CN107762411A - Continuous pipe well drilling rail method for correcting error - Google Patents
Continuous pipe well drilling rail method for correcting error Download PDFInfo
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Abstract
The invention discloses a kind of continuous pipe well drilling rail method for correcting error, including S1：A test point Tx is chosen on original design borehole track；S2：It is that terminal does double section circular arcs correction tracks using deviation point A as starting point, test point Tx, test point Tx tangent line is overlapped with the well direction of former design borehole track；S3：Obtain D point coordinates, S4：Using deviation point A as the origin of coordinates, local coordinate system is established；S5：Determine coordinate of the D points in local coordinate system；S6：The dogleg angle of double section circular arc correction tracks is obtained according to coordinate of the D points in local coordinate system and double angle formula；Step S7：Tangent section DTx length lambda is calculated according to the dogleg angle of double sections of circular arcs correction tracks, will be met | λ λ0Test point Tx during |≤ε is as landing point；Step S8：Obtain the tool face azimuth of double section circular arc correction tracks；S9：According to three rib resultant displacements of the tool face azimuth regulation finder of double sections of circular arcs correction tracks rectify a deviation with brill.The present invention can solve the problems, such as continuous pipe pressurization difficulty, cementing quality difference.
Description
Technical Field
The invention belongs to the technical field of petroleum and natural gas, and relates to a coiled tubing drilling track deviation rectifying method.
Background
In the process of a coiled tubing drilling deflecting section, due to changes of stratum factors (stratum inclination angle change, stratum hardness change, reaming and the like) and working conditions (reaction torque, drilling speed change, drilling pressure change and the like), the track of a borehole of a coiled tubing drilling is easy to deviate from an original designed borehole track, and deviation rectification is needed after deviation. The existing coiled tubing drilling deviation rectifying method mainly has the following defects and shortcomings: (1) the existing drilling deviation rectifying track design method only requires that the deviation rectifying track hits a target point, and has no requirement on the direction of a deviation rectifying borehole, which can cause the difficulty of subsequent drilling to be increased and even cause subsequent miss; (2) because the coiled tubing can not rotate, a directional tool is needed for guiding in the deviation rectifying process of the coiled tubing, most of the existing directional tool combinations are bending motors and directional devices, but a tortuous well hole is easy to form, the friction of the well hole is large, the coiled tubing is difficult to pressurize, the coiled tubing cannot be drilled, and meanwhile, the well hole track is irregular, the well cementation difficulty is increased, and the well cementation quality is difficult to guarantee.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a deviation rectifying method for a coiled tubing drilling track to solve the uncertainty of the external extrusion load caused by the randomness of the external extrusion load parameters of the casing of the ultra-deep well.
The invention provides a deviation rectifying method for a continuous pipe drilling track, which comprises the following steps:
step S1: selecting a test point Tx on an original design well track;
step S2: taking the deviation point A as a starting point and the test point Tx as an end point to make a double-section circular arc deviation rectifying track, so that the tangent line of the test point Tx is overlapped with the well hole direction of the original designed well hole track; the double-section arc deviation rectifying track comprises a first section arc track and a second section arc track;
and step S3: length lambda of reverse extension line of test point Tx in borehole direction 0 And acquiring coordinates of a point D, wherein the point D and a borehole tangent line deviated from the point A form a slope plane, and the coordinates of the point D are as follows:
wherein N is D North coordinate of point D, N T To the north coordinate of the test point Tx, E D East coordinate of point D, E T East coordinate of test point Tx, H D Is the vertical depth of point D, H T Is the vertical depth, alpha, of the test point Tx T For the angle of inclination of the test point Tx, phi T Is the azimuth angle of the test point Tx;
and step S4: establishing a local coordinate system A-xyz by taking the deviation point A as a coordinate origin;
the X axis of the local coordinate system points to the advancing direction of the track, the Y axis of the local coordinate system points to the inner normal direction of the first section of circular arc track in the inclined plane, and the Z axis of the local coordinate system points to the normal direction of the inclined plane;
and if the unit vectors on the x axis, the y axis and the z axis are u, v and w respectively, then:
unit vector u = (u) x ,u y ,u z )＝(sinα A cos φ A，sinα A sinφ A ，cosα A )；
Unit vector ofWherein,
wherein E is A Is an east coordinate, N, of the departure point A A Is a north coordinate, H, of the deviation point A A Is the vertical depth from point a;
unit vector w = (w) x ，w y ，w z ) Wherein
unit vector v = (v) x ，v y ，v z ) (ii) a Wherein,|v|＝1；
step S5: determining the coordinates of the D point in a local coordinate system according to coordinate transformation; wherein the coordinates of the point D are expressed in a local coordinate system A-xyz as follows:
wherein, P -1 ＝P，
Step S6: according to a double-angle formula, dog-leg angles of a first section of circular arc track and a second section of circular arc track are obtained; wherein,
dog leg angle theta of first arc track 1 Comprises the following steps:
wherein R is 1 The radius of the circle to which the first arc track belongs;
when the temperature is higher than the set temperatureSelecting a next test point Tx, and repeating the step S2 to the step S5;
when in useThe length λ of the tangent line segment DTx is then expressed as:
wherein, theta 2 Dog leg corner, R, being a second arc track 2 The radius of the circle to which the second section of circular arc track belongs;
cosθ 2 ＝cosα C cosα T +sinα C sinα T cos(φ T -φ C )
in the formula, cos alpha C ＝u z cosθ 1 +v z sinθ 1 ，α C Is the angle of inclination of a vertical and inclined well section C The azimuth angle of the inclined straight well section;
step S7: judging whether lambda satisfies lambda-lambda 0 If the | < epsilon, selecting the current test point Tx as a landing point; if not, let λ 0 = λ, repeating steps S3-S6 until | λ - λ is satisfied 0 Epsilon is less than or equal to | is less than or equal to; wherein epsilon is a preset error value;
step S8: tool face angle omega for obtaining double-section arc deviation rectifying track i (ii) a Wherein,
when the circular arc segment is declined (delta alpha is less than 0):
when the circular arc segment is increased in inclination (delta alpha is more than 0):
in the formula, alpha i Is the first arc segmentAngle of inclination of well at i measurement point, α A Is the well angle at the offset point a; theta i The dog leg angle at the ith measuring point of the first arc segment;
when delta phi is greater than 0, take a minus sign, and when delta phi is less than 0, take a plus sign;
step S9: tool face angle omega of continuous tube orientator according to double-section circular arc deviation rectifying track i And (5) correcting while drilling.
The deviation rectifying method for the continuous pipe drilling track provided by the invention can achieve the following technical effects:
1. the double-section arc deviation rectifying track not only has proper landing point positions, but also has the well hole direction consistent with that of the originally designed well hole track when the double-section arc deviation rectifying track enters the target;
2. the coiled tubing direction finder adjusts the three-rib combined displacement to reach the tool face angle of the deviation rectifying track according to the double-section arc deviation rectifying track, the coiled tubing drilling mode is click type drilling, the well track is smooth, and therefore the problems of difficult pressurization, poor well cementation quality and the like in the coiled tubing drilling process are solved.
Drawings
FIG. 1 is a model diagram of a coiled tubing drilling deviation rectification track according to the present invention;
FIG. 2 is a graph of a first segment of a circular arc orbit in a local coordinate system in accordance with the present invention;
FIGS. 3 a-3 b are respectively telescopic displacement views of a rib of a coiled tubing orienter, in accordance with the present invention;
FIGS. 4 a-4 b are diagrams of the resultant displacement vectors of the three ribs of a continuous tube orienter, respectively, in accordance with the present invention;
FIG. 5 is a graph of the combined displacement of three ribs of a coiled tubing orienter versus the angle of the borehole centerline in accordance with the present invention;
FIG. 6 is a minimum energy principle area division of three ribs of a coiled tubing orienter, according to the present invention;
FIGS. 7 a-7 d are graphs of rib displacements versus tool face angle for coiled tubing orienters, respectively, in accordance with the present invention;
fig. 8a and 8b are graphs showing the variation of rib displacement along the trajectory of a borehole for a coiled tubing orienter, in accordance with the present invention.
Detailed Description
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.
Fig. 1 shows a model of a coiled tubing drilling deviation correction track according to the present invention.
As shown in figure 1, in order to make the continuous pipe drilling deviation correcting track consistent with the drilling direction of the original designed borehole track, the deviation correcting track is designed into a double-section arc deviation correcting track, so that the tangent of the tail end point of the second section arc track is superposed with the borehole direction of the original designed track. In a coordinate system O-XYZ, EF is the originally designed borehole orbit of the continuous pipe drilling, A point is a track deviation point,is a first section of circular arc track,the BC is an inclined straight well section which connects the first section of arc track and the second section of arc track, and the BC is positioned between the first section of arc track and the second section of arc track and plays a role in connection transition.
The invention provides a deviation rectifying method for a continuous pipe drilling track, which comprises the following steps:
step S1: a test point Tx is selected from the original design well track.
Step S2: and (3) taking the deviation point A as a starting point and the test point Tx as an end point to make a double-section circular arc deviation rectifying track, so that the tangent line of the test point Tx is overlapped with the well hole direction of the originally designed well hole track.
The double-section arc deviation rectifying track comprises a first section arc track, a second section arc track and an inclined straight well section which is connected with the first section arc track and the second section arc track.
And step S3: length lambda of reverse extension line of test point Tx in borehole direction 0 And acquiring coordinates of a point D, wherein the point D and a borehole tangent line deviated from the point A form a spatial inclined plane, and the coordinates of the point D are as follows:
wherein N is D North coordinate of point D, N T To the north coordinate of the test point Tx, E D East coordinate of point D, E T Is the east coordinate of the test point Tx, H D Is the vertical depth of point D, H T Is the vertical depth, alpha, of the test point Tx T For the angle of inclination of the test point Tx, phi T Is the azimuth of the test point Tx.
And step S4: establishing a local coordinate system A-xyz by taking the deviation point A as a coordinate origin;
after the coordinates of the point D are determined, the point D and the borehole tangent of the starting point A form a spatial inclined plane, and then the three-dimensional problem is converted into a two-dimensional problem. As shown in fig. 1, a local coordinate system a-xyz is established with a starting point a as an origin, an x-axis of the local coordinate system points to a track advancing direction, a y-axis of the local coordinate system points to an inner normal direction of the first arc track (i.e., perpendicular to the x-axis and points to a target point side) in an inclined plane, and a z-axis of the local coordinate system points to a normal direction of the inclined plane. For convenience of description, unit coordinate vectors on x, y and z coordinate axes are respectively set as u, v and w,
from the spatial geometry, one can obtain:
unit vector u = (u) x ,u y ,u z )＝(sinα A cosφ A ，sinα A sinφ A ，cosα A )；
Unit vector s =(s) x ,s y ,s z ) (ii) a Wherein,
wherein, E A Is an east coordinate, N, of the deviation point A A Is a north coordinate, H, of the deviation point A A Is the vertical depth from point a;
since w = u × s, and u, s are both unit vectors, therefore:
unit vector w = (w) x ，w y ，w z ) (ii) a Wherein,
since v = w × u, w ≠ u, and are all unit vectors, therefore:
unit vector v = (v) x ，v y ，v z ) (ii) a Wherein,|v|＝1；
step S5: and determining the coordinates of the D point in the local coordinate system according to the coordinate transformation.
Wherein the coordinates of the point D are expressed in a local coordinate system A-xyz as follows:
wherein P is an orthogonal matrix, so P -1 ＝P，
Step S6: and acquiring dog-leg angles of the first section of circular arc track and the second section of circular arc track according to a double-angle formula.
After the coordinates of the point D in the local coordinate system A-xyz are determined, the first segment of circular arc orbit is obtained according to the geometric relation and the double angle formula in FIG. 2Dog leg angle theta of 1 Dog leg angle theta of first arc orbit 1 Comprises the following steps:
wherein R is 1 The radius of the circle to which the first arc track belongs;
when in useSelecting a next test point Tx, and repeating the step S2 to the step S5;
when in useThe length λ of the tangent line segment DTx is then expressed as:
wherein, theta 2 Dog leg corner, R, being a second arc track 2 The radius of the circle to which the second section of circular arc track belongs;
cosθ 2 ＝cosα C cosα T +sinα C sinα T cos(φ T -φ C )
in the formula, cos alpha C ＝u z cosθ 1 +v z sinθ 1 ，α C Is the angle of inclination of a vertical and inclined well section C Azimuth angle of the deviated well section;
step S7: judging whether lambda satisfies lambda-lambda 0 |≤ε，If yes, selecting the current test point Tx as a landing point; if not, let λ 0 = λ, repeating steps S3-S6 until | λ - λ is satisfied 0 |≤ε。
Epsilon is a preset error value.
Step S8: tool face angle omega for obtaining double-section arc deviation rectifying track i (ii) a Wherein,
when the arc segment is descending (Δ α < 0):
when the circular arc segment is increased in inclination (delta alpha is more than 0):
in the formula, alpha i Is the well angle alpha at the ith measuring point of the first circular arc segment A Is the well angle at the offset point a; theta.theta. i A dog leg corner at the ith measuring point of the first arc segment;
when Δ φ >0, i.e., increasing azimuth, the "-" sign is taken, and when Δ φ <0, i.e., decreasing azimuth, the "+" sign is taken.
Step S9: tool face angle omega of continuous pipe orientation device for correcting track according to double-section circular arc i And (5) correcting deviation while drilling.
The deviation rectifying conditions of the continuous tube orientator are as follows:
|χ measured in fact -χ Design of |>δ χ
χ Measured in fact For the actual measured trajectory parameter, χ, during coiled tubing drilling Design of Designing an orbital trajectory parameter, delta, for coiled tubing drilling sources χ The error allowed for the wellbore trajectory parameters.
The track parameters actually measured in the coiled tubing drilling process comprise track parameters of a first section of circular arc track, track parameters of a second section of circular arc track and track parameters of a slant well section.
First section arc section trackThe trajectory parameters of (a) are calculated as follows:
wherein phi is A Is the azimuth of the deviation point A, and L is the arc segment length of the borehole trajectory;
the coordinates of each point of the first arc section track are as follows:
wherein,in the formula, theta i The radian of the first arc section of the track.
Second arc segment trackThe trajectory parameters of (2) are calculated as follows:
wherein phi is A Is the azimuth of the deviation point A, L is the arc segment length of the borehole orbit;
second section arc section trackThe coordinates of each point of (1) are:
the trajectory parameters of the inclined shaft section orbit BC are calculated as follows:
length of inclined straight well section:
coordinates of each point of the inclined and straight well section are as follows:
the continuous tube director forms a combined displacement vector omega (0-360 degrees) by adjusting the displacement of the three ribs, and a tool face angle omega of the double-section arc deviation rectifying track is obtained i And correcting while drilling so as to control the drilling direction of the coiled tubing.
The process of forming a resultant displacement vector omega (0-360 DEG) in a continuous tube director by adjusting the displacements of three ribs includes:
(1) Displacement reference determination
Based on the initial position where the central axis of the coiled tubing orienter coincides with the central axis of the wellbore (as shown in FIG. 3 a), it is specified that at this time the displacement of each single rib is 0, the extension displacement of the single rib from the reference is negative, and the retraction displacement is positive (as shown in FIG. 3 b). Assuming that the well wall is rigid, the maximum stretching displacement of the single rib is as follows:
in the formula (d) h Is the borehole diameter, d or For the director outer diameter, κ is the borehole enlargement factor.
When the director is processed, the maximum stretching displacement of the single rib should be 2| omega max 。
(2) Determination of resultant displacement vector direction
As shown in fig. 4a, a planar rectangular coordinate system xoy is established on the coplanar surfaces of the three ribs of the coiled tubing orienter,is the combined displacement vector of three ribs, G represents the tail end of the vector, O represents the beginning end of the vector, the three ribs are respectively rib No. 1, rib No. 2 and rib No. 3,is the component displacement vector of rib number 1,is the component displacement vector of rib number 2,the range of the total displacement vector is regular hexagon for the fractional displacement vector of No. 3 rib, and the area between the regular hexagon and the excircle is the invalid control area, as shown in FIG. 4b, if the circumferential position of each rib rotates (influenced by the reaction torque), the invalid control area between the inner circle and the excircle can be formed, and the analysis shows that the maximum usable total displacement vector is not the maximum working displacement | Ω | of a single rib max The maximum available combined displacement vector magnitude value obtained by the displacement synthesis principle and geometric analysis is as follows:
in the formula, gamma max Is the maximum usable combined displacement of the ribs of the continuous tube orienter.
ψ 0 The initial tool face angle (0-360) for rib number 1, as shown in FIG. 4a, is known from the geometric relationship in the figure, the resultant displacement vector direction, i.e., the tool face angle ω of the coiled tubing orienter i Direction, tool face angle omega i The displacement vector relationship with three ribs can be expressed as:
can also be expressed as
Wherein j =1, 2 or 3, ψ 1 Initial tool face angle for rib number 1, # 2 Partial displacement vector of rib number 2, # 3 Initial toolface angle, omega, for rib number 3 x Is the resultant displacement vector, omega, in the x-axis direction y Is the resultant displacement vector in the y-axis direction.
To maintain drilling mode when | Ω | ≠ 0, | Ω | =0, there is no toolface angle.
The combined displacement omega of the No. 1 rib, the No. 2 rib and the No. 3 rib is as follows:
(3) Determination of resultant displacement vector magnitude
If rib number 1 is fixed, i.e. the face angle psi of rib number 1 tool 1 Determining the tool face angles of the No. 2 and No. 3 ribs; if the toolface angle omega of the originally designed borehole trajectory is known i Determining the direction of the combined displacement vector omega; if the dog leg angle theta of the originally designed wellbore trajectory is known, the build rate rho of the coiled tubing orienter can be determined, and then the reverse thrust can be obtainedThe magnitude of the resultant displacement vector Ω of rib No. 1, rib No. 2 and rib No. 3 is obtained, where the relationship between the dog-leg angle θ and the magnitude of the resultant displacement vector Ω (as shown in fig. 5) can be expressed as:
θ＝ρL/30 (3)
wherein L is the arc segment length of the borehole orbit, rho is the build-up rate of the coiled tubing direction finder, beta is the included angle between the borehole centerline and the coiled tubing direction finder centerline, and M is the angle between the borehole centerline and the coiled tubing direction finder centerline 12 The length between the contact point of the drill bit and the well wall and the contact point of the support rib and the well wall.
After determining the magnitude and direction of the resultant displacement vector Ω, the fractional displacement (| Ω) of the 3 ribs can be solved according to equations (1) and (2) 1 |、|Ω 2 |、|Ω 3 |), can be arranged as:
equation (6) has only two equations, but three unknowns | Ω 1 |、|Ω 2 | and | Ω 3 I, so the equation has n solutions (n → ∞).
In the deviation rectifying process of the coiled tubing directional drilling, in order to ensure high guiding efficiency of the coiled tubing drilling, the deviation of the coiled tubing direction finder needs to be rectified according to a minimum energy principle, the minimum energy principle refers to equally dividing three areas according to the figure 6, the partial displacement of a rib closest to a clutch displacement vector omega is 0 (the rib is at the most unfavorable position), so that other 2 partial displacement vector solutions can be obtained according to the formula (6), for example, if the combined displacement vector omega is in the 2 nd area, the partial displacement of each rib of the direction finder can be expressed as omega (omega) 1 ，0，Ω 3 )。
Therefore, according to the minimum energy principle and equation (27), the following control scheme can be obtained:
when the resultant displacement vector Ω is in the 1 region, let the displacement of rib No. 1 be 0, and obtain from equation (6):
wherein Γ is the magnitude of the resultant displacement vector of the three ribs, Γ = Ω;
equation (7) is solved by combining equations (3) to (5), and the following results are obtained:
when the resultant displacement vector Ω is in the 2 region, let the displacement of rib No. 2 be 0, and obtain from equation (6):
equation (9) is solved by combining equations (3) to (5), and the following results are obtained:
when the resultant displacement vector Ω is in the 3 region, let the rib displacement of number 3 be 0, and obtain according to equation (6):
equation (11) is solved by combining equations (3) to (5), and:
example (c): let F be 1 =10mm, the displacement of each rib of the continuous tube orientation device is obtainedThe tool face angle variation law, as shown in fig. 7 a-7 d, is 60 for fig. 7a, 120 for fig. 7b, 180 for fig. 7c, and 240 for fig. 7 d.
In one example, a certain arc trajectory is obtained as shown in the following table:
TABLE 1 design of data of a section of circular arc track of deviation correcting well track
According to the deviation rectifying track control formula, under the condition that the tool face angle of No. 1 rib is 120 degrees, the change rule of the displacement of each rib along the track of the borehole is shown in FIGS. 8a and 8 b.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. A coiled tubing drilling track deviation rectifying method is characterized by comprising the following steps:
step S1: selecting a test point Tx on an original design well track;
step S2: taking the deviation point A as a starting point and the test point Tx as an end point to make a double-section circular arc deviation rectifying track, so that the tangent line of the test point Tx is overlapped with the well hole direction of the original designed well hole track; the double-section arc deviation rectifying track comprises a first section arc track, a second section arc track and an inclined straight well section;
and step S3: making the test point Tx extend reversely in the borehole directionLength of (a) 0 = DTx, acquiring coordinates of a point D, where the point D and a borehole tangent of the deviation point a form a slope plane, and the coordinates of the point D are:
wherein N is D Is the north coordinate of point D, N T Is the north coordinate of the test point Tx, E D Is the east coordinate of point D, E T Is the east coordinate, H, of the test point Tx D Is the vertical depth of the point D, H T Is the vertical depth, alpha, of the test point Tx T Is the well angle, phi, of the test point Tx T The azimuth angle of the test point Tx is;
and step S4: establishing a local coordinate system A-xyz by taking the deviation point A as a coordinate origin;
wherein the local coordinate system x The axis points to the advancing direction of the track, the y axis of the local coordinate system points to the inner normal direction of the first arc track in the inclined plane, and the z axis of the local coordinate system points to the normal direction of the inclined plane;
and setting the unit vectors on the x axis, the y axis and the z axis as u, v and w respectively, then:
unit vector u = (u) x ,u y ,u z )＝(sinα A cosφ A ,sinα A sinφ A ,cosα A )；
Unit vector s =(s) x ,s y ,s z ) (ii) a Wherein,
wherein E is A Is the east coordinate of the deviation point A, N A Is the north coordinate of the deviation point A, H A Is the vertical depth of the deviation point A;
unit vector w = (w) x ,w y ,w z ) Wherein
unit vector v = (v) x ,v y ,v z ) (ii) a Wherein,|v|＝1；
step S5: determining the coordinates of the D point in the local coordinate system according to coordinate transformation; wherein the coordinates of the D point are expressed in the local coordinate system A-xyz as:
wherein,
step S6: acquiring dog-leg angles of the first section of circular arc track and the second section of circular arc track according to a double-angle formula; wherein,
dog leg angle theta of the first arc track 1 Comprises the following steps:
wherein R is 1 The radius of the circle to which the first arc track belongs;
when in useSelecting a next test point Tx, and repeating the step S2 to the step S5;
when in useThe length λ of the tangent line segment DTx is then expressed as:
wherein, theta 2 Dog leg corner, R, of second arc orbit 2 The radius of the circle to which the second section of circular arc track belongs;
cosθ 2 ＝cosα C cosα T +sinα C sinα T cos(φ T -φ C )
in the formula, cos alpha C ＝u z cosθ 1 +v z sinθ 1 ，α C Is the angle of inclination, phi, of the inclined-straight well section C Is the azimuth of the deviated well section;
step S7: judging whether lambda satisfies lambda-lambda 0 If the situation is met, selecting the current test point Tx as a landing point; if not, let λ 0 = λ, repeating steps S3-S6 until | λ - λ is satisfied 0 Epsilon is less than or equal to | is less than or equal to; wherein epsilon is a preset error value;
step S8: acquiring a tool face angle omega of the double-section arc deviation rectifying track; wherein,
when the first arc track is declined:
when the first arc track is inclined:
in the formula, alpha i Is the well angle alpha at the ith measuring point of the first circular arc segment A Is the well angle at the offset point a; theta.theta. i The dog leg angle at the ith measuring point of the first arc segment;
when delta phi is greater than 0, take a minus sign, and when delta phi is less than 0, take a plus sign;
step S9: tool face angle omega based on double-section arc deviation rectifying track i And adjusting the three-ribbed displacement of the continuous pipe director to perform deviation correction while drilling.
2. The method of claim 1, wherein the tool face angle ω of the trajectory is corrected according to a double arc i The process of adjusting the three-ribbed displacement of the continuous tube orienter comprises the following steps:
step S91: establishing a plane rectangular coordinate system xoy on a plane where the three ribs of the continuous tube director are located; wherein,the three ribs are respectively a No. 1 rib, a No. 2 rib and a No. 3 rib,is the component displacement vector of the rib number 1,is the component displacement vector of the rib number 2,is the fractional displacement vector of the rib No. 3;
step S92: tool face angle omega of double-section arc deviation rectifying track i The relationship with the partial displacement vectors of the three ribs is expressed as the following two relationships:
wherein j =1, 2 or 3, ψ 1 Is the initial tool face angle, psi, of rib number 1 2 Is the partial displacement vector of rib number 2, psi 3 Is the initial toolface angle, Ω, of rib number 3 x Is the resultant displacement vector, omega, in the x-axis direction y Is the resultant displacement vector in the y-axis direction;
the combined displacement | Ω | of the rib number 1, the rib number 2 and the rib number 3 is:
step S93: the relationship between the dog-leg angle theta and the resultant displacement | omega | of the original design wellbore trajectory is expressed as:
θ＝ρL/30 (3)
wherein L is the arc segment length of the borehole orbit, rho is the build slope of the continuous pipe orientation device, beta is the included angle between the borehole center line and the continuous pipe orientation device center line, and M is the angle between the borehole center line and the continuous pipe orientation device center line 12 The length between the contact point of the drill bit and the well wall and the length between the contact point of the support rib and the well wall are set;
step S94: solving the partial displacement | omega of the rib No. 1 according to the formula (1) and the formula (2) through the following equation 1 I, the No. 2 rib omega 2 The partial displacement | omega of | and the No. 3 rib 3 |：
The continuous tube orientator corrects the deviation of the drill bit according to the minimum energy principle, the minimum energy principle is equally divided into three areas, namely an area 1, an area 2 and an area 3, and the deviation correction scheme of the continuous tube orientator is as follows:
when the resultant displacement vector Ω is in the 1 region, let the displacement of the rib No. 1 be 0, which can be obtained according to equation (6):
wherein Γ is the magnitude of the combined displacement vector of the three ribs, Γ = | Ω |;
equation (7) is solved by combining equations (3) to (5), and:
when the resultant displacement vector Ω is in the 2 region, let the displacement of the rib No. 2 be 0, which can be obtained according to equation (6):
equation (9) is solved by combining equations (3) to (5), and:
when the resultant displacement vector Ω is in the 3 region, let the rib displacement of number 3 be 0, which can be obtained according to equation (6):
equation (11) is solved by combining equations (3) to (5), and:
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