CN109138970B - Control system and method for inhibiting drill string stick-slip vibration based on auxiliary given rotating speed of frequency converter - Google Patents
Control system and method for inhibiting drill string stick-slip vibration based on auxiliary given rotating speed of frequency converter Download PDFInfo
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- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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Abstract
The invention particularly discloses a control system and a method for inhibiting drill string stick-slip vibration based on given rotation speed assisted by a frequency converter. The control method being by diagnosing stick-slip vibration of the drill stringAn algorithm, a controller auxiliary given rotating speed control algorithm and a frequency converter embedded proportional-integral control algorithm, wherein the controller adjusts a frequency converter auxiliary given rotating speed instruction omegaauAnd the feedback is fed back to the frequency converter to form a closed loop feedback control system, a proportional-integral control algorithm is embedded into the frequency converter PLC to form another closed loop feedback control system, and the two systems are combined to realize double closed loop feedback control of the frequency converter, so that stick-slip vibration of the drill string is further inhibited. The invention can diagnose whether the underground drill stem is subjected to stick-slip vibration or not and can inhibit the drill stem from being subjected to stick-slip vibration.
Description
Technical Field
The invention belongs to the technical field of petroleum and natural gas exploration and development, and particularly relates to a control system and method for inhibiting drill string stick-slip vibration based on auxiliary given rotating speed of a frequency converter.
Background
Drilling and development of oil and natural gas are mainly completed by a drill string system. The drill string system mainly comprises a driving motor controlled by a frequency converter, a gear box, a wellhead rotary table, a drill string formed by connecting a plurality of drill rods and a bottom hole assembly. Due to the fact that the drill string needs to go deep into the ground for thousands of meters, the rotary inertia of the bottom hole drilling tool assembly is small, and nonlinear friction exists, the drill string system is prone to generating the phenomenon of drill string stick-slip vibration. The phenomenon of drill string stick-slip vibration is mainly shown in that a driving motor provides constant torque for a drill string, the rotating speed of a rotating platform vibrates in a low amplitude mode, and a bottom hole assembly slides, sticks and slides alternately. Due to the stick-slip vibration of the drill string, the instantaneous rotating speed of the bottom hole drilling tool assembly is very high, and the performance deterioration of a drill rod and a drill bit is easily caused; this phenomenon not only affects the efficiency of drilling but also threatens the safety of drilling. Therefore, a reasonable control method is required to suppress the stick-slip vibration.
The bottom hole assembly is located several kilometers underground and in a harsh environment. If the sensor is installed in the bottom hole assembly, it is easy to be damaged and its cost is very high. Therefore, the motion state of the bottom hole assembly and the torque of the drill string cannot be directly obtained, and whether the stick-slip vibration phenomenon occurs at the bottom of the well or not is difficult to judge. If the stick-slip vibration phenomenon of the drill string cannot be diagnosed in real time, serious drilling accidents are easily caused. Meanwhile, in the field of drill string stick-slip vibration control, the underground state of a drill string system cannot be obtained, and the design of a full-dimensional controller cannot be completed.
The developed countries abroad make some researches for inhibiting the stick-slip vibration of the drill string and release some related documents. These studies still have many problems. On one hand, the feedback quantity of the control algorithms contains the motion state of the bottom hole assembly, but the real-time motion state of the bottom hole assembly cannot be directly acquired in a drilling site; on the other hand, these studies are limited to simulation studies only, and do not relate to motor dynamics, nor how to control the frequency converter and the drive motor. Leading to their being only theoretically feasible but not applied to engineering practice.
At present, domestic research on a control algorithm for inhibiting drill string stick-slip vibration is quite lagged behind, and relevant research documents are difficult to find. Therefore, the design of related control systems and the exploration of control algorithms thereof have good engineering application value.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, an object of the present invention is to provide a control system and a control method for suppressing drill string stick-slip vibration based on a given rotation speed of a frequency converter, so as to solve the problems in the prior art that the drill string stick-slip vibration cannot be diagnosed and the drill string stick-slip vibration cannot be effectively suppressed. By adopting the system, the rotating speed of the bottom hole assembly can be estimated only by acquiring the driving torque and the driving rotating speed of the top drive from the frequency converter, whether the stick-slip vibration of the drill string occurs or not can be diagnosed, and the full-dimensional controller is designed to effectively control the frequency converter and the motor and inhibit the stick-slip vibration of the drill string.
In order to realize the technical scheme, the invention adopts the following technical scheme:
a control system for inhibiting drill string stick-slip vibration based on given rotating speed assisted by a frequency converter comprises an oil-gas well drill string system (controlled object), the frequency converter, a control device and a human-computer interaction device. Wherein:
the oil and gas well drill string system comprises a top drive, a drill string and a bottom hole assembly and is used for realizing the drilling of an oil and gas well;
the frequency converter comprises a PLC and is used for setting a target rotating speed of an oil-gas well drill column system, controlling the driving torque and the driving rotating speed of the top drive and identifying the real-time top drive driving torque and the real-time driving rotating speed;
a control device comprising an observer and a controller; the observer takes the driving rotating speed and the driving torque as input and is used for estimating the rotating speed of the bottom hole drilling tool assembly and diagnosing whether the stick-slip vibration of the drill column occurs or not; the controller comprises an auxiliary given rotating speed control algorithm, the driving rotating speed obtained from the frequency converter and the rotating speed of the bottom hole assembly estimated by the observer are used as input, the auxiliary given rotating speed of the frequency converter is controlled, and the stick-slip vibration of the drill string is inhibited;
the man-machine interaction device is connected with the controller through a serial port and used for inputting control parameters and displaying the driving torque and the driving rotating speed of the oil-gas well drill column system and the estimated value of the rotating speed of the bottom hole drilling tool assembly;
the output of the frequency converter is connected with a top drive inner motor through a three-phase circuit; the control device is communicated with the frequency converter through a bus; the controller in the control device is communicated with the man-machine interaction device through a serial port line.
Further, the top drive comprises a motor, a speed reducer and a rotary table and is used for providing driving torque and driving rotating speed for the oil-gas well drill string system.
Furthermore, the drill stem is formed by connecting a plurality of drill rods and is used for transmitting torque for the bottom hole assembly and providing a transportation channel for drilling mud.
Further, the bottom hole assembly comprises a gravity drill rod, a stabilizer, a drill collar and a drill bit and is used for increasing the bottom rotational inertia of the oil and gas well drill column system and breaking rock.
Further, the controller adjusts an auxiliary given rotating speed instruction of the frequency converter and feeds the auxiliary given rotating speed instruction back to the frequency converter to form a closed loop feedback control system, a proportional-integral control algorithm is embedded into the frequency converter PLC to form another closed loop feedback control system, and the two closed loop feedback control systems are combined to realize double closed loop feedback control of the frequency converter, so that stick-slip vibration of the drill string is further inhibited.
The invention relates to a control method for inhibiting drill string stick-slip vibration based on a frequency converter auxiliary given rotating speed, which comprises the following steps:
1) the frequency converter sets a top drive target rotating speed input reference value through the PLC control system, controls the top drive and further drives an oil-gas well drill column system;
2) acquiring real-time driving torque and real-time driving rotating speed through a frequency converter, estimating the rotating speed of a bottom hole drilling tool assembly by an observer, and diagnosing whether drill string stick-slip vibration occurs or not through the estimated value of the rotating speed of the bottom hole drilling tool assembly;
3) if the drill stem is subjected to stick-slip vibration, starting a controller;
4) calculating an auxiliary given rotating speed instruction according to the driving rotating speed, the rotating speed estimated value of the bottom hole assembly and an auxiliary given rotating speed control algorithm of the controller;
5) the controller feeds back the auxiliary given rotating speed instruction to the frequency converter through a bus, and a proportion integral control algorithm embedded in the frequency converter is combined to form double closed loop feedback control, so that the required driving torque is calculated, and the stick-slip vibration of the drill column is inhibited;
6) meanwhile, the man-machine interaction device stores and displays the actual driving torque, the actual driving rotating speed and the rotating speed estimated value data of the bottom hole assembly in real time.
Further, the observer estimates the bottom hole assembly rotational speed by calculating:
in the formula, ω1For driving the rotational speed, TmIn order to drive the torque, the drive motor is,
for the drive speed estimate, T is the drill string torque,
as an estimate of drill string torque, J1To top drive moment of inertia, K1、K2And K3Is an estimator gain coefficient, k is a drill string stiffness coefficient,
the estimated value of the rotating speed of the bottom hole assembly is obtained;
by TeTo control the time constant of the system, the estimator gain coefficient can be realized by an optimal damping mode:
further, the controller assists the given rotation speed control algorithm as follows:
in the formula, ωauTo assist in setting the speed, KP1Is the controller gain factor;
the gain coefficient of the controller can be realized by an optimal damping mode:
in the formula, J2And the rotational inertia of the bottom hole drilling tool assembly, omega is the natural vibration frequency of a drill column system, and k is the rigidity coefficient of the drill column.
Further, the proportional-integral control algorithm embedded in the frequency converter is as follows:
in the formula, ωrefInputting a reference value, K, for the driving speedP2And KI2Respectively, the controller gain factor, omega1To drive rotational speed, ωauThe rotation speed is given as an auxiliary.
The system is scientific, simple and convenient. The device can diagnose whether the stick-slip vibration of the drill column occurs or not, can inhibit the stick-slip vibration, only needs wellhead measurement data, and solves the problems that the state of an underground drill column system cannot be directly obtained and the stick-slip vibration of the drill column cannot be effectively inhibited in the prior art. The observer and the controller can be embedded in the PLC of the frequency converter through programming, so that intellectualization is realized. According to the invention, the inhibition of the stick-slip vibration of the drill stem is realized by controlling the frequency converter and the motor, and the method can be applied to the actual drilling to effectively inhibit the stick-slip vibration of the drill stem.
Drawings
FIG. 1 is a general block diagram of a system;
FIG. 2 is a graph illustrating the effect of stick-slip vibration control of a drill string.
In fig. 1: 1 is top drive; 2 is a drill stem; 3 is a bottom hole assembly; 4 is a frequency converter; 5 is an observer; 6 is a controller; 7 is a human-computer interaction device; omegarefInputting a reference value for a target rotating speed; t ismIs the driving torque; omega1Driving speed (wellhead rotating table speed); omegaauThe rotation speed is given for assistance; omega2The rotation speed of the bottom hole assembly;
bottom hole assemblyAnd (4) estimating the rotating speed.
Detailed Description
The invention is further described with reference to the following drawings and specific embodiments.
As shown in fig. 1, the control system for suppressing stick-slip vibration of a drill string based on a given rotation speed of a frequency converter mainly comprises: the device comprises an oil-gas well drill string system (controlled object), a frequency converter, a control device and a human-computer interaction device. Wherein:
the drilling string system of the oil and gas well, mainly include top drive 1, drilling string 2 and bottom hole assembly 3, is used for realizing the drilling of the oil and gas well; the top drive 1 mainly comprises a motor, a speed reducer and a rotary table and is used for providing driving torque for an oil-gas well drill column system. Wherein the drill string 2 can reach several kilometers and is formed by connecting a plurality of drill rods and is used for transmitting torque for the bottom hole assembly 3 and providing a transportation channel for drilling mud. The bottom hole assembly 3 mainly comprises a gravity drill rod, a stabilizer, a drill collar and a drill bit and is used for increasing the bottom rotational inertia of an oil-gas well drill column system and breaking rock.
The frequency converter 4 comprises a PLC and is used for setting a target rotating speed omega of the oil-gas well drill column systemrefControlling the drive torque T of the top drivemAnd a driving rotational speed omega1And can identify the real-time top drive torque TmAnd a driving rotational speed omega1。
A control device including an observer 5 and a controller 6; observer 5 to drive torque TmAnd a driving rotational speed omega1As input, for estimating the bottom hole assembly rotational speed ω2And diagnosing whether stick-slip vibration of the drill string occurs. The controller 6 includes a subsidiary predetermined rotational speed control algorithm for obtaining the driving rotational speed ω from the frequency converter 41And the estimated value of the rotating speed of the bottom hole assembly obtained by the observer 5
For input, for controlling the frequency converter 4 to give an auxiliary rotational speed omegaauAnd the stick-slip vibration of the drill string is inhibited.
The human-computer interaction device 7 is connected with the controller 6 through a serial port and used for inputting control parameters and displaying the driving torque T of the oil-gas well drill column systemmDriving speed omega1And downhole tool assembly rotational speed estimate ω2。
The output of the frequency converter 4 is connected with the motor in the top drive 1 through a three-phase circuit; the control device is communicated with the frequency converter 4 through a bus; the controller 6 in the control device is communicated with the man-machine interaction device 7 through a serial port line.
The controller adjusts the auxiliary given rotating speed instruction of the frequency converter and feeds the auxiliary given rotating speed instruction back to the frequency converter to form a closed loop feedback control system, a proportional-integral control algorithm is embedded into the frequency converter PLC to form another closed loop feedback control system, and the two closed loop feedback control systems are combined to realize double closed loop feedback control of the frequency converter and inhibit the stick-slip vibration of the drill column.
The control system can inhibit the drill string from sticking and sliding and vibrating only by acquiring the driving torque and the rotating speed of the wellhead rotating platform.
The differential motion equation of the oil-gas well drill string system is as follows:
in the formula, J1Is the rotational inertia of the turntable, J2Is the rotational inertia of the bottom hole assembly, c is the damping coefficient of the drill string, k is the rigidity coefficient of the drill string,
in order to rotate the rotary table angularly,
for angle displacement of bottom hole assembly, TmAs input (drive torque), T, to the drill string system 1 of an oil and gas wellfFor non-linear friction torque as a disturbance of the system, ω1For driving the rotation speed, and simultaneously as the output of a drilling string system of an oil-gas well
ω2For the rotation speed of the bottom hole assembly and
wherein, the controller 6 adjusts the frequency converter 4 to assist the given rotating speed instruction omegaauAnd the feedback is fed back to the frequency converter 4 to form a closed loop feedback control system, a proportional-integral control algorithm is embedded into the frequency converter 4PLC to form another closed loop feedback control system, and the two closed loop feedback control systems are combined to realize double closed loop feedback control of the frequency converter 4, so that the stick-slip vibration of the drill string is further inhibited.
Wherein the control device only obtains the driving torque TmAnd a driving rotational speed omega1Thereby suppressing the stick-slip vibration of the drill string.
The invention specifically provides a control method of a control system for inhibiting drill stem stick-slip vibration based on given rotation speed assisted by a frequency converter, which comprises the following steps:
1) the frequency converter 4 sets an input reference value omega of the top drive target rotating speed through the PLC control systemrefControlling top drive TmFurther driving an oil and gas well drill string system;
2) obtaining real-time driving torque T through frequency converter portmAnd real-time driving speed omega1The observer estimates the rotation speed omega of the bottom hole assembly2By estimating the rotational speed of the bottom hole assembly
Diagnosing whether stick-slip vibration of the drill string occurs;
wherein, the observer estimates the rotating speed of the bottom hole assembly and calculates as follows:
in the formula, ω1For driving the speed of rotation (input to the observer), TmTo drive the torque (input to the observer),
for the drive speed estimate, T is the drill string torque,
as an estimate of drill string torque, J1To top drive moment of inertia, K1、K2And K3Is an estimator gain coefficient, k is a drill string stiffness coefficient,
is the downhole assembly rotational speed estimate (output of the observer). By TeTo control the time constant of the system, the estimator gain coefficient can be realized by an optimal damping mode:
3) if the drill stem is subjected to stick-slip vibration, the controller 6 is started;
4) according to the driving speed omega1And an estimate of the rotational speed of the bottom hole assembly
The controller 6 calculates an auxiliary given rotating speed instruction omega by an auxiliary given rotating speed control algorithmau；
The controller assists a given rotating speed control algorithm as follows:
in the formula, ωauTo assist in setting the speed, KP1Is the controller gain factor. The gain coefficient of the controller can be realized by an optimal damping mode:
in the formula, J2And the rotational inertia of the bottom hole drilling tool assembly, omega is the natural vibration frequency of a drill column system, and k is the rigidity coefficient of the drill column.
5) The controller 6 gives an auxiliary set rotation speed command omega through the busauThe feedback is fed back to the frequency converter 4, double closed loop feedback control is formed by combining a proportional-integral control algorithm embedded in the frequency converter 4, the required driving torque is calculated, and the stick-slip vibration of the drill string is inhibited;
the proportional-integral control algorithm embedded in the frequency converter is as follows:
in the formula, ωrefInputting a reference value, K, for the driving speedP2And KI2Respectively, the controller gain factor, omega1To drive rotational speed, ωauThe rotation speed is given as an auxiliary. The controller gain factor can be adjusted within a suitable range.
6) Meanwhile, the man-machine interaction device 7 stores and displays the actual driving rotating speed omega in real time1Actual drive torque TmAnd an estimate of the rotational speed of the bottom hole assembly
And (4) data.
Fig. 2 shows the effect of drill string stick-slip vibration control. In FIG. 2, the dashed line represents the bottom hole assembly estimate
Acquired by the observer 5; the solid line is the driving rotation speed (actual value of the rotation speed of the drilling and rotating table) omega1. The frequency converter 4 sets the rotating speed input reference value omega of the rotating platformref180 RPM. The controller 6 is activated at 27 seconds. Before starting the controller 6, the rotating speed omega of the rotating platform1Low amplitude vibration, bottom hole assembly rotational speed estimate
The 'sliding-viscous-sliding' occurs and alternatesAnd occurs. Therefore, the stick-slip vibration phenomenon of the oil-gas well drill string system can be diagnosed. After the controller 6 is started, the rotating speed estimated value of the bottom hole assembly
Is effectively suppressed. Meanwhile, the overshoot of the whole control system is small, the control time is less than 10 seconds, and good dynamic characteristics are shown. Therefore, the invention has good effect on diagnosing and inhibiting the stick-slip vibration of the drill string.
As can be seen from the above description, the above-described embodiments of the present invention achieve the following technical effects:
the diagnosis method and the control method are simple and can adopt an embedded technology; the rotating speed estimation value of the bottom hole assembly obtained by the observer can diagnose whether stick-slip vibration of the drill string occurs or not; the problem of drill string stick-slip vibration can be solved based on a control algorithm of assisting a given rotating speed by a frequency converter; the invention greatly improves the drilling efficiency and reduces the drilling cost.
The above description is only one specific embodiment of the present invention, which is suitable for the skilled in the art to understand the present invention more fully, but the scope of the present invention is not limited thereto. Any simple modification and variation of the above embodiments within the technical scope of the present disclosure by those skilled in the art shall be covered by the protection scope of the present disclosure.
Claims (8)
1. A control system for suppressing drill string stick-slip vibration based on given rotation speed assisted by a frequency converter is characterized by comprising:
the oil and gas well drill string system comprises a top drive, a drill string and a bottom hole assembly and is used for realizing the drilling of an oil and gas well;
the frequency converter comprises a PLC and is used for setting a target rotating speed of an oil-gas well drill column system, controlling the driving torque and the driving rotating speed of the top drive and identifying the real-time top drive driving torque and the real-time driving rotating speed;
a control device comprising an observer and a controller; the observer takes the driving rotating speed and the driving torque as input and is used for estimating the rotating speed of the bottom hole drilling tool assembly and diagnosing whether the stick-slip vibration of the drill column occurs or not; the controller comprises an auxiliary given rotating speed control algorithm, the driving rotating speed obtained from the frequency converter and the rotating speed of the bottom hole assembly estimated by the observer are used as input, the auxiliary given rotating speed of the frequency converter is controlled, and the stick-slip vibration of the drill string is inhibited;
the man-machine interaction device is connected with the controller through a serial port and used for inputting control parameters and displaying the driving torque and the driving rotating speed of the oil-gas well drill column system and the estimated value of the rotating speed of the bottom hole drilling tool assembly;
the output of the frequency converter is connected with a top drive inner motor through a three-phase circuit; the control device is communicated with the frequency converter through a bus; the controller in the control device is communicated with the human-computer interaction device through a serial port line;
the controller adjusts an auxiliary given rotating speed instruction of the frequency converter and feeds the auxiliary given rotating speed instruction back to the frequency converter to form a closed loop feedback control system, a proportional-integral control algorithm is embedded into the frequency converter PLC to form another closed loop feedback control system, and the two closed loop feedback control systems are combined to realize double closed loop feedback control of the frequency converter, so that stick-slip vibration of the drill string is further inhibited.
2. The control system for suppressing stick-slip vibration of a drill string based on the given rotation speed of a frequency converter according to claim 1, wherein the top drive comprises a motor, a reducer and a rotary table for providing driving torque and driving rotation speed for an oil and gas well drill string system.
3. The frequency converter-assisted given rotation speed-based drill string stick-slip vibration suppression control system as claimed in claim 1, wherein the drill string is formed by connecting a plurality of drill rods and is used for transmitting torque for a bottom hole assembly and providing a transportation channel for drilling mud.
4. The frequency converter-based given rotation speed-assisted drill string stick-slip vibration suppression control system as claimed in claim 1, wherein the bottom hole assembly comprises a gravity drill pipe, a stabilizer, a drill collar and a drill bit for increasing bottom rotational inertia and rock breaking of an oil and gas well drill string system.
5. A method for suppressing stick-slip vibration of a drill string based on an auxiliary given rotation speed of a frequency converter in the system of any one of claims 1 to 4, the method comprising the steps of:
1) the frequency converter sets a top drive target rotating speed input reference value through the PLC control system, controls the top drive and further drives an oil-gas well drill column system;
2) acquiring real-time driving torque and real-time driving rotating speed through a frequency converter, estimating the rotating speed of a bottom hole drilling tool assembly by an observer, and diagnosing whether drill string stick-slip vibration occurs or not through the estimated value of the rotating speed of the bottom hole drilling tool assembly;
3) if the drill stem is subjected to stick-slip vibration, starting a controller;
4) calculating an auxiliary given rotating speed instruction according to the driving rotating speed, the rotating speed estimated value of the bottom hole assembly and an auxiliary given rotating speed control algorithm of the controller;
5) the controller feeds back the auxiliary given rotating speed instruction to the frequency converter through a bus, and a proportion integral control algorithm embedded in the frequency converter is combined to form double closed loop feedback control, so that the required driving torque is calculated, and the stick-slip vibration of the drill column is inhibited;
6) meanwhile, the man-machine interaction device stores and displays the actual driving torque, the actual driving rotating speed and the rotating speed estimated value data of the bottom hole assembly in real time.
6. The control method of claim 5, wherein the observer estimates the bottomhole assembly rotational speed by:
in the formula, ω1For driving the rotational speed, TmIn order to drive the torque, the drive motor is,
for the drive speed estimate, T is the drill string torque,
as an estimate of drill string torque, J1To top drive moment of inertia, K1、K2And K3Is an estimator gain coefficient, k is a drill string stiffness coefficient,
the estimated value of the rotating speed of the bottom hole assembly is obtained;
by TeTo control the time constant of the system, the estimator gain coefficient can be realized by an optimal damping mode:
7. the control method of claim 5, wherein the controller subsidizes a rotational speed control algorithm as follows:
in the formula, ωauTo assist in setting the speed, KP1Is the controller gain factor;
the gain coefficient of the controller can be realized by an optimal damping mode:
in the formula, J2And the rotational inertia of the bottom hole drilling tool assembly, omega is the natural vibration frequency of a drill column system, and k is the rigidity coefficient of the drill column.
8. The control method according to claim 5, wherein the proportional-integral control algorithm embedded in the frequency converter is as follows:
in the formula, ωrefInputting a reference value, K, for the driving speedP2And KI2Respectively, the controller gain factor, omega1To drive rotational speed, ωauThe rotation speed is given as an auxiliary.
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