CN105041212A - Rotary steering well drilling control system and control method thereof - Google Patents
Rotary steering well drilling control system and control method thereof Download PDFInfo
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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
Technical Field
The invention belongs to the field of petroleum exploration and development, and particularly relates to a rotary steering drilling control system and a control method thereof.
Background
The rotary steerable drilling technology originated in the late 80 s of the last century and developed on the basis of sliding steerable drilling technology and technology to meet the actual needs of the oil industry as the level of related technology has increased. The basic idea is to apply a certain continuous variable lateral force to a rotary drill string in a specific direction near a drill bit through a specific underground steering tool under the coordination of the bit weight drilling rate and the pump amount while rotating to drill a well, so as to artificially change the advancing direction of the drill bit, thereby achieving the purpose of geometric steering or geological steering in rotation.
Compared with the traditional drilling technology, the rotary steering drilling technology can enable the drill bit to be in a continuous rotating state, so that the well hole purifying effect is better, the well trajectory control precision is higher, the drilling speed is higher, the probability of accidents such as drill sticking is lower, and the displacement extension capacity is stronger. If the geosteering nipple is matched, the drill bit can automatically find an oil layer at the bottom of the well to drill, so that the method has important significance for exploration and development of oil and gas resources and improvement of oil and gas recovery ratio of an oil field.
At present, the rotary steerable drilling technology is mainly mastered in a few foreign petroleum technical service companies, the steering control technology and the steering tool instrument owned by the rotary steerable drilling technology are strictly kept secret based on own interests, and monopoly, technically limited, internationally restricted in bidding and delayed in service are provided, so that the progress of the drilling technology of the petroleum industry in China is seriously influenced, the competitive ability of the domestic drilling team in developing the offshore drilling market is restricted, and the rotary steerable drilling technology becomes the bottleneck of the technological development progress of the petroleum drilling industry in China.
In the prior art, patent No. CN102022082B discloses a method and apparatus for downloading surface commands for controlling a rotary steerable drilling tool. However, when the technical scheme is used for drilling, because the drilling track of the drill bit deviates from the designed borehole track, the drilling track needs to be adjusted by repeatedly transmitting control instructions to the rotary steering drilling tool through the ground control system, so that the drilling period is prolonged, and the improvement of the drilling efficiency is limited.
It is against the above background that the applicant has developed a research project directed to the rotary steerable drilling technique.
The rotary steering drilling technology can be divided into a static type and a dynamic type from the motion mode of a steering mechanism, can be divided into a pushing type and a pointing type from the mode of steering force generation, and currently, domestic users generally adopt a static offset pushing type rotary steering drilling tool. Through research and development for many years, the applicant has completed the overall structure design of the static offset push-pull type rotary steerable drilling tool and successively proposed a series of technical schemes (with the notice numbers of CN103939017A, CN203783462U, CN203783488U and CN203783461U respectively) with the theme of "static offset push-pull type rotary steerable drilling tool", and the "static offset push-pull type rotary steerable drilling tool" can replace foreign like products for use by virtue of the advantages of reasonable structure, high reliability and the like.
However, the applicant finds in practice that it is difficult to achieve the automation, intelligence and high efficiency of drilling required by the modern oil exploration industry only by proposing the technical scheme of the static offset push type rotary steering drilling tool (with the publication number of CN 103939017A).
Therefore, the applicant considers that a static bias push-type rotary steering drilling tool structure is combined to design a rotary steering drilling control system and a control method thereof corresponding to the static bias push-type rotary steering drilling tool structure, so as to realize drilling control with the characteristics of automation, intellectualization and high efficiency.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to combine the structure of the static bias push-pull type rotary steering drilling tool (the bulletin numbers are respectively CN103939017A) to provide a rotary steering drilling control system and a control method thereof which can realize automatic, intelligent and high-efficiency drilling.
In order to solve the technical problems, the invention adopts the following technical scheme:
a rotary steering drilling control system comprises a ground control system, a ground control box, a bypass valve, an MWD system, an underground main control board with a decoding unit and a main control board capable of controlling the action of a wing rib in a steering tool; wherein,
the ground control system comprises an upper computer provided with control software;
the ground control system is electrically connected with the ground control box;
the bypass valve is arranged on a bypass branch pipe connected with the slurry pipeline, and a signal control end on the bypass valve is electrically connected with the ground control box; the mud pipeline is used for conveying drilling fluid and connecting the guiding tool with a mud pump arranged on the ground;
the device also comprises an underground generator, a generator mounting section, a coupler mounting section for mounting the coupler, a near-bit attitude data acquisition assembly and a power panel;
the underground generator is fixedly arranged in a generator mounting section which is cylindrical as a whole and has a hollow structure, and the end part of the generator mounting section is communicated and fixedly connected with the end part of a coupler mounting section on the guiding tool;
the underground master control board is arranged at the coupler mounting section, is provided with a receiving end connected with the output end of the underground generator and is used for receiving the electric energy generated by the underground generator and decoding the instruction carried in the mud through a decoding unit; the underground master control board is also provided with a connecting end connected with a primary coil of the coupler and a signal end connected with the MWD system signal;
the secondary coil of the coupler is in signal connection with the main control board;
the near-bit attitude data acquisition assembly and the power panel are fixedly arranged in a circuit bin on the guiding tool; the near-bit attitude data acquisition assembly comprises a triaxial accelerometer which is coaxially arranged with the circuit cabin in the Z direction, and the triaxial accelerometer is in signal connection with the main control board; the power supply conveying end of the main control board is connected with a storage battery in the circuit bin through a power supply board; the main control board is connected with a control signal end of a hydraulic mechanism for controlling the movement of the wing ribs.
As an improvement, the near-bit attitude data acquisition assembly further comprises a temperature sensor, and the temperature sensor is in signal connection with the main control board.
Because the sensors (the three-axis accelerometer and the pressure sensor in the technical scheme) generally have a certain temperature coefficient, the output signals of the sensors can drift along with the temperature change, the temperature drift is called as 'temperature drift', and in order to reduce the temperature drift, some compensation measures are adopted to offset or reduce the temperature drift of the output signals to a certain extent, and the temperature drift is temperature compensation. The event is including installing the temperature sensor back in the circuit bin when nearly drill bit gesture data acquisition subassembly, can real-time detection be close to the ambient temperature of drill bit department to come to carry out temperature compensation to the sensor according to this temperature value, thereby ensure that the more accurate data of sensor output, further improve and do benefit to the control accuracy who guarantees this control system. In addition, temperature sensor's setting can also detect and the early warning to temperature in the pit, lets the electron device in the guiding tool can both be in the temperature range of suitable work to improve this control system's application reliability.
As an improvement, the underground main control board is connected with the MWD system through an MWD adapter board.
After the above improvement is implemented, because the MWD system is a complete subsystem, the downhole main control board can form an electrical interface (i.e., "QBUS electrical connection") on a physical link connected to the MWD system through the MWD adapter board, so as to upload the near bit attitude data through the MWD system. The reason why the QBUS is selected to be electrically connected is that the QBUS signal is simple (one signal line and one ground line), the communication distance is long, and the QBUS signal is not easily interfered.
A rotary steerable drilling control method comprising the steps of:
a. well head testing
Inputting the borehole orbit design data into a ground control system to form an orbit design curve, wherein the orbit design curve comprises a design target area, design segmented data, a segmented control target and an allowable error range; simultaneously inputting the drilled track data into a ground control system;
b. obtaining near-bit attitude data and designing well track
When the well is drilled to a deflecting point, the drilling is suspended, and the inclination angle alpha is obtained through the triaxial accelerometer1Acquisition of azimuth by MWD systemUploading, by an MWD system, a skew angle α measured by the triaxial accelerometer in a main control board1(ii) a Setting the target well inclination angle and azimuth angle as alpha respectively2、The build-up rate of the guiding tool is KCSolving for the device angle omega and the length of the well section to be drilled deltaD according to the following formulam：
cosω＝(cosα1cosγ-cosα2)/sinα1sinγ(2)
Calculating the dog leg degree gamma according to the formula (1), and substituting the dog leg degree gamma into the formula (2) to calculate the device angle omega;
when in useWhen the value is negative, ω is negative, cos ω is c,
ω＝cos-1c(4)
ω＝-cos-1c(5)
ΔDm＝30γ/KC(6)
c. issuing instructions
The device angle omega and the well section length delta D to be drilled which are obtained by calculation in the previous stepmThe numerical value is put into an instruction of a ground control system, and then the instruction is issued to a main control board;
d. intelligent closed loop control
The main control board stores the instruction; the main control board analyzes the current drilling state according to the near-bit attitude data and the stored instruction, and if the deviation between the near-bit attitude data and the instruction is within the error range, the automatic drilling is continued according to the current instruction; and if the deviation between the attitude data of the near-bit and the command is out of the error range, the main control board adjusts the execution actions of the three wing ribs by calculation and eliminates the deviation, thereby completing the intelligent closed-loop control of the drilling.
The invention discloses an intelligent closed-loop control method of a rotary steering drilling control system, which comprises the following steps: the ground control system only needs to issue a command once, the main control board not only stores the analyzed command, but also can acquire the attitude data of the near-bit in real time, and compares the attitude data with the target direction, and continuously adjusts the hydraulic mechanism to control the wing rib to drive the wing rib to drill towards the set direction. The intelligent closed-loop control comprises the following specific steps:
1. the main control board receives, analyzes and stores various instructions such as deflecting and twisting directions and the like sent by the ground control system;
2. entering different processing programs according to different received instructions, extracting real-time parameters of the current near-bit gravity tool face angle (measured by a three-axis accelerometer), and decomposing various instructions to hydraulic mechanisms of all wing ribs according to a reasonable decomposition algorithm;
3. after receiving the corresponding command, the hydraulic mechanism of each wing rib executes the related action;
4. the main control board collects the attitude data of the near-bit in real time, judges the change condition of the bit direction, if the change condition is out of the error range, decomposes the instruction again and sends the instruction to the hydraulic mechanism, and adjusts the advancing direction of the bit to ensure that the drilling tool drills in the appointed direction; if the error is within the error range, no adjustment is made; the whole process can realize intelligent closed-loop control only by issuing an instruction once on the ground.
Preferably, the main control panel adjusts the execution actions of the three ribs according to a resultant force decomposition algorithm stored therein, where the resultant force decomposition algorithm is as follows:
the magnitude of the F target force, the direction of the F _ Angle target force, Angle is the Angle value of the current gravity tool face, and PI is the circumferential ratio; the three ribs are respectively: the wing rib comprises a wing rib A, a wing rib B and a wing rib C, wherein the three wing ribs are distributed at equal intervals; wherein, the toolface Angle of the rib A is defined to be 0 degree, the toolface angles of the rib B and the rib C are respectively 120 degree and 240 degree, according to the principle of acting force and reacting force, the F _ Angle target force direction is necessarily located between two adjacent ribs, and according to the formula, the force size Fm resolved to one rib of the two adjacent ribs and the force size Fn of the other rib of the two adjacent ribs can be calculated.
The existing rotary guiding power executing method mostly adopts a control method of measuring and calculating the displacement vector of the executing mechanism, and the control system adopts a control method of collecting the surface angle of the gravity tool to decompose the resultant force to different wing ribs, so that the algorithm is simpler and more convenient, the calculation amount is reduced, the calculation efficiency of the main control board is improved, and meanwhile, the high reliability is realized.
As an improvement, the step of "c, issuing an instruction" further comprises: and after the main control board receives the transmitted instruction, the instructions stored by the main control board are extracted through the underground main control board, and the instruction information is uploaded to the ground through the MWD system.
After the improvement is implemented, whether the main control board accurately receives the issued instruction information can be judged, so that correct indication is provided for the next operation.
As an improvement, the control method further includes the steps of: e. and the underground main control board extracts the data in the near-bit attitude data acquisition assembly stored by the main control board and uploads the data through the MWD system.
After the improvement is implemented, the drilling condition can be monitored through data uploaded by the MWD system at any time, and the drilling reliability is improved. When the MWD system is in a normal drilling working state, the generator is required to supply power to the main control board in the circuit bin, and the MWD system is internally provided with a battery and does not need an external power supply; in normal operation, the system uploads data through the MWD channel every three minutes. When the drill bit is in a drill stopping state, the main control board collects and stores the near-bit attitude data by means of power supply of the storage battery.
When the control system is used, the signal flow is divided into an uplink and a downlink: the downlink refers to a process of instructing the guiding tool from the ground control system; the upward movement refers to a process of returning data such as the attitude acquired by the near-bit attitude data acquisition component to the ground (the part of the ground control system or the MWD system located on the ground).
The downlink is specifically represented as: the ground control box controls the opening and closing of the bypass valve through an instruction sent by the ground control system, so that the pressure in the slurry pipeline shows designated fluctuation change; the underground generator receives the instruction by detecting the fluctuation change, sends the instruction to the underground master control board, decodes the instruction by the decoding unit and provides a power supply for the underground master control board; the underground master control board transmits the instruction transmitted by the underground generator and the generated electric energy to a master control board (the master control board corresponds to a bulletin number CN103939017A, and the subject is 'control circuit board 25' in the technical scheme of 'static bias push type rotary steering drilling tool') in a wireless coupling mode, the master control board decomposes the received instruction (and transmits the instruction to each wing rib control board) and controls a hydraulic mechanism to generate thrust to the wing ribs, so that the wing ribs extend outwards and push against the well wall to synthesize the steering force.
The uplink is specifically realized in that the underground main control board sends the near-bit attitude parameters returned by the main control board and the pressure returned by the wing ribs to the MWD system, and then the parameters are uploaded to the ground (the ground control system or the part of the MWD system located on the ground) through the MWD system.
In the control system, a storage battery (a high-temperature rechargeable battery) is arranged in the circuit cabin, and the main purpose is to provide power for the main control board when the system is powered off (under the condition that a mud pump needs to be shut down when a drill rod is connected and the like and an underground generator stops running), so that the main control board can continuously acquire static near-bit attitude data in real time and provide a basis for accurate control.
When the underground electric power generating device is in normal drilling work, the voltage output by the underground electric power generating device is rectified and stabilized to supply power to the underground master control board and the master control board, and meanwhile, the storage battery is charged.
When a power failure occurs and a drill rod is connected, the storage battery is switched to supply power to the outside, the main control board acquires static data such as a three-axis accelerometer, a temperature sensor and a pressure sensor (the pressure sensor is arranged in an oil injection pipeline and is correspondingly provided with a notice number CN103939017A, and the topic is 'pressure sensor 18' in the technical scheme of 'static bias push-type rotary steering drilling tool'), and does not issue a command to a hydraulic mechanism for controlling the action of a wing rib; and meanwhile, the acquired static data is stored, when the system is powered on again, the stored static data is uploaded to the MWD system at the first time, and the stored static data is compared with the dynamic data acquired in real time by a program in the main control board to quickly acquire correct parameters so as to guide the next drilling action.
Compared with the prior art, the rotary steering drilling control system and the control method thereof have the following beneficial technical effects:
1. the control is simpler and more efficient, and the cost and the time are saved.
The control system only needs to issue an instruction once and stores the instruction to the main control board. The main control board is connected with each sensor for measuring the attitude data of the near bit in the circuit bin, so that the attitude data of the near bit can be obtained in real time, the attitude data of the near bit is compared with the data of the instruction in real time, and once the deviation is found, the wing rib is controlled to guide according to a resultant force decomposition algorithm and the decomposition of the current attitude data of the near bit, so that the deviation is eliminated. Therefore, the intelligent closed-loop control can be realized by combining a static bias push-type rotary steering drilling tool structure (with the bulletin numbers of CN103939017A respectively), the drilling can be automatically and efficiently carried out according to the designed track, and the monitoring of a ground control system only plays an auxiliary role. In the rotary steering control system in the prior art, the control of the ground control system plays a leading role, the drilling condition of the drill bit needs to be monitored through the ground control system, and the drilling track of the drill bit needs to be adjusted through issuing control instructions for multiple times through the ground control system.
In addition, because the near-bit attitude data acquisition component is fixedly arranged in the circuit bin on the guiding tool, and the adjacent bits are arranged (the distance between the near-bit attitude data acquisition component and the bit is about 0.5-1.5 m), so that each sensor in the near-bit attitude data acquisition component can acquire attitude data closer to the attitude data of the bit, the control speed, accuracy and precision of the control system are higher, and a more ideal control effect can be obtained.
2. More accurate and rich data are obtained, and more effective drilling site monitoring is realized.
By adopting the control system, the data acquired and calculated in the main control board and the possible alarm information can be uploaded in time by means of the data transmission channel of the MWD system. The system can store the issued instruction information and store the data of each sensor used for measuring the attitude data of the near-bit in a timed or real-time manner. This allows for the storage and display of a large amount of rich data in the surface control system or in the MWD system at the surface, which data is of great benefit for on-site monitoring and post-completion analysis.
Drawings
FIG. 1 is a half-sectional view of a static offset push-on rotary steerable drilling tool of publication number CN 103939017A.
Figure 2 is a cross-sectional view of a circuit mounting section in a static offset push-on rotary steerable drilling tool of publication number CN 103939017A.
FIG. 3 is a block diagram of a rotary steerable drilling control system of the present invention.
FIG. 4 is a flow chart of a rotary steerable drilling control method of the present invention.
Fig. 5 is a guide resultant force model diagram of the guide tool.
In the figure, 1-non-rotating outer sleeve, 2-tapered roller bearing, 3-O-ring, 4-rib manifold block, 5-rib, 6-plunger, 7-rotating shaft, 8-reset spring, 10-oil circuit manifold block, 12-motor base, 14-servo motor, 15-coupler, 16-plunger pump, 19-pump mounting base, 21-joint, 22-circuit cabin, 23-compression barrel, 24-sealing ring, 25-control circuit board (namely 'main control board' in the control system of the invention), 26-storage battery, 27-external pressure sensor filter screen, 28-external pressure sensor, 29-test cover plate, 30-coupler shell, 31-coupler (namely 'coupler' in the control system of the invention), 32-outlet cover plate, 33-upper bearing base, 34-rotating core shaft, 35-lower joint (for connecting drill bit).
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. Where descriptive terms such as upper, lower, left, right, etc., are used for descriptive purposes to aid the reader's understanding and are not intended to be limiting.
As shown in fig. 1 to 4, a rotary steerable drilling control system comprises a surface control system (not shown), a surface control box (not shown), a bypass valve (not shown), an MWD system (not shown), a downhole master control board (not shown) with a decoding unit, and a master control board 25 capable of controlling the operation of a rib 5 in a steering tool (here, the "steering tool" is a static offset push type rotary steerable drilling tool of publication No. CN 103939017A); wherein,
the ground control system comprises an upper computer provided with control software;
the ground control system is electrically connected with the ground control box;
the bypass valve is arranged on a bypass branch pipe connected with the slurry pipeline, and a signal control end on the bypass valve is electrically connected with the ground control box; the mud pipeline is used for conveying drilling fluid and connecting the guiding tool with a mud pump arranged on the ground;
the device also comprises an underground generator, a generator mounting section, a coupler mounting section for mounting the coupler, a near-bit attitude data acquisition assembly and a power panel;
the underground generator is fixedly arranged in a generator mounting section which is cylindrical as a whole and has a hollow structure, and the end part of the generator mounting section is communicated and fixedly connected with the end part of a coupler mounting section on the guiding tool;
the underground master control board is arranged at the coupler mounting section, is provided with a receiving end connected with the output end of the underground generator and is used for receiving the electric energy generated by the underground generator and decoding the instruction carried in the mud through a decoding unit; the underground master control board is also provided with a connecting end connected with a primary coil of the coupler and a signal end connected with the MWD system signal;
the secondary coil of the coupler is in signal connection with the main control board;
the near-bit attitude data acquisition component and the power panel are fixedly arranged in a circuit bin 22 on the guiding tool; the near-bit attitude data acquisition component comprises a triaxial accelerometer coaxially arranged with the circuit cabin 22 in the Z direction, and the triaxial accelerometer is in signal connection with the main control board; the power supply delivery end of the main control board is connected with a storage battery 26 in the circuit bin 22 through a power supply board; the main control board is connected with a control signal end of a hydraulic mechanism for controlling the movement of the wing ribs 5.
In specific implementation, the main control board comprises a processing module, and a storage module, a power supply module and an interface module which are respectively connected with the processing module; the main control board is connected with the power board through the power module; the main control board is in signal connection with the near-bit attitude data acquisition assembly through the interface module.
A pressure sensor is arranged in the oil injection pipeline of the guiding tool, and the pressure sensor is connected with the main control board 25. Therefore, the main control board 25 can measure the pressure value in the oil injection pipeline through the pressure sensor (obtaining the reaction force on the inner wall of the wing rib contacting the well hole), and the inner wall of the well hole is possibly softer, so that the numerical value measured through the pressure sensor can be used for better adjusting the thrust of the wing rib, thereby better adapting to the drilling operation in the current environment, accurately synthesizing the guiding force, playing a role in more accurate guiding and improving the drilling efficiency.
In specific implementation, the part for controlling the movement of the rib 5 may further include a rib control panel (not shown in the figure) connected between the main control panel and the hydraulic mechanism, and the rib control panel communicates with the main control panel through a CAN bus to realize the functions of receiving, executing, issuing instructions, returning rib parameters and related alarm information; meanwhile, the pressure sensor is connected with the pressure sensor to collect real-time pressure in the oil injection pipeline, and the BLDC (brushless direct current) is also connected with the pressure sensor to control the motor through a PID (proportion integration differentiation) algorithm, so that the effect of changing the pressure is achieved.
In specific implementation, the downhole generator can adopt a notice number CN201078306Y in the prior art, namely a downhole mud turbine generator.
The coupler can adopt the application number 201510371056.2 of the applicant, named as a downhole wireless bidirectional signal and power transmitter, or the publication number CN103180539B of the prior art, named as a downhole inductive coupler assembly, and can simultaneously transmit power and signals.
The near-bit attitude data acquisition assembly further comprises a temperature sensor, and the temperature sensor is in signal connection with the main control board (not shown in the figure).
In the ground monitoring of the control system, besides data which are uploaded by the MWD system and are measured by a sensor of the control system, the attitude data of the near bit and alarm parameter information which are acquired by the attitude data acquisition assembly of the near bit are uploaded to the ground by virtue of an MWD channel, so that the drilling process is more accurately monitored, the data can be uploaded in a user-defined manner according to different requirements of actual engineering drilling, and the uploading efficiency of the MWD system is fully utilized.
The control system can upload the approximate drill bit attitude data of the following types:
the system comprises a well inclination angle, a gravity tool face angle, a vibration value, battery power, pressure values of all ribs 5, temperature values of all ribs 5, bus voltage, environmental pressure, rotating speeds of all motors, motor current, FLASH capacity, time information (year, month, day, hour, minute, second and week), and fault alarm information (faults of a servo motor, faults of a positioning assembly, various communication faults, various sensor faults and the like). The partial parameter calculation method comprises the following steps:
1. angle of inclination
The inclination angle can reflect the inclination condition of the underground drill bit, and the calculation formula of the inclination angle is in the range of [0 degrees and 180 degrees ]: since the range of tilt angles is [0 °,180 ° ], the tilt angle can be determined from the magnitude of the z-axis:
z>angle of inclination at 0
z<Angle of inclination at 0
Where X is the projected component of the gravity vector (measured by the tri-axial accelerometer) on the X-axis and Y is the projected component of the gravity vector on the Y-axis.
2. Gravity tool face angle
Gravity tool face angleThe ratio of the projection components of the measured gravity vector on the X axis and the Y axis is used for solving the inverse tangent;the value range is [0 degree, 360 degree ]]. This formula does not apply if the values of x and y are 0, i.e. when the tilt angle is 0 °. Arc tangent algorithm pairThe solution of (2) is decomposed into 8 piecewise functions, so that the calculation process is simplified, and the following formula can be set:
The value of T must be [0 °,45 ° ]]Inner, such that the tool face angleIt can be segmented in 4 quadrants as a function of T, gravity toolface angleThe solution of (c) is converted into a calculation of T. The piecewise function is represented as follows:
the underground master control board is connected with the MWD system through an MWD adapter board.
In specific implementation, the MWD system comprises surface equipment and a downhole measurement instrument, wherein the downhole measurement instrument is mounted in a mounting sub fixedly connected to a static offset push-against rotary steerable drilling tool;
the underground master control board comprises a first processor, and a storage module, a first communication module, a power supply module and an interface module which are respectively connected with the first processor; the interface module is in signal connection with a primary coil of the coupler;
the MWD adapter board comprises a second processor, a second communication module and a level shifter, wherein the second communication module and the level shifter are respectively connected with the second processor; the level shifter is also in signal connection with the underground measuring instrument; the first communication module is in communication connection with the second communication module.
Therefore, the underground main control board can upload the attitude data of the near drill bit by utilizing the data uplink channel of the MWD system, and the MWD system uploads the data once every three minutes, so that the attitude data of the near drill bit can be uploaded in time. The control system has the advantages of simple structure and low cost, and is convenient for monitoring the drilling state on the ground in time and acquiring data which is more beneficial to realizing accurate guidance.
The control method of the rotary steering drilling control system comprises the following steps:
a. well head testing
Inputting the borehole orbit design data into a ground control system to form an orbit design curve, wherein the orbit design curve comprises a design target area, design segmented data, a segmented control target and an allowable error range; simultaneously inputting the drilled track data into a ground control system;
b. obtaining near-bit attitude data and designing well track
When the well is drilled to a deflecting point, the drilling is suspended, and the inclination angle alpha is obtained through the triaxial accelerometer1Acquisition of azimuth by MWD systemBy MWD systemThe inclination angle alpha of the well measured by the triaxial accelerometer in the main transmission control board1(ii) a Setting the target well inclination angle and azimuth angle as alpha respectively2、The build-up rate of the guiding tool is KCSolving for the device angle omega and the length of the well section to be drilled deltaD according to the following formulam：
cosω＝(cosα1cosγ-cosα2)/sinα1sinγ(2)
Calculating the dog leg degree gamma according to the formula (1), and substituting the dog leg degree gamma into the formula (2) to calculate the device angle omega;
when in useWhen the value is negative, ω is negative, cos ω is c,
ω＝cos-1c(4)
ω＝-cos-1c(5)
ΔDm＝30γ/KC(6)
c. issuing instructions
The device angle omega and the well section length delta D to be drilled which are obtained by calculation in the previous stepmNumerical value is put into the groundIn the command of the surface control system, the command is issued to the main control board;
d. intelligent closed loop control
The main control board stores the instruction; the main control board analyzes the current drilling state according to the near-bit attitude data and the stored instruction, and if the deviation between the near-bit attitude data and the instruction is within the error range, the automatic drilling is continued according to the current instruction; if the deviation between the attitude data of the near-bit and the command is out of the error range, the execution actions of the three wing ribs 5 are automatically adjusted according to a resultant force decomposition algorithm stored in the main control board, and the intelligent closed-loop control of the well drilling is completed.
During specific implementation, when creeping into the working process, through the data that triaxial accelerometer acquireed, can also monitor the drill bit vibration condition, specifically have:
vibration is divided into three cases: horizontal vibration, vertical vibration and vibration sum (where x, y, z are components of the gravity vector in three axes):
——
-vertical vibration ═ y;
——
the vibration data is obtained after the calculation is completed in the main control board, so that the vibration data can be compared with corresponding data in a program of the main control board to detect the vibration condition. Because the conditions are complex downhole, the geology becomes complex as the depth increases, and the impact on the drill bit increases. Through detecting the vibration condition, the influence on the drill bit and the main control board thereof can be reduced, and the occurrence of the drill sticking condition is avoided, so that the safety and the reliability of drilling are improved.
In the above control method, the main control board adjusts the execution actions of the three ribs according to a resultant force decomposition algorithm stored therein, where the resultant force decomposition algorithm is as follows:
the magnitude of the F target force, the direction of the F _ Angle target force, Angle is the Angle value of the current gravity tool face, and PI is the circumferential ratio; the three ribs are respectively: the wing rib comprises a wing rib A, a wing rib B and a wing rib C, wherein the three wing ribs are distributed at equal intervals; wherein, the toolface Angle of the rib a is defined as 0 ° (in practice, the rib a is arranged coaxially with the three-axis accelerometer, that is, the three-axis accelerometer is arranged close to the rib a and on the side of the circuit cabin where the rib a is located in the circumferential direction), the toolface angles of the rib B and the rib C are respectively 120 ° and 240 °, according to the principle of acting force and reaction force, the F _ Angle target force direction is necessarily located between two adjacent ribs, and according to the above formula, the force magnitude Fm decomposed to one of the two adjacent ribs and the force magnitude Fn of the other rib of the two adjacent ribs can be calculated.
In the above control method, the step of "c, issuing an instruction" further includes: and after the main control board receives the transmitted instruction, the instructions stored by the main control board are extracted through the underground main control board, and the instruction information is uploaded to the ground through the MWD system.
The control method further comprises the following steps: e. and the underground main control board extracts the data in the near-bit attitude data acquisition assembly stored by the main control board and uploads the data through the MWD system.
In specific implementation, the control method of the invention further comprises a static calibration method of the triaxial accelerometer:
when considering the effects of detuning and sensitivity, a tri-axial accelerometer outputs as follows:
AOUT＝AOFF+(Gain*AACTUAL)(7)
AOFFis the offset error, in g; gain is the Gain of the three-axis accelerometer, and the ideal value is1，AACTUALIs the actual acceleration value;
the calibration method comprises testing two points on X-axis, Y-axis and Z-axis in three-dimensional space coordinate, respectively, and placing the axes in +1g and-1 g fields to obtain output value A+1gAnd A-1g；
A+1g＝AOFF+(1g*Gain)(8)
A-1g＝AOFF-(1g*Gain)(9)
Derived from equations (7) and (8)
AOFF＝0.5*(A+1g+A-1g)(10)
In conjunction with equation (7), the detuning value is subtracted from the triaxial accelerometer measurement and then divided by the gain to obtain the calibrated value as follows:
although the triaxial accelerometer is adjusted at the factory, after the control system is assembled, any static stress on the triaxial accelerometer may affect the detuning and sensitivity, and when the errors caused by the two are added, the resulting error may be very large, possibly far exceeding the acceptable limit in the inclinometer application. By adopting the static calibration method of the three-axis accelerometer, the error can be reduced, the offset and the sensitivity can be calibrated, and the inclination angle can be measured through the calibrated output acceleration, so that more accurate measurement data can be obtained, and the control accuracy can be more accurate (after the complete calibration method is adopted, the control accuracy can reach one thousandth after multiple measurements).
During specific implementation, the step of testing the wellhead can also comprise that the wellhead supplies power to a main control board in the circuit bin 22 through an external power supply, and the working states of power supply, communication and sensors of the lower circuit bin 22 are detected; and detecting whether the pressure switch signal of the MWD system and the ground decoding device thereof are normal or not.
As shown in FIG. 5, a directional wellbore trajectory is generally composed of straight sections and radiused sections, with the intersection of the tangent lines between the two sections to reduce drag on the drill pipe. Common well structures include 2-segment type, 3-segment type, 5-segment type and the like. According to the method, the resultant force decomposition algorithm is adopted, in the drilling process, the lateral guiding resultant force vector is located in the cross section of the drill string, the gravity high edge and the cross section are intersected at the highest point on the circumference, and various projection components of the guiding resultant force vector on the circumference have different effects on directional drilling. Such as: the component pointing upwards towards the high side of gravity, which plays a decisive role in the whiplash (increasing the well deflection), hence the force of increasing the whiplash (positive BuildForce); the component in the direction to the right of the 90 ° tool face determines the increasing orientation, and is therefore called the increasing orientation force; the increasing and decreasing inclination is called deflection, the increasing and decreasing azimuth is called torsion azimuth, and the like.
The resultant force control firstly calculates pressure values decomposed to all the wing ribs 5 according to resultant force direction and size instructions issued by a ground control system, and in the actual drilling process, because the non-rotating outer sleeve rotates due to the rotation of the drill rod, the direction of the resultant force is continuously adjusted in real time according to the current gravity tool face angle acquired by the triaxial accelerometer and the wing rib 5 pressure value returned by the pressure sensor arranged in the oil injection pipeline of the hydraulic mechanism, so that the wing ribs move forward towards the set purpose.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several changes and modifications can be made without departing from the technical solution, and the technical solution of the changes and modifications should be considered as falling within the scope of the claims of the present application.
Claims (7)
1. A rotary steering drilling control system comprises a ground control system, a ground control box, a bypass valve, an MWD system, an underground main control board with a decoding unit and a main control board capable of controlling the action of a wing rib in a steering tool; wherein,
the ground control system comprises an upper computer provided with control software;
the ground control system is electrically connected with the ground control box;
the bypass valve is arranged on a bypass branch pipe connected with the slurry pipeline, and a signal control end on the bypass valve is electrically connected with the ground control box; the mud pipeline is used for conveying drilling fluid and connecting the guiding tool with a mud pump arranged on the ground;
the device is characterized by further comprising an underground generator, a generator mounting section, a coupler mounting section for mounting the coupler, a near-bit attitude data acquisition assembly and a power panel;
the underground generator is fixedly arranged in a generator mounting section which is cylindrical as a whole and has a hollow structure, and the end part of the generator mounting section is communicated and fixedly connected with the end part of a coupler mounting section on the guiding tool;
the underground master control board is arranged at the coupler mounting section, is provided with a receiving end connected with the output end of the underground generator and is used for receiving the electric energy generated by the underground generator and decoding the instruction carried in the mud through a decoding unit; the underground master control board is also provided with a connecting end connected with a primary coil of the coupler and a signal end connected with the MWD system signal;
the secondary coil of the coupler is in signal connection with the main control board;
the near-bit attitude data acquisition assembly and the power panel are fixedly arranged in a circuit bin on the guiding tool; the near-bit attitude data acquisition assembly comprises a triaxial accelerometer which is coaxially arranged with the circuit cabin in the Z direction, and the triaxial accelerometer is in signal connection with the main control board; the power supply conveying end of the main control board is connected with a storage battery in the circuit bin through a power supply board; the main control board is connected with a control signal end of a hydraulic mechanism for controlling the movement of the wing ribs.
2. The rotary steerable drilling control system of claim 1, wherein the near-bit attitude data acquisition component further comprises a temperature sensor in signal connection with the master control board.
3. The rotary steerable drilling control system of claim 1, wherein the downhole master control board is connected to the MWD system via an MWD adapter board.
4. A method of controlling a rotary steerable drilling control system as claimed in any of claims 1 to 3, comprising the steps of:
a. well head testing
Inputting the borehole orbit design data into a ground control system to form an orbit design curve, wherein the orbit design curve comprises a design target area, design segmented data, a segmented control target and an allowable error range; simultaneously inputting the drilled track data into a ground control system;
b. obtaining near-bit attitude data and designing well track
When the well is drilled to a deflecting point, the drilling is suspended, and the inclination angle alpha is obtained through the triaxial accelerometer1Acquisition of azimuth by MWD systemUploading, by an MWD system, a skew angle α measured by the triaxial accelerometer in a main control board1(ii) a Setting the target well inclination angle and azimuth angle as alpha respectively2、The build-up rate of the guiding tool is KCSolving for the device angle omega and the length of the well section to be drilled deltaD according to the following formulam：
cosω＝(cosα1cosγ-cosα2)/sinα1sinγ(2)
Calculating the dog leg degree gamma according to the formula (1), and substituting the dog leg degree gamma into the formula (2) to calculate the device angle omega;
when in useWhen the value is negative, ω is negative, cos ω is c,
ΔDm＝30γ/KC(6)
c. issuing instructions
The device angle omega and the well section length delta D to be drilled which are obtained by calculation in the previous stepmThe numerical value is put into an instruction of a ground control system, and then the instruction is issued to a main control board;
d. intelligent closed loop control
The main control board stores the instruction; the main control board analyzes the current drilling state according to the near-bit attitude data and the stored instruction, and if the deviation between the near-bit attitude data and the instruction is within the error range, the automatic drilling is continued according to the current instruction; and if the deviation between the attitude data of the near-bit and the command is out of the error range, the main control board adjusts the execution actions of the three wing ribs by calculation and eliminates the deviation, thereby completing the intelligent closed-loop control of the drilling.
5. The rotary steerable drilling control method of claim 4, wherein the master control board self-adjusts the execution of three ribs according to a resultant force decomposition algorithm stored therein, the resultant force decomposition algorithm being as follows:
the magnitude of the F target force, the direction of the F _ Angle target force, Angle is the Angle value of the current gravity tool face, and PI is the circumferential ratio; the three ribs are respectively: the wing rib comprises a wing rib A, a wing rib B and a wing rib C, wherein the three wing ribs are distributed at equal intervals; wherein, the toolface Angle of the rib A is defined to be 0 degree, the toolface angles of the rib B and the rib C are respectively 120 degree and 240 degree, according to the principle of acting force and reacting force, the F _ Angle target force direction is necessarily located between two adjacent ribs, and according to the formula, the force size Fm resolved to one rib of the two adjacent ribs and the force size Fn of the other rib of the two adjacent ribs can be calculated.
6. The method of claim 4, wherein the step of "c, issuing commands" further comprises: and after the main control board receives the transmitted instruction, the instructions stored by the main control board are extracted through the underground main control board, and the instruction information is uploaded to the ground through the MWD system.
7. The rotary steerable drilling control method of claim 4, further comprising the steps of: e. and the underground main control board extracts the data in the near-bit attitude data acquisition assembly stored by the main control board and uploads the data through the MWD system.
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| CN115898272B (en) * | 2022-11-29 | 2023-09-22 | 北京探矿工程研究所 | Closed-loop track control device for flexible power drilling tool |
| CN115898272A (en) * | 2022-11-29 | 2023-04-04 | 北京探矿工程研究所 | Closed loop track control device for flexible power drilling tool |
| CN116084910B (en) * | 2023-03-09 | 2023-06-23 | 成都信息工程大学 | Method for predicting guiding instruction of pushing-type rotary guiding tool in real time |
| CN116084910A (en) * | 2023-03-09 | 2023-05-09 | 成都信息工程大学 | Method for predicting guiding instruction of pushing-type rotary guiding tool in real time |
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