according to previous moment be used for calculate bottom pressure state parameter～x (k-1) (for example, back pressure pumpage),
Previous moment throttle valve opening～u (k-1) and previous moment slush pump pump speed～v (k-1) (or mud pumpage) is calculating
Current time is used for the computation model of the state parameter～x (k) for calculating bottom pressure；gpIt is to be used to calculate well according to current time
Calculating the prediction throttle valve opening value～y (k) at current time, k is current time to the state parameter～x (k) of bottom pressure.Boring
In the control process of well, expection that can be according to certain moment for calculating the state parameter of bottom pressure to calculate bottom pressure
Value, then compare with actual measurement bottom pressure value.
When being embodied as, because the process for predicting throttle valve opening value is closed loop control algorithm, during actual well drilled again
There is the impact of the factors such as non-linear, time-varying, model mismatch, interference, in order that the throttle valve opening value that obtains of prediction can and
When corrected, reach control require, to improve the stability of fine controlled pressure drilling throttle valve adjustment, in the present embodiment, will
The aperture that choke valve in a sampling period is preset after current time is adjusted to the throttle valve opening value of prediction, including：According to essence
The drilling condition of thin controlled pressure drilling, sets the reference wellhead back pressure at fine each moment of controlled pressure drilling, and this refers to wellhead back pressure pair
The bottom pressure answered meets the safety requirements of fine controlled pressure drilling；In real time by the corresponding wellhead back pressure of throttle valve opening value of prediction
Compare with the reference wellhead back pressure, obtain the difference of the wellhead back pressure of the two；According to the difference meter of the wellhead back pressure of the two
Calculate and the wellhead back pressure the corresponding throttle valve opening value of difference；According to the throttle valve opening value calculated, the mud for obtaining is adjusted
The opening value of the discharge capacity of stock pump, the discharge capacity of backpressure pump and choke valve, and the row of the discharge capacity according to the slush pump after adjustment, backpressure pump
The opening value of amount and choke valve, presets the throttle valve opening value in a sampling period after predicting current time again, will be current
The aperture that choke valve in a sampling period is preset after moment is adjusted to the throttle valve opening value predicted again.Specifically, can be by
The corresponding wellhead back pressure of throttle valve opening value at each moment and reference in a sampling period are preset after the current time of prediction
Wellhead back pressure is compared, and draws the difference of the wellhead back pressure of the two at each moment, for example, can be drawn by below equation every
The difference of the wellhead back pressure of the two at individual moment：MinQ (r ,～y)=∑i∈p[r(k+i/k)-y((k+i/k))]2, wherein, minQ
(r ,～y) is the difference of the wellhead back pressure of the two at each moment, and r (k+i/k) is the reference wellhead back pressure at k+i moment, y ((k+i/
K)) be the k+i moment the corresponding wellhead back pressure of prediction throttle valve opening value, i is time step, and p was preset after current time
The individual sampling period, then the corresponding throttle valve opening value of difference of the wellhead back pressure is calculated, according to the throttle valve opening for calculating
The opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve that value adjustment is obtained, and according to the slush pump after adjustment
The opening value of discharge capacity, the discharge capacity of backpressure pump and choke valve, presets the throttling in a sampling period after predicting current time again
Valve opening value so that the throttle valve opening value predicted again is closer to reference to the corresponding throttle valve opening value of wellhead back pressure；Or
By the throttle valve opening value of prediction plus or minus and wellhead back pressure the corresponding throttle valve opening value of difference so that addition or subtracting
Throttle valve opening value after method is calculated is closer with reference to the corresponding throttle valve opening value of wellhead back pressure.
Additionally, when the emergency cases such as generation leakage, well kick cause bottom pressure to change, by the throttling that will be predicted
The closer of valve opening value adjustment refers to the corresponding throttle valve opening value of wellhead back pressure, can keep bottom pressure more smoothly mistake
Degree is with reference to the corresponding bottom pressure of wellhead back pressure, it is to avoid apply the situation of the throttle valve opening controlled quentity controlled variable of amplitude, so as to have
Help being smoothed out for drilling well.Specifically, the process of the reference wellhead back pressure at above-mentioned setting fine each moment of controlled pressure drilling can
With by being realized with minor function：
R (k+i/k) represents the reference wellhead back pressure value that the k+i moment is predicted according to the correlation value calculation at current k moment；
yrefIt is to refer to strata pressure；Y (k) is the corresponding well head pressure values of current time prediction throttle valve opening value～y (k)；TsFor when
Between step-length；TrefIt is time response, i is time step, for example, i=1,2,3 ... seconds.
When being embodied as, because actual fine managed pressure drilling system has some uncertainties, using the choke valve of prediction
Opening value controlling during throttle valve opening, the bottom pressure of actual fine managed pressure drilling system and the throttle valve opening value pair of prediction
The bottom pressure answered is inconsistent, in order to rise to the precision of throttle valve adjustment, in the present embodiment, will preset after current time
The aperture of choke valve is adjusted to after the throttle valve opening value of prediction in the individual sampling period, is also included：Real-time detection current time
The bottom pressure bottom pressure of pit shaft 206 (for example, in Fig. 2) that the moment is specified in sampling period is preset afterwards；To detect
The corresponding throttle valve opening of specified moment bottom pressure deduct prediction the specified moment throttle valve opening value, draw the two
Throttle valve opening value difference (i.e. predicated error)；The section in a sampling period after the specified moment will be preset after current time
Stream valve aperture, be adjusted to the throttle valve opening value of prediction and the difference of the throttle valve opening value and.For example, the throttling of prediction
Valve opening value is 5, and throttle valve opening is adjusted to the 4 of the corresponding throttle valve opening of the bottom pressure after 5, i.e. predicated error for 4
And 5 difference -1, when subsequent time adjusts throttle valve opening, after the prediction opening value of subsequent time is added into -1 section is adjusted to again
On stream valve.Specifically, the difference (i.e. predicated error) of the throttle valve opening value of the two can be drawn by below equation：
E (k)=z (k)-～y (k/k-1) (4)
Wherein, e (k) is the predicated error at k moment, and z (k) is that the corresponding choke valve of bottom pressure for detecting at the k moment is opened
Degree ,～y (k/k-1) is the throttle valve opening value predicted at the k moment.
The predicated errors such as e (k), e (k-1) ... e (1) are sought in the same manner, and error prediction school is carried out according to the control information of history
Just, so as to improving control accuracy.
Describe the control method that above-mentioned fine pressure control bores choke valve, specifically, the party in detail below in conjunction with specific example
Method includes：
Step 1：It is determined that the control targe of fine controlled pressure drilling.Joined according to fine controlled pressure drilling Practical Project situation and drilling well
Number is (such as：The factors such as well type, well are other, casing programme, well depth, the pressure traverse of stratum three, drilling fluid density design) ensureing fine
Fine controlled pressure drilling scheme and control targe are determined on the premise of controlled pressure drilling safety.In fine controlled pressure drilling, control targe
(bottom pressure need to be more than or equal to stratum mainly throttle valve opening u (span is generally 10% -90%) and bottom pressure y
Pore pressure, less than formation fracture pressure).Setting control initial value.
Step 2：Setting reference locus, i.e., the track of the reference wellhead back pressure composition at fine each moment of controlled pressure drilling.
During fine controlled pressure drilling process, if during the unexpected situation such as generation leakage, well kick bottom pressure can be caused to change, in order to ensure
Being smoothed out for drilling well, just requires that changing throttle valve opening tracks rapidly this change, typically applies the choke valve of amplitude
Aperture control variables.This can cause bottom pressure control change during fine controlled pressure drilling unstable.For this purpose, the application is advance
One reference locus of setting, will preset the throttle valve opening value pair at each moment in a sampling period after the current time of prediction
The wellhead back pressure answered with compare with reference to wellhead back pressure, draw the difference of the wellhead back pressure of the two at each moment, then calculate this
The corresponding throttle valve opening value of difference of wellhead back pressure, the row of the slush pump obtained according to the throttle valve opening value adjustment calculated
The opening value of amount, the discharge capacity of backpressure pump and choke valve, and the discharge capacity according to the slush pump after adjustment, the discharge capacity of backpressure pump and throttling
The opening value of valve, presets the throttle valve opening value in a sampling period, after current time after predicting current time again
The aperture of choke valve is adjusted to the throttle valve opening value predicted again in default sampling period so that the choke valve predicted again
Closer to the corresponding throttle valve opening value of wellhead back pressure is referred to, to keep bottom pressure, more smoothly transition is to refer to well to opening value
The corresponding bottom pressure of mouth back pressure.
Step 3：Set up Nonlinear Prediction Models.Nonlinear Model Predictive Control is a kind of control algolithm of model.According to
The historical information of model and following input, following output is predicted by model.The Nonlinear Prediction Models of foundation need not be passed
The requirement of the strict mathematical model united in controlling to model structure, but mould is set up by the approach of most convenient according to functional requirement
Type, specifically, can be realized by formula (1) and (2), i.e., by formula (1) and (2) according to the row of the slush pump of acquisition
The opening value of amount, the discharge capacity of backpressure pump and choke valve, presets the choke valve in a sampling period after real-time estimate current time
Opening value.
Step 4：Rolling optimization.Nonlinear Model Predictive Control is a kind of closed loop control algorithm, and during actual well drilled
There is the impact of the factors such as non-linear, time-varying, model mismatch, interference, in order that the throttle valve opening value that obtains of prediction can and
When corrected, the throttle valve opening value that each moment in sampling period is preset after the current time for drawing prediction is corresponding
Wellhead back pressure and poor with reference to the wellhead back pressure between wellhead back pressure, and the row of the slush pump obtained according to wellhead back pressure difference adjustment
The opening value of amount, the discharge capacity of backpressure pump and choke valve, and the discharge capacity according to the slush pump after adjustment, the discharge capacity of backpressure pump and throttling
The opening value of valve, presets the throttle valve opening value in a sampling period, the purpose of rolling optimization after predicting current time again
It is to obtain control action sequence so that the prediction throttle valve opening value in optimization time domain is close to reference locus.
Step 5：Feedback compensation.There is the uncertain factors such as nonlinear time-varying, model mismatch and interference in real work,
Make the bottom pressure bottom pressure corresponding with the throttle valve opening value of prediction of actual fine managed pressure drilling system inconsistent, pass through
Obtain real-time detection to the corresponding throttle valve opening of specified moment bottom pressure open with the choke valve at the specified moment of prediction
The difference (i.e. predicated error) of the throttle valve opening value between angle value, and according to predicated error adjusting the throttle valve opening of prediction
Value, for example, the throttle valve opening value plus or minus predicated error of prediction is controlled according to the throttle valve opening value after adjustment
The aperture of choke valve.
Based on same inventive concept, a kind of regulation system of fine controlled pressure drilling choke valve is additionally provided in the embodiment of the present invention
System, as described in the following examples.Principle and fine control due to the regulating system solve problem of fine controlled pressure drilling choke valve
The control method of pressure drilling well choke valve is similar, therefore the enforcement of the regulating system of fine controlled pressure drilling choke valve may refer to finely
The enforcement of the control method of controlled pressure drilling choke valve, repeats part and repeats no more.It is used below, term " unit " or
" module " can realize the software of predetermined function and/or the combination of hardware.Although the device described by following examples is preferably
Realized with software, but hardware, or the realization of the combination of software and hardware is also may and to be contemplated.
Fig. 3 is a kind of structured flowchart of the regulating system of the fine controlled pressure drilling choke valve of the embodiment of the present invention, such as Fig. 3 institutes
Show, including：Sensor 301, receiving interface 302 and choke valve 303, illustrate below to the structure.
Sensor 301, for fine controlled pressure drilling system in preset duration before obtaining current time and current time in real time
The opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve in system, and by the discharge capacity of slush pump that obtains, backpressure pump
The opening value of discharge capacity and choke valve exports the computing device 300 outside the regulating system to fine controlled pressure drilling choke valve；
Receiving interface 302, is connected with computing device 300, for after the current time for receiving the computing device transmission
Choke valve prediction opening value in default sampling period, the choke valve prediction opening value is the computing device according to acquisition
What the opening value prediction of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve was obtained, the choke valve prediction opening value is corresponding
Bottom pressure meets the safety requirements of fine controlled pressure drilling；
Choke valve 303, is connected with receiving interface 302, for choke valve in a sampling period being preset after current time
Aperture be adjusted to choke valve prediction opening value.
When being embodied as, computing device 300 can be the equipment for having forecast function in prior art, and specifically, calculating sets
Standby 300 can adopt the prediction implementation method performed in above-mentioned nonlinear prediction device.
In one embodiment, also include：Input equipment, for receive user according to the spudder of fine controlled pressure drilling
Condition, the reference wellhead back pressure at fine each moment of controlled pressure drilling of setting, this meets with reference to the corresponding bottom pressure of wellhead back pressure
The safety requirements of fine controlled pressure drilling；Comparator, is connected with input equipment, and individual adopting will be preset after current time for choke valve
The aperture of choke valve is adjusted to before choke valve prediction opening value in the sample cycle, and the corresponding well head of choke valve prediction opening value is returned
Pressure is compared with the reference wellhead back pressure, obtains the difference of the wellhead back pressure of the two；Output interface, is connected with comparator, is used for
The difference of the wellhead back pressure is conveyed to into the computing device；The receiving interface, is connected with computing device, is additionally operable to receive institute
State the choke valve prediction opening value preset in a sampling period after the new current time of computing device transmission, the new throttling
Valve prediction opening value is discharge capacity, the backpressure pump that the computing device adjusts the slush pump for obtaining according to the difference of the wellhead back pressure
After the opening value of discharge capacity and choke valve, prediction again is obtained；The choke valve, is additionally operable to that individual adopting will be preset after current time
The aperture of choke valve is adjusted to new choke valve prediction opening value in the sample cycle.
In one embodiment, also include：Detector, for the choke valve sampling week will be preset after current time
The aperture of choke valve is adjusted to after choke valve prediction opening value in phase, is preset a sampling period after real-time detection current time
The bottom pressure at interior specified moment；Subtracter, is connected with detector, for the specified moment bottom pressure for detecting is corresponding
Throttle valve opening deducts the choke valve prediction opening value at the specified moment, draws the difference of the throttle valve opening value of the two；The section
Stream valve, is connected with subtracter, is additionally operable to the choke valve after the specified moment in the default sampling period after current time
Aperture, be adjusted to choke valve prediction opening value and the throttle valve opening value difference and.
In embodiments of the present invention, due to by fine controlled pressure drilling in preset duration before current time and current time
The opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve is come default sampling after predicting current time in system
Throttle valve opening value in cycle, can well overcome various uncertain and complicated change during fine controlled pressure drilling right
The impact of bottom pressure control；The corresponding bottom pressure of throttle valve opening value of the prediction meets the safety of fine controlled pressure drilling will
Ask, and fine controlled pressure drilling is throttled such that it is able to improve adjusting the aperture of choke valve according to the throttle valve opening value of prediction
The validity of valve regulation, and then bottom pressure during fine controlled pressure drilling can be caused effectively to maintain balance.
Obviously, those skilled in the art should be understood that each module or each step of the above-mentioned embodiment of the present invention can be with
Realized with general computing device, they can be concentrated on single computing device, or be distributed in multiple computing devices
On the network for being constituted, alternatively, they can be realized with the executable program code of computing device, it is thus possible to by it
Store and performed by computing device in the storage device, and in some cases, can be holding different from order herein
The shown or described step of row, or they are fabricated to respectively each integrated circuit modules, or will be multiple in them
Module or step are fabricated to single integrated circuit module to realize.So, the embodiment of the present invention is not restricted to any specific hard
Part and software are combined.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the embodiment of the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made
Any modification, equivalent substitution and improvements etc., should be included within the scope of the present invention.
Claims (4)
1. a kind of control method of fine controlled pressure drilling choke valve, it is characterised in that include：
The discharge capacity of slush pump in fine managed pressure drilling system in preset duration before obtaining current time and current time in real time, return
The discharge capacity of press pump and the opening value of choke valve；
According to the opening value of the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve for obtaining, after real-time estimate current time
Throttle valve opening value in default sampling period, the corresponding bottom pressure of throttle valve opening value of the prediction meets fine pressure control
The safety requirements of drilling well；
The aperture that choke valve in a sampling period is preset after current time is adjusted to into the throttle valve opening value of prediction；
By below equation according to obtain the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve opening value, real-time estimate
The throttle valve opening value in a sampling period is preset after current time：
~X (k)=fp[~x(k-1),~u(k-1),~v(k-1)]；
~Y (k)=gp[~x(k)]；
Wherein, fpIt is to be worked as to calculate according to the back pressure pumpage of previous moment, the opening value of choke valve and the discharge capacity of slush pump
The computation model of the back pressure pumpage at front moment；~X (k-1) is the back pressure pumpage of previous moment；~U (k-1) is previous moment
Choke valve opening value；~V (k-1) is the mud pumpage of previous moment；gpBe according to the back pressure pumpage at current time come
Calculate the computation model of the prediction throttle valve opening value at current time；~X (k) is the back pressure pumpage at current time；~Y (k) is
The prediction throttle valve opening value at current time；K is current time；
The aperture that choke valve in a sampling period is preset after current time is adjusted to into the throttle valve opening value of prediction, including：
According to the drilling condition of fine controlled pressure drilling, the reference wellhead back pressure at fine each moment of controlled pressure drilling, the reference are set
The corresponding bottom pressure of wellhead back pressure meets the safety requirements of fine controlled pressure drilling；
The corresponding wellhead back pressure of throttle valve opening value of prediction and the reference wellhead back pressure are compared in real time, obtains the two
The difference of wellhead back pressure；
Calculated according to the difference of the wellhead back pressure of the two and the wellhead back pressure the corresponding throttle valve opening value of difference；
According to the throttle valve opening value calculated, the discharge capacity of slush pump, the discharge capacity of backpressure pump and the choke valve of acquisition are adjusted
Opening value, and the opening value of the discharge capacity according to the slush pump after adjustment, the discharge capacity of backpressure pump and choke valve, when predicting current again
The throttle valve opening value in a sampling period is preset after quarter；
The aperture that choke valve in a sampling period is preset after current time is adjusted to the throttle valve opening value predicted again.
2. the control method of controlled pressure drilling choke valve as claimed in claim 1 fine, it is characterised in that after current time
The aperture of choke valve is adjusted to after the throttle valve opening value of prediction in default sampling period, is also included：
The bottom pressure that the moment is specified in a sampling period is preset after detection current time；
The choke valve at the specified moment that the corresponding throttle valve opening of specified moment bottom pressure for detecting is deducted into prediction is opened
Angle value, draws the difference of the throttle valve opening value of the two；
The aperture that the choke valve after the moment is specified in a sampling period will be preset after current time, be adjusted to the throttling of prediction
Valve opening value and the throttle valve opening value difference and.
3. a kind of regulating system of fine controlled pressure drilling choke valve, it is characterised in that include：
Sensor, for mud in fine managed pressure drilling system in preset duration before obtaining current time and current time in real time
The opening value of the discharge capacity of pump, the discharge capacity of backpressure pump and choke valve, and by the discharge capacity of slush pump, the discharge capacity of backpressure pump and the section that obtain
The opening value of stream valve exports the computing device outside the regulating system to fine controlled pressure drilling choke valve；
Receiving interface, it is pre- for presetting the choke valve in a sampling period after the current time for receiving the computing device transmission
Opening value is surveyed, the choke valve prediction opening value is discharge capacity, the discharge capacity of backpressure pump of the computing device according to the slush pump for obtaining
Predict what is obtained with the opening value of choke valve, the corresponding bottom pressure of choke valve prediction opening value meets fine controlled pressure drilling
Safety requirements；
Choke valve, for the aperture that choke valve in a sampling period is preset after current time to be adjusted to into choke valve prediction aperture
Value；
The computing device passes through aperture of the below equation according to the discharge capacity of slush pump, the discharge capacity of backpressure pump and choke valve for obtaining
Value, presets the throttle valve opening value in a sampling period after real-time estimate current time：
~X (k)=fp[~x(k-1),~u(k-1),~v(k-1)]；
~Y (k)=gp[~x(k)]；
Wherein, fpIt is to be worked as to calculate according to the back pressure pumpage of previous moment, the opening value of choke valve and the discharge capacity of slush pump
The computation model of the back pressure pumpage at front moment；~X (k-1) is the back pressure pumpage of previous moment；~U (k-1) is previous moment
Choke valve opening value；~V (k-1) is the mud pumpage of previous moment；gpBe according to the back pressure pumpage at current time come
Calculate the computation model of the prediction throttle valve opening value at current time；~X (k) is the back pressure pumpage at current time；~Y (k) is
The prediction throttle valve opening value at current time；K is current time；
Also include：
Input equipment, for receive user according to the drilling condition of fine controlled pressure drilling, the fine controlled pressure drilling of setting each when
The reference wellhead back pressure at quarter, this meets the safety requirements of fine controlled pressure drilling with reference to the corresponding bottom pressure of wellhead back pressure；
Comparator, is adjusted to choke valve pre- for choke valve by the aperture that choke valve in a sampling period is preset after current time
Before surveying opening value, the corresponding wellhead back pressure of choke valve prediction opening value is compared with the reference wellhead back pressure, obtain two
The difference of the wellhead back pressure of person；
Output interface, for the difference of the wellhead back pressure to be conveyed to into the computing device；
The receiving interface, is additionally operable to be preset in a sampling period after the new current time for receiving the computing device transmission
Choke valve prediction opening value, new choke valve prediction opening value is that the computing device is adjusted according to the difference of the wellhead back pressure
After the opening value of the discharge capacity of the slush pump of whole acquisition, the discharge capacity of backpressure pump and choke valve, prediction again is obtained；
The choke valve, is additionally operable to for the aperture that choke valve in a sampling period is preset after current time to be adjusted to new throttling
Valve predicts opening value.
4. the regulating system of controlled pressure drilling choke valve as claimed in claim 3 fine, it is characterised in that also include：
Detector, throttling is adjusted to for the choke valve by the aperture that choke valve in a sampling period is preset after current time
After valve prediction opening value, the bottom pressure that the moment is specified in a sampling period is preset after real-time detection current time；
Subtracter, for the corresponding throttle valve opening value of the specified moment bottom pressure for detecting to be deducted the section at the specified moment
Stream valve prediction opening value, draws the difference of the throttle valve opening value of the two；
The choke valve, is additionally operable to opening the choke valve after the specified moment in the default sampling period after current time
Degree, be adjusted to choke valve prediction opening value and the throttle valve opening value difference and.
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| CN107191154B (en) * | 2016-03-15 | 2020-07-31 | 中国石油化工股份有限公司 | Wellhead back pressure regulating method and device |
| CN109630046A (en) * | 2018-10-31 | 2019-04-16 | 中国石油集团川庆钻探工程有限公司 | A kind of sealing and circulating controlled pressure drilling wellbore pressure control method |
| CN109779568B (en) * | 2018-12-14 | 2022-01-04 | 中国石油天然气集团有限公司 | Closed-loop control method and system for automatically controlling pressure to implement well killing |
| CN112627733B (en) * | 2020-12-17 | 2022-11-15 | 中国石油大学(华东) | Method and equipment for optimizing hydraulic parameters of deepwater pressure-controlled drilling in real time |
| CN112885064B (en) * | 2021-01-11 | 2022-07-29 | 中国煤炭科工集团太原研究院有限公司 | Sight distance remote control operation system of airborne multi-drill rig |
| CN113255080A (en) * | 2021-06-04 | 2021-08-13 | 西南石油大学 | Composite drill bit optimization method based on fine pressure control drilling technology |
| CN114185265B (en) * | 2022-02-15 | 2022-04-15 | 中国空气动力研究与发展中心高速空气动力研究所 | Large-scale opening jet flow wind tunnel ultrasonic speed constant total pressure continuous variable Mach number control method |
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| US4510993A (en) * | 1982-03-25 | 1985-04-16 | Marathon Oil Company | Flow control apparatus and method |
| CN1538036A (en) * | 2003-04-17 | 2004-10-20 | 雷宗明 | Automic control system for throttle well killing |
| CN100353027C (en) * | 2003-10-31 | 2007-12-05 | 中国石油化工股份有限公司 | Under balance drilling bottom pressure automatic control system and method |
| US7581440B2 (en) * | 2006-11-21 | 2009-09-01 | Schlumberger Technology Corporation | Apparatus and methods to perform downhole measurements associated with subterranean formation evaluation |
| CN101694152B (en) * | 2009-10-30 | 2012-12-26 | 中国石油大学(北京) | Multi-level fine choke manifold and automatic control system |
| CN101852076B (en) * | 2010-03-31 | 2013-09-04 | 中国石油天然气集团公司 | Underground working condition simulation method for controlled pressure drilling experiment and test |
| CN204371220U (en) * | 2014-12-05 | 2015-06-03 | 中国石油天然气集团公司 | The regulating system of meticulous controlled pressure drilling choke valve |
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