CN105156091A - Drilling machine system based on dynamic control of tool face of self-adaptive downhole drilling tool and well drilling method - Google Patents
Drilling machine system based on dynamic control of tool face of self-adaptive downhole drilling tool and well drilling method Download PDFInfo
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Abstract
The invention discloses a drilling machine system based on dynamic control of a tool face of a self-adaptive downhole drilling tool and a well drilling method. The drilling machine system comprises a dynamic control system and a well drilling system, the dynamic control system comprises a data collection system, a control strategy input module, a well drilling model information input module, a multi-body dynamics modeling module, a self-adaptive model correction module, a tool face estimation module, a control rule generation module, an execution module and a danger state judgment module. A user inputs a control strategy and a well drilling model, the data collection module collects system drilling condition, the multi-body dynamics modeling module performs multi-body dynamics modeling on the basis of the well drilling model, the self-adaptive model correction module corrects a multi-body dynamics model on the basis of the drilling condition, the tool face estimation module and the control rule generation module calculate control rules for controlling the execution module on the basis of the control strategy, the drilling condition and the multi-body dynamics model after being corrected, and the danger state judgment module gives out an alarm when the system is in a danger state. The drilling machine system can remarkably improve well drilling efficiency and accuracy and can be widely used for downhole directional drilling.
Description
Technical field
The present invention relates to a kind of oil gas field borer system and boring method, particularly drive churn system and boring method about a kind of top based on self adaptation down-hole equipment tool-face Dynamic controlling based on multi-body Dynamics Model.
Background technology
Using the deflecting drilling tool of bent angle formula to carry out slipping drilling, is a kind of drilling method conventional in oil directed drilling.Due to reasons such as formation lithology change, slush pump changes in pump speed, drill bit and power drilling tool wearing and tearing, the tool-face of down-hole equipment is easily drifted about, thus causes well track off-design track.When Ground Engineer find drilling tool tool-face occur drift time, conventional treatment method be stop immediately bore and on carry drilling tool, again descend brill to continue to creep into after the tool-face of drilling tool is adjusted to desired location.Obviously, this side
method meetingaffect drilling progress, reduce operating efficiency, and increase drilling cost.In addition, in conventional slide guide digging process, due to the drill string non rotating of slide-and-guide well system, therefore easily larger drag and torque is produced.For the well that strata condition is comparatively distinct, can drive overcome drag and torque by rotating top according to the combined characteristic of well depth and drilling tool; But for high-fineness ratio flexible drillstem system, be then difficult to drilling tool face and well track achieve effective control.
Summary of the invention
For the problems referred to above, churn system and boring method are driven, to improve efficiency and the precision of directed drilling operation in the top that the object of this invention is to provide a kind of self adaptation down-hole equipment tool-face Dynamic controlling based on multi-body Dynamics Model.
For achieving the above object, the present invention takes following technical scheme: a kind of borer system based on self adaptation down-hole equipment tool-face Dynamic controlling, and it is characterized in that, this borer system comprises kinetic-control system and well system;
Described kinetic-control system comprises data acquisition module, user's input module, multi-body dynamics modeling module, adaptive model correcting module, tool-face estimation module, control law generation module, control information output module, Executive Module, precarious position judge module and metrical information output module;
Wherein, the well system duty metrical information collected is transferred to described multi-body dynamics modeling module, adaptive model correcting module, control law generation module, precarious position judge module and metrical information output module by described data acquisition module respectively;
The control strategy that user inputs by described user's input module and drilling well model information transfer to described multi-body dynamics modeling module, tool-face estimation module, control law generation module and precarious position judge module respectively;
Described multi-body dynamics modeling module carries out multi-body dynamics modeling according to the well system duty metrical information, drilling well model information and the control strategy that receive to well system, and the multi-body Dynamics Model of well system is inputted described adaptive model correcting module;
Described adaptive model correcting module is revised according to the multi-body Dynamics Model of the well system duty metrical information received, well system and the multi-body Dynamics Model of described tool-face estimation module mechanism of feedback face mould analog values to well system, and the multi-body Dynamics Model of revised well system is sent to described tool-face estimation module;
The multi-body Dynamics Model of described tool-face estimation module to the revised well system received carries out Dynamics Simulation, to obtain the tool-face analogue value; The tool-face analogue value is fed back to described adaptive model correcting module by described tool-face estimation module, and the tool-face analogue value is transferred to described control law generation module;
According to the control strategy received, described control law generation module judges whether the tool-face analogue value received exceeds the drilling tool face threshold value preset in the Hedging Point Control of setting: if, then described control law generation module generates new Executive Module control law, and sends it to described control information output module; If not, then keep the Executive Module control law of a upper control cycle constant, send it to described control information output module;
The Executive Module control law received is sent to described Executive Module by described control information output module;
Described precarious position judge module is according to the control strategy received and well system duty metrical information, judge current creep into whether in the hole: creep in the hole if current, then the emergency control policy in the control strategy received is sent to described control law generation module, and send hydropac to described metrical information output module; Creep into if current in a safe condition, then the Executive Module control law in control strategy is sent to described control law generation module;
Described well system comprises a rig floor, installs preventer in the middle part of the base plate of described rig floor; One end of drill bit connecting bending musical form deflecting down-hole equipment, the other end of described bending-type deflecting down-hole equipment is by one end of described underground survey model calling drilling rod, the other end of described drilling rod is connected the lower end of driving on described top through described preventer with after the top board of described rig floor, and the upper end that described top is driven then is connected with standpipe.
In a preferred embodiment, described kinetic-control system also comprises a system output module, and the well system duty metrical information received and hydropac are transferred to described system output module by described metrical information output module; Hydropac, well system duty metrical information and Executive Module control law that described system output module record receives, and be presented to user; Meanwhile, described system output module can also by the multi-body Dynamics Model of revised well system, and the metrical information in the tool-face analogue value or current tool face also presents to user.
In a preferred embodiment, described data acquisition module comprises aboveground measurement module and underground survey module; The information that described aboveground measurement module is measured comprises: slush pump pump speed, tourist bus position, top turn dynamic angle, push up and drive the moment of torsion and pulling force that are applied to drilling rod; The information that described underground survey module is measured comprises: the tool-face of down-hole equipment, hole deviation, azimuth and well depth measurement.
In a preferred embodiment, described user's input module comprises control strategy input module and drilling well model information input module; The control strategy of user's input that described control strategy input module receives comprises: 1) Executive Module control law: design tool face control law, slush pump pump speed control law, tourist bus control law, initial top drive control law and multi-body Dynamics Model precision controlling rule; 2) control logic judgment criterion: down-hole equipment judgment criterion whether in the hole, the tool-face analogue value whether obtained by Dynamics Simulation are considered as the judgment criterion whether judgment criterion of tool-face current location and current actual tool face depart from desired location; 3) emergency control policy: the control measure should taked for precarious position; 4) the drilling tool face threshold value preset;
Described drilling well model information input module receives the drilling well model information of user's input, comprises drilling tool information, mud information and formation information; Drilling tool information comprises single or thribble drill string information and the more bit change information of new access, and mud information includes but not limited to the information of replacing drilling fluid.
The boring method based on self adaptation down-hole equipment tool-face Dynamic controlling adopting above-mentioned borer system to realize, it comprises the following steps:
1) executing agency of well system is started;
2) user is by the control strategy input module input control strategy in described user's input module, and control strategy is sent to described multi-body dynamics modeling module, tool-face estimation module, control law generation module and precarious position judge module by control strategy input module respectively; Described user is by the drilling well model information input module input well system model information in user's input module; Executive Module control law in control strategy is sent to described Executive Module through described control information output module by described control law generation module, described Executive Module starts to drive executing agency to work according to this Executive Module control law, it comprises: slush pump pumps into drilling fluid, tourist bus moves up and down, and top turns dynamic angle of specifying;
3) the well system duty metrical information collected is sent to described multi-body dynamics modeling module, adaptive model correcting module, control law generation module, precarious position judge module and metrical information output module by described data acquisition module respectively;
4) whether the down-hole equipment judgment criterion whether in the hole in the control logic judgment criterion that sends according to the control strategy input module in described user's input module of described precarious position judge module and current actual tool face depart from the judgment criterion of desired location, and the well system duty metrical information that described data acquisition module sends, judge current creep into whether in the hole:
Creep into if current in the hole, then send hydropac and perform emergency control policy;
Creep into if current not in the hole, then perform step 5);
5) if system is in first control cycle, then according to the well system duty metrical information of described data collecting module collected and the drilling well model information of described user's input module input, multi-body Dynamics Model is set up to well system; If system is not in first control cycle, then directly perform step 6);
6) described adaptive model correcting module more described tool-face estimation module mechanism of feedback face mould analog values and well system duty metrical information, the parameter of the multi-body Dynamics Model obtained is revised, and revised multi-body Dynamics Model is exported to described tool-face estimation module, described tool-face estimation module carries out Dynamics Simulation to multi-body Dynamics Model, to obtain the tool-face analogue value;
7) described control law generation module is considered as the judgment criterion of tool-face current location according to the tool-face analogue value whether obtained by Dynamics Simulation in the control logic judgment criterion of the control strategy input module transmission in described user's input module, determines the tool-face used when generating Executive Module control law:
If so, then the tool-face analogue value is considered as tool-face current location;
If not, then using tool-face measured value as tool-face current location;
8) described control law generation module drives control law according to the design tool face control law in the Executive Module control law of the control strategy input module transmission in described user's input module and initial top, judges whether tool-face current location exceeds the drilling tool face threshold value preset in control strategy:
If, then described control law generation module generates new Executive Module control law, comprise and calculate top by Dynamics Simulation and drive required rotational angle, the position of tourist bus and slush pump pump speed, and new Executive Module control law is sent to described Executive Module by described control information output module, then perform step 9);
If not, then keep current Executive Module control law, and it is sent to described Executive Module by described control information output module, continue to creep into and perform step 10);
9) action that Executive Module control law drives slush pump, tourist bus, top is driven that exports according to described control law generation module of described Executive Module, 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;
10) the control strategy input module in user's input module and drilling well model information input module judge whether the control strategy that user inputs and drilling well model information change respectively:
If so, then step 2 is returned);
If not, then step 4 is returned).
Carrying out above-mentioned steps 6) time, described adaptive model correcting module carries out correction to the multi-body Dynamics Model of well system and comprises the following steps:
1. in first control cycle, according to described tool-face estimation module mechanism of feedback face mould analog values, described adaptive model correcting module prediction down-hole equipment is in the change of a certain moment afterwards or a period of time and response;
2. the down-hole equipment tool-face in the tool-face analogue value and well system duty metrical information contrasts by described adaptive model correcting module, obtains gain coefficient;
3. according to gain coefficient, the multi-body Dynamics Model that described multi-body dynamics modeling module transmits is revised, revised multi-body Dynamics Model is sent to described tool-face estimation module;
4. in a certain control cycle thereafter, repeat step 1. ~ 3., to make described adaptive model correcting module real-time tracking down-hole equipment tool-face situation, continue the multi-body Dynamics Model that described multi-body dynamics modeling module transmits is revised.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention is owing to inputting the control strategy to down-hole equipment by control strategy input module, then by multi-body dynamics modeling module, full well DRILL-STRING SYSTEM is carried out dynamics simulation and estimated, and according to the metrical information of real-time drilling system, in real time multi-body Dynamics Model is revised to model by adaptive model correcting module, and drive the Executive Module control law of the drilling tool device actions such as slush pump, therefore the present invention can reliably under monitor well directional tool tool-face depart from the real-time condition of preset value, calculate the control law needed for correction of deviation more exactly, thus to realize the real-time control of mud motor tool-face and reliability is high.2, the present invention is owing to being provided with adaptive model correcting module, it adopts adaptive approach to revise multi-body Dynamics Model, not only can reduce the precise requirements to down-hole equipment model, and allow to carry out simple and quick measurement or estimation to the parameter in down-hole equipment model, independently can also revise the impact that drill tool wear causes, therefore the present invention can save the time measuring drilling tool model parameter, promotes and creeps into operating efficiency.3, the present invention due to arrange adaptive model correcting module adopt adaptive approach multi-body Dynamics Model is revised, the accuracy requirement of formation information can be reduced, various stratum can be applicable to, especially the prospect pit that strata condition is very not clear and definite, therefore the present invention can widen the scope of application of the directional drilling control method based on many-body dynamics method.Based on above advantage, real-time, the Dynamic controlling of power drilling tool tool-face when the present invention can be widely used in creeping into downhole orientation.
Accompanying drawing explanation
Below in conjunction with
accompanying drawingdetailed description is carried out to the present invention.But should be appreciated that
accompanying drawingbe provided only and understood the present invention better, they not should be understood to limitation of the present invention.
fig. 1it is the structural representation of kinetic-control system of the present invention
figure;
fig. 2it is the structural representation of well system of the present invention
figure;
fig. 3it is the flow process signal of dynamic control method of the present invention
figure.
Detailed description of the invention
Below in conjunction with
accompanying drawingwith embodiment, the present invention is described in detail.
as Fig. 1,
fig. 2shown in, borer system of the present invention comprises kinetic-control system 100 and well system 200.
as Fig. 1shown in, kinetic-control system 100 comprises data acquisition module 101, user's input module 102, multi-body dynamics modeling module 103, adaptive model correcting module 104, tool-face estimation module 105, control law generation module 106, control information output module 107, Executive Module 108, precarious position judge module 109, metrical information output module 110 and system output module 111.
Wherein, the well system duty metrical information collected is transferred to multi-body dynamics modeling module 103, adaptive model correcting module 104, control law generation module 106, precarious position judge module 109 and metrical information output module 110 by data acquisition module 101 respectively.In the present embodiment, data acquisition module 101 comprises aboveground measurement module 10 and underground survey module 11.Wherein, the information that aboveground measurement module 10 is measured comprises: slush pump pump speed, tourist bus position, top turn dynamic angle, push up and drive the moment of torsion and pulling force that are applied to drilling rod; The information that underground survey module 11 is measured comprises: the tool-face of down-hole equipment, hole deviation, azimuth and well depth measurement.In the present embodiment, underground survey module 11 can adopt DHM-MWD system or with brill logging system.
The control strategy that user inputs by user's input module 102 and drilling well model information transfer to multi-body dynamics modeling module 103, tool-face estimation module 105, control law generation module 106 and precarious position judge module 109 respectively.In the present embodiment, user's input module 102 comprises control strategy input module 12 and drilling well model information input module 13.Wherein, control strategy input module 12 receives the control strategy of user's input, and this control strategy comprises: 1) Executive Module control law: design tool face control law, slush pump pump speed control law, tourist bus control law, initial top drive control law and multi-body Dynamics Model precision controlling rule; 2) control logic judgment criterion: down-hole equipment judgment criterion whether in the hole, the tool-face analogue value whether obtained by Dynamics Simulation are considered as the judgment criterion whether judgment criterion of tool-face current location and current actual tool face depart from desired location; 3) emergency control policy: the control measure should taked for precarious position; 4) the drilling tool face threshold value preset.Drilling well model information input module 13 receives the drilling well model information of user's inputs such as drilling tool information, mud information and formation information, wherein drilling tool information comprises single or thribble drill string information and the more bit change information of new access, and mud information includes but not limited to the information of replacing drilling fluid.Multi-body dynamics modeling module 103 carries out multi-body dynamics modeling according to the well system duty metrical information, drilling well model information and the control strategy that receive to well system, and by the multi-body Dynamics Model input adaptive Modifying model module 104 of well system.In the present embodiment, carrying out multi-body dynamics modeling to well system 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.
Adaptive model correcting module 104 is revised according to the multi-body Dynamics Model of the well system duty metrical information received, well system and the multi-body Dynamics Model of tool-face estimation module 105 mechanism of feedback face mould analog values to well system, and the multi-body Dynamics Model of revised well system is sent to tool-face estimation module 105.
The multi-body Dynamics Model of tool-face estimation module 105 to the revised well system received carries out Dynamics Simulation, to obtain the tool-face analogue value; The tool-face analogue value is fed back to adaptive model correcting module 104 by tool-face estimation module 105, and the tool-face analogue value is transferred to control law generation module 106.In the present embodiment, Dynamics Simulation is prior art, therefore repeats no more.
According to the control strategy received, control law generation module 106 judges whether the tool-face analogue value received exceeds the drilling tool face threshold value preset in control strategy: if, then control law generation module 106 generates new Executive Module control law, and sends it to control information output module 107; If not, then keep the Executive Module control law of a upper control cycle constant, send it to control information output module 107.
The Executive Module control law received is sent to Executive Module 108 and system output module 111 by control information output module 107.
Precarious position judge module 109 is according to the control strategy received and well system duty metrical information, judge current creep into whether in the hole: creep in the hole if current, then the emergency control policy in the control strategy received is sent to control law generation module 106, and send hydropac to metrical information output module 110; Creep into if current in a safe condition, then the Executive Module control law in control strategy is sent to control law generation module 106.Wherein, precarious position can be that bit freezing or well track seriously offset, doubtfully to control unsuccessfully, well system duty metrical information is complete or component values abnormal etc.
Metrical information output module 110, by the well system duty metrical information that receives and hydropac, transfers to system output module 111.
System output module 111 records the hydropac, well system duty metrical information and the Executive Module control law that receive, and is presented to user.In the present embodiment, can also by the multi-body Dynamics Model of revised well system, and the metrical information in the tool-face analogue value or current tool face also presents to user by system output module 111.In addition, also can not arrange system output module 111, the work of the kinetic-control system 100 of whole down-hole equipment tool-face can not be affected.
as Fig. 2shown in, well system 200 comprises a rig floor 21, installs preventer 22 in the middle part of the base plate of rig floor 21.One end of drill bit 23 connecting bending musical form deflecting down-hole equipment 24, the other end of bending-type deflecting down-hole equipment 24 passes through one end of underground survey module 11 jointed rod 25, the other end of drilling rod 25 is through preventer 22 and is connected the lower end that top drives 26 after the top board of rig floor 21, pushes up the upper end of driving 26 and is then connected with standpipe 27.It should be noted that, other executing agency of well system 200, as slush pump, tourist bus etc. are also all arranged 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.
as Fig. 2shown in, based on the borer system based on self adaptation down-hole equipment tool-face Dynamic controlling provided in above-described embodiment, the invention allows for a kind of boring method based on self adaptation down-hole equipment tool-face Dynamic controlling, it comprises the following steps:
1) executing agency of well system 200 is started.
2) user is by the control strategy input module 12 input control strategy in user's input module 102, and control strategy is sent to multi-body dynamics modeling module 103, tool-face estimation module 105, control law generation module 106 and precarious position judge module 109 by control strategy input module 12 respectively; User inputs well system model information by the drilling well model information input module 13 in user's input module 102; Executive Module control law in control strategy is sent to Executive Module 108 through control information output module 107 by control law generation module 106, Executive Module 108 starts to drive executing agency to work according to this Executive Module control law, comprising: slush pump pumps into drilling fluid, tourist bus moves up and down and push up the angle etc. turning and move and specify.
3) the well system 200 duty metrical information collected is sent to multi-body dynamics modeling module 103, adaptive model correcting module 104, control law generation module 106, precarious position judge module 109 and metrical information output module 110 by data acquisition module 101 respectively.
4) whether the down-hole equipment judgment criterion whether in the hole in the control logic judgment criterion that sends according to the control strategy input module 12 in user's input module 102 of precarious position judge module 109 and current actual tool face depart from the judgment criterion of desired location, and data acquisition module 101 send well system duty metrical information, judge current creep into whether in the hole:
Creep into if current in the hole, then send hydropac and perform emergency control policy;
Creep into if current not in the hole, then perform step 5).
5) if well system 200 is in first control cycle, then according to the drilling well model information that well system duty metrical information and user's input module 102 of data acquisition module 101 collection input, multi-body Dynamics Model is set up to well system; If well system 200 is not in first control cycle, then directly perform step 6).
6) adaptive model correcting module 104 compare tool face estimation module 105 mechanism of feedback face mould analog values and well system duty metrical information, the multi-body Dynamics Model obtained is revised, and revised multi-body Dynamics Model is exported to tool-face estimation module 105, tool-face estimation module 105 pairs of multi-body Dynamics Models carry out Dynamics Simulation, to obtain the tool-face analogue value.In the present embodiment, the multi-body Dynamics Model of adaptive model correcting module 104 pairs of well systems carries out correction and comprises the following steps:
1. in first control cycle, according to tool-face estimation module 105 mechanism of feedback face mould analog values, adaptive model correcting module 104 predicts that down-hole equipment is in the change of a certain moment afterwards or a period of time and response.
2. the down-hole equipment tool-face in the tool-face analogue value and well system duty metrical information contrasts by adaptive model correcting module 104, obtains gain coefficient.
3. according to gain coefficient, the multi-body Dynamics Model that multi-body dynamics modeling module 103 transmits is revised, revised multi-body Dynamics Model is sent to tool-face estimation module 105.
4. in a certain control cycle thereafter, repeat step 1. ~ 3., to make adaptive model correcting module 104 real-time tracking down-hole equipment tool-face situation, continue the multi-body Dynamics Model that multi-body dynamics modeling module 103 transmits is revised.
Wherein, for corrected multi-body Dynamics Model, if down-hole equipment with the addition of new parts, so only can revise for one or several parameter of new parts, thus reduce the difficulty of multi-body Dynamics Model makeover process.Modifying model to the new single or thribble drill string accessed, the Modifying model of drill bit to replacing and the Modifying model etc. of formation information are comprised to the correction of new parts.
7) control law generation module 106 is considered as the judgment criterion of tool-face current location according to the tool-face analogue value whether obtained by Dynamics Simulation in the control logic judgment criterion of control strategy input module 12 transmission in user's input module 102, determines the tool-face used when generating Executive Module control law:
If so, then the tool-face analogue value is considered as tool-face current location;
If not, then using tool-face measured value as tool-face current location.
8) control law generation module 106 drives control law according to the design tool face control law in the Executive Module control law of control strategy input module 12 transmission in user's input module 102 and initial top, judges whether tool-face current location exceeds the drilling tool face threshold value preset in control strategy:
If, then control law generation module 106 generates new Executive Module control law, comprise and calculate top by Dynamics Simulation and drive required rotational angle, the position of tourist bus and slush pump pump speed, and new Executive Module control law is sent to Executive Module 108 by control information output module 107, then perform step 9);
If not, then keep current Executive Module control law, and it is sent to Executive Module 108 by control information output module 107, continue to creep into and perform step 10).
9) the Executive Module control law that Executive Module 108 exports according to control law generation module 106 drives slush pump, tourist bus, the action of Ding Qudeng executing agency, 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.
10) the control strategy input module 12 in user's input module 102 and drilling well model information input module 13 judge whether the control strategy that user inputs and drilling well model information change respectively:
If so, then step 2 is returned);
If not, then step 4 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 (6)
1. based on a borer system for self adaptation down-hole equipment tool-face Dynamic controlling, it is characterized in that, this borer system comprises kinetic-control system and well system;
Described kinetic-control system comprises data acquisition module, user's input module, multi-body dynamics modeling module, adaptive model correcting module, tool-face estimation module, control law generation module, control information output module, Executive Module, precarious position judge module and metrical information output module;
Wherein, the well system duty metrical information collected is transferred to described multi-body dynamics modeling module, adaptive model correcting module, control law generation module, precarious position judge module and metrical information output module by described data acquisition module respectively;
The control strategy that user inputs by described user's input module and drilling well model information transfer to described multi-body dynamics modeling module, tool-face estimation module, control law generation module and precarious position judge module respectively;
Described multi-body dynamics modeling module carries out multi-body dynamics modeling according to the well system duty metrical information, drilling well model information and the control strategy that receive to well system, and the multi-body Dynamics Model of well system is inputted described adaptive model correcting module;
Described adaptive model correcting module is revised according to the multi-body Dynamics Model of the well system duty metrical information received, well system and the multi-body Dynamics Model of described tool-face estimation module mechanism of feedback face mould analog values to well system, and the multi-body Dynamics Model of revised well system is sent to described tool-face estimation module;
The multi-body Dynamics Model of described tool-face estimation module to the revised well system received carries out Dynamics Simulation, to obtain the tool-face analogue value; The tool-face analogue value is fed back to described adaptive model correcting module by described tool-face estimation module, and the tool-face analogue value is transferred to described control law generation module;
According to the control strategy received, described control law generation module judges whether the tool-face analogue value received exceeds the drilling tool face threshold value preset in the Hedging Point Control of setting: if, then described control law generation module generates new Executive Module control law, and sends it to described control information output module; If not, then keep the Executive Module control law of a upper control cycle constant, send it to described control information output module;
The Executive Module control law received is sent to described Executive Module by described control information output module;
Described precarious position judge module is according to the control strategy received and well system duty metrical information, judge current creep into whether in the hole: creep in the hole if current, then the emergency control policy in the control strategy received is sent to described control law generation module, and send hydropac to described metrical information output module; Creep into if current in a safe condition, then the Executive Module control law in control strategy is sent to described control law generation module;
Described well system comprises a rig floor, installs preventer in the middle part of the base plate of described rig floor; One end of drill bit connecting bending musical form deflecting down-hole equipment, the other end of described bending-type deflecting down-hole equipment is by one end of described underground survey model calling drilling rod, the other end of described drilling rod is connected the lower end of driving on described top through described preventer with after the top board of described rig floor, and the upper end that described top is driven then is connected with standpipe.
2. a kind of borer system based on self adaptation down-hole equipment tool-face Dynamic controlling as claimed in claim 1, it is characterized in that, described kinetic-control system also comprises a system output module, and the well system duty metrical information received and hydropac are transferred to described system output module by described metrical information output module; Hydropac, well system duty metrical information and Executive Module control law that described system output module record receives, and be presented to user; Meanwhile, described system output module can also by the multi-body Dynamics Model of revised well system, and the metrical information in the tool-face analogue value or current tool face also presents to user.
3., as claimed in claim 1 based on the borer system of self adaptation down-hole equipment tool-face Dynamic controlling, it is characterized in that, described data acquisition module comprises aboveground measurement module and underground survey module; The information that described aboveground measurement module is measured comprises: slush pump pump speed, tourist bus position, top turn dynamic angle, push up and drive the moment of torsion and pulling force that are applied to drilling rod; The information that described underground survey module is measured comprises: the tool-face of down-hole equipment, hole deviation, azimuth and well depth measurement.
4., as claimed in claim 1 based on the borer system of self adaptation down-hole equipment tool-face Dynamic controlling, it is characterized in that, described user's input module comprises control strategy input module and drilling well model information input module; The control strategy of user's input that described control strategy input module receives comprises: 1) Executive Module control law: design tool face control law, slush pump pump speed control law, tourist bus control law, initial top drive control law and multi-body Dynamics Model precision controlling rule; 2) control logic judgment criterion: down-hole equipment judgment criterion whether in the hole, the tool-face analogue value whether obtained by Dynamics Simulation are considered as the judgment criterion whether judgment criterion of tool-face current location and current actual tool face depart from desired location; 3) emergency control policy: the control measure should taked for precarious position; 4) the drilling tool face threshold value preset;
Described drilling well model information input module receives the drilling well model information of user's input, comprises drilling tool information, mud information and formation information; Drilling tool information comprises single or thribble drill string information and the more bit change information of new access, and mud information includes but not limited to the information of replacing drilling fluid.
5. adopt the boring method based on self adaptation down-hole equipment tool-face Dynamic controlling that borer system realizes as described in any one of Claims 1 to 4, it comprises the following steps:
1) executing agency of well system is started;
2) user is by the control strategy input module input control strategy in described user's input module, and control strategy is sent to described multi-body dynamics modeling module, tool-face estimation module, control law generation module and precarious position judge module by control strategy input module respectively; Described user is by the drilling well model information input module input well system model information in user's input module; Executive Module control law in control strategy is sent to described Executive Module through described control information output module by described control law generation module, described Executive Module starts to drive executing agency to work according to this Executive Module control law, it comprises: slush pump pumps into drilling fluid, tourist bus moves up and down, and top turns dynamic angle of specifying;
3) the well system duty metrical information collected is sent to described multi-body dynamics modeling module, adaptive model correcting module, control law generation module, precarious position judge module and metrical information output module by described data acquisition module respectively;
4) whether the down-hole equipment judgment criterion whether in the hole in the control logic judgment criterion that sends according to the control strategy input module in described user's input module of described precarious position judge module and current actual tool face depart from the judgment criterion of desired location, and the well system duty metrical information that described data acquisition module sends, judge current creep into whether in the hole:
Creep into if current in the hole, then send hydropac and perform emergency control policy;
Creep into if current not in the hole, then perform step 5);
5) if system is in first control cycle, then according to the well system duty metrical information of described data collecting module collected and the drilling well model information of described user's input module input, multi-body Dynamics Model is set up to well system; If system is not in first control cycle, then directly perform step 6);
6) described adaptive model correcting module more described tool-face estimation module mechanism of feedback face mould analog values and well system duty metrical information, the parameter of the multi-body Dynamics Model obtained is revised, and revised multi-body Dynamics Model is exported to described tool-face estimation module, described tool-face estimation module carries out Dynamics Simulation to multi-body Dynamics Model, to obtain the tool-face analogue value;
7) described control law generation module is considered as the judgment criterion of tool-face current location according to the tool-face analogue value whether obtained by Dynamics Simulation in the control logic judgment criterion of the control strategy input module transmission in described user's input module, determines the tool-face used when generating Executive Module control law:
If so, then the tool-face analogue value is considered as tool-face current location;
If not, then using tool-face measured value as tool-face current location;
8) described control law generation module drives control law according to the design tool face control law in the Executive Module control law of the control strategy input module transmission in described user's input module and initial top, judges whether tool-face current location exceeds the drilling tool face threshold value preset in control strategy:
If, then described control law generation module generates new Executive Module control law, comprise and calculate top by Dynamics Simulation and drive required rotational angle, the position of tourist bus and slush pump pump speed, and new Executive Module control law is sent to described Executive Module by described control information output module, then perform step 9);
If not, then keep current Executive Module control law, and it is sent to described Executive Module by described control information output module, continue to creep into and perform step 10);
9) action that Executive Module control law drives slush pump, tourist bus, top is driven that exports according to described control law generation module of described Executive Module, 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;
10) the control strategy input module in user's input module and drilling well model information input module judge whether the control strategy that user inputs and drilling well model information change respectively:
If so, then step 2 is returned);
If not, then step 4 is returned).
6. as claimed in claim 5 based on the boring method of self adaptation down-hole equipment tool-face Dynamic controlling, it is characterized in that, carrying out above-mentioned steps 6) time, described adaptive model correcting module carries out correction to the multi-body Dynamics Model of well system and comprises the following steps:
1. in first control cycle, according to described tool-face estimation module mechanism of feedback face mould analog values, described adaptive model correcting module prediction down-hole equipment is in the change of a certain moment afterwards or a period of time and response;
2. the down-hole equipment tool-face in the tool-face analogue value and well system duty metrical information contrasts by described adaptive model correcting module, obtains gain coefficient;
3. according to gain coefficient, the multi-body Dynamics Model that described multi-body dynamics modeling module transmits is revised, revised multi-body Dynamics Model is sent to described tool-face estimation module;
4. in a certain control cycle thereafter, repeat step 1. ~ 3., to make described adaptive model correcting module real-time tracking down-hole equipment tool-face situation, continue the multi-body Dynamics Model that described multi-body dynamics modeling module transmits is revised.
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