CN105134163B - A kind of kinetic-control system and method for adaptive down-hole equipment tool-face - Google Patents
A kind of kinetic-control system and method for adaptive down-hole equipment tool-face Download PDFInfo
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- CN105134163B CN105134163B CN201510408218.5A CN201510408218A CN105134163B CN 105134163 B CN105134163 B CN 105134163B CN 201510408218 A CN201510408218 A CN 201510408218A CN 105134163 B CN105134163 B CN 105134163B
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Abstract
A kind of kinetic-control system and method for adaptive down-hole equipment tool-face, the kinetic-control system include data acquisition module, control strategy input module, drilling well model information input module, multi-body dynamics modeling module, adaptive model correcting module, tool-face estimation module, control law generation module, execution module and precarious position judge module.User inputs control strategy and drilling well model, data acquisition module collection system creeps into situation, multi-body dynamics modeling module is based on drilling well model and carries out multi-body dynamics modeling, adaptive model correcting module is based on the control law that drilling situation amendment multi-body Dynamics Model, tool-face estimation module and control law generation module calculate control executing agency based on control strategy, drilling situation and revised multi-body Dynamics Model；Precarious position judge module sends alarm when system is in the hole.The present invention can be widely used for real-time, the dynamic control of power drilling tool tool-face during downhole orientation drilling.
Description
Technical field
The present invention relates to a kind of control system and method for oil gas field down-hole equipment, is moved especially with regard to one kind based on more bodies
The kinetic-control system and method for the adaptive down-hole equipment tool-face of mechanical model.
Background technology
Slipping drilling is carried out using the deflecting drilling tool of bent angle formula, is a kind of drilling method commonly used in oil directed drilling.
Because reason, the tool-faces of down-hole equipment such as the abrasion of formation lithology change, slush pump changes in pump speed, drill bit and power drilling tool are easy
Drift about, so as to cause well track off-design track.When Ground Engineer has found that the tool-face of drilling tool is drifted about,
Conventional treatment method is to stop to bore and above carry drilling tool immediately, descends brill to continue to bore again after the tool-face of drilling tool is adjusted into required position
Enter.Obviously, this method can influence drilling progress, reduce operating efficiency, and increase drilling cost.In addition, led in conventional slide
Into drilling process, because the drill string of slide-and-guide well system does not rotate, therefore larger drag and torque is easily produced.For
The more apparent well of strata condition, it can be driven according to the combined characteristic of well depth and drilling tool by rotating top to overcome frictional resistance to turn round
Square；But for high-fineness ratio flexible drillstem system, then it is difficult to achieve effective control drilling tool face and well track.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide a kind of adaptive down-hole equipment based on multi-body Dynamics Model
The kinetic-control system and method for tool-face, to improve the efficiency of directed drilling operation and precision.
To achieve the above object, the present invention takes following technical scheme：A kind of dynamic of adaptive down-hole equipment tool-face
Control system, it is characterised in that：It includes data acquisition module, user's input module, multi-body dynamics modeling module, adaptive
Modifying model module, tool-face estimation module, control law generation module, control information output module, execution module, dangerous shape
State judge module and metrical information output module；Wherein, the well system working condition that the data acquisition module will collect
Metrical information be transmitted separately to the multi-body dynamics modeling module, adaptive model correcting module, control law generation module,
Precarious position judge module and metrical information output module；The control strategy and drilling well that user's input module inputs user
Model information is transmitted separately to the multi-body dynamics modeling module, tool-face estimation module, control law generation module and danger
Dangerous condition judgment module；The multi-body dynamics modeling module according to receive well system working condition metrical information, bore
Well model information and control strategy carry out multi-body dynamics modeling to well system, and by the multi-body Dynamics Model of well system
Input the adaptive model correcting module；The adaptive model correcting module is surveyed according to the well system working condition of reception
Information, the multi-body Dynamics Model of well system and the tool-face estimation module mechanism of feedback face mould analog values are measured to drilling well
The multi-body Dynamics Model of system is modified, and the multi-body Dynamics Model of revised well system is sent into the work
Tool face estimation module；The multi-body Dynamics Model of revised well system of the tool-face estimation module to receiving is carried out
Dynamics Simulation, to obtain the tool-face analogue value；The tool-face estimation module feeds back to the tool-face analogue value described
Adaptive model correcting module, and the tool-face analogue value is transmitted to the control law generation module；The control law life
Whether the tool-face analogue value for judging to receive according to the control strategy received into module is beyond the Hedging Point Control set
In drilling tool face set in advance threshold value：If it is, the control law generation module generates new execution module control
Rule, and send it to the control information output module；If it is not, then keep the execution module control of a upper controlling cycle
Rule is constant, sends it to the control information output module；The execution mould that the control information output module will receive
Block control law is sent to the execution module；The precarious position judge module is according to the control strategy and drilling well system received
System working condition metrical information, judge whether current drilling is in the hole：If currently creep into the hole, general
Emergency control policy in the control strategy received is sent to the control law generation module, and defeated to the metrical information
Go out module and send hydropac；If currently creep into it is in a safe condition, by the execution module control law in control strategy
It is sent to the control law generation module.
In a preferred embodiment, it also includes a system output module, and the metrical information output module will connect
The well system working condition metrical information and hydropac received is transmitted to the system output module；The system exports mould
Hydropac, well system working condition metrical information and the execution module control law that block record receives, and be presented
To user；Meanwhile the system output module can also be by the multi-body Dynamics Model of revised well system, and instrument
Face mould analog values or the metrical information in current tool face are also presented to user.
In a preferred embodiment, the data acquisition module includes measurement module and underground survey module on well；
The information that measurement module measures on the well includes：Angle that slush pump pump speed, tourist bus/hook position, top drive/rotating disk rotate,
Top drive/rotating disk is applied to the moment of torsion and pulling force of drilling rod；The information of the underground survey module measurement includes：The instrument of down-hole equipment
Face, hole deviation, azimuth and well depth measurement.
In a preferred embodiment, user's input module includes control strategy input module and drilling well model is believed
Cease input module；The control strategy for user's input that the control strategy input module receives includes：1) execution module control rule
Rule：Design tool face control law, slush pump pump speed control law, initially tourist bus/hook control law, top drive/rotating disk control
Rule and multi-body Dynamics Model precision controlling rule；2) control logic judgment criterion：Whether down-hole equipment is in the hole
Judgment criterion, whether the tool-face analogue value that Dynamics Simulation obtains is considered as to the judgment criterion of tool-face current location
Whether deviate the judgment criterion of setting position with currently practical tool-face；3) emergency control policy：It should be taken for precarious position
Control measure；4) drilling tool face set in advance threshold value；The drilling well model information input module receives user's input
Drilling well model information, including drilling tool information, mud information and formation information；The single or thribble that drilling tool information includes newly accessing is bored
Column information and more bit change information, mud information include but is not limited to the information for changing drilling fluid.
It is a kind of using above-mentioned kinetic-control system come the dynamic control method of adaptive down-hole equipment tool-face realized, its
Comprise the following steps：
1) executing agency of well system is started；
2) user inputs control strategy by the control strategy input module in user's input module, and control strategy is defeated
Enter module and control strategy is sent respectively to the multi-body dynamics modeling module, tool-face estimation module, control law generation
Module and precarious position judge module；The user is inputted by the drilling well model information input module in user's input module and bored
Well system model information；The control law generation module passes through the control information output module by the execution in control strategy
Module control law is sent to the execution module, and the execution module starts driving according to the execution module control law and performed
Mechanism works, and it includes：Slush pump is pumped into drilling fluid, and tourist bus/hook moves up and down, and top drive/rotating disk rotates the angle specified
Degree；
3) the well system working condition metrical information collected is sent respectively to described more by the data acquisition module
Body dynamics modeling module, adaptive model correcting module, control law generation module, precarious position judge module and measurement letter
Cease output module；
4) control strategy input module of the precarious position judge module in user's input module is sent
Whether the down-hole equipment judgment criterion whether in the hole and currently practical tool-face in control logic judgment criterion are inclined
From the judgment criterion of setting position, and the well system working condition metrical information that the data acquisition module is sent, judge
Whether current drilling is in the hole：
If currently creeping into the hole, send hydropac and perform emergency control policy；
If current drilling is not in precarious position, step 5) is performed；
If 5) system is in first controlling cycle, the well system work shape according to the data collecting module collected
State metrical information and the drilling well model information of user's input module input, multi-body Dynamics Model is established to well system；
If system is not at first controlling cycle, step 6) is directly performed；
6) the adaptive model correcting module tool-face estimation module mechanism of feedback face mould analog values and brill
Well working state of system metrical information, is modified to the parameter of the multi-body Dynamics Model of acquisition, and by revised more bodies
Kinetic model exports carries out more bodies to the tool-face estimation module, the tool-face estimation module to multi-body Dynamics Model
Dynamics simulation, to obtain the tool-face analogue value；
7) control strategy input module of the control law generation module in user's input module is sent
Whether the tool-face analogue value that Dynamics Simulation obtains is considered as tool-face current location in control logic judgment criterion
Judgment criterion, it is determined that the tool-face that uses during generation execution module control law：
If it is, the tool-face analogue value is considered as tool-face current location；
If it is not, then using tool-face measured value as tool-face current location；
8) control strategy input module of the control law generation module in user's input module is sent
Design tool face control law and initial top drive/rotating disk control law in execution module control law, judge that tool-face is current
Whether position exceeds drilling tool face set in advance threshold value in control strategy：
If it is, the control law generation module generates new execution module control law, including moved by more bodies
Mechanics Simulation calculates rotational angle needed for the drive/rotating disk of top, the position of tourist bus/hook and slush pump pump speed, and by new execution
Module control law is sent to the execution module by the control information output module, then performs step 9)；
If it is not, then keeping current execution module control law, and it is sent out by the control information output module
The execution module is given, continues to creep into and perform step 10)；
9) the execution module control law that the execution module exports according to the control law generation module drives mud
Pump, tourist bus/hook, the action for pushing up drive/rotating disk, continue to creep into so that down-hole equipment tool-face revert to design attitude, to complete
Control is adjusted to the dynamic of down-hole equipment tool-face；
10) the control strategy input module in user's input module and drilling well model information input module judge user respectively
Whether the control strategy and drilling well model information of input change：
If it is, return to step 2)；
If it is not, then return to step 4).
Carrying out above-mentioned steps 6) when, the adaptive model correcting module enters to the multi-body Dynamics Model of well system
Row amendment comprises the following steps：
1. in first controlling cycle, according to the tool-face estimation module mechanism of feedback face mould analog values, it is described from
Adaptive model correcting module predicts change and response of the down-hole equipment at a certain moment or a period of time afterwards；
2. the adaptive model correcting module is by the tool-face analogue value and well system working condition metrical information
Down-hole equipment tool-face is contrasted, and obtains gain coefficient；
3. it is modified according to the multi-body Dynamics Model that gain coefficient transmits to the multi-body dynamics modeling module, will
Revised multi-body Dynamics Model is sent to the tool-face estimation module；
4. in a certain controlling cycle behind, repeat step 1.~3. so that the adaptive model correcting module is real
When track down-hole equipment tool-face situation, the multi-body Dynamics Model that is persistently transmitted to the multi-body dynamics modeling module is carried out
Amendment.
For the present invention due to taking above technical scheme, it has advantages below：1st, the present invention is due to defeated by control strategy
Enter control strategy of the module input to down-hole equipment, action is then entered to full well DRILL-STRING SYSTEM by multi-body dynamics modeling module
Mechanics Simulation and estimate, and model is repaiied in real time according to the metrical information of real-time drilling system by adaptive model correcting module
Positive multi-body Dynamics Model, and the execution module control law of the drilling tool device action such as driving slush pump, therefore energy of the present invention
Directional tool tool-face deviates the real-time condition of preset value under enough reliably monitoring wells, more accurately calculates needed for correction of deviation
Control law, it is high to the real-time control of mud motor tool-face and reliability so as to realize.2nd, the present invention is due to setting
Adaptive model correcting module is put, it uses adaptive approach to be modified multi-body Dynamics Model, can not only reduce
To the precise requirements of down-hole equipment model, and allow to carry out the parameter in drilling tool model simple and quick measurement or estimate
Calculate, additionally it is possible to influence caused by autonomous amendment drill tool wear, therefore the present invention can save the time of measure drilling tool model parameter,
Lift drilling operation efficiency.3rd, the adaptive model correcting module of the invention due to setting uses adaptive approach to more body power
Learn model to be modified, the accuracy requirement to formation information can be reduced, various stratum, especially stratum feelings can be applied to
The very not clear and definite prospect pit of condition, therefore the present invention can widen the directional drilling control method based on many-body dynamics method
The scope of application.Based on above advantage, the reality of power drilling tool tool-face when the present invention can be widely applied to creep into downhole orientation
When, dynamic control.
Brief description of the drawings
Come to carry out the present invention detailed description below in conjunction with accompanying drawing.It should be appreciated, however, that accompanying drawing has been provided only more
Understand the present invention well, they should not be interpreted as limitation of the present invention.
Fig. 1 is the structural representation of kinetic-control system of the present invention；
Fig. 2 is the schematic flow sheet of dynamic control method of the present invention.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
As shown in figure 1, the kinetic-control system of the present invention includes data acquisition module 101, user's input module 102, more
Body dynamics modeling module 103, adaptive model correcting module 104, tool-face estimation module 105, control law generation module
106th, control information output module 107, execution module 108, precarious position judge module 109, the and of metrical information output module 110
System output module 111.
Wherein, the well system working condition metrical information collected is transmitted separately to more bodies by data acquisition module 101
Dynamic Modeling module 103, adaptive model correcting module 104, control law generation module 106, precarious position judge module
109 and metrical information output module 110.In the present embodiment, data acquisition module 101 includes measurement module a and underground on well
Measurement module b (i.e. the measurement-while-drilling system MWD of slide-and-guide well system or with bore logging system LWD).Wherein, measured on well
The information of module a measurements includes：Slush pump pump speed, tourist bus/hook position, the angle of top drive/rotating disk rotation, top drive/rotating disk are applied
Add to the moment of torsion and pulling force of drilling rod；The information of underground survey module b measurements includes：Down-hole equipment tool-face, hole deviation, azimuth and
Well depth measurement.
The control strategy and drilling well model information that user's input module 102 inputs user are transmitted separately to many-body dynamics
Modeling module 103, tool-face estimation module 105, control law generation module 106 and precarious position judge module 109.In this reality
Apply in example, user's input module 102 includes control strategy input module c and drilling well model information input module d.Wherein, control
Tactful input module c receives the control strategy of user's input, and the control strategy includes：1) execution module control law：Design work
Tool face control law, slush pump pump speed control law, initially tourist bus/hook control law, top drive/rotating disk control law and more bodies
Kinetic model precision controlling rule；2) control logic judgment criterion：Down-hole equipment judgment criterion whether in the hole,
Whether the tool-face analogue value that Dynamics Simulation obtains is considered as the judgment criterion of tool-face current location and currently practical
Whether tool-face deviates the judgment criterion of setting position；3) emergency control policy：The control measure that should be taken for precarious position；
4) drilling tool face set in advance threshold value.Drilling well model information input module d receives drilling tool information, mud information and stratum letter
The drilling well model information of the users such as breath input, wherein drilling tool information include the single or thribble drill string information newly accessed and changed to bore
Header, mud information include but is not limited to the information for changing drilling fluid.Multi-body dynamics modeling module 103 is according to receiving
Well system working condition metrical information, drilling well model information and control strategy carry out multi-body dynamics modeling to well system,
And by the multi-body Dynamics Model input adaptive Modifying model module 104 of well system.In the present embodiment, to well system
The applicant's Patent No. can directly be used by carrying out multi-body dynamics modeling：ZL201010616202.0, entitled " one kind rotation
Transduce to the quick method for analyzing and modeling of drilling system many-body dynamics " described in modeling method, be not limited herein.
Adaptive model correcting module 104 according to the well system working condition metrical information of reception, well system it is more
The multi-body Dynamics Model of body dynamics model and the mechanism of feedback face mould analog values of tool-face estimation module 105 to well system
It is modified, and the multi-body Dynamics Model of revised well system is sent to tool-face estimation module 105.
The multi-body Dynamics Model of revised well system of the tool-face estimation module 105 to receiving carries out more bodies and moved
Mechanics Simulation, to obtain the tool-face analogue value；The tool-face analogue value is fed back to adaptive model and repaiied by tool-face estimation module 105
Positive module 104, and the tool-face analogue value is transmitted to control law generation module 106.In the present embodiment, many-body dynamics is imitated
True is prior art, therefore is repeated no more.
Whether the tool-face analogue value that control law generation module 106 judges to receive according to the control strategy received surpasses
Go out drilling tool face set in advance threshold value in control strategy：If it is, control law generation module 106 generates new execution
Module control law, and send it to control information output module 107；If it is not, then keep the execution of a upper controlling cycle
Module control law is constant, sends it to control information output module 107.
The execution module control law received is sent to execution module 108 and system by control information output module 107
Output module 111.
Precarious position judge module 109 is sentenced according to the control strategy and well system working condition metrical information that receive
Whether disconnected current drilling is in the hole：If currently creep into it is in the hole, by the control strategy received
Emergency control policy is sent to control law generation module 106, and sends hydropac to metrical information output module 110；Such as
Fruit currently creeps into a safe condition, then the execution module control law in control strategy is sent into control law generation module
106.Wherein, precarious position can be bit freezing or well track is seriously offset, doubtful control fails, well system working condition is surveyed
Measure information not fully or partially numerical exception etc..
The well system working condition metrical information and hydropac that metrical information output module 110 will receive, transmission
To system output module 111.
System output module 111 records the hydropac received, well system working condition metrical information and performs mould
Block control law, and it is presented to user.In the present embodiment, can also be by the many-body dynamics of revised well system
Model, and the tool-face analogue value or the metrical information in current tool face are presented to user also by system output module 111.This
Outside, system output module 111 can also be not provided with, the work of the kinetic-control system of whole down-hole equipment tool-face will not be by
Influence.
As shown in Fig. 2 the kinetic-control system based on the adaptive down-hole equipment tool-face provided in above-described embodiment, this
Invention also proposed a kind of dynamic control method of adaptive mud motor tool-face, and it comprises the following steps：
1) executing agency of well system is started.
2) user inputs control strategy by the control strategy input module c in user's input module 102, and control strategy is defeated
Enter module c and control strategy is sent respectively to multi-body dynamics modeling module 103, tool-face estimation module 105, control law life
Into module 106 and precarious position judge module 109；User inputs mould by the drilling well model information in user's input module 102
Block d inputs well system model information；Control law generation module 106 passes through control information output module 107 by control strategy
In execution module control law be sent to execution module 108, execution module 108 starts to drive according to the execution module control law
Dynamic executing agency's work, including：Slush pump is pumped into drilling fluid, tourist bus/hook moves up and down and pushed up drive/rotating disk and rotates what is specified
Angle etc..
3) the well system working condition metrical information collected is sent respectively to more body power by data acquisition module 101
Learn modeling module 103, adaptive model correcting module 104, control law generation module 106, the and of precarious position judge module 109
Metrical information output module 110.
4) control that control strategy input module c of the precarious position judge module 109 in user's input module 102 is sent
Whether down-hole equipment judgment criterion whether in the hole and currently practical tool-face in logic judgment criterion processed deviate
The judgment criterion of setting position, and the well system working condition metrical information that data acquisition module 101 is sent, judge current
Whether drilling is in the hole：
If currently creeping into the hole, send hydropac and perform emergency control policy；
If current drilling is not in precarious position, step 5) is performed.
If 5) well system is in first controlling cycle, the well system work gathered according to data acquisition module 101
Make state measurement information and the drilling well model information of the input of user's input module 102, many-body dynamics mould is established to well system
Type；If well system is not at first controlling cycle, step 6) is directly performed.
6) adaptive model correcting module 104 compares the mechanism of feedback face mould analog values of tool-face estimation module 105 and drilling well
Working state of system metrical information, the multi-body Dynamics Model of acquisition is modified, and by revised many-body dynamics mould
Type is exported to tool-face estimation module 105, and tool-face estimation module 105 carries out many-body dynamics to multi-body Dynamics Model and imitated
Very, to obtain the tool-face analogue value.In the present embodiment, more body power of the adaptive model correcting module 104 to well system
Learn model and be modified and comprise the following steps：
1. in first controlling cycle, according to the mechanism of feedback face mould analog values of tool-face estimation module 105, adaptive mode
Type correcting module 104 predicts change and response of the down-hole equipment at a certain moment or a period of time afterwards.
2. adaptive model correcting module 104 is by the well in the tool-face analogue value and well system working condition metrical information
Lower drilling tool face is contrasted, and obtains gain coefficient.
3. it is modified according to the multi-body Dynamics Model that gain coefficient transmits to multi-body dynamics modeling module 103, will
Revised multi-body Dynamics Model is sent to tool-face estimation module 105.
4. in a certain controlling cycle behind, repeat step 1.~3. so that adaptive model correcting module 104 is real-time
Down-hole equipment tool-face situation is tracked, the multi-body Dynamics Model persistently transmitted to multi-body dynamics modeling module 103 is repaiied
Just.
Wherein, for corrected multi-body Dynamics Model, if down-hole equipment with the addition of new part, then can be with
It is modified just for one or several parameters of new part, so as to reduce the difficulty of multi-body Dynamics Model makeover process.It is right
The amendment of new part include to newly access single or thribble drill string Modifying model, to the Modifying model of the drill bit of replacing and right
Modifying model of formation information etc..
7) control that control strategy input module c of the control law generation module 106 in user's input module 102 is sent
Whether the tool-face analogue value that Dynamics Simulation obtains is considered as tool-face current location in logic judgment criterion processed
Judgment criterion, it is determined that the tool-face used during generation execution module control law：
If it is, the tool-face analogue value is considered as tool-face current location；
If it is not, then using tool-face measured value as tool-face current location.
8) what control strategy input module c of the control law generation module 106 in user's input module 102 was sent holds
Design tool face control law and initial top drive/rotating disk control law in row module control law, judge tool-face present bit
Put and whether exceed drilling tool face set in advance threshold value in control strategy：
If it is, control law generation module 106 generates new execution module control law, including pass through more body power
Learn rotational angle needed for simulation calculation top drive/rotating disk, the position of tourist bus/hook and slush pump pump speed, and by new execution mould
Block control law is sent to execution module 108 by control information output module 107, then performs step 9)；
If it is not, then keeping current execution module control law, and it is sent by control information output module 107
To execution module 108, continue to creep into and perform step 10).
9) the execution module control law that execution module 108 is exported according to control law generation module 106 drive slush pump,
Tourist bus/hook, the action of the top executing agency such as drive/rotating disk, continue to creep into so that down-hole equipment tool-face revert to design attitude, with
Complete to adjust control to the dynamic of down-hole equipment tool-face.
10) the control strategy input module c in user's input module 102 and drilling well model information input module d sentence respectively
Whether the control strategy and drilling well model information of disconnected user's input change：
If it is, return to step 2)；
If it is not, then return to step 4).
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each part, connected mode etc. are all can be
Change, every equivalents carried out on the basis of technical solution of the present invention and improvement, it should not exclude the present invention's
Outside protection domain.
Claims (5)
- A kind of 1. kinetic-control system of adaptive down-hole equipment tool-face, it is characterised in that：It includes data acquisition module, used Family input module, multi-body dynamics modeling module, adaptive model correcting module, tool-face estimation module, control law generation Module, control information output module, execution module, precarious position judge module and metrical information output module；Wherein, the well system working condition metrical information collected is transmitted separately to more bodies by the data acquisition module Dynamic Modeling module, adaptive model correcting module, control law generation module, precarious position judge module and metrical information Output module；The control strategy and drilling well model information that user's input module inputs user are transmitted separately to more body power Learn modeling module, tool-face estimation module, control law generation module and precarious position judge module；The multi-body dynamics modeling module according to receive well system working condition metrical information, drilling well model information and Control strategy carries out multi-body dynamics modeling to well system, and the multi-body Dynamics Model input of well system is described adaptive Answer Modifying model module；The adaptive model correcting module moves according to the well system working condition metrical information of reception, more bodies of well system Mechanical model and the tool-face estimation module mechanism of feedback face mould analog values are entered to the multi-body Dynamics Model of well system Row amendment, and the multi-body Dynamics Model of revised well system is sent to the tool-face estimation module；The multi-body Dynamics Model of revised well system of the tool-face estimation module to receiving carries out more body power Emulation is learned, to obtain the tool-face analogue value；The tool-face analogue value is fed back to the adaptive mode by the tool-face estimation module Type correcting module, and the tool-face analogue value is transmitted to the control law generation module；Whether the tool-face analogue value that the control law generation module judges to receive according to the control strategy received exceeds Drilling tool face set in advance threshold value in the Hedging Point Control of setting：If it is, the control law generation module life Cheng Xin execution module control law, and send it to the control information output module；If it is not, then keep a upper control The execution module control law in cycle is constant, sends it to the control information output module；The execution module control law received is sent to the execution module by the control information output module；The precarious position judge module judges to work as according to the control strategy and well system working condition metrical information received Whether preceding drilling is in the hole：If currently creep into it is in the hole, will be urgent in the control strategy received Control strategy is sent to the control law generation module, and sends hydropac to the metrical information output module；If Currently creep into a safe condition, then the execution module control law in control strategy is sent to the control law and generates mould Block；User's input module includes control strategy input module and drilling well model information input module；The control strategy is defeated Entering the control strategy of user's input of module reception includes：1) execution module control law：Design tool face control law, mud Pump pump speed control law, tourist bus/hook control law, initially push up drive/rotating disk control law and multi-body Dynamics Model precision control Rule processed；2) control logic judgment criterion：Down-hole equipment judgment criterion whether in the hole, whether by many-body dynamics Emulate that the obtained tool-face analogue value is considered as the judgment criterion of tool-face current location and whether currently practical tool-face deviates and set Position the judgment criterion put；3) emergency control policy：The control measure that should be taken for precarious position；4) drilling tool set in advance Tool-face threshold value；The drilling well model information input module receives the drilling well model information of user's input, including drilling tool information, mud information And formation information；Drilling tool information, which includes the single or thribble drill string information newly accessed and more bit change information, mud information, to be included But it is not limited to change the information of drilling fluid.
- A kind of 2. kinetic-control system of adaptive down-hole equipment tool-face as claimed in claim 1, it is characterised in that：It is also Including a system output module, well system working condition metrical information and danger that the metrical information output module will receive Dangerous alarm is transmitted to the system output module；The system output module records the hydropac received, well system work Make state measurement information and execution module control law, and be presented to user；Meanwhile the system output module can also Also it is in by the multi-body Dynamics Model of revised well system, and the tool-face analogue value or the metrical information in current tool face Now give user.
- A kind of 3. kinetic-control system of adaptive down-hole equipment tool-face as claimed in claim 1, it is characterised in that：It is described Data acquisition module includes measurement module and underground survey module on well；The information that measurement module measures on the well includes：Mud Stock pump pump speed, tourist bus/hook position, the angle for pushing up drive/rotating disk rotation, push up moment of torsion and pulling force that drive/rotating disk is applied to drilling rod；Institute Stating the information of underground survey module measurement includes：Tool-face, hole deviation, azimuth and the well depth measurement of down-hole equipment.
- 4. it is a kind of using as described in any one of claims 1 to 3 kinetic-control system come the adaptive down-hole equipment instrument realized The dynamic control method in face, it comprises the following steps：1) executing agency of well system is started；2) user inputs control strategy, control strategy input mould by the control strategy input module in user's input module Control strategy is sent respectively to the multi-body dynamics modeling module, tool-face estimation module, control law generation module by block With precarious position judge module；The user inputs drilling well system by the drilling well model information input module in user's input module System model information；The control law generation module passes through the control information output module by the execution module in control strategy Control law is sent to the execution module, and the execution module starts to drive executing agency according to the execution module control law Work, it includes：Slush pump is pumped into drilling fluid, and tourist bus/hook moves up and down, and top drive/rotating disk rotates the angle specified；3) the well system working condition metrical information collected is sent respectively to more bodies and moved by the data acquisition module Mechanical modeling module, adaptive model correcting module, control law generation module, precarious position judge module and metrical information are defeated Go out module；4) control that control strategy input module of the precarious position judge module in user's input module is sent Whether down-hole equipment judgment criterion whether in the hole and currently practical tool-face in logic judgment criterion, which deviate, sets The judgment criterion put, and the well system working condition metrical information that the data acquisition module is sent are positioned, is judged current Whether drilling is in the hole：If currently creeping into the hole, send hydropac and perform emergency control policy；If current drilling is not in precarious position, step 5) is performed；If 5) system is in first controlling cycle, the well system working condition according to the data collecting module collected is surveyed Information and the drilling well model information of user's input module input are measured, multi-body Dynamics Model is established to well system；If it is System is not at first controlling cycle, then directly performs step 6)；6) the adaptive model correcting module tool-face estimation module mechanism of feedback face mould analog values and drilling well system Unite working condition metrical information, the parameter of the multi-body Dynamics Model of acquisition is modified, and by revised more body power Learn model to export to the tool-face estimation module, the tool-face estimation module is to the more body power of multi-body Dynamics Model progress Emulation is learned, to obtain the tool-face analogue value；7) control that control strategy input module of the control law generation module in user's input module is sent Whether the tool-face analogue value that Dynamics Simulation obtains is considered as sentencing for tool-face current location in logic judgment criterion Disconnected criterion, it is determined that the tool-face used during generation execution module control law：If it is, the tool-face analogue value is considered as tool-face current location；If it is not, then using tool-face measured value as tool-face current location；8) execution that control strategy input module of the control law generation module in user's input module is sent Design tool face control law and initial top drive/rotating disk control law in module control law, judge tool-face current location Whether drilling tool face set in advance threshold value in control strategy is exceeded：If it is, the control law generation module generates new execution module control law, including pass through many-body dynamics The position of rotational angle, tourist bus/hook needed for simulation calculation top drive/rotating disk and slush pump pump speed, and by new execution module Control law is sent to the execution module by the control information output module, then performs step 9)；If it is not, then keeping current execution module control law, and it is sent to by the control information output module The execution module, continue to creep into and perform step 10)；9) the execution module control law that the execution module exports according to the control law generation module drives slush pump, trip Car/hook, the action for pushing up drive/rotating disk, continue to creep into so that down-hole equipment tool-face revert to design attitude, to complete to underground The dynamic adjustment control in drilling tool face；10) the control strategy input module in user's input module and drilling well model information input module judge that user inputs respectively Control strategy and drilling well model information whether change：If it is, return to step 2)；If it is not, then return to step 4).
- A kind of 5. dynamic control method of adaptive down-hole equipment tool-face as claimed in claim 4, it is characterised in that：Entering Row above-mentioned steps 6) when, the adaptive model correcting module multi-body Dynamics Model of well system is modified including with Lower step：It is 1. described adaptive according to the tool-face estimation module mechanism of feedback face mould analog values in first controlling cycle Modifying model module predicts change and response of the down-hole equipment at a certain moment or a period of time afterwards；2. the adaptive model correcting module is by the underground in the tool-face analogue value and well system working condition metrical information Drilling tool face is contrasted, and obtains gain coefficient；3. being modified according to the multi-body Dynamics Model that gain coefficient transmits to the multi-body dynamics modeling module, will correct Multi-body Dynamics Model afterwards is sent to the tool-face estimation module；4. in a certain controlling cycle behind, repeat step 1.~3. so that the adaptive model correcting module in real time with Track down-hole equipment tool-face situation, the multi-body Dynamics Model persistently transmitted to the multi-body dynamics modeling module are repaiied Just.
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