CN105298389A - Rotary steering drilling tool control method based on eccentric distance equality - Google Patents

Abstract

Provided is a rotary steering drilling tool control method based on eccentric distance equality. A rotary outer sleeve, an inner eccentric ring and an outer eccentric ring are directly driven through three motive powers to obtain speeds, the outer eccentric ring, the inner eccentric ring and the rotary outer sleeve move relative to one another by adjusting the outer eccentric ring speed w1, the inner eccentric ring speed w2 and the rotary outer sleeve speed w3, and accordingly a space posture of a guide shaft is changed to adjust the steering direction and the steering angle of a rotary steering drilling tool. When the steering angle is adjusted to a preset position, the outer eccentric ring and the inner eccentric ring are static relative to each other by adjusting the outer eccentric ring speed w1 and the inner eccentric ring speed w2. When the steering direction is adjusted to a preset position, the outer eccentric ring, the inner eccentric ring and the rotary outer sleeve are static relative to one another and steering is completed by adjusting the outer eccentric ring speed w1, the inner eccentric ring speed w2 and the rotary outer sleeve speed w3. The method has the advantages of being quick in response, high in reliability and good in stability.

Description

A kind of rotary steering drilling tool control method equal based on eccentric throw

Technical field

The invention belongs to rotary steerable drilling technical field, be specifically related to the control method that a kind of eccentric hoop equal based on eccentric throw is biased guiding dynamic bias guiding type rotary steering drilling tool.

Background technology

Current down-hole rotary steering drilling tool can be divided into substantially by working method: quiescent biasing pushing type, dynamic bias (modulation system) pushing type, quiescent biasing directional type and dynamic bias directional type four class.Pushing type rotary steering drilling tool controls drilling tool by hydraulic cylinder to lead, this kind of guidance method can produce very large backup power in the process realizing drill bit guiding, formation adaptive capacity is poor, the wearing and tearing of drill bit and bit bearing are more serious, working life is short, and complex structure not easily miniaturization.Existing University Of Tianjin quiescent biasing directional type drilling tool carries out guiding by hollow universal coupling, two servomotors and a set of transmission system to control, but it does not provide concrete control method, and mandrel bears the alternating stresses of high strength at work, easily there is fatigue failure in mandrel.

Summary of the invention

In order to overcome above-mentioned the deficiencies in the prior art, the object of the invention is to propose a kind of rotary steering drilling tool control method equal based on eccentric throw, by use three motive power respectively in Direct driver eccentric hoop, outer eccentric hoop and rotary sleeve control, decrease space mechanism, save tool interior space greatly; The continuous gapless of guiding process, axis of guide axle pointing accuracy is high; Improve the force-bearing situation of drilling tool, there is the more long-life; Neither by the impact on stratum, the accurate control of well track can be realized again; There is the rapidity of reaction, higher reliability and good stability simultaneously.

Based on the rotary steering drilling tool control method that eccentric throw is equal, involved drilling tool comprises rotary sleeve 11, is connected with eccentric stiffener, the axis of guide 7, torque-transmitting mechanisms 8 and sealing device 9 in rotary sleeve 11 from left to right in turn, eccentric stiffener comprises interior eccentric hoop 4 and outer eccentric hoop 3, it is inner that interior eccentric hoop 4 is arranged on outer eccentric hoop 3, and be socketed on ball seat 10, interior eccentric hoop 4 is connected without the output shaft of frame motor 6 with second by the second flange 5 right side, outer eccentric hoop 3 is connected without the output shaft of frame motor 1 with first by the right side of the first flange 2, interior eccentric hoop 4 and outer eccentric hoop 3 all by flange with to connect in succession without frame motor straight and by without frame motor direct-drive, the left end of the axis of guide 7 inserts in ball seat 10, the axis of guide 7 right-hand member is equipped with torque-transmitting mechanisms 8, torque-transmitting mechanisms 8 right-hand member is provided with sealing device 9, control method comprises the following steps:

Step one, when needs carry out guide digging, first determine size and the direct bearing of guide angle;

Step 2, the outer eccentric hoop speed omega of adjustment ₁with interior eccentric hoop speed omega ₂, outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂and there is certain relation between guide angle, guide angle is the angle of the axis of guide 4 and drilling tool axis, and guide eccentric is proportional and relevant with tool construction with the size of guide angle apart from ρ, so guide angle and outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂relation be expressed as:

$\mathrm{\ρ}=\sqrt{2}e\sqrt{1+cos({\mathrm{\ω}}_2{t}_1-{\mathrm{\ω}}_1{t}_1)}$

In formula, ρ is guide eccentric distance, mm; E is inside and outside eccentric hoop eccentric throw, mm; ω ₁for outer eccentric hoop speed, rad/s; ω ₂for interior eccentric hoop speed, rad/s; t ₁for guide angle regulating time, s;

Step 3, be adjusted to precalculated position when guide angle, need to regulate outer eccentric hoop speed omega ₁with interior eccentric hoop speed omega ₂guide angle is stabilized in this position, then outer eccentric hoop speed omega ₁with interior eccentric hoop speed omega ₂just there is following relation:

ω ₁＝ω ₂；

Step 4, after guide angle is adjusted to precalculated position, next direct bearing γ to be regulated, outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂with rotary sleeve speed omega ₃direction of rotation contrary all the time; In guide angle adjustment process, direct bearing γ and outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃there is following relation:

$\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1-{\mathrm{\ω}}_3{t}_1$

After guide angle has regulated, direct bearing γ and outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃there is following relation:

$\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_2{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

Or $\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_1{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

In formula: γ is direct bearing, rad; ω ₁for outer eccentric hoop speed, rad/s; ω ₂for interior eccentric hoop speed, rad/s; ω ₃for rotary sleeve speed, rad/s; t ₁for guide angle regulating time, s; t ₂for the direct bearing time, s;

Step 5, when direct bearing γ is adjusted to pre-position, direct bearing γ is stabilized in pre-position, now, outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃there is following relation:

ω ₁＝ω ₂＝ω ₃

Now led, the value of direct bearing γ is:

$\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_2{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

Or $\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_1{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

In formula: γ is direct bearing, rad; ω ₁for outer eccentric hoop speed, rad/s; ω ₂for interior eccentric hoop speed, rad/s; ω ₃for rotary sleeve speed, rad/s; t ₁for guide angle regulating time, s; t ₂the direct bearing time, s.

Control principle of the present invention is:

Use three motive power Direct driver rotary sleeves, interior eccentric hoop, outer eccentric hoops, make three obtain speed, by regulating outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃, makes outer eccentric hoop, interior eccentric hoop, rotary sleeve three produces relative displacement, and then the spatial attitude changing the axis of guide realizes the adjustment to rotary steering drilling tool direct bearing and guide angle.When guide angle is adjusted to pre-position by regulating outer eccentric hoop speed omega ₁with interior eccentric hoop speed omega ₂, make outer eccentric hoop, interior both eccentric hoops geo-stationary.When direct bearing is adjusted to pre-position by regulating outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃, make outer eccentric hoop, interior eccentric hoop, rotary sleeve three geo-stationary complete guiding.

Advantage of the present invention: three motive power respectively inside and outside eccentric hoop of Direct driver and rotary sleeve controls, and decreases space mechanism, has saved tool interior space greatly, the continuous gapless of guiding process, axis of guide pointing accuracy is high; Improve the force-bearing situation of drilling tool, there is the more long-life; Guiding neither by the impact on stratum, can realize again the accurate control of well track; There is the rapidity of reaction, higher reliability and good stability simultaneously.

Accompanying drawing explanation

Fig. 1 is dynamic bias rotary steering drilling tool sketch.

Fig. 2 eccentric structure schematic diagram.

Fig. 3 eccentric structure motion model.

Fig. 4 guide angle regulates simulation drawing.

Fig. 5 direct bearing regulates simulation drawing.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in detail.

With reference to Fig. 1, a kind of rotary steering drilling tool control method equal based on eccentric throw, involved drilling tool comprises rotary sleeve 11, is connected with eccentric stiffener, the axis of guide 7, torque-transmitting mechanisms 8 and sealing device 9 in rotary sleeve 11 from left to right in turn, eccentric stiffener comprises interior eccentric hoop 4 and outer eccentric hoop 3, it is inner that interior eccentric hoop 4 is arranged on outer eccentric hoop 3, and be socketed on ball seat 10, interior eccentric hoop 4 is connected without the output shaft of frame motor 6 with second by the second flange 5 right side, outer eccentric hoop 3 is connected without the output shaft of frame motor 1 with first by the right side of the first flange 2, interior eccentric hoop 4 and outer eccentric hoop 3 all by flange with to connect in succession without frame motor straight and by without frame motor direct-drive, the left end of the axis of guide 7 inserts in ball seat 10, the axis of guide 7 right-hand member is equipped with torque-transmitting mechanisms 8, torque-transmitting mechanisms 8 right-hand member is provided with sealing device 9, control method comprises the following steps:

Step one, measure well track by measurement while drilling instrument or well logging during instrument, the guide angle that then will regulate according to the data determination controllable bent joint measuring gained and the value of direct bearing.

Step 2, reference Fig. 2 set up vertical kinematics model as Fig. 3 to eccentric hoop, regulate outer eccentric hoop speed omega ₁with interior eccentric hoop speed omega ₂, outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂and there is certain relation between guide angle, guide angle is the angle of the axis of guide 4 and drilling tool axis, and guide eccentric is proportional and relevant with tool construction with the size of guide angle apart from ρ, so guide angle and outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂relation can be expressed as:

$\mathrm{\ρ}=\sqrt{2}e\sqrt{1+cos({\mathrm{\ω}}_2{t}_1-{\mathrm{\ω}}_1{t}_1)}$

In formula: ρ is guide eccentric distance, mm; E is inside and outside eccentric hoop eccentric throw, mm; ω ₁for outer eccentric hoop speed, rad/s; ω ₂for interior eccentric hoop speed, rad/s; t ₁for guide angle regulating time, s.

Guide angle regulates, and namely first regulates the size of guide eccentric apart from ρ, can pass through (ω ₂t-ω ₁t) difference realizes regulating continuously, can find out that guide eccentric has periodically apart from ρ from angle modulation formula.

(ω ₂t-ω ₁t)/(2π)＝n+α

In formula: n is integer; α is that in the unit time, angular adjustment is just measured, rad/s.

Along with increase ρ value consecutive variations between 0 ~ 2e of time, realized the speed of angular adjustment by the value regulating angular adjustment in the unit interval just to measure α.

Step 3, be adjusted to precalculated position when guide angle, just need to regulate outer eccentric hoop speed omega ₁with interior eccentric hoop speed omega ₂guide angle is stabilized in this position, then outer eccentric hoop speed omega ₁with interior eccentric hoop speed omega ₂just there is following relation:

ω ₁＝ω ₂

When guide angle is adjusted to pre-position, next just must studies and how allow angle stabilization arrive this position.With guide eccentric apart from the increment change that is cutting point research guide eccentric distance, first to ρ about t differentiate:

$\frac{d\mathrm{\ρ}}{dt}=-\frac{\sqrt{2}}{2}e\·\frac{sin({\mathrm{\ω}}_{2}t-{\mathrm{\ω}}_{1}t)\·({\mathrm{\ω}}_2-{\mathrm{\ω}}_1)}{1+cos({\mathrm{\ω}}_{2}t-{\mathrm{\ω}}_{1}t)}$

The value of d ρ/dt is the increment of ρ within the unit interval, and ρ be made to be stabilized in a certain value place, and the value of its increment d ρ/dt wants permanent in zero.Want d ρ/dt identically vanishing, must have:

(ω ₁-ω ₂)·t＝n·π(1)

ω ₁-ω ₂＝0(2)

In above formula, n is integer.

Formula (1) is the stable state relevant with time t, is that a kind of instantaneous stable state can not meet real work demand; It is a continual and steady state that the stable state of formula (2) and time have nothing to do, and meets real work needs.Therefore angle will be made to remain unchanged in time and must have ω ₁=ω ₂.

Fig. 4 is guide angle adjustment process simulation drawing of the present invention, and in angular adjustment simulation process, each parameter of curve a is ω ₁=7 π/90, ω ₂=4 π/45, each parameter of curve b is ω ₁=7 π/90, ω ₂=17 π/180, regulating time is all 9s.The adjustment that Fig. 4 demonstrates guide angle of the present invention can realize with maintenance.

Step 4, after guide angle is adjusted to precalculated position, next direct bearing γ to be regulated, outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂with rotary sleeve speed omega ₃direction of rotation contrary all the time.In guide angle adjustment process, direct bearing γ and outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃there is following relation:

$\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1-{\mathrm{\ω}}_3{t}_1$

After guide angle has regulated, direct bearing γ and outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃there is following relation:

$\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_2{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

Or $\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_1{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

In formula: γ is direct bearing, rad; ω ₁for outer eccentric hoop speed, rad/s; ω ₂for interior eccentric hoop speed, rad/s; ω ₃for rotary sleeve speed, rad/s; t ₁for guide angle regulating time, s; t ₂for the direct bearing time, s.

Namely ω is had after guide angle has regulated ₁=ω ₂, now as need carry out direct bearing adjustment and keep the guide angle that mixes up remain unchanged, identical amount must be regulated to inside and outside eccentric hoop speed simultaneously.

Now ω ₁=ω ₂, so γ=t (ω ₁+ ω ₂)/2-ω ₃t just becomes γ=ω ₁t-ω ₃t, azimuth γ also have periodically.

γ/2π＝(ω ₁t-ω ₃t)/(2π)＝n+β

In formula: n is integer; β is unit time inner orientation regulated quantity, rad/s.

When changing the angle beta that eccentric hoop group in the unit interval turns over relative to rotary sleeve, along with the increase eccentric hoop group of time is that step-length can arrive arbitrary appointment orientation with β.

Step 5, when direct bearing γ is adjusted to pre-position, also need direct bearing γ to be stabilized in pre-position.Now, outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃there is following relation:

ω ₁＝ω ₂＝ω ₃

Now led, the value of guide angle γ is:

$\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_2{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

Or $\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_1{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

In formula: γ is direct bearing, rad; ω ₁for outer eccentric hoop speed, rad/s; ω ₂for interior eccentric hoop speed, rad/s; ω ₃for rotary sleeve speed, rad/s; t ₁for guide angle regulating time, s; t ₂for the direct bearing time, s.

When carrying out direct bearing and regulating, need to be stabilized in pre-position when direct bearing arrives precalculated position.Regulate with guide angle that method therefor is identical also starts with from incremental angle, first exchange orientation formula and carry out differentiate, namely about t, differentiate is carried out to γ:

$\frac{d\mathrm{\γ}}{dt}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}-{\mathrm{\ω}}_3$

D γ/dt is the increment of γ within the unit interval, and the value of γ be made to remain unchanged, then the value of d γ/dt must identically vanishing.So:

$\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}={\mathrm{\ω}}_3$

ω is made immediately after regulating direct bearing to arrive operating position ₁=ω ₂=ω ₃, can by azimuthal stabilization to this position.

Fig. 5 is that direct bearing regulates simulation process figure, and in curve c, each parameter is ω ₁=7 π/90, ω ₂=4 π/45, ω ₃=π/15, in curve d, each parameter is ω ₁=7 π/90, ω ₂=17 π/180, ω ₃=π/15, regulating time is all 25s.The adjustment that Fig. 5 demonstrates direct bearing of the present invention can realize with maintenance.

Claims (1)

1., based on the rotary steering drilling tool control method that eccentric throw is equal, it is characterized in that, comprise the following steps:

Step one, when needs carry out guide digging, first determine size and the direct bearing of guide angle;

Step 2, the outer eccentric hoop speed omega of adjustment ₁with interior eccentric hoop speed omega ₂, outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂and there is certain relation between guide angle, guide angle is the angle of the axis of guide 4 and drilling tool axis, and guide eccentric is proportional and relevant with tool construction with the size of guide angle apart from ρ, so guide angle and outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂relation be expressed as:

$\mathrm{\ρ}=\sqrt{2}e\sqrt{1+cos({\mathrm{\ω}}_2{t}_1-{\mathrm{\ω}}_1{t}_1)}$

In formula, ρ is guide eccentric distance, mm; E is inside and outside eccentric hoop eccentric throw, mm; ω ₁for outer eccentric hoop speed, rad/s; ω ₂for interior eccentric hoop speed, rad/s; t ₁for guide angle regulating time, s;

Step 3, be adjusted to precalculated position when guide angle, need to regulate outer eccentric hoop speed omega ₁with interior eccentric hoop speed omega ₂guide angle is stabilized in this position, then outer eccentric hoop speed omega ₁with interior eccentric hoop speed omega ₂just there is following relation:

ω ₁＝ω ₂；

Step 4, after guide angle is adjusted to precalculated position, next direct bearing γ to be regulated, outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂with rotary sleeve speed omega ₃direction of rotation contrary all the time; In guide angle adjustment process, direct bearing γ and outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃there is following relation:

$\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1-{\mathrm{\ω}}_3{t}_1$

After guide angle has regulated, direct bearing γ and outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃there is following relation:

$\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_2{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

Or $\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_1{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

In formula: γ is direct bearing, rad; ω ₁for outer eccentric hoop speed, rad/s; ω ₂for interior eccentric hoop speed, rad/s; ω ₃for rotary sleeve speed, rad/s; t ₁for guide angle regulating time, s; t ₂for the direct bearing time, s;

Step 5, when direct bearing γ is adjusted to pre-position, direct bearing γ is stabilized in pre-position, now, outer eccentric hoop speed omega ₁, interior eccentric hoop speed omega ₂, rotary sleeve speed omega ₃there is following relation:

ω ₁＝ω ₂＝ω ₃

Now led, the value of direct bearing γ is:

$\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_2{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

Or $\mathrm{\γ}=\frac{{\mathrm{\ω}}_1+{\mathrm{\ω}}_2}{2}{t}_1+{\mathrm{\ω}}_1{t}_2-{\mathrm{\ω}}_3(t_1+t_2)$

In formula: γ is direct bearing, rad; ω ₁for outer eccentric hoop speed, rad/s; ω ₂for interior eccentric hoop speed, rad/s; ω ₃for rotary sleeve speed, rad/s; t ₁for guide angle regulating time, s; t ₂for the direct bearing time, s.