CN105041212A - Rotary steering well drilling control system and control method thereof - Google Patents

Rotary steering well drilling control system and control method thereof Download PDF

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Publication number
CN105041212A
CN105041212A CN201510561643.8A CN201510561643A CN105041212A CN 105041212 A CN105041212 A CN 105041212A CN 201510561643 A CN201510561643 A CN 201510561643A CN 105041212 A CN105041212 A CN 105041212A
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control
master control
drill bit
rib
angle
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CN105041212B (en
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谭勇
欧江波
王停
孙勇
邢双进
尹爱静
张瑜
陈伟
陈艳
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CHONGQING QIANWEI TECHNOLOGY GROUP Co Ltd
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CHONGQING QIANWEI TECHNOLOGY GROUP Co Ltd
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Abstract

The invention discloses a rotary steering well drilling control system and a control method thereof. The control system comprises a ground control system, a ground control box, a bypass-valve, an MWD system, an underground master control board provided with a decoding unit and a main control board capable of controlling rib movement of a guide tool; the control system further comprises an underground electric generator, electric generator installation segments, a coupler, coupler installation segments used for installing the coupler, a near-bit posture data obtaining component and a power panel. The control method comprises the following steps: 1, testing a wellhead; 2, obtaining near-bit posture data, and designing a well track; 3, issuing a command; 4, conducting intelligent closed-loop control. By means of the rotary steering well drilling control system and the control method thereof, the automatic, intelligent and efficient well drilling can be achieved, and the ideal control effect is obtained.

Description

A kind of rotary steerable drilling control system and control method thereof
Technical field
The invention belongs to oil exploration and development fields, be specifically related to a kind of rotary steerable drilling control system and control method thereof.
Background technology
Rotary steerable drilling technique functions comes from the later stage eighties in last century, this technology is the raising along with relevant technical level, for the actual needs meeting petroleum industry grows up on slide-and-guide drilling technology and Process ba-sis.Its basic thinking is exactly while rotary drilling, under the cooperation of the pressure of the drill drilling speed and pump amount, by specific Underwell guide tool, near nearly drill bit, the variable lateral force of certain continuous print is applied in particular directions to the drill string rotated, change the direction that drill bit advances artificially, and then reach the object of geometry guiding or geosteering in rotation.
Compared with traditional drilling technology, rotary steerable drilling technology can make drill bit be in rotation status constantly, and therefore effect of hole cleaning is better, wellbore trajectory control accuracy is higher, bit speed is faster, occurs that the probability of the accidents such as bit freezing is less, and it is stronger that displacement extends ability.If mix geosteering pipe nipple, drill bit just can be allowed to creep at shaft bottom Automatic-searching oil reservoir, therefore to the exploration and development of petroleum resources, the rate of oil and gas recovery improving oil field is significant.
At present, rotary steerable drilling technology mainly rests in abroad in several petroleum technology service company hands, based on himself interests, its guiding control technology had, steering tool instrument are holded in close confidence, and monopolize in price, technically restriction, International Competitive Bidding Work time restriction, delay in service, have a strong impact on the progress of China Petroleum drilling technology, constrain the competitiveness that domestic drilling well troop opens up overseas drilling market, become the bottleneck of China's oil probing industry technology progress.
In prior art, notification number be CN102022082B patent discloses a kind of the surface instruction down transmission method and the device that control rotary steering drilling tool.But when this technical scheme of this employing is used for drilling well; deviation is there is between the well track of the track meeting of creeping into because of drill bit and design; therefore need be adjusted the track crept into rotary steering drilling tool by the next repeated multiple times control instruction that passes down of its ground control system; cause the prolongation of drilling period, limit the lifting of drilling efficiency.
Just based on above-mentioned background, applicant expands the registration study for rotary steerable drilling technology.
Rotary steerable drilling technology can be divided into state type and dynamic type two kinds from the motion mode of guiding mechanism, and the mode produced from guiding force can be divided into pushing type and directional type two kinds, and domestic user generally adopts quiescent biasing pushing type rotary steering drilling tool at present.Through research and development for many years, applicant has completed quiescent biasing pushing type rotary steering drilling tool overall construction design, and in succession propose the series technical project (notification number is respectively CN103939017A, CN203783462U, CN203783488U and CN203783461U) theming as " quiescent biasing pushing type rotary steering drilling tool ", and the advantage such as above-mentioned " quiescent biasing pushing type rotary steering drilling tool ", high reliability rational in infrastructure by means of it, same kind of products at abroad can have been replaced to use.
But applicant finds in practice, only propose the technical scheme of " quiescent biasing pushing type rotary steering drilling tool (notification number is CN103939017A) ", be also difficult to realize the automation needed for modern petroleum exploration industry, intellectuality, expeditiously drilling well.
Therefore applicant considers to combine " quiescent biasing pushing type rotary steering drilling tool " structure to design corresponding rotary steerable drilling control system and control method thereof, to realize the Drilling Control with automation, intellectuality, high efficiency functional characteristics.
Summary of the invention
For above-mentioned the deficiencies in the prior art, technical problem to be solved by this invention is: how to combine " quiescent biasing pushing type rotary steering drilling tool " structure (notification number is respectively CN103939017A), provides a kind of and can realize automation, intellectuality, the rotary steerable drilling control system of high efficiency drilling well and control method thereof.
In order to solve the problems of the technologies described above, present invention employs following technical scheme:
A kind of rotary steerable drilling control system, comprises ground control system, ground control box, bypass valve, mwd system, has the down-hole master control plate of decoding unit and can control the master control borad of rib action in steering tool; Wherein,
Described ground control system comprises the host computer being provided with control software design;
Described ground control system and described ground control box are electrically connected;
Described bypass valve is arranged on the bypass arm that is connected with hydraulic fill pipeline, and signal control end on described bypass valve and described ground control box are electrically connected; Described hydraulic fill pipeline is for carrying drilling fluid and being connected with the slush pump being arranged on ground by steering tool;
Also comprise downhole generator, generator construction section, coupler and coupler construction section, closely drill bit attitude data securing component and power panel for installing this coupler;
Described downhole generator is fixedly mounted on entirety and is cylindricality and the inside with the generator construction section of hollow structure, and the end of described generator construction section connects with the end of the coupler construction section on steering tool and is fixedly connected with;
Described down-hole master control plate is arranged on described coupler construction section, described down-hole master control plate has the receiving terminal be connected with the output of described downhole generator, and for the generation that receives described down-hole motor electric energy and by decoding unit, the instruction of carrying in mud is decoded; Described down-hole master control plate also has the link be connected with the primary coil of described coupler, the signal end be connected with described mwd system signal;
The secondary coil of described coupler is connected with described master control borad signal;
Described nearly drill bit attitude data securing component and power panel are fixedly mounted in the circuit storehouse on steering tool; Wherein, described nearly drill bit attitude data securing component comprises the three axis accelerometer of Z-direction and the coaxial setting in described circuit storehouse, and described three axis accelerometer is connected with described master control borad signal; The power delivery end of described master control borad is connected with the battery in circuit storehouse by power panel; Described master control borad is connected with the control signal end of the hydraulic mechanism for controlling rib action.
As improvement, described nearly drill bit attitude data securing component also comprises temperature pick up, and described temperature pick up is connected with described master control borad signal.
Because sensor (the technical program is three axis accelerometer and pressure sensor) has certain temperature coefficient usually, its output signal can vary with temperature and drift about, be called " temperature drift ", in order to reduce temperature drift, adopt some indemnifying measures to offset to a certain extent or reduce its temperature drift exported, temperature-compensating that Here it is.Therefore after nearly drill bit attitude data securing component comprises the temperature pick up be arranged in circuit storehouse, the environment temperature near drill bit place can be detected in real time, thus according to this temperature value, temperature-compensating is carried out to sensor, thus guarantee that sensor exports data more accurately, improve the control accuracy being beneficial to and ensureing this control system further.In addition, the setting of temperature pick up, can also detect and early warning downhole temperature, the electronic device in steering tool can be in the temperature range of suitable services, thus improves the serviceability of this control system.
As improvement, described down-hole master control plate is connected with described mwd system by MWD keyset.
After implementing above-mentioned improvement, because mwd system is a complete subsystem, therefore down-hole master control plate forms the electric interfaces (being " QBUS electric means is connected ") on the physical link that is connected with mwd system by MWD keyset, thus nearly drill bit attitude data is uploaded by mwd system.It is because the signal of QBUS simple (holding wire, a ground wire) and communication distance is longer, is not easily disturbed that above-mentioned selection QBUS electric means connects.
A kind of rotary steerable drilling control method, comprises the following steps:
A, well head are tested
By Hole clean data inputting ground control system, form Track desigh curve, this Track desigh curve comprises design target area, design segment data, Discrete control target and allows the error range of appearance; To bore track data typing ground control system simultaneously;
B, obtain nearly drill bit attitude data, design well track
Under when being drilled into kickoff point (KOP), suspend lower boring, and obtain hole angle α by three axis accelerometer 1, obtain azimuth by mwd system uploaded in master control borad by hole angle α that described three axis accelerometer records by mwd system 1; If target hole angle and azimuth are respectively α 2, the build angle rate of steering tool is K c, according to following equations tool face angle ω and the well segment length Δ D needing drilling well m:
cosω=(cosα 1cosγ-cosα 2)/sinα 1sinγ(2)
By (1) formula, dog-leg degree γ can be tried to achieve, dog-leg degree γ be substituted into (2) formula and tries to achieve tool face angle ω;
When during for negative value, ω gets negative value, if cos is ω=c,
ω=cos -1c(4)
ω=-cos -1c(5)
ΔD m=30γ/K C(6)
C, under send instructions
By the tool face angle ω calculated in upper step, the well segment length Δ D that needs drilling well mnumerical value puts into the instruction of ground control system, after described instruction is issued to master control borad;
D, Intelligent closed-loop control
Master control borad stores instruction; Master control borad is according to nearly drill bit attitude data, and the instruction combining storage is analyzed current drilling state, if the deviation between nearly drill bit attitude data and instruction is in error range, then continues automatically to creep into by current instruction; If the deviation between nearly drill bit attitude data and instruction is outside error range, then master control borad is by calculating performing an action and eliminating deviation from Row sum-equal matrix three pieces of ribs, and the Intelligent closed-loop completing drilling well controls.
" the Intelligent closed-loop control " of the control method of rotary steerable drilling control system of the present invention: refer to that ground control system only need issue once command, master control borad not only stores the instruction after resolving, can also the nearly drill bit attitude data of Real-time Obtaining, and comparison target direction, constantly adjustment hydraulic mechanism controls rib and impels and creep into towards direction initialization.It is as follows that this Intelligent closed-loop controls concrete steps:
1. master control borad receives, resolves and store deflecting that ground control system issues, turn round the various instructions such as orientation;
2. enter different handling procedures by the different instruction received, extract gravity toolface angle (being recorded by the three axis accelerometer) real-time parameter of current nearly drill bit, according to reasonable decomposition algorithm by the hydraulic mechanism of various Command Resolution to each rib;
3., after the hydraulic mechanism of each rib receives the corresponding command, perform relevant action;
4. the nearly drill bit attitude data of master control borad Real-time Collection, judges the situation of change in drill bit direction, if outside error range, then and disassembly instruction be handed down to hydraulic mechanism again, adjustment drill bit advancing direction, ensures that drilling tool creeps into by the direction of specifying; If in error range, then do not adjust; Whole process only needs ground to issue once command just can realize Intelligent closed-loop control.
As preferably, according to decomposition algorithm the performing an action from Row sum-equal matrix three pieces of ribs of making a concerted effort wherein stored in described master control borad, described decomposition algorithm of making a concerted effort is as follows:
F m = ( 2 3 3 ) * F * s i n ( ( 120.0 + A n g l e - F _ A n g l e ) * P I / 180.0 )
F n = ( 2 3 3 ) * F * s i n ( ( F _ A n g l e - A n g l e ) * P I / 180.0 )
Wherein, F target force size, F_Angle target force direction, Angle is current gravity toolface angle angle value, and PI is pi; Three ribs are respectively: rib A, rib B, rib C, and three ribs are equally spaced distribution; Wherein, the tool face azimuth of definition rib A is 0 °, then the tool face azimuth of rib B and rib C is respectively 120 ° and 240 °, according to active force and reaction force principle, F_Angle target force direction must between adjacent two ribs, according to above-mentioned formula, the power size Fm of one of them rib decomposed in above-mentioned adjacent two ribs can be calculated, and the power size Fn of another rib in above-mentioned adjacent two ribs.
Mostly existing rotary steering power manner of execution is the displacement vector by calculating executing agency, control system of the present invention adopts and gathers gravity toolface angle decomposes different rib control method by making a concerted effort, so not only algorithm is more easy, reduce operand, improve the operation efficiency of master control borad, also can have high reliability simultaneously.
As improvement, also comprise in " c, under send instructions " step: after master control borad receives the instruction issued, extract by down-hole master control plate the instruction that master control borad stores, and by mwd system, this command information is uploaded to ground.
After implementing above-mentioned improvement, can judge whether master control borad receives the command information issued exactly, thus provide correct instruction for next step operation.
As improvement, this control method is further comprising the steps of: e, down-hole master control plate are extracted the data in the nearly drill bit attitude data securing component of master control borad storage and uploaded by mwd system.
After implementing above-mentioned improvement, the data that can be uploaded by mwd system at any time monitor the situation of creeping into, and improve the reliability of drilling well.When being in normal drilling well duty, need generator to power to master control borad in circuit storehouse, there is battery mwd system inside, does not need external power source; During normal work, system uploads a secondary data in every three minutes by MWD passage.When be in stop brill state time, master control borad rely on storage battery power supply gather and store nearly drill bit attitude data.
In use, signal flow point is wherein uplink and downlink to control system of the present invention: descendingly refer to the process of instruction from ground control system to steering tool; Uply refer to that nearly drill bit attitude data obtains the process that the data such as the attitude of nearly drill bit attitude data securing component collection are back to ground (being positioned at the part on ground in ground control system or mwd system).
Descendingly to be embodied in: ground control box controls the switch of bypass valve by the instruction that ground control system issues, and makes the pressure in hydraulic fill pipeline present the fluctuations of specifying; Downhole generator is by detecting this fluctuations and receive instruction and to be issued on the master control plate of down-hole and being decoded by decoding unit, simultaneously for down-hole master control plate provides power supply; The electric energy of the instruction that downhole generator is transmitted by down-hole master control plate and generation is transferred to master control borad by (coupler) wireless coupling mode, and (this master control borad corresponds to notification number CN103939017A, theme as " control circuit board 25 " in " quiescent biasing pushing type rotary steering drilling tool " technical scheme) on, the instruction received is carried out decomposing by master control borad (and under pass to each rib control panel) and hydraulic control mechanism produces thrust to rib, makes rib protruding and be pushed against on the borehole wall to synthesize guiding force.
The up pressure and other parameters being embodied in nearly drill bit attitude parameter that master control borad returns by down-hole master control plate and rib passback sends to mwd system, then is uploaded to ground (being positioned at the part on ground in ground control system or mwd system) by mwd system.
In control system of the present invention, battery (high temperature rechargeable battery) is located in circuit storehouse, when main purpose is system blackout, (when stacks etc. need be closed slush pump and be made downhole generator stall powering-off state) can provide power supply for master control borad, making master control borad ceaselessly can gather static nearly drill bit attitude data in real time, providing foundation for accurately controlling.
When normally creeping into work, the voltage that downhole generator exports is powered, simultaneously to charge in batteries to down-hole master control plate, master control borad after rectification, voltage stabilizing.
When power failure stacks, be switched to battery supplying power for outside, master control borad collection three axis accelerometer, temperature pick up, pressure sensor (are the pressure sensor arranged in oil filling pipeline, correspond to notification number CN103939017A, theme as " pressure sensor 18 " in " quiescent biasing pushing type rotary steering drilling tool " technical scheme) etc. static data, not to the hydraulic mechanism transmitting order to lower levels controlling rib action; The static data of storage of collected simultaneously, when system re-powers, the static data very first time of storage is uploaded to mwd system, program in master control borad by the static data of storage and Real-time Collection to dynamic data compare, the parameter that quick obtaining is correct, instructs next step to creep into action according to this.
Compared with the existing technology comparatively, rotary steerable drilling control system of the present invention and control method thereof have following Advantageous Effects:
1, simpler, efficient, the cost-saving and time is controlled.
Control system of the present invention only needs to issue once command, and master control borad is stored in this instruction.Because master control borad is connected for each sensor measuring nearly drill bit attitude data with circuit storehouse, therefore can the nearly drill bit attitude data of Real-time Obtaining, and this nearly drill bit attitude data is come to compare with the data of above-mentioned instruction in real time, once find to occur that namely deviation leads according to sending instructions to control rib under make a concerted effort decomposition algorithm and current nearly drill bit attitude data decomposition, thus eliminate above-mentioned deviation.Visible, the present invention can realize intelligentized closed-loop control in conjunction with combination " quiescent biasing pushing type rotary steering drilling tool " structure (notification number is respectively CN103939017A), creep into by the track of design automatically and efficiently, and make the monitoring of ground control system only play booster action.And in rotary steering control system of the prior art, the control of ground control system plays a leading role, need to monitor drill bit by ground control system and creep into situation, and need repeatedly issue control instruction by ground control system drill bit drilling trace is adjusted.
In addition, also because nearly drill bit attitude data securing component is fixedly mounted in the circuit storehouse on steering tool, adjacent drill bit arranges (distance between nearly drill bit attitude data securing component and drill bit is about 0.5-1.5 rice), so, each sensor in nearly drill bit attitude data securing component can be made to obtain the attitude data of attitude data closer to drill bit place place, thus the control rate of control system of the present invention, the degree of accuracy and precision can be made higher, more preferably control effects can be obtained.
2, obtain abundanter data, realize the monitoring of more effective situ of drilling well.
Adopt control system of the present invention, can come to gather in master control borad by the data transmission channels of mwd system, the data that calculate and the warning message that may occur upload in time.Can store the command information issued, timing or real-time storage collect the data of each sensor for measuring nearly drill bit attitude data.Can store in ground control system or the mwd system that be arranged in ground and demonstrate a large amount of abundant data like this, these data for on-site supervision and completion post analysis all of great advantage.
Accompanying drawing explanation
Fig. 1 be the quiescent biasing pushing type rotary steering drilling tool of publication number CN103939017A partly cut open figure.
Fig. 2 is the sectional drawing of circuit construction section in the quiescent biasing pushing type rotary steering drilling tool of publication number CN103939017A.
Fig. 3 is the structured flowchart of rotary steerable drilling control system of the present invention.
Fig. 4 is the flow chart of rotary steerable drilling control method of the present invention.
Fig. 5 is that the guiding of steering tool is made a concerted effort illustraton of model.
In figure, 1-non rotating overcoat, 2-taper roll bearing, 3-O type circle, 4-rib integrated package, 5-rib, 6-plunger, 7-rotating shaft, 8-back-moving spring, 10-oil-way integrated block, 12-motor cabinet, 14-servomotor, 15-hookup, 16-plunger displacement pump, 19-pump mount pad, 21-joint, 22-circuit storehouse, 23-resistance to compression cylinder, 24-sealing ring, 25-control circuit board (being " master control borad " in control system of the present invention), 26-battery, 27-external pressure transducer filter screen, 28-external pressure transducer, 29-testing cover plate, 30-coupler shell, 31-coupler (being " coupler " in control system of the present invention), 32-outlet cover plate, 33-top chock, 34-rotary core shaft, 35-lower contact (for connecting drill bit).
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.Wherein, adopt the exemplary term such as such as upper and lower, left and right for description, object is to help reader understanding, and is not intended to limit.
As shown in Figures 1 to 4, a kind of rotary steerable drilling control system, comprises ground control system (not shown), ground control box (not shown), bypass valve (not shown), mwd system (not shown), has the down-hole master control plate (not shown) of decoding unit and the master control borad 25 of rib 5 action in can controlling steering tool (" steering tool " is herein the quiescent biasing pushing type rotary steering drilling tool of publication number CN103939017A); Wherein,
Described ground control system comprises the host computer being provided with control software design;
Described ground control system and described ground control box are electrically connected;
Described bypass valve is arranged on the bypass arm that is connected with hydraulic fill pipeline, and signal control end on described bypass valve and described ground control box are electrically connected; Described hydraulic fill pipeline is for carrying drilling fluid and being connected with the slush pump being arranged on ground by steering tool;
Also comprise downhole generator, generator construction section, coupler and coupler construction section, closely drill bit attitude data securing component and power panel for installing this coupler;
Described downhole generator is fixedly mounted on entirety and is cylindricality and the inside with the generator construction section of hollow structure, and the end of described generator construction section connects with the end of the coupler construction section on steering tool and is fixedly connected with;
Described down-hole master control plate is arranged on described coupler construction section, described down-hole master control plate has the receiving terminal be connected with the output of described downhole generator, and for the generation that receives described down-hole motor electric energy and by decoding unit, the instruction of carrying in mud is decoded; Described down-hole master control plate also has the link be connected with the primary coil of described coupler, the signal end be connected with described mwd system signal;
The secondary coil of described coupler is connected with described master control borad signal;
Described nearly drill bit attitude data securing component and power panel are fixedly mounted in the circuit storehouse 22 on steering tool; Wherein, described nearly drill bit attitude data securing component comprises the three axis accelerometer of Z-direction and the coaxial setting in described circuit storehouse 22, and described three axis accelerometer is connected with described master control borad signal; The power delivery end of described master control borad is connected with the battery 26 in circuit storehouse 22 by power panel; Described master control borad is connected with the control signal end of the hydraulic mechanism for controlling rib 5 action.
During concrete enforcement, described master control borad includes processing module, and the memory module, power module and the interface module that are connected with described processing module respectively; This master control borad is connected with power panel by power module; This master control borad is connected with nearly drill bit attitude data securing component signal by interface module.
In steering tool, be provided with pressure sensor in oil filling pipeline, described pressure sensor is connected with master control borad 25.Like this, namely master control borad 25 records force value in oil filling pipeline (obtaining reaction force suffered by inwall that rib touches well) by pressure sensor, because the inwall of well may be softer, now by numerical value that pressure sensor records, can be used for the thrust better adjusting rib, thus the drillng operation under better adaptation current environment, thus accurately synthesize guiding force, play and more accurately lead, improve the effect of drilling efficiency.
During concrete enforcement, part for controlling rib 5 action can also comprise and is connected to rib control panel (not shown) between master control borad and hydraulic mechanism, described rib control panel is communicated with master control borad by CAN, sends instructions, returns the function such as rib parameter and relative alarm information under realizing reception, execution; Be connected with pressure sensor simultaneously, gather the real-time pressure in oil filling pipeline, be also connected with BLDC (brushless direct-current electric current), control motor by pid algorithm, play the effect changing pressure.
During concrete enforcement, described downhole generator can adopt notification number in prior art to be CN201078306Y, " down-hole slime pulp turbo generator " by name.
The application number that described coupler can adopt the applicant to propose is 201510371056.2, name is called " transmitter of a kind of downhole wireless two-way signaling and electric energy ", or notification number is CN103180539B in employing prior art, " down-hole inductive coupler assembly " by name, all can transmit electric energy and signal simultaneously.
Wherein, described nearly drill bit attitude data securing component also comprises temperature pick up, and described temperature pick up is connected (not shown) with described master control borad signal.
In the ground monitoring of this control system except the data measured by self-sensor device that mwd system is uploaded, the nearly drill bit attitude data also gathered by nearly drill bit attitude data securing component and alarm parameters information, and be uploaded to ground by MWD passage, thus be convenient to more accurately monitor drilling process, and can according to the different needs of Practical Project drilling well, self-defined uploading data, and the upper transfer efficiency making full use of mwd system.
The kind that this control system can upload nearly drill bit attitude data is as follows:
Hole angle, gravity toolface angle, vibration values, battery electric quantity, each rib 5 force value, each rib 5 temperature value, busbar voltage, environment stress, each motor speed, current of electric, FLASH capacity, temporal information (year, month, day, hour, min, second, week), fault alarm information (servomotor fault, locating assembly fault, various communication failure, various sensor faults etc.).Partial parameters computational methods are as follows:
1, angle of slope
Angle of slope can reflect the inclination conditions of downhole drill bit, and to be [0 °, 180 °] design formulas be the scope at angle of slope: because the scope at angle of slope is [0 °, 180 °], then can judge angle of slope according to the size of z-axis:
During z>0, angle of slope
During z<0, angle of slope
Wherein, x serves as reasons (being recorded by three axis accelerometer) gravitational vectors is in the projection components of X-axis, and y is by the projection components of gravitational vectors in Y-axis.
2, gravity toolface angle
Gravity toolface angle the available gravitational vectors recorded is tried to achieve after the ratio of the projection components of X and Y-axis negates tangent; its span is [0 °, 360 °].If when the value of x and y is 0, namely when angle of slope is 0 °, this formula is also inapplicable.Arc tangent algorithm is right solve and be decomposed into 8 piecewise functions, simplify computational process, can formula be set as follows:
T = a r c t a n m i n ( | x | , | y | ) m a x ( | x | , | y | ) (formula 2)
Then the value of T is inevitable in [0 °, 45 °], such tool face azimuth just in 4 quadrants, segmentation can be expressed as the function about T, gravity toolface angle solve the calculating just changed into T.Piecewise function is expressed as follows:
Wherein, described down-hole master control plate is connected with described mwd system by MWD keyset.
During concrete enforcement, described mwd system comprises ground installation and device for subsurface measuring, and wherein, described device for subsurface measuring is arranged in the installation pipe nipple that is fixedly connected with quiescent biasing pushing type rotary steering drilling tool;
Described down-hole master control plate comprises first processor, and the memory module, the first communication module, power module and the interface module that are connected with described first processor respectively; Described interface module is connected with the primary coil signal of described coupler;
Described MWD keyset comprises the second processor, and the second communication module be connected with described second processor respectively and level translator; Described level translator is also connected with described device for subsurface measuring signal; Between described first communication module with described second communication module, communication is connected.
So, down-hole master control plate can utilize the data uplink passage of mwd system to upload nearly drill bit attitude data, and mwd system uploads a secondary data in every three minutes, thus can in time nearly drill bit attitude data upload.And make above-mentioned control system have the simple and lower-cost advantage of structure, be also convenient to ground and in time drilling state monitored, and obtain the data being more conducive to realize accurately guiding.
The control method of above-mentioned rotary steerable drilling control system, comprises the following steps:
A, well head are tested
By Hole clean data inputting ground control system, form Track desigh curve, this Track desigh curve comprises design target area, design segment data, Discrete control target and allows the error range of appearance; To bore track data typing ground control system simultaneously;
B, obtain nearly drill bit attitude data, design well track
Under when being drilled into kickoff point (KOP), suspend lower boring, and obtain hole angle α by three axis accelerometer 1, obtain azimuth by mwd system uploaded in master control borad by hole angle α that described three axis accelerometer records by mwd system 1; If target hole angle and azimuth are respectively α 2, the build angle rate of steering tool is K c, according to following equations tool face angle ω and the well segment length Δ D needing drilling well m:
cosω=(cosα 1cosγ-cosα 2)/sinα 1sinγ(2)
By (1) formula, dog-leg degree γ can be tried to achieve, dog-leg degree γ be substituted into (2) formula and tries to achieve tool face angle ω;
When during for negative value, ω gets negative value, if cos is ω=c,
ω=cos -1c(4)
ω=-cos -1c(5)
ΔD m=30γ/K C(6)
C, under send instructions
By the tool face angle ω calculated in upper step, the well segment length Δ D that needs drilling well mnumerical value puts into the instruction of ground control system, after described instruction is issued to master control borad;
D, Intelligent closed-loop control
Master control borad stores instruction; Master control borad is according to nearly drill bit attitude data, and the instruction combining storage is analyzed current drilling state, if the deviation between nearly drill bit attitude data and instruction is in error range, then continues automatically to creep into by current instruction; If the deviation between nearly drill bit attitude data and instruction is outside error range, then according to decomposition algorithm the performing an action from Row sum-equal matrix three pieces of ribs 5 of making a concerted effort stored in master control borad, the Intelligent closed-loop completing drilling well controls.
During concrete enforcement, creeping in the course of work, the data obtained by three axis accelerometer, can also monitor drill vibration situation, specifically have:
Vibration is divided into three kinds of situations: horizontal vibration, vertical vibration and vibration summation (wherein, x, y, z is the component of gravitational vectors on three axles):
——
---vertical vibration=y;
——
Namely obtain above-mentioned vibration data complete above-mentioned calculating in master control borad after, the corresponding data in the program of vibration data and master control borad can be contrasted like this, detect Vibration Condition.Because the situation of down-hole is very complicated, can complicate along with the degree of depth increases geological condition, also can be larger on the impact of drill bit.By detecting Vibration Condition, the impact on drill bit and master control borad thereof can be reduced, avoid the appearance of bit freezing situation, thus improve the safety and reliability of drilling well.
In above-mentioned control method, according to decomposition algorithm the performing an action from Row sum-equal matrix three pieces of ribs of making a concerted effort wherein stored in described master control borad, described decomposition algorithm of making a concerted effort is as follows:
F m = ( 2 3 3 ) * F * s i n ( ( 120.0 + A n g l e - F _ A n g l e ) * P I / 180.0 )
F n = ( 2 3 3 ) * F * s i n ( ( F _ A n g l e - A n g l e ) * P I / 180.0 )
Wherein, F target force size, F_Angle target force direction, Angle is current gravity toolface angle angle value, and PI is pi, three ribs are respectively: rib A, rib B, rib C, and three ribs are equally spaced distribution, wherein, the tool face azimuth of definition rib A is 0 ° (during enforcement, rib A and the coaxial setting of three axis accelerometer, namely 3-axis acceleration is counted and is arranged near rib A and be positioned at that side at rib A place in the circumference in circuit storehouse), then the tool face azimuth of rib B and rib C is respectively 120 ° and 240 °, according to active force and reaction force principle, F_Angle target force direction must between adjacent two ribs, according to above-mentioned formula, the power size Fm of one of them rib decomposed in above-mentioned adjacent two ribs can be calculated, and the power size Fn of another rib in above-mentioned adjacent two ribs.
In above-mentioned control method, also comprise in " c, under send instructions " step: after master control borad receives the instruction issued, extract by down-hole master control plate the instruction that master control borad stores, and by mwd system, this command information is uploaded to ground.
In above-mentioned control method, further comprising the steps of: e, down-hole master control plate are extracted the data in the nearly drill bit attitude data securing component of master control borad storage and uploaded by mwd system.
During concrete enforcement, control method of the present invention also comprises three axis accelerometer static demarcating method:
When considering imbalance and the affecting of sensitivity, three axis accelerometer output is as follows:
A OUT=A OFF+(Gain*A ACTUAL)(7)
A oFFfor offset error, unit g; Gain is three axis accelerometer gain, and ideal value is 1, A aCTUALfor actual acceleration value;
Calibration steps is in three dimensional space coordinate and on X-axis, Y-axis, Z axis, tests 2 points respectively, and when axle being placed in+1g and-1g field, the output valve recorded is A + 1gand A -1g;
A +1g=A OFF+(1g*Gain)(8)
A -1g=A OFF-(1g*Gain)(9)
Derived by formula (7) and (8)
A OFF=0.5*(A +1g+A -1g)(10)
G a i n = 0.5 * ( A + 1 g - A - 1 g 1 g ) - - - ( 11 )
In conjunction with formula (7), first deduct imbalance value from three axis accelerometer measured value, then divided by gain, obtain the value after calibrating as follows: A A C T U A L = A O U T - A O F F G a i n = 2 * A O U T - A - 1 g A + 1 g - A - 1 g - 1 - - - ( 12 )
Although three axis accelerometer passes through adjustment when dispatching from the factory, but after control system assembling, any static stress on three axis accelerometer all may affect imbalance and sensitivity, when the error that the two causes is added, the error of result may be very large, may considerably beyond acceptable limits in deviational survey application.Adopt above-mentioned three axis accelerometer static demarcating method just can reduce this error, reply imbalance and sensitivity are calibrated, and by carrying out the mensuration at angle of slope through the output acceleration of calibration, thus obtain survey data more accurately, thus control accuracy also can be made more accurate (after adopting above-mentioned complete scaling method, through repetitive measurement, control accuracy can reach one thousandth).
During concrete enforcement, also also can be included in " a, well head test " step well head by external power supply to circuit storehouse 22 in master control borad power, detect that lower circuit storehouse 22 powers, communication, sensor duty; Whether the pressure switch signal and the ground decoding device thereof that detect mwd system be normal.
As shown in Figure 5, directed drilling well track is made up of straightway and arc section usually, and between two sections, tangent line intersects to reduce the resistance to drilling rod.Common casing programme has 2 segmentations, 3 segmentations, 5 segmentations etc. several.The decomposition algorithm of making a concerted effort adopted in control method of the present invention, in drilling process, being directed laterally to resultant force vector is positioned within drill string cross section, gravity flash and cross section meet at circumferentially peak, and guiding resultant force vector has different effects in various projection components circumferentially concerning directed drilling.Such as: the component being directed upwards towards gravity flash, deflecting (increase hole deviation) is played a decisive role, be therefore just increasing hole angle power (positive BuildForce); At the component of 90 ° of tool-face right directions, increase orientation is played a decisive role, therefore just cry and increase orientation power; Increasing hole angle drop angle is collectively referred to as and becomes tiltedly, increases to fall orientation and be collectively referred to as and turn round orientation etc.
The resultant direction that controls first to issue according to ground control system of making a concerted effort and size command calculations go out to decompose the force value of each rib 5, in actual drilling process, rotate because drilling rod rotates the non rotating overcoat brought, rib 5 force value that the pressure sensor arranged in the current gravity toolface angle degree got according to three axis accelerometer and the oil filling pipeline of hydraulic mechanism returns comes constantly the direction that adjustment is in real time made a concerted effort, and the object made it towards setting is advanced.
Below be only the preferred embodiment of the present invention; need point out be; for those skilled in the art under the prerequisite not departing from the technical program, can also make some distortion and improvement, the technical scheme of above-mentioned distortion and improvement should be considered as falling into the scope that this application claims protection equally.

Claims (7)

1. a rotary steerable drilling control system, comprises ground control system, ground control box, bypass valve, mwd system, has the down-hole master control plate of decoding unit and can control the master control borad of rib action in steering tool; Wherein,
Described ground control system comprises the host computer being provided with control software design;
Described ground control system and described ground control box are electrically connected;
Described bypass valve is arranged on the bypass arm that is connected with hydraulic fill pipeline, and signal control end on described bypass valve and described ground control box are electrically connected; Described hydraulic fill pipeline is for carrying drilling fluid and being connected with the slush pump being arranged on ground by steering tool;
It is characterized in that, also comprising downhole generator, generator construction section, coupler and coupler construction section, closely drill bit attitude data securing component and power panel for installing this coupler;
Described downhole generator is fixedly mounted on entirety and is cylindricality and the inside with the generator construction section of hollow structure, and the end of described generator construction section connects with the end of the coupler construction section on steering tool and is fixedly connected with;
Described down-hole master control plate is arranged on described coupler construction section, described down-hole master control plate has the receiving terminal be connected with the output of described downhole generator, and for the generation that receives described down-hole motor electric energy and by decoding unit, the instruction of carrying in mud is decoded; Described down-hole master control plate also has the link be connected with the primary coil of described coupler, the signal end be connected with described mwd system signal;
The secondary coil of described coupler is connected with described master control borad signal;
Described nearly drill bit attitude data securing component and power panel are fixedly mounted in the circuit storehouse on steering tool; Wherein, described nearly drill bit attitude data securing component comprises the three axis accelerometer of Z-direction and the coaxial setting in described circuit storehouse, and described three axis accelerometer is connected with described master control borad signal; The power delivery end of described master control borad is connected with the battery in circuit storehouse by power panel; Described master control borad is connected with the control signal end of the hydraulic mechanism for controlling rib action.
2. rotary steerable drilling control system according to claim 1, is characterized in that, described nearly drill bit attitude data securing component also comprises temperature pick up, and described temperature pick up is connected with described master control borad signal.
3. rotary steerable drilling control system according to claim 1, is characterized in that, described down-hole master control plate is connected with described mwd system by MWD keyset.
4. a control method for the rotary steerable drilling control system according to any one of the claims 1 to 3, is characterized in that, comprise the following steps:
A, well head are tested
By Hole clean data inputting ground control system, form Track desigh curve, this Track desigh curve comprises design target area, design segment data, Discrete control target and allows the error range of appearance; To bore track data typing ground control system simultaneously;
B, obtain nearly drill bit attitude data, design well track
Under when being drilled into kickoff point (KOP), suspend lower boring, and obtain hole angle α by three axis accelerometer 1, obtain azimuth by mwd system uploaded in master control borad by hole angle α that described three axis accelerometer records by mwd system 1; If target hole angle and azimuth are respectively α 2, the build angle rate of steering tool is K c, according to following equations tool face angle ω and the well segment length Δ D needing drilling well m:
cosω=(cosα 1cosγ-cosα 2)/sinα 1sinγ(2)
By (1) formula, dog-leg degree γ can be tried to achieve, dog-leg degree γ be substituted into (2) formula and tries to achieve tool face angle ω;
When during for negative value, ω gets negative value, if cos is ω=c,
ΔD m=30γ/K C(6)
C, under send instructions
By the tool face angle ω calculated in upper step, the well segment length Δ D that needs drilling well mnumerical value puts into the instruction of ground control system, after described instruction is issued to master control borad;
D, Intelligent closed-loop control
Master control borad stores instruction; Master control borad is according to nearly drill bit attitude data, and the instruction combining storage is analyzed current drilling state, if the deviation between nearly drill bit attitude data and instruction is in error range, then continues automatically to creep into by current instruction; If the deviation between nearly drill bit attitude data and instruction is outside error range, then master control borad is by calculating performing an action and eliminating deviation from Row sum-equal matrix three pieces of ribs, and the Intelligent closed-loop completing drilling well controls.
5. rotary steerable drilling control method according to claim 4, is characterized in that, according to decomposition algorithm the performing an action from Row sum-equal matrix three pieces of ribs of making a concerted effort wherein stored in described master control borad, described decomposition algorithm of making a concerted effort is as follows:
F m = ( 2 3 3 ) * F * s i n ( ( 120.0 + A n g l e - F _ A n g l e ) * P I / 180.0 )
F n = ( 2 3 3 ) * F * s i n ( ( F _ A n g l e - A n g l e ) * P I / 180.0 )
Wherein, F target force size, F_Angle target force direction, Angle is current gravity toolface angle angle value, and PI is pi; Three ribs are respectively: rib A, rib B, rib C, and three ribs are equally spaced distribution; Wherein, the tool face azimuth of definition rib A is 0 °, then the tool face azimuth of rib B and rib C is respectively 120 ° and 240 °, according to active force and reaction force principle, F_Angle target force direction must between adjacent two ribs, according to above-mentioned formula, the power size Fm of one of them rib decomposed in above-mentioned adjacent two ribs can be calculated, and the power size Fn of another rib in above-mentioned adjacent two ribs.
6. according to rotary steerable drilling control method according to claim 4, it is characterized in that, also comprise in " c, under send instructions " step: after master control borad receives the instruction issued, extract by down-hole master control plate the instruction that master control borad stores, and by mwd system, this command information is uploaded to ground.
7. according to rotary steerable drilling control method according to claim 4, it is characterized in that, this control method is further comprising the steps of: e, down-hole master control plate are extracted the data in the nearly drill bit attitude data securing component of master control borad storage and uploaded by mwd system.
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