CN105064979A - Turntable type drilling machine system based on tool surface dynamic control of underground drilling tool and drilling method based on tool surface dynamic control of underground drilling tool - Google Patents
Turntable type drilling machine system based on tool surface dynamic control of underground drilling tool and drilling method based on tool surface dynamic control of underground drilling tool Download PDFInfo
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Abstract
The invention relates to a turntable type drilling machine system based on tool surface dynamic control of an underground drilling tool and a drilling method based on the tool surface dynamic control of the underground drilling tool. The drilling machine system comprises a dynamic control system and a drilling system, wherein the dynamic control system comprises a dynamic measuring sub system, a feedback control sub system, a user interaction sub system and an execution sub system; a user inputs drilling tool information, drilling fluid information, stratum information and control strategies through the user interaction sub system; the feedback control sub system builds a many-body dynamics model of the drilling system according to the received drilling tool information, drilling fluid information and stratum information; the dynamic measuring sub system measures various kinds of information of the drilling system in the drilling process, and transmits the information to the feedback control sub system; the feedback control sub system judges whether the tool surface of the underground drilling tool exceeds a set threshold or not, calculates the required rotating angle of a turntable, the position of a large hook and the pump speed of a slurry pump through multi-body dynamics simulation, and drives the turntable, the large hook and the slurry pump to act; the drilling is continuously carried out so that the tool surface of the underground drilling tool returns to a design position, and the dynamic regulation control on the tool surface of the underground drill tool is completed.
Description
Technical field
The present invention relates to a kind of oil gas field borer system and boring method, particularly about a kind of rotary drilling machine system and boring method of the down-hole equipment tool-face Dynamic controlling based on multi-body Dynamics Model.
Background technology
It is a kind of common method of directed drilling operation that slide-and-guide creeps into, and its adopts down-hole bent angle formula power drilling tool to carry out deflecting.But in the situations such as formation lithology change, mud flow rate change and bit wear, power drilling tool tool-face easily offsets, and causes actual well off-design track.At present, the universal method processing this problem carries boring and power drilling tool under adjust well again after stopping boring, and makes the tool-face of mud motor point to tram, but this method reduces drillng operation efficiency.Use drilling measuring equipment can drilling tool face under measuring well in real time, and to drive or rotating disk regulates and controls or revises the direction of mud motor tool-face by rotating top aboveground according to measurement result, but contact on a large scale because the longer and DRILL-STRING SYSTEM of the DRILL-STRING SYSTEM in drilling measuring equipment has with the borehole wall, be difficult to determine to rotate top and drive or angle needed for rotating disk.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of rotary drilling machine system and boring method of the down-hole equipment tool-face Dynamic controlling based on multi-body Dynamics Model, to improve efficiency and the precision of directed drilling operation.
For achieving the above object, the present invention takes following technical scheme: a kind of rotary drilling machine system based on down-hole equipment tool-face Dynamic controlling, and it is characterized in that, this borer system comprises kinetic-control system and well system; Wherein, described kinetic-control system comprises kinetic measurement subsystem, feedback control subsystem, user interactions subsystem and executive subsystem; Described dynamic measurement unit subsystem comprises slush pump pump speed measuring unit, hook location measurement unit, rotating disk carry power measuring unit, rotating disk angle torque measurement unit and DHM-MWD unit; The speed control unit that described feedback control subsystem comprises slush pump pump speed collecting unit, hook information acquisition unit, rotating disk information acquisition unit, tool-face collecting unit, primary control program unit, drilling tool information unit, drilling fluid information unit, formation information unit, control strategy unit, observing and controlling information unit, slush pump pump into drilling fluid, hook position control unit and rotating disk angle control unit; The output of described slush pump pump speed measuring unit, hook location measurement unit and DHM-MWD unit is electrically connected the input of described slush pump pump speed collecting unit, hook information acquisition unit and tool-face collecting unit respectively; The output that described rotating disk carries power measuring unit and rotating disk angle torque measurement unit is electrically connected the input of described rotating disk information acquisition unit respectively; The output of described slush pump pump speed collecting unit, hook information acquisition unit, rotating disk information acquisition unit, tool-face collecting unit, drilling tool information unit, drilling fluid information unit, formation information unit and control strategy unit is electrically connected the input of described primary control program unit respectively, the input of the speed control unit that output is electrically connected described observing and controlling information unit respectively, slush pump pumps into drilling fluid of described primary control program unit, hook position control unit and rotating disk angle control unit; Described user interactions subsystem comprises user interface elements, user input unit and system output unit; The input of described user interface elements is electrically connected the output of described system output unit, and the output of described user interface elements is electrically connected the input of described user input unit; The output of described user input unit is electrically connected the input of described drilling tool information unit, drilling fluid information unit, formation information unit and control strategy unit simultaneously, and the input of described system output unit is electrically connected the output of described observing and controlling information unit; Described executive subsystem comprises slush pump unit, hook unit and turntable unit; The input of described slush pump unit, hook unit and turntable unit is electrically connected the output that described slush pump pumps into the speed control unit of drilling fluid, hook position control unit and rotating disk angle control unit respectively; Described well system comprises a rig floor, installs preventer in the middle part of the base plate of described rig floor, is rotationally connected described turntable unit in the middle part of the top board of described rig floor, and described turntable unit connects the rotary tray motor being arranged on described rig floor side by transmission mechanism; One end of described drill bit connecting bending musical form deflecting power drilling tool, the other end of described bending-type deflecting power drilling tool is by one end of described DHM-MWD unit jointed rod, the other end of described drilling rod is through one end of connection side's drilling rod after described preventer, the other end of described kelly bar is through the lower end of connecting tap after described turntable unit, and the upper end of described water tap is then connected with standpipe.
Adopt the boring method based on down-hole equipment tool-face Dynamic controlling that above-mentioned borer system realizes, it comprises the following steps:
1) user inputs drilling tool information, drilling fluid information, formation information and the control strategy primary control program unit to feedback control subsystem by user interactions subsystem; Wherein, the down-hole equipment tool-face threshold value preset is comprised in control strategy;
2) primary control program unit is according to the drilling tool information received, drilling fluid information and formation information, sets up the multi-body Dynamics Model of well system;
3) kinetic measurement subsystem measures the every terms of information of well system in drilling process, and these information is passed to the primary control program unit of feedback control subsystem;
4) according to the control strategy of the every terms of information of the well system received and user's input, primary control program unit judges whether down-hole equipment tool-face exceeds the down-hole equipment tool-face threshold value set in control strategy: if, transfer to executive subsystem after then calculating rotational angle needed for rotating disk, the position of hook and slush pump pump speed by Dynamics Simulation, and perform step 5); If not, then continue creep into and perform step 6);
5) transfer to the rotational angle of executive subsystem needed for the rotating disk calculated, the position of hook and slush pump pump speed after, drive rotating disk, hook and slush pump action, continue to creep into make down-hole equipment tool-face revert to design attitude;
6) user interactions subsystem shows current drilling information and control instruction;
7) according to step 6) in display current drilling information and control instruction, judge whether user have modified input information by user interactions subsystem: if then return step 2); If not, then step 3 is returned).
In above-mentioned steps 3) in, the every terms of information of well system that kinetic measurement subsystem is measured comprise slush pump pump speed information, hook positional information, rotating disk rotational angle and be applied to the torque information of drilling rod, upper lifting force information that drilling rod is subject to and down-hole equipment tool-face information.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention is owing to proposing a kind of dynamic control method of the mud motor tool-face based on multi-body Dynamics Model, by regulating and controlling dial rotation angle to the dynamic estimation of mud motor tool-face and the dynamic calculation of aboveground rotating disk adjustment angle, thus dynamically control downhole tool face direction, in make it remain on angle threshold that user specifies, therefore the present invention can realize dynamic conditioning downhole orientation power drilling tool slide-and-guide being crept into period tool-face, the drift of dynamic correction mud motor tool-face, improve control accuracy and the operating efficiency of directional well well track, effectively improve hole quality.2, the control strategy of the present invention owing to arranging according to user, as slush pump changes in pump speed rule, hook movement law or dial rotation rule, establish a kind of kinetic-control system of mud motor tool-face, the tool-face of downhole orientation power drilling tool can be adjusted to user's prescribed direction by this control system automatically, therefore the present invention can reduce sticky boring and bit freezing probability, realize effective transmission of the pressure of the drill, reduce down-hole accident rate, improve drillng operation efficiency.3, the present invention is due to after carrying out Dynamics Simulation to well system, the tool-face direction of downhole orientation power drilling tool can be obtained in real time, and the impact that measurement-while-drilling system signal transmission delay calculates drilling tool control law can be reduced, therefore the present invention can reduce and controls to offset with drilling tool be coupled possible, prevention mud motor tool-face controls to disperse, reduce down-hole accident rate, improve drilling process reliability and safety, improve drillng operation efficiency.Based on above advantage, the present invention can be widely used in the mud motor tool-face Dynamic controlling in various slide-and-guide drillng operation.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, detailed description is carried out to the present invention.But should be appreciated that being provided only of accompanying drawing understands the present invention better, they not should be understood to limitation of the present invention.
Fig. 1 is the structural representation of kinetic-control system of the present invention;
Fig. 2 is the structural representation of well system of the present invention;
Fig. 3 is the schematic flow sheet of dynamic control method of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1 and Figure 2, borer system of the present invention comprises kinetic-control system 100 and well system 200.
As shown in Figure 1, kinetic-control system 100 comprises kinetic measurement subsystem 10, feedback control subsystem 20, user interactions subsystem 30 and executive subsystem 40.
Wherein, dynamic measurement unit subsystem 10 comprises slush pump pump speed measuring unit 101, hook location measurement unit 102, rotating disk carry power measuring unit 103, rotating disk angle torque measurement unit 104 and DHM-MWD unit 105.
The speed control unit 211 that feedback control subsystem 20 comprises slush pump pump speed collecting unit 201, hook information acquisition unit 202, rotating disk information acquisition unit 203, tool-face collecting unit 204, primary control program unit 205, drilling tool information unit 206, drilling fluid information unit 207, formation information unit 208, control strategy unit 209, observing and controlling information unit 210, slush pump pump into drilling fluid, hook position control unit 212 and rotating disk angle control unit 213.Wherein, the output of slush pump pump speed measuring unit 101, hook location measurement unit 102 and DHM-MWD unit 105 is electrically connected the input of slush pump pump speed collecting unit 201, hook information acquisition unit 202 and tool-face collecting unit 204 respectively; The output that rotating disk carries power measuring unit 103 and rotating disk angle torque measurement unit 104 is electrically connected the input of rotating disk information acquisition unit 203 respectively.The output of slush pump pump speed collecting unit 201, hook information acquisition unit 202, rotating disk information acquisition unit 203, tool-face collecting unit 204, drilling tool information unit 206, drilling fluid information unit 207, formation information unit 208 and control strategy unit 209 is electrically connected the input of primary control program unit 205 respectively, the input of the speed control unit 211 that output is electrically connected observing and controlling information unit 210 respectively, slush pump pumps into drilling fluid of primary control program unit 205, hook position control unit 212 and rotating disk angle control unit 213.
User interactions subsystem 30 comprises user interface elements 301, user input unit 302 and system output unit 303.Wherein, the output of the input electrical connection system output unit 303 of user interface elements 301, the input of the output electrical connection user input unit 302 of user interface elements 301.The output of user input unit 302 is electrically connected the input of drilling tool information unit 206, drilling fluid information unit 207, formation information unit 208 and control strategy unit 209 simultaneously, the output of the input electrical connection observing and controlling information unit 210 of system output unit 303.
Executive subsystem 40 comprises slush pump unit 401, hook unit 402 and turntable unit 403.Wherein, the input of slush pump unit 401, hook unit 402 and turntable unit 403 is electrically connected the output that slush pump pumps into the speed control unit 211 of drilling fluid, hook position control unit 212 and rotating disk angle control unit 213 respectively.
As shown in Figure 2, well system 200 comprises a rig floor 21, installs preventer 22 in the middle part of the base plate of rig floor 21, is rotationally connected turntable unit 403 in the middle part of the top board of rig floor 21, and turntable unit 403 connects the rotary tray motor 23 being arranged on rig floor 21 side by transmission mechanism.One end of drill bit 24 connecting bending musical form deflecting power drilling tool 25, the other end of bending-type deflecting power drilling tool 25 passes through one end of DHM-MWD unit 105 jointed rod 26, the other end of drilling rod 26 is through the one end connecting a kelly bar 27 after preventer 22, the other end of kelly bar 27 is through the lower end connecting a water tap 28 after turntable unit 403, and the upper end of water tap 28 is then connected with standpipe 29.It should be noted that, slush pump unit 401 and hook unit 402 also all on rig floor 21, and the position of itself and rig floor 21 and annexation all same as the prior art, therefore to repeat no more.
Operationally, first kinetic measurement subsystem 10 transfers to feedback control subsystem 20 by measuring the slush pump pump speed information, hook positional information, the rotational angle of rotating disk and the every terms of information that is applied to the well systems 200 such as the torque information of drilling rod, drilling rod upper lifting force information and down-hole equipment tool-face information that obtain to borer system of the present invention; Meanwhile, the user's input informations such as drilling tool information, drilling fluid information, formation information and control strategy are transferred to feedback control subsystem 20 by user interactions subsystem 30; Then feedback control subsystem 20 generates observing and controlling information according to the every terms of information of the well system 200 received and user's input information and performs control instruction, and by observing and controlling information transmission to user interactions subsystem 30, execution control instruction is transferred to executive subsystem 40, and executive subsystem 40 is according to the execution control instruction action received.
As shown in Figure 3, according to the borer system provided in above-described embodiment, the invention allows for a kind of boring method based on down-hole equipment tool-face Dynamic controlling, it comprises the following steps:
1) user inputs drilling tool information, drilling fluid information, formation information and the control strategy primary control program unit 205 to feedback control subsystem 20 by user interactions subsystem 30.Wherein, the down-hole equipment tool-face threshold value preset is comprised in control strategy.
2) primary control program unit 205 is according to the drilling tool information received, drilling fluid information and formation information, sets up the multi-body Dynamics Model of well system 200.Wherein, carrying out multi-body dynamics modeling to well system 200 can directly adopt the applicant's patent No. to be: ZL201010616202.0, name is called the modeling method described in " a kind of rotary steering drilling system many-body dynamics rapid analysis modeling method ", does not limit at this.
3) kinetic measurement subsystem 10 measures the every terms of information of well system 200 in drilling process, and these information are passed to the primary control program unit 205 of feedback control subsystem 20.
The every terms of information of well system 200 that kinetic measurement subsystem 10 is measured comprise slush pump pump speed information, hook positional information, rotating disk rotational angle and be applied to the torque information of drilling rod, upper lifting force information that drilling rod is subject to and down-hole equipment tool-face information.
4) according to the control strategy of the every terms of information of the well system 200 received and user's input, primary control program unit 205 judges whether down-hole equipment tool-face exceeds the down-hole equipment tool-face threshold value set in control strategy: if, transfer to executive subsystem 40 after then calculating rotational angle needed for rotating disk, the position of hook and slush pump pump speed by Dynamics Simulation, and perform step 5); If not, then keep current creep into and perform step 6).Wherein, Dynamics Simulation is prior art, therefore repeats no more.
5) position of the rotational angle of executive subsystem 40 needed for the rotating disk calculated, hook and slush pump pump speed, drive turntable unit 403, hook unit 402 and slush pump unit 401 action, continue to creep into make down-hole equipment tool-face revert to design attitude, to complete, the dynamic conditioning of down-hole equipment tool-face is controlled.
6) user interactions subsystem 30 shows current drilling information and control instruction.
7) according to step 6) in display current drilling information and control instruction, judge whether user have modified input information by user interactions subsystem 30: if then return step 2); If not, then step 3 is returned).
The various embodiments described above are only for illustration of the present invention, and wherein the structure, connected mode etc. of each parts all can change to some extent, and every equivalents of carrying out on the basis of technical solution of the present invention and improvement, all should not get rid of outside protection scope of the present invention.
Claims (3)
1. based on a rotary drilling machine system for down-hole equipment tool-face Dynamic controlling, it is characterized in that, this borer system comprises kinetic-control system and well system;
Wherein, described kinetic-control system comprises kinetic measurement subsystem, feedback control subsystem, user interactions subsystem and executive subsystem;
Described dynamic measurement unit subsystem comprises slush pump pump speed measuring unit, hook location measurement unit, rotating disk carry power measuring unit, rotating disk angle torque measurement unit and DHM-MWD unit;
The speed control unit that described feedback control subsystem comprises slush pump pump speed collecting unit, hook information acquisition unit, rotating disk information acquisition unit, tool-face collecting unit, primary control program unit, drilling tool information unit, drilling fluid information unit, formation information unit, control strategy unit, observing and controlling information unit, slush pump pump into drilling fluid, hook position control unit and rotating disk angle control unit; The output of described slush pump pump speed measuring unit, hook location measurement unit and DHM-MWD unit is electrically connected the input of described slush pump pump speed collecting unit, hook information acquisition unit and tool-face collecting unit respectively; The output that described rotating disk carries power measuring unit and rotating disk angle torque measurement unit is electrically connected the input of described rotating disk information acquisition unit respectively; The output of described slush pump pump speed collecting unit, hook information acquisition unit, rotating disk information acquisition unit, tool-face collecting unit, drilling tool information unit, drilling fluid information unit, formation information unit and control strategy unit is electrically connected the input of described primary control program unit respectively, the input of the speed control unit that output is electrically connected described observing and controlling information unit respectively, slush pump pumps into drilling fluid of described primary control program unit, hook position control unit and rotating disk angle control unit;
Described user interactions subsystem comprises user interface elements, user input unit and system output unit; The input of described user interface elements is electrically connected the output of described system output unit, and the output of described user interface elements is electrically connected the input of described user input unit; The output of described user input unit is electrically connected the input of described drilling tool information unit, drilling fluid information unit, formation information unit and control strategy unit simultaneously, and the input of described system output unit is electrically connected the output of described observing and controlling information unit;
Described executive subsystem comprises slush pump unit, hook unit and turntable unit; The input of described slush pump unit, hook unit and turntable unit is electrically connected the output that described slush pump pumps into the speed control unit of drilling fluid, hook position control unit and rotating disk angle control unit respectively;
Described well system comprises a rig floor, installs preventer in the middle part of the base plate of described rig floor, is rotationally connected described turntable unit in the middle part of the top board of described rig floor, and described turntable unit connects the rotary tray motor being arranged on described rig floor side by transmission mechanism; One end of described drill bit connecting bending musical form deflecting power drilling tool, the other end of described bending-type deflecting power drilling tool is by one end of described DHM-MWD unit jointed rod, the other end of described drilling rod is through one end of connection side's drilling rod after described preventer, the other end of described kelly bar is through the lower end of connecting tap after described turntable unit, and the upper end of described water tap is then connected with standpipe.
2. adopt the boring method based on down-hole equipment tool-face Dynamic controlling that borer system as claimed in claim 1 realizes, it comprises the following steps:
1) user inputs drilling tool information, drilling fluid information, formation information and the control strategy primary control program unit to feedback control subsystem by user interactions subsystem; Wherein, the down-hole equipment tool-face threshold value preset is comprised in control strategy;
2) primary control program unit is according to the drilling tool information received, drilling fluid information and formation information, sets up the multi-body Dynamics Model of well system;
3) kinetic measurement subsystem measures the every terms of information of well system in drilling process, and these information is passed to the primary control program unit of feedback control subsystem;
4) according to the control strategy of the every terms of information of the well system received and user's input, primary control program unit judges whether down-hole equipment tool-face exceeds the down-hole equipment tool-face threshold value set in control strategy: if, transfer to executive subsystem after then calculating rotational angle needed for rotating disk, the position of hook and slush pump pump speed by Dynamics Simulation, and perform step 5); If not, then continue creep into and perform step 6);
5) transfer to the rotational angle of executive subsystem needed for the rotating disk calculated, the position of hook and slush pump pump speed after, drive rotating disk, hook and slush pump action, continue to creep into make down-hole equipment tool-face revert to design attitude;
6) user interactions subsystem shows current drilling information and control instruction;
7) according to step 6) in display current drilling information and control instruction, judge whether user have modified input information by user interactions subsystem: if then return step 2); If not, then step 3 is returned).
3. as claimed in claim 2 based on the boring method of down-hole equipment tool-face Dynamic controlling, it is characterized in that, in above-mentioned steps 3) in, the every terms of information of well system that kinetic measurement subsystem is measured comprise slush pump pump speed information, hook positional information, rotating disk rotational angle and be applied to the torque information of drilling rod, upper lifting force information that drilling rod is subject to and down-hole equipment tool-face information.
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