CN104775803B - A kind of well track to dynamic guiding type rotary steering drilling tool is servo-actuated and stable control method - Google Patents
A kind of well track to dynamic guiding type rotary steering drilling tool is servo-actuated and stable control method Download PDFInfo
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- 238000005553 drilling Methods 0.000 title claims abstract description 70
- 238000000034 method Methods 0.000 title claims abstract description 21
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- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 230000003068 static effect Effects 0.000 claims description 5
- 230000005358 geomagnetic field Effects 0.000 claims description 2
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- 230000008878 coupling Effects 0.000 description 4
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- 230000035515 penetration Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
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- 230000000694 effects Effects 0.000 description 2
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- 239000007788 liquid Substances 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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- 239000011229 interlayer Substances 0.000 description 1
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- 239000003351 stiffener Substances 0.000 description 1
Classifications
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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
- E21B44/02—Automatic control of the tool feed
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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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Abstract
The present invention relates to oil and gas well drilling technical field, more particularly to a kind of well track to dynamic guiding type rotary steering drilling tool is servo-actuated and stable control method.It is calculated the hole angle and azimuth information to be controlled by computing unit according to preset well track parameter or ground monitoring system telecommand, and the operation principle of dynamic guiding type rotary steering drilling tool is combined, the linear running displacement and stabilized platform main body for from which further following that three hydraulic drive pistons rotate against angular displacement relative to rotation outer barrel.It can be on the premise of drillng operation not be influenceed, with reference to hole angle and azimuthal measurement data, when keeping the inactive state over the ground of stabilized platform, the linear running displacement by adjusting each hydraulic drive piston and stabilized platform main body rotate against angular displacement relative to rotation outer barrel, the precise control of dynamic directional type can be achieved, drilling efficiency is effectively improved.
Description
Technical field
The present invention relates to oil and gas well drilling technical field, more particularly to one kind is to dynamic directional type rotary steerable drilling
The well track of instrument is servo-actuated and stable control method.
Background technology
As domestic and international most oil gas fields subsequently enter mid-later development phase, Reservoir Development difficulty is gradually increased, and is bored and is met ground
Layer characteristic is increasingly complicated, in addition offshore oil, Offshore Oil gas field, the probing successively of coal bed gas field, to conventional extended reach well, water
The drilling technology such as horizontal well and multilateral well proposes higher requirement.Rotary steerable drilling technology is to grow up in recent years
A sophisticated closed loop automatic well drill new technology, its appearance is a qualitative leap of world well technology.
Underground rotary steering drilling tool system is divided into pushing type and directional type according to its guidance mode, according to biasing machine
The working method of structure can be divided into quiescent biasing formula and dynamic bias formula again, in terms of applicable cases, directional type rotary steerable drilling system
The deflecting ability of system is more applicable for big hole diameter or out-of-round oversized hole, soft formation, dead-soft bottom independent of the contact with the borehole wall
With the hanging sidetracking of bore hole of interlayer etc. so that drilling dog-leg severity and lateral drilling deflecting ability are greatly improved, and are contributed to well
Control improves wellbore quality, it is ensured that downhole safety in the optimum position of oil reservoir.And wherein dynamic directional type rotary steerable drilling system
System is even more that, because its BHA is fully rotating, it is smooth, regular to get out well, and can effectively improve rate of penetration, increase moment of torsion,
The pressure of the drill is adjusted, bit performance is given full play to, is welcome by many oilfield drilling companies in world wide.
World-renowned petroleum technology service company Baker Hughes, Schlumberger, Halliburton etc. are
Through developing respective rotary steering drilling tool system.Domestic Xi'an Petroleum University, Shengli Oil Field drilling well institute, middle extra large oil are ground
Study carefully the units such as center, China University of Geosciences, Southwest Petrol University, Liaohe Oil Field providence petroleum equipment company also carried out rotation lead
Studied to drilling technology, certain achievement in research is achieved successively.Generally, rotary steering closed loop drilling technology is still in quick
In the stage of development, international competition is very fierce.Wherein dynamic guiding type rotary steering drilling tool system is world today's drilling well
In the acme of technology development, represent the developing direction of high-precision directional drill well technology.
Chinese patent notification number CN 101586440A, publication date on November 25th, 2009, entitled one kind of innovation and creation
(patent application is also utility model patent mandate, Authorization Notice No. to guiding type rotary steering drilling tool：CN 201450731
U, authorized announcement date on May 12nd, 2010), this application case discloses a kind of mechanics of surface characteristic independent of stratum, structure letter
It is single, and it is quiet to be capable of in the guiding type rotary steering drilling tool system of accurate and effective control well track, the system nature
State biases guiding type rotary steering drilling tool system, and outer barrel does not revolve when it is disadvantageous in that the 1. drilling tool work
Turn, its action torque is smaller；2. the guiding of the drilling tool is bent by mandrel and realized, the guiding mandrel is subjected to high intensity
Alternate stress, easily occurs fatigue damage.
Technically, dynamic directional type rotary steerable drilling system be one integrate mechanical, electrical, liquid closed loop from
Autocontrol system, its deflecting ability is and fully rotating for major technique with all parts in underground independent of the contact with the borehole wall
Feature.
U.S. Patent number 6,109,372, March 15 1999 applying date, grant date August in 2000 29 days, innovation and creation
Entitled use Hydraulic Servo-Loop control rotary steering drilling tool system (Rotary Steerable Well
Drilling System Utilizing Hydraulic Servo-loop), the case discloses a kind of based on dynamic directional type
Rotary steerable tool, its outer barrel directly drives biasing mechanism and then drives bit, is lived by two groups of X-Y directions hydraulic-driven
Plug is uninterrupted to move to control the relative position of biasing mechanism and outer barrel during work, and to reach the purpose of sensing, its feature is
Need accurate outer barrel rotary speed known at any time, and the run location of the two groups of hydraulic drive pistons in servo antrol X-Y directions, liquid
Pressure driving piston displacement and the simultaneous control high load capacity work of itself in addition of outer barrel rotating speed, can undoubtedly increase and be accurately directed to control
The difficulty of system.
U.S. Patent number 6,092,610, at 5 on the applying date 1998 year 2 month, grant date on July 25th, 2000, innovation and creation
Rotary steering drilling tool System and method for (the Actively Controlled Rotary of entitled active control
Steerable System and Method for Drilling Wells), the case discloses a kind of dynamic directional type rotation
Guide drilling tool system, its outer barrel drives auger spindle and then drives bit, produces larger rotation torque, while the case is proposed
A kind of directional type guiding mechanism based on eccentric hoop, it points to angle and can passed through in zero degree to change between design maximum angle
Ensure that eccentric shaft geography is static, can constant sensing angle size.Its feature is that need to adjust and refer to when being not required to adjustment sensing angle size
During to azimuth, the geographical inactive state of eccentric shaft is destroyed first, when eccentric shaft turns orientation needed for, then make its constant speed anti-
To tracking outer barrel rotating speed, but the case fails clear to illustrate eccentric hoop type of drive in detail, it is impossible to learn eccentric stiffener details.
The content of the invention
An object of the present invention is achieved through the following technical solutions：
A kind of dynamic guiding type rotary steering drilling tool, including rotation outer barrel, stabilized platform, guide offset mechanism, brill
Press transmission mechanism, torque-transmitting mechanisms, upper and lower support plate, auger spindle, drill bit, conducting slip ring, seal bellows and multiple connections
Bearing.
It is the thicker hollow ring body of a wall thickness to rotate outer barrel, is driven, is used for as both drilling rod and MTR or one
Apply larger the pressure of the drill and moment of torsion to drilling tool.
Stabilized platform is placed in rotation outer barrel, including hollow cylindrical body, connection bearing, servomotor and with associating
Axle device, stabilized platform agent structure develops from the up-small and down-big round estrade of diameter, and upper end stretches out longer, by installed in rotation
The lower supporting plate of outer barrel and the bearing being embedded are connected, and lower end is the relatively thin hollow circular cylinder of wall thickness, connects bearing
Outside is fitted close with rotation outer tube inner wall, and inner side stable connection main platform body, servomotor is arranged on the upper branch of rotation outer barrel
On fagging, shaft coupling is used to connect servomotor and stabilized platform main body, according to rotation outer barrel rotation situation, servomotor driving
Stabilized platform main body constant speed phase despining, makes it keep static over the ground in the operating condition.
Guide offset mechanism is located at stabilized platform body interior, by three hydraulic drive piston groups for being mutually 120 ° of installations
Into the central area that hydraulic drive piston is surrounded has an auger spindle to connect bearing.Auger spindle connection bearing is angular contact bearing, its
Inner side is fitted close with auger spindle top connector, and outside is joined directly together with each hydraulic drive piston.Change hydraulic drive piston
Linear motion displacement, the hole angle of auger spindle will be changed.
Load transfer mechanism includes the pressure of the drill bearing ring, elastic washer, sphere thrust ring and spherical rotary ring, the pressure of the drill bearing ring
To there is " recessed " the shape cylindrical structure in hole in the middle of one, its upper end is placed on rotation outer tube inner wall concave station, and machine is transmitted in lower end with moment of torsion
The upper cardan cage set of structure is in contact, the pressure of the drill that directly carrying comes on spinning outer barrel, elastic washer, sphere thrust ring and ball
Face rotating ring is placed in inside the pressure of the drill bearing ring, is sequentially connected, and auger spindle is installed with load transfer mechanism, its upper end by bearing with
The eccentric ducted body of interior eccentric hoop is fastenedly connected, and middle part is extended with inner concave in the middle of cylindrical " convex " platform and spherical rotary ring and connected
Touch, so that the pressure of the drill that can be on spinning in future outer barrel is further transferred on auger spindle, and then can be transferred to and be installed on before auger spindle
On the drill bit at end.
Torque-transmitting mechanisms are located at rotation outer barrel bottom, including upper cardan cage, lower cardan cage, steel ball, key
And for protecting two collars of torque-transmitting mechanisms, upper and lower universal-joint Rzeppa agent structure is similar, is a hollow circuit cylinder
8 1/4 " concave spherical surface " is evenly equipped with body, inwall, it just constitutes global face with another 1/2 " concave spherical surface " on auger spindle, is built-in with
High-quality steel ball.Dynamic torque by eight " keys " being distributed on around outer barrel be transferred to above and below universal-joint Rzeppa, then using 8 big
Diameter " steel ball " is placed a torque in the way of sphere-contact in auger spindle, and then is acted on drill bit.
Rotation status when conducting slip ring in dynamic guiding type rotary steering drilling tool can not be worked by stabilized platform
Influence leads to power supply and control signal on stabilized platform servomotor；And seal available as very important auger spindle upper and lower side
Bellows is realized.
Dynamic guiding type rotary steering drilling tool may also include：Drill collar above rotation outer barrel, to improve rotation
Effect the pressure of the drill of outer barrel；MTR above rotation outer barrel, to change the rotation torque of rotation outer barrel；It is outer positioned at rotation
Turbogenerator above cylinder, for providing electric power support for the rotary steerable tool.
To realize flexible guiding and the smooth working of dynamic guiding type rotary steering drilling tool, the present invention also provides a kind of
The characteristics of and stable control method servo-actuated to the well track of the instrument, foundation well track servo antrol, using containing fuzzy
The close-loop control scheme of PID controller, to eliminate drilling parameter to a greater extent in interior change and load disturbance in a big way
Influence to well track；Preset well track parameter or ground monitoring system telecommand are tracked, is calculated at different well depths
The information such as rate of penetration, hole angle and azimuth be used as control system input variable；Consider the angular displacement of measurement hole deviation, side
Azimuth deviation, drilling speed deviation and each deviation variation rate, determine the membership function and control rule of fuzzy variable, design steady
Fixed platform is servo-actuated fuzzy controller and hole angle, azimuth are oriented to fuzzy controller, improves the fuzzy control of multiple input single output
System, realizes the control requirement to stabilized platform, guide offset mechanism and auger spindle.
Compact conformation of the present invention, reasonable in design, easy to adjust, the rotary drilling mode pointed to by its dynamic, can be to water
The drilling process of horizontal well, extended reach well, high angle hole and Multilateral Wells etc. is effectively oriented to, and can be increased moment of torsion, be adjusted the pressure of the drill,
Improve rate of penetration, give full play to bit performance, and then improve drilling efficiency, can be tied on the premise of drillng operation is not influenceed
Hole angle and azimuthal measurement data are closed, are lived when keeping the inactive state over the ground of stabilized platform, by adjusting each hydraulic-driven
The linear running displacement of plug and stabilized platform main body rotate against angular displacement relative to rotation outer barrel, and dynamic directional type can be achieved
Precise control, effectively improve drilling efficiency.
Brief description of the drawings
The specific embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is embodiment of the present invention diagrammatic cross-section；
Fig. 2 is embodiment of the present invention hydraulic-driven guide offset structural scheme of mechanism；
Fig. 3 is embodiment of the present invention control loop block diagram；
Fig. 4 is that embodiment of the present invention well track is servo-actuated and stable control method structured flowchart；
Drawing reference numeral：1-drill bit, 2-inner sleeve, 3-outer sleeve, 4-sphere thrust ring, 5-elastic washer, 6-rotation
Turn outer barrel, 7-auger spindle connection bearing, 8-hydraulic drive piston linear slider, 9-lower supporting plate, 10-stabilized platform servo electricity
Machine, 11-stabilized platform conducting slip ring, 12-upper backup pad, 13-control circuit mounting box, 14-stabilized platform servomotor
Shaft coupling, 15-lower supporting plate embeds bearing, 16-stabilized platform main body, 17-stabilized platform connection bearing, 18-auger spindle,
19-the pressure of the drill bearing ring, 20-spherical rotary ring, 21-upper cardan cage, 22-steel ball, 23-lower cardan cage, 24-
Seal bellows.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention further it is clear,
It is fully described by.Obviously, the present invention is not limited by following embodiments, can technique according to the invention scheme and actual conditions
Determine specific embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative labor
The every other embodiment obtained under the premise of dynamic, should all belong to the scope of protection of the invention.
Rotated the embodiments of the invention provide a kind of dynamic directional type in underground for but not limited to natural petroleum gas field
Guide drilling tool, in particular, provides a kind of offset guide mechanism based on stabilized platform and hydraulic drive piston.The instrument
Guidance mode be directional type, the working method of guide offset mechanism is dynamic bias formula.Outer barrel is rotated in the embodiment of the present invention
It is connected with drill string or drill pipe system, drill bit is connected with auger spindle；Stabilized platform makes itself and outer barrel speed of rotation size by motor driving
It is equal, in the opposite direction, keep geographical inactive state；There is hydraulic drive piston offset guide mechanism inside it, in drilling process,
Outer barrel is rotated all the time, and moment of torsion and the pressure of the drill are efficiently passed into drill bit；Driven by adjusting two groups of hydraulic pressure in guide offset mechanism
The flexible straight-line displacement of piston, can be achieved auger spindle center line and outer barrel center line and forms hole angle from 0 ° to design maximum well
Change between bevel angle value；The angular displacement of outer barrel is rotated against by adjusting stabilized platform, auger spindle center line can be made to point to the four corners of the world 0
Any control azimuth in the range of~360 °.
The embodiment of the present invention also provide a kind of well track to the dynamic guiding type rotary steering drilling tool it is servo-actuated and
Stable control method, is specifically included：According to control hole angle and azimuth value, with reference to hydraulic drive piston guide offset mechanism work
Make principle, straight line angular displacement need to be run by calculating each hydraulic drive piston, while using servo rotary control algolithm, in adjustment
After good hole angle and azimuth, the inactive state over the ground of stabilized platform and offset guide mechanism is kept, so as to reach dynamic sensing
Purpose.Technical scheme, the research and development for dynamic guiding type rotary steering drilling tool provide theoretical foundation.
In embodiments of the present invention, for the ease of description, the relative position relation of each part is all in accordance with Figure of description
It is laid out to be described, such as upper and lower position relation is to be laid out to determine according to each parts of Figure of description.
In order to ensure to reach the constant guiding of a direction and effective biography of the pressure of the drill moment of torsion in the case where outer barrel rotates
Pass, specially required in Design of Mechanical Structure：1. power drilling tool drilling speed is controlled by outer barrel drilling speed, will act at moment of torsion on outer barrel and passes
Pass drilling tool；2. guide offset mechanism rotates with stabilized platform, and can realize that the drilling speed is equal in magnitude, square with outer barrel drilling speed
To opposite；3. guide offset mechanism should have flexible hole angle and azimuth to produce structure；4. power drilling tool is not being influenceed to bore
In the case of speed, it is ensured that high the pressure of the drill, high pulling torque act on drill bit.
Fig. 1 is embodiment of the present invention diagrammatic cross-section.The dynamic guiding type rotary steering drilling tool embodiment includes rotation
Turn outer barrel 6, stabilized platform, guide offset mechanism, load transfer mechanism, torque-transmitting mechanisms, upper backup pad 12, lower supporting plate 9,
Drill bit 1, auger spindle 18, stabilized platform conducting slip ring 11, seal bellows 24 and for each rotating parts position connect it is many
Individual bearing.
Specifically, stabilized platform is placed in inside rotation outer barrel 6, including hollow cylindrical stabilized platform main body 16, stably
Platform connection bearing 17, stabilized platform servomotor 10 and supporting stabilized platform servomotor shaft coupling 14, stabilized platform master
The upper end of body 16 is connected by embedding bearing 15 installed in the lower supporting plate 9 and lower supporting plate of rotation outer barrel 6, and lower end passes through stable
Platform connects bearing 17 and is fitted close with rotation outer barrel 6 inwall, and stabilized platform servomotor 10 is arranged on the upper branch of rotation outer barrel 6
On fagging 12, upper backup pad 12 and lower supporting plate 9 on rotation outer barrel 6, and are moved together therewith by interior hexagonal screw threads for fastening；
Stabilized platform servomotor shaft coupling 14 is used for stable connection platform servomotor 10 and stabilized platform main body 16, and stabilized platform is watched
The driving of motor 10 stabilized platform main body 16 is taken relative to the rotation constant speed phase despining of outer barrel 6, it is kept in the operating condition pair
Ground is static.
Fig. 1 lower half describes the pressure of the drill and torque-transmitting mechanisms of the embodiment of the present invention.Load transfer mechanism is from top to bottom
Including the pressure of the drill bearing ring 19, elastic washer 5, sphere thrust ring 4 and spherical rotary ring 20, the pressure of the drill bearing ring 19 is to have hole in the middle of one
" recessed " shape cylindrical structure, its upper end be placed in rotation the inwall concave station of outer barrel 6 on, upper cardan of the lower end with torque-transmitting mechanisms
Cage set 21 is in contact, the pressure of the drill that directly carrying comes on spinning outer barrel 6；Elastic washer 5, sphere thrust ring 4 and spherical rotary
Ring 20 is sequentially placed into inside the pressure of the drill bearing ring 19, and auger spindle 18 is installed with load transfer mechanism, and its upper end passes through auger spindle connecting shaft
Hold 7 to be connected with hydraulic drive piston jam, middle part is extended with cylindrical " convex " platform and the middle inner concave of spherical rotary ring 20
It is in contact, so that the pressure of the drill that can be on spinning in future outer barrel 6 is further transferred on auger spindle 18, and then can be transferred to and be installed on
On the drill bit 1 of auger spindle front end.
Torque-transmitting mechanisms are located at rotation outer barrel 6 bottom, including upper cardan cage 21, lower cardan cage 23, steel
Ball 22, connecting key 25 and inner sleeve 2 and outer sleeve 3 for protecting torque-transmitting mechanisms, upper cardan cage 21 and lower ten thousand
To section the agent structure of cage 23 it is similar, be at hollow circular cylinder, inwall and be evenly equipped with 8 1/4 " concave spherical surface ", its just with auger spindle
The global face of another 1/2 " concave spherical surface " composition on 6 relevant positions, sphere is built-in with high-quality steel ball 22.Dynamic torque is by uniformly outside
Eight connecting keys 25 around cylinder are transferred to upper cardan cage 21 and lower cardan cage 23, then utilize 8 Large-diameter Steels
Ball 22 is placed a torque in the way of sphere-contact in auger spindle 18, and then is acted on drill bit 1.
During drilling, upper drilling string, including the pressure of the drill and power torque of the generation such as drill collar, MTR will all put on rotation
On outer barrel 6, most the pressure of the drill therein pass to elastic washer 5 successively by the pressure of the drill bearing ring 19, sphere thrust ring 4 and ball
Face rotating ring 20, is then acted on auger spindle 18, and fraction the pressure of the drill is also ultimately applied on auger spindle 18 through torque-transmitting mechanisms；
During drilling rock to most longitudinal resistances of drill bit then by auger spindle through spherical rotary ring 20, sphere thrust ring 4, cushion
Circle 5 and the pressure of the drill bearing ring 19 pass to rotation outer barrel 6.Dynamic torque by be distributed on rotation outer barrel 6 around eight connecting keys 25
Upper cardan cage 21 and lower cardan cage 23 are passed to, then uses the major diameter steel ball 22 can be by the way of sphere-contact
Moment of torsion puts on auger spindle 6.Have benefited from the sphere-contact of sphere thrust ring 4 and spherical rotary ring 20, and upper cardan cage 21
With sphere 22 connected mode of the lower cardan cage 23 with auger spindle 18, it can be realized while the pressure of the drill moment of torsion is efficiently transmitted without barrier
The rotary steering hindered.
Fig. 2 further describes the hydraulic-driven biasing mechanism guiding principle of the embodiment of the present invention.Guide offset mechanism position
Inside stabilized platform main body 16, it is made up of three hydraulic drive pistons 8 for being mutually 120 ° of installations, the hydraulic drive piston 8
The central area surrounded has an auger spindle to connect bearing 7, can form well by adjusting the straight-line displacement of each hydraulic drive piston
There is design maximum straight-line displacement in oblique angle, the straight-line displacement, the hole angle is from 0 ° to design maximum angle change, and hole angle is maximum
Design angle determines that auger spindle 18 is connected the lower surface of bearing 7 to torsion from auger spindle with the design maximum straight-line displacement of hydraulic drive piston 8
Rotary middle point O designed distance is oriented in square transmission mechanism.
Stabilized platform servomotor uses hollow shaft type servomotor in the embodiment of the present invention, the embodiment central axis
Hollow gap is left in certain limit, inside has mud to run passage, runs mud and is sprayed to the inside of drill bit 1 from drill bit 1
Shoot out, then return to ground by rotating the annular space between outer barrel 6 and the borehole wall.Particularly, as very important auger spindle 18
Mud sealing with lower cardan cage 23 can realize that similarly, seal bellows can also be realized with seal bellows 24
Auger spindle 18 and the good mud sealing effectiveness of hydraulic drive piston.
The embodiment of the present invention may also include：Drill collar above rotation outer barrel, to improve effect the pressure of the drill of rotation outer barrel；
MTR above rotation outer barrel, to change the rotation torque of rotation outer barrel；Turbine hair above rotation outer barrel
Motor, for providing electric power support for the rotary steerable tool.
The embodiment of the present invention also includes being used for stable connection platform servomotor and control board power supply and control signal
The guide link of line, the guide link is arranged on the lower surface of upper backup pad 12.
The embodiment of the present invention also provides a kind of control method for the dynamic guiding type rotary steering drilling tool.As schemed
3 show embodiment of the present invention control loop structured flowchart, mainly including ground monitoring system, uplink/downlink communication system, with brill
(MWD) measuring system and underground rotary steering drilling tool system four are most of.Whole system is by inside and outside two big control loop groups
Into outer layer is that internal layer is that underground rotates by realizing ground monitoring and the pilot circuit of manual decision with brill (MWD) measuring system
Control loop is oriented to, its guide track setting value can default geometry guide track parameter or be passed through before going into the well
The geosteering trajectory parameters determined after MWD actual measurement formation parameters.Figure center line inframe is then the core of rotary steerable drilling system
The heart --- underground dynamic guiding type rotary steering drilling tool system.
Embodiment of the present invention well track is servo-actuated and stable control method structured flowchart is as shown in Figure 4.According to preset well
Trajectory parameters are calculated the hole angle and azimuth information to be controlled by computing unit, and combine dynamic directional type rotary steering
The operation principle of drilling tool, from which further follows that linear running displacement and the phase of stabilized platform main body 16 of each hydraulic drive piston
Angular displacement is rotated against for rotation outer barrel 6.To realize the hole angle and azimuthal accurate control, using double-closed-loop control
Device, wherein closed loop I mainly realize that stabilized platform main body 11 follows the reverse constant speed control of rotation outer barrel 6, realize that its geography is static,
This is extremely important to being accurately directed to control；It can use fluxgate, using the North-South polarity feature of geomagnetic field,
The circumferential variation magnetic field measured is changed into circumferential variation number of times, obtains rotating the rotating speed of outer barrel 6, or using laser gyro system
System, to eliminate the influence of magnetic drill collar, realizes rotation dynamic measurement, the rotation actual speed measurement result of outer barrel 6 is constantly adjusted
Whole is servo follow-up tracing variable, can select the sensor of the different principles such as electric capacity, photoelectricity, Hall, perceives rotation outer barrel 6 and stable flat
The difference between CW and CCW speeds of platform main body 15 are different, realize that its accurate servo-actuated reverse constant speed of dynamic is tracked using fuzzy controller a；In closed loop II
Middle use three axis accelerometer, magnetometer etc. can conveniently calculate actual hole angle and azimuth；Realized using fuzzy controller b
The linear running displacement of each group hydraulic drive piston and stabilized platform main body 16 rotate against angular displacement relative to rotation outer barrel 6
Precise control, rotation speed change can be by the fine setting increment unit of closed loop I on the hole angle to be controlled and azimuthal influence
It is compensated by.
The technical method and scheme of machine design of the embodiment of the present invention, can on the premise of drillng operation is not influenceed, with reference to
Hole angle and azimuthal measurement data, when keeping the inactive state over the ground of stabilized platform, by adjusting each hydraulic drive piston
Linear running displacement and stabilized platform main body rotate against angular displacement relative to rotation outer barrel, dynamic directional type can be achieved
Precise control, effectively improves drilling efficiency, and the embodiment can be widely applied to the stratum of various mechanical characteristics, particularly softly
In layer, dead-soft bottom.
Above example is only to the technical scheme for illustrating the embodiment of the present invention, rather than its limitations；Although with reference to foregoing
The embodiment of the present invention is described in detail embodiment, it will be understood by those within the art that：It still can be with
Technical scheme described in foregoing embodiments is modified, or equivalent is carried out to which part technical characteristic；And
These modifications are replaced, and the essence of appropriate technical solution is departed from the essence of each embodiment technical scheme of the embodiment of the present invention
God and scope.
Claims (3)
1. a kind of well track to dynamic guiding type rotary steering drilling tool is servo-actuated and stable control method, its feature exists
In：The hole angle to be controlled is calculated by computing unit according to preset well track parameter or ground monitoring system telecommand
And azimuth information, and the operation principle of dynamic guiding type rotary steering drilling tool is combined, from which further follow that three hydraulic pressure drives
The linear running displacement of piston and stabilized platform main body rotate against angular displacement relative to rotation outer barrel；To realize the hole deviation
Angle and azimuthal accurate control, using closed loop I, the double-closed-loop control device of closed loop II；Fuzzy controller a is utilized in the closed loop I
Realize that stabilized platform main body follows the reverse constant speed control of rotation outer barrel, realize that its geography is static, Fuzzy Control is utilized in closed loop II
Device b processed realizes linear running displacement and stabilized platform main body the rotating against relative to rotation outer barrel of each group hydraulic drive piston
The precise control of angular displacement.
2. well track as claimed in claim 1 is servo-actuated and stable control method, it is characterised in that：Using fluxgate, utilize
The North-South polarity feature of geomagnetic field, the circumferential variation magnetic field measured is changed into circumferential variation number of times, obtains rotating outer barrel
Drilling speed, from electric capacity, photoelectricity, Hall different principle sensor, perceive rotation outer barrel and stabilized platform main body positive and negative drilling speed
Difference.
3. well track as claimed in claim 1 or 2 is servo-actuated and stable control method, it is characterised in that：Accelerated using three axles
Degree meter, magnetometer calculate actual hole angle and azimuth, and drilling speed changes on the hole angle to be controlled and azimuthal influence
It can be compensated by by the fine setting increment unit of closed loop I.
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| CN201210402593.5A CN102913131B (en) | 2012-08-14 | 2012-10-19 | A kind of dynamically guiding type rotary steering drilling tool |
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| CN110056323A (en) * | 2019-04-18 | 2019-07-26 | 江苏中船海洋设备有限公司 | Efficient duplex prevents that other bit freezing bores strand formula milling cone |
| CN113445913B (en) * | 2021-07-20 | 2023-02-03 | 长江大学 | A weight-on-bit diverging device for guiding tool |
| CN113417631B (en) * | 2021-08-11 | 2023-05-02 | 中国石油大学(华东) | Rotary guiding tool ground instruction downloading system and method |
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