CN105180889A - Dynamic rotation attitude measurement apparatus used for well drilling, and method thereof - Google Patents

Abstract

The invention relates to a dynamic rotation attitude measurement apparatus used for well drilling, and a method thereof. The apparatus comprises a suspension slurry and a compression resistance cylinder, and a power board, a circuit board, a magnesensor, an accelerometer and a gyroscope are arranged in the compression resistance cylinder. The method comprises the following steps: respectively measuring the geomagnetic field component, the earth gravity component and the rotating speed of the whole apparatus through the magnesensor, the accelerometer and the gyroscope, and transforming physical input collected by all sensors into voltage output; removing a harmful acceleration item from output items of the accelerometer according to an installation error coefficient and the rotating speed obtained by the gyroscope in order to realize error compensation; and calculating the dynamic rotation attitude of well drilling according to the geomagnetic field and earth gravity data collected by the accelerometer and the magnesensor. The apparatus and method allow the well drilling attitude in a dynamic rotation state to be measured, and effectively improve the working efficiency of a dynamic well drilling system.

Description

A kind of dynamic rotary attitude measuring for drilling well and method

Technical field

The invention belongs to oil drilling technical field, relate to the attitude measurement of drilling well, the dynamic rotary attitude measuring particularly under the Special use environment carrying out rotary drilling and measuring method.

Background technology

Since the eighties in 20th century, domestic and international most of oil field enters development late stage in succession, and new exploratory area block major part is in particular surroundings, and as areas such as ocean, Tan Hai, deserts, this just makes exploratory development difficulty and cost greatly increase.On the other hand, maturing field, for realizing stable yields, is faced with the development problem of the difficult-to-produce reserves such as a large amount of edge hydrocarbon-bearing pool, independent little hydrocarbon-bearing pool, Complicated Fault-Block Hydrocarbon Reservoir, ultra-thin hydrocarbon-bearing pool.The needs of exploratory development situation promote the evolution and development of well type, and the ratio of the complex structural wells such as extended reach well, ultra-thin oil-reservoir water horizontal well, multi-branched well shared by oilfield prospecting developing is increasing.Rotary steerable drilling technology in order to adapt to the needs of these complex structural well drilling operations and the high new drilling techniques occurred, is research emphasis and the developing direction of modern steerable drilling just.

When utilizing rotary steerable drilling technology to carry out drilling operation, do not need frequently to make a trip and just can realize three dimensional hole trajectory control, and it is more smooth to have well track, the advantage that extended distance is larger, to guarantee well track quality, improve bit speed and efficiency, meet the demand of boring complex structural well all significant.But these existing well systems can only calculate drilling well attitude under quiescent conditions, need system brill by the time to carry out attitude algorithm again after stopping, in system drilling process, attitude information can not be provided in real time, thus make the work efficiency of system lower.

Summary of the invention

The invention provides a kind of device and method can measured drilling well attitude under current intelligence, solve the difficult problem that well system can only carry out attitude clearing under quiescent conditions, effectively can improve the work efficiency of dynamic well system.

For achieving the above object, the technical solution used in the present invention is as follows:

For a dynamic rotary attitude measuring for drilling well, comprising:

Hang slurry, for carrying the rotary steering system of piercing drill;

Resistance to compression cylinder, starches with suspension and is connected, be provided with power panel, circuit board, magnetic sensor, accelerometer and gyroscope in it; The rotating speed of magnetic field of the earth component, terrestrial gravitation component and whole device measured respectively by described magnetic sensor, accelerometer and gyroscope; Magnetic sensor, accelerometer and gyrostatic measurement data described in described circuit board Real-time Collection, and then calculate the drilling well attitude in dynamic rotary state.

Further, also comprise a mechanical framework, be fixed in described resistance to compression cylinder, described power panel, circuit board, magnetic sensor, accelerometer and gyroscope are fixed on this mechanical framework.

Further, described mechanical framework is connected with resistance to compression cylinder by the mode of screw thread, power panel is connected with mechanical framework by screw with circuit board, and magnetic sensor adopts the mode of rubber seal to be fixed in the groove in mechanical framework, and inertial sensor is connected by screw and mechanical framework are fastening.

Further, described suspension slurry is connected with described resistance to compression cylinder with connector by screw thread.

Further, described circuit board is connected with gyroscope with described magnetic sensor, accelerometer by connector, circuit board is provided with A/D conversion chip and single-chip microcomputer, wherein A/D conversion chip is used for the output voltage of each sensor detected and converts digital quantity to by analog quantity, the data of single-chip microcomputer Real-time Collection digital quantity, to carry out next step attitude and the calculating of physical quantity.

Further, the place of installing at each sensor (magnetic sensor, accelerometer and gyroscope), circuit board and power panel and mechanical framework is provided with some seal grooves, in it, O-ring seal is installed, plays multi-sealed effect, to prevent in the course of work in down-hole liquid access to plant.

Utilize a dynamic rotary attitude measurement method for the drilling well of said apparatus, its step comprises:

1) measured the rotating speed of magnetic field of the earth component, terrestrial gravitation component and whole device respectively by magnetic sensor, accelerometer and gyroscope, the physics gathered by each sensor input converts voltage to and exports;

2) according to the rotating speed that alignment error coefficient and gyroscope obtain, in the output item of accelerometer, remove harmful acceleration item, realize error compensation;

3) magnetic field of the earth gathered according to accelerometer and magnetic sensor and terrestrial gravitation data calculate the dynamic rotary attitude of drilling well.

Further, clocking capability is set in the circuit board, step 3) first judge whether system time is greater than some computing time, if be greater than some computing time, carry out Attitude Calculation, otherwise proceed time cumulation and store data.

Dynamic rotary attitude measuring of the present invention and method have the feature of real-time, system brill by the time is not needed to carry out attitude algorithm again after stopping, the drilling well attitude under dynamic rotary state can be measured, attitude information is provided in real time in system drilling process, effectively raise the work efficiency of system, to dynamic drilling well, there is vital role.

Accompanying drawing explanation

Fig. 1 is the structural drawing of dynamic attitude rotary measurement device.

Fig. 2 is the schematic shapes hanging slurry.

Fig. 3 is the process flow diagram that the dynamic attitude rotary measurement device of application carries out attitude measurement.

Wherein: 1. hang slurry; 2. resistance to compression cylinder; 3. power panel; 4. circuit board; 5. fluxgate (magnetic sensor); 6. mechanical framework; 7. O-ring seal; 8. accelerometer; 9. gyroscope.

Embodiment

Below by specific embodiments and the drawings, the present invention will be further described.

Fig. 1 be dynamic rotary attitude measuring of the present invention structural drawing.This device comprises: hang slurry 1; Resistance to compression cylinder 2; Power panel 3; Circuit board 4; Fluxgate 5 (magnetic sensor); Mechanical framework 6; O-ring seal 7; Accelerometer 8; Gyroscope 9, wherein 8 and 9 is inertial sensor.

Wherein, hang the two ends that resistance to compression cylinder 2 is located at by slurry 1, Fig. 2 is the concrete shape enlarged drawing hanging slurry 1.Hang slurry and be provided with projection, whole device can be connected with other piercing drill of rotary steering system more easily, raising installation accuracy and work efficiency.

Hang slurry 1 to be connected with resistance to compression cylinder 2 with connector by screw thread.Resistance to compression cylinder 2 adopts the compression-resistant materials such as stainless steel to realize.Mechanical framework 6 is connected with resistance to compression cylinder 2 by the mode of screw thread.Power panel 3 is connected with mechanical framework 6 by screw with circuit board 4, and in the groove that magnetic sensor 5 adopts the mode of rubber seal to be fixed in mechanical framework 6, inertial sensor 8,9 is connected by screw and mechanical framework are fastening.Electrical connection between all parts adopts the mode of connector to be connected.The rotating speed measuring whole system is responsible for by inertial sensor gyroscope 9, serves a crucial effect.Novelty of the present invention utilize magnetic sensor and the acting in conjunction of inertial sensor gyroscope to carry out the attitude measurement of drilling well.The place of installing at sensor, circuit board and power panel and mechanical framework is all provided with seal groove, for installing O-ring seal 7, playing multi-sealed effect after being connected with resistance to compression cylinder, preventing down-hole liquid in the course of work from entering in this device.

Power panel 3 is powered for needing the parts of electricity consumption for other in device.Circuit board 4 is connected with each sensor 5,8,9 by connector, circuit board 4 is provided with A/D conversion chip and single-chip microcomputer, wherein A/D conversion chip is used for converting the output voltage of each sensor detected to digital quantity by analog quantity, the data of single-chip microcomputer Real-time Collection digital quantity, to carry out next step attitude and the calculating of physical quantity.

In drilling process, dynamic rotary attitude measuring of the present invention is mounted on the rotary steering system of piercing drill, carries out rotary drilling by driven by motor system.In drilling process, collecting computer (single-chip microcomputer) high speed acquisition magnetic on circuit board 4 and inertial sensor data, the voltage analog that sensor exports is converted to digital quantity by the A/D conversion chip on circuit board 4, then these data are utilized to calculate, obtain the attitude of system, and send the data to ground host machine, reach the object of control system drilling direction.When there being tachometric survey, carry out data high-speed collection, filtering, according to the rotating speed that gyrosensor gathers, utilize least square method to carry out acceleration compensation to magnetic sensor and inertial sensor, afterwards according to carry out data average after calculate the physical quantity of attitude angle and needs.

Specifically, adopt said system to carry out the flow process of dynamic rotary attitude measurement as shown in Figure 3, specifically comprise the steps:

1) image data

In the course of work, the rotating speed of magnetic field of the earth component, terrestrial gravitation component and whole device measured respectively by magnetic sensor, accelerometer and gyroscope, the physics input that each sensor arrives according to sensitivity, converts voltage to and exports.Circuit board 4 is connected with each sensor 5,8,9 by connector, detect the output voltage of each sensor, by the A/D conversion chip in circuit board 4, convert voltage analog to digital quantity, the data of the single-chip microcomputer Real-time Collection digital quantity in circuit board 4, to carry out next step attitude and the calculating of physical quantity.

2) error compensation

In this device, accelerometer is the sensor of sensitive acceleration.And in instrument rotary course, having harmful acceleration joins in responsive acceleration, need this harmful acceleration to eliminate, just can obtain correct useful acceleration.According to the rotating speed that alignment error coefficient and gyroscope obtain, in the output item of accelerometer, harmful acceleration item is cut.

3) judge whether system time is greater than some computing time

In circuit board 4, arrange clocking capability, system time refers to the time that clocking capability obtains, and computing time, point referred to the time that the carrying out set once calculates such as can be set to 10s.Namely, in computation process, every 10s once calculates.If system time is accumulative equal 10s, then carry out next step Attitude Calculation, otherwise proceed time cumulation and store data.

4) attitude algorithm is carried out

A) attitude angle hole drift angle is calculated

The output expression formula of accelerometer is as follows:

V _i＝α _i+k _ia _ib+k _ωia _ib

Wherein: V _iit is the output voltage of 3 accelerometer x, y, z; α _ibe the zero inclined of 3 accelerometer x, y, z; k _iit is the constant multiplier of 3 accelerometer x, y, z; k _{ω i}be harmful acceleration factor of 3 accelerometer x, y, z, the rotating speed that this coefficient is recorded by gyroscope obtains; a _ibit is the input of 3 accelerometer x, y, z.

By above formula, according to output voltage V _iobtain the input a of accelerometer _ibafter, adopt formulae discovery attitude angle hole drift angle below:

$\mathrm{\θ}=\arctan \frac{\sqrt{a_{\mathrm{xb}}^2+a_{\mathrm{yb}}^2}}{\left|a_{\mathrm{zb}}^2\right|}$

B) drift azimuth is calculated

The output expression formula of magnetic sensor is as follows:

V _mi＝α _mi+k _miM _ib

Wherein: V _miit is the output voltage of 3 magnetic sensors X, Y, Z; α _mibe the zero inclined of 3 magnetic sensors X, Y, Z; k _miit is the constant multiplier of 3 magnetic sensors X, Y, Z; M _ibit is the input of 3 magnetic sensors X, Y, Z.

The computing formula of drift azimuth is as follows:

$M_v=\frac{a_{\mathrm{xb}}{M}_{\mathrm{Xb}}+a_{\mathrm{yb}}{M}_{\mathrm{Yb}}+a_{\mathrm{zb}}{M}_{\mathrm{Zb}}}{\sqrt{a_{\mathrm{xb}}^2\text{+}{a}_{\mathrm{yb}}^2+a_{\mathrm{zb}}^2}}$

$M_n=\sqrt{M_{\mathrm{Xb}}^2+M_{\mathrm{Yb}}^2+M_{\mathrm{Zb}}^2-M_v^2}$

$r=\frac{a_{\mathrm{xb}}{M}_{\mathrm{Yb}}-a_{\mathrm{yb}}{M}_{\mathrm{Xb}}}{M_n\sqrt{a_{\mathrm{xb}}^2+a_{\mathrm{yb}}^2}}$

$s=\frac{(a_{\mathrm{xb}}{M}_{\mathrm{Yb}}-a_{\mathrm{yb}}{M}_{\mathrm{Xb}})\sqrt{a_{\mathrm{xb}}^2+a_{\mathrm{yb}}^2+a_{\mathrm{zb}}^2}}{M_{\mathrm{Zb}}(a_{\mathrm{xb}}^2+a_{\mathrm{yb}}^2)-a_{\mathrm{zb}}(a_{\mathrm{xb}}{M}_{\mathrm{Xb}}+a_{\mathrm{yb}}{M}_{\mathrm{Yb}})}$

Wherein, M _v, M _n, r, s be intermediate variable, then the expression formula of drift azimuth is as follows:

ψ＝arctan(S)

The present invention utilizes magnetic sensor, inertial sensor to carry out kinetic measurement, sensor error, attitude error are compensated, drilling well gradient slow-speed of revolution dynamic accuracy can reach 0.5 °, high speed dynamic precision can reach 1 °, slow-speed of revolution dynamic accuracy in position angle can reach 1 °, high speed dynamic precision can reach 2 °, can be good at meeting actual requirement of engineering.

Above embodiment is only in order to illustrate technical scheme of the present invention but not to be limited; those of ordinary skill in the art can modify to technical scheme of the present invention or equivalent replacement; and not departing from the spirit and scope of the present invention, protection scope of the present invention should be as the criterion with described in claim.

Claims (9)

1., for a dynamic rotary attitude measuring for drilling well, it is characterized in that, comprising:

Hang slurry, for carrying the rotary steering system of piercing drill;

Resistance to compression cylinder, starches with suspension and is connected, be provided with power panel, circuit board, magnetic sensor, accelerometer and gyroscope in it; The rotating speed of magnetic field of the earth component, terrestrial gravitation component and whole device measured respectively by described magnetic sensor, accelerometer and gyroscope; Magnetic sensor, accelerometer and gyrostatic measurement data described in described circuit board Real-time Collection, and then calculate the drilling well attitude in dynamic rotary state.

2. as claimed in claim 1 for the dynamic rotary attitude measuring of drilling well, it is characterized in that: also comprise a mechanical framework, be fixed in described resistance to compression cylinder, described power panel, circuit board, magnetic sensor, accelerometer and gyroscope are fixed on this mechanical framework.

3. as claimed in claim 2 for the dynamic rotary attitude measuring of drilling well, it is characterized in that: described mechanical framework is connected with resistance to compression cylinder by the mode of screw thread, power panel is connected with mechanical framework by screw with circuit board, magnetic sensor adopts the mode of rubber seal to be fixed in the groove in mechanical framework, and inertial sensor is connected by screw and mechanical framework are fastening.

4. as claimed in claim 1 for the dynamic rotary attitude measuring of drilling well, it is characterized in that: described suspension slurry is connected with described resistance to compression cylinder with connector by screw thread.

5. as claimed in claim 1 for the dynamic rotary attitude measuring of drilling well, it is characterized in that: described circuit board is connected with gyroscope with described magnetic sensor, accelerometer by connector, circuit board is provided with A/D conversion chip and single-chip microcomputer, wherein A/D conversion chip is used for converting the output voltage of each sensor detected to digital quantity by analog quantity, the data of single-chip microcomputer Real-time Collection digital quantity, and carry out the calculating of drilling well attitude and physical quantity.

6., as claimed in claim 1 for the dynamic rotary attitude measuring of drilling well, it is characterized in that: be provided with some seal grooves in described resistance to compression cylinder, in described seal groove, be provided with O-ring seal.

7. utilize a dynamic rotary attitude measurement method for the drilling well of device described in claim 1, its step comprises:

1) measured the rotating speed of magnetic field of the earth component, terrestrial gravitation component and whole device respectively by magnetic sensor, accelerometer and gyroscope, the physics gathered by each sensor input converts voltage to and exports;

2) according to the rotating speed that alignment error coefficient and gyroscope obtain, in the output item of accelerometer, remove harmful acceleration item, realize error compensation;

3) magnetic field of the earth gathered according to accelerometer and magnetic sensor and terrestrial gravitation data calculate the dynamic rotary attitude of drilling well.

8. method as claimed in claim 7, it is characterized in that: clocking capability is set in the circuit board, step 3) first judge whether system time is greater than some computing time, if be greater than some computing time, carry out Attitude Calculation, otherwise proceed time cumulation and store data.

9. as claimed in claim 7 or 8 method, is characterized in that, step 3) method that calculates dynamic rotary attitude is:

A) the output expression formula of accelerometer is:

V _i＝α _i+k _ia _ib+k _ωia _ib，

Wherein: V _iit is the output voltage of 3 accelerometer x, y, z; α _ibe the zero inclined of 3 accelerometer x, y, z; k _iit is the constant multiplier of 3 accelerometer x, y, z; k _{ω i}be harmful acceleration factor of 3 accelerometer x, y, z, the rotating speed that this coefficient is recorded by gyroscope obtains; a _ibit is the input of 3 accelerometer x, y, z;

By above formula, according to output voltage V _iobtain the input a of accelerometer _ibafter, adopt formulae discovery attitude angle hole drift angle below:

$\mathrm{\θ}=\arctan \frac{\sqrt{a_{\mathrm{xb}}^2+a_{\mathrm{yb}}^2}}{\left|a_{\mathrm{zb}}^2\right|};$

B) the output expression formula of magnetic sensor is:

V _mi＝α _mi+k _miM _ib，

Wherein: V _miit is the output voltage of 3 magnetic sensors X, Y, Z; α _mibe the zero inclined of 3 magnetic sensors X, Y, Z; k _miit is the constant multiplier of 3 magnetic sensors X, Y, Z; M _ibit is the input of 3 magnetic sensors X, Y, Z; Order

$M_v=\frac{a_{\mathrm{xb}}{M}_{\mathrm{Xb}}+a_{\mathrm{yb}}{M}_{\mathrm{Yb}}+a_{\mathrm{zb}}{M}_{\mathrm{Zb}}}{\sqrt{a_{\mathrm{xb}}^2\text{+}{a}_{\mathrm{yb}}^2+a_{\mathrm{zb}}^2}},$

$M_n=\sqrt{M_{\mathrm{Xb}}^2+M_{\mathrm{Yb}}^2+M_{\mathrm{Zb}}^2-M_v^2},$

$r=\frac{a_{\mathrm{xb}}{M}_{\mathrm{Yb}}-a_{\mathrm{yb}}{M}_{\mathrm{Xb}}}{M_n\sqrt{a_{\mathrm{xb}}^2+a_{\mathrm{yb}}^2}},$

$s=\frac{(a_{\mathrm{xb}}{M}_{\mathrm{Yb}}-a_{\mathrm{yb}}{M}_{\mathrm{Xb}})\sqrt{a_{\mathrm{xb}}^2+a_{\mathrm{yb}}^2+a_{\mathrm{zb}}^2}}{M_{\mathrm{Zb}}(a_{\mathrm{xb}}^2+a_{\mathrm{yb}}^2)-a_{\mathrm{zb}}(a_{\mathrm{xb}}{M}_{\mathrm{Xb}}+a_{\mathrm{yb}}{M}_{\mathrm{Yb}})},$

Wherein, M _v, M _n, r, s be intermediate variable, then the expression formula of drift azimuth is: ψ=arctan (S).