CN111911138B - Dynamic well deviation measuring method, measuring nipple and drilling tool combination - Google Patents
Dynamic well deviation measuring method, measuring nipple and drilling tool combination Download PDFInfo
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- CN111911138B CN111911138B CN202010676208.0A CN202010676208A CN111911138B CN 111911138 B CN111911138 B CN 111911138B CN 202010676208 A CN202010676208 A CN 202010676208A CN 111911138 B CN111911138 B CN 111911138B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
- E21B17/02—Couplings; joints
- E21B17/023—Arrangements for connecting cables or wirelines to downhole devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention relates to the field of directional drilling and discloses a dynamic well deviation measuring method, a measuring pup joint and a drilling tool combination. The method comprises the following steps: detecting to obtain a radial acceleration component a x (i) Component of tangential acceleration a y (i) And an axial acceleration component a z (i) (ii) a Instantaneous angular velocity gyro (i); radial magnetic field component m x (i) And a tangential magnetic field component m y (i) (ii) a According to gyro (i) to a x (i) And a y (i) Correction is made to obtain a correction x1 (i) And correction of a y1 (i) (ii) a According to m x (i) And m y (i) Reference signal was established in conjunction with gyro (i) to calculate a x1 (i) The quadrature component Rx and the in-phase component Xx, a of y1 (i) Quadrature component Ry and in-phase component Xy of (a), and correction a z (i) Obtaining the amplitude Az of the corrected axial acceleration component; a dynamic well slope value θ is calculated from Rx, xx, ry, xy, and Az. The problem of inaccurate measurement result caused by high-strength vibration, impact, sensor installation error and instrument inertia in the underground in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of directional drilling, in particular to a dynamic well deviation measuring method, a measuring short section and a drilling tool combination.
Background
The well deviation angle is the included angle between the central axis of a certain point in an oil-water well and the earth plumb line, the size of the well deviation angle (the smaller the well deviation is, the better the well deviation is) needs to be controlled in a vertical well, and the well deviation needs to be controlled in a proper range in the directional well and the horizontal well drilling.
In the field of petroleum drilling, a well deviation sensor is arranged in a current measurement while drilling system or a current well logging system, and the well deviation sensor is used for measuring well deviation parameters of a well bore and then calculating and controlling a well bore track according to the well deviation parameters. In the traditional while-drilling instrument, on one hand, the measured well deviation parameter is a static value, the measurement takes long time, and the drilling efficiency is influenced; on the other hand, the well deviation sensor is positioned behind the screw drill and is far away from the drill bit, and measurement data is delayed, so that the drill bit can not accurately enter an oil layer or easily penetrate out of the oil layer, and the drilling rate of the oil layer is low. Particularly for thin oil layers, the conventional drilling instrument cannot meet the measurement requirement, so that a near-bit measurement system which can perform real-time dynamic well deviation measurement and integrates acquisition, transmission and reception has gradually occupied the market in the petroleum drilling industry nowadays.
On one hand, when the inertial acceleration sensor is adopted to realize the measurement of the well inclination parameters of the underground instrument, because the sensor adopts an orthogonal coordinate system, the orthogonality (position) error is formed by manufacturing, processing, mounting and secondary integration, the output signal of the three-axis sensor has a nonlinear error, and the measurement error is caused; on the other hand, the worse the drilling environment is, namely high-temperature, high-pressure and high-strength vibration and impact, the lower the well bottom and the closer to the drill bit, and the inertia effect is large when the instrument rotates at high speed, so that the dynamic well deviation measurement precision is greatly influenced; the target stratum is very thin, and in order to enable the drill bit to accurately enter an oil layer and drill in the oil layer all the time, a near-bit instrument and a well deviation sensor are required to have very high measurement precision, wherein the near-bit instrument and the well deviation sensor are required to have very high temperature grade and vibration resistance grade. Due to the existence of interference factors such as the instrument and the external environment, measurement precision of a measurement-while-drilling system and a near-bit instrument in the current market is generally low, and reference significance of a measurement result is not great.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a dynamic well deviation measuring method, a measuring short section and a drilling tool combination, which can solve the problem that the measurement result is inaccurate due to the influence of underground high-strength vibration, impact, the installation error of a triaxial acceleration sensor and the inertia of an instrument on the dynamic well deviation measurement in the prior art.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
in one aspect, the invention provides a dynamic well deviation measurement method, comprising: and correcting the dynamic well deviation measurement signal at a certain moment by combining the magnetic field component and the instrument angular velocity at the moment to obtain corrected dynamic well deviation data.
On the basis of the technical scheme, the method for correcting the dynamic well deviation measurement signal at a certain moment by adopting the combination of the magnetic field component and the instrument angular velocity at the moment to obtain the corrected dynamic well deviation data comprises the following steps:
detecting the radial acceleration component a of the dynamic well deviation measuring short section at each moment x (i) Component of tangential acceleration a y (i) And an axial acceleration component a z (i)；
Detecting the instantaneous angular velocity gyro (i) of the dynamic well deviation measuring short joint;
detecting radial magnetic field component m of dynamic well deviation measuring nipple x (i) And a tangential magnetic field component m y (i)；
According to gyro (i) to a x (i) And a y (i) Correction is carried out to obtain a corrected radial acceleration component a x1 (i) And correcting the tangential acceleration component a y1 (i) (ii) a According to m x (i) And m y (i) Reference signal was established in conjunction with gyro (i) to calculate a x1 (i) Radial quadrature component Rx and radial in-phase component Xx, a of y1 (i) Tangential quadrature component Ry and tangential in-phase component Xy, and correction a z (i) Obtaining the amplitude Az of the corrected axial acceleration component; a dynamic well slope value θ is calculated from Rx, xx, ry, xy, and Az.
On the basis of the technical scheme, the pairs a are according to gyro (i) x (i) And a y (i) Corrected radial accelerationComponent a x1 (i) And correcting the tangential acceleration component a y1 (i) The method specifically comprises the following steps:
according to the formula S ei = gyro (i) 2*r calculating centrifugal acceleration S ei According to a x’ (i)＝a x (i)-S ei Calculating to obtain a radial filtering centrifugal acceleration component a x’ (i)；
According to the formula R i Computing normalized coefficient R = k (gyro (i)/gyro (i) _ avg) i According to a x1 (i)＝a x’ (i)-(a x’ (i)-a x’ (i-1))*R i Calculating a corrected radial acceleration component a x1 (i)；
According to the formula S ti Calculating torsional acceleration S of = (gyro (i + 1) -gyro (i))/t ti According to a y’ (i)＝a y (i)-S ti Calculating to obtain a tangential filtering torsional acceleration component a y’ (i)；
According to the formula a y” (i)＝a y’ (i)-(a y’ (i)-a y’ (i-1))*R i Calculating to obtain a normalized radial acceleration component a y” (i)；
According to the formula a y1 (i)＝a y” (i)-a x1 (i)*(a y” (i)_avg/a x1 (i) Avg) calculates a corrected radial acceleration component a y1 (i)；
Wherein: r is the distance from the triaxial acceleration sensor to the center of the dynamic well deviation measuring short section, t is the interval time between two sampling points, k is the uneven interpolation coefficient of the rotating speed, gyro (i) _ avg is the average value of gyro (i) in the current acquisition time period, a y” (i) Avg is a in the current acquisition period y” (i) Average value of a x1 (i) Avg) is a within the current acquisition period x1 (i) I is the sampling point ordinal number.
On the basis of the technical scheme, the m is x (i) And m y (i) Establishing a reference signal by combining gyro (i), and specifically comprising the following steps:
according to the formula
Calculating a magnetic tool face TFO _ M (i) value of each sampling point;
according to the formula
Calculating a sinusoidal reference signal sinT (i);
according to the formula
Calculating a cosine reference signal cosT (i);
wherein: i is the number of sampling points, m x Mid and m x Am is the radial magnetic field component m x (i) Amplitude and base bias of (1), m y Mid and m y Am are respectively tangential magnetic field components m y (i) TFO _ M (ps) is the start point of the waveform plateau and TFO _ M (pe) is the end point of the waveform plateau.
On the basis of the technical scheme, the calculation a x1 (i) Radial quadrature component Rx and radial in-phase components Xx and a of y1 (i) The tangential quadrature component Ry and the tangential in-phase component Xy specifically include:
according to the formula
Calculating a radial orthogonal component Rx;
according to the formula
Calculating a radial in-phase component Xx;
according to the formula
Calculating a tangential orthogonal component Ry;
according to the formula
Calculating a tangential in-phase component Xy;
wherein: i is the ordinal number of the sampling point, and n is the number of samples in the period.
On the basis of the technical scheme, the correction a z (i) The obtaining of the corrected axial acceleration component amplitude Az specifically includes:
according to the formula
Calculating an axial orthogonal component Rz;
according to the formula
Calculating an axial in-phase component Xz;
according to the formula
Calculating to obtain a corrected real-time axial acceleration component a z1 (i)；
According to the formula
Calculating the amplitude Az of the corrected axial acceleration component;
wherein i is the ordinal number of the sampling point, and n is the number of samples in the period.
On the basis of the technical scheme, the calculating of the dynamic well deviation value theta according to Rx, xx, ry, xy and Az specifically comprises the following steps:
according to the formula
Calculating the amplitude Ax of the radial gravitational acceleration component;
according to the formula
Calculating the amplitude Ay of the tangential gravity acceleration component;
according to the formula
Or->
Calculating a dynamic well deviation value theta;
wherein: i is the ordinal number of the sampling point, and n is the number of samples in the period.
In another aspect, the present invention provides a dynamic well deviation measuring sub, comprising:
the body is internally provided with an accommodating groove;
measuring device, it is located in the holding tank includes:
-a triaxial acceleration sensor for detecting the radial acceleration component a of the dynamic well deviation measurement sub at each instant x (i) Component of tangential acceleration a y (i) And an axial acceleration component a z (i)；
-a gyroscope for detecting the instantaneous angular velocity gyro (i) of the dynamic well deviation measurement sub;
-a dual axis magnetometer for detecting the radial magnetic field component m of the dynamic well deviation measurement sub x (i) And a tangential magnetic field component m y (i)；
An analysis unit for correcting a z (i) Obtaining the amplitude Az of the corrected axial velocity component according to gyro (i) to a x (i) And a y (i) Corrected to obtain a corrected radial acceleration component a x1 (i) And correcting the tangential acceleration component a y1 (i) (ii) a According to m x (i) And m y (i) Reference signal was established in conjunction with gyro (i) to calculate a x1 (i) Of the radial quadrature component Rx and radial in-phase components Xx and a y1 (i) A tangential quadrature component Ry and a tangential in-phase component Xy; a dynamic well deviation value θ is calculated from Rx, xx, ry, xy, and Az.
On the basis of the technical scheme, the accommodating groove comprises at least three grooves which are distributed at equal intervals, one of the grooves is used for accommodating the measuring device, and the other two grooves are used for accommodating the battery.
In another aspect, the present invention provides a drilling tool assembly comprising a dynamic well deviation measurement sub, further comprising:
the drill bit is arranged at one end of the dynamic well deviation measuring nipple;
the screw drilling tool is arranged at the other end of the dynamic well deviation measuring short section;
the receiving short section is arranged at the other end of the screw drilling tool and used for receiving the dynamic well deviation value measured by the dynamic well deviation measuring short section;
and the measurement-while-drilling system is arranged at the other end of the receiving short section and is used for transmitting the dynamic well deviation value received by the receiving short section to the ground.
Compared with the prior art, the invention has the advantages that: firstly, the instantaneous angular velocity gyro (i) of the dynamic well deviation measuring short joint detected by a gyroscope is utilized to measure the radial acceleration component a detected by a triaxial acceleration sensor x (i) And a tangential acceleration component a y (i) Correcting to eliminate measurement error caused by nonuniform inertia and rotation speed of the instrument, mainly including centrifugal acceleration and torsional acceleration in the radial acceleration component and tangential acceleration component of the triaxial acceleration sensor, to obtain corrected radial acceleration component a x1 (i) And correcting the tangential acceleration component a y1 (i) And then the radial magnetic field component m detected by the biaxial magnetometer x (i) Tangential magnetic field component m y (i) Establishing a reference signal by combining instantaneous angular velocity gyro (i) detected by a gyroscope, and correcting a corrected radial acceleration component a of the triaxial acceleration sensor after correction x1 (i) Correcting the tangential acceleration component a y1 (i) And axial acceleration component a z (i) Correcting and filtering, mainly correcting the mounting position of the triaxial acceleration sensor and filtering vibration acceleration and impact acceleration mixed in radial and tangential output signals of the triaxial acceleration sensor so as to eliminate the mounting position error of the triaxial acceleration sensor and measurement errors caused by severe working conditions such as underground vibration and impact, and finally obtaining a x1 (i) Radial quadrature component Rx and radial in-phase component Xx, a of y1 (i) The tangential quadrature component Ry and the tangential in-phase component Xy, and a z (i) And then calculating the dynamic well deviation. The method is characterized in that the inertia effect and the uneven rotating speed in the measurement signal are removed in a mode of correcting and filtering the dynamic well deviation measurement signal at a certain moment by combining the magnetic field component and the instrument angular velocity at the momentEven, vibration and impact and interference such as triaxial acceleration sensor installation error, with conventional dynamic well deviation measurement nipple joint contrast, the centrifugal acceleration that is mingled with in the triaxial acceleration sensor output signal of gyroscope correction and torsional acceleration's precision is higher, magnetometer and the joint filtering triaxial acceleration sensor installation error of gyroscope and mix with vibration and impact interference in the output signal, the reference significance of measuring result to the well drilling is big, it is more guaranteed to reach the oil reservoir and bore the chance rate index, and this kind of correction and filtering mode are nimble easily to be revised.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method of dynamic well deviation measurement in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a dynamic well deviation measurement sub in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a measurement device in an embodiment of the invention;
FIG. 4 is a layout diagram of sensors in a measuring device according to an embodiment of the present invention;
FIG. 5 is an exploded view of an acceleration and magnetic field according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a well tool assembly according to an embodiment of the present invention.
In the figure: 1. a drill bit; 2. a dynamic well deviation measuring nipple; 21. a body; 211. a data communication port; 22. a measuring device; 221. a three-axis acceleration sensor; 222. a two-axis magnetometer; 223. a gyroscope; 23. a battery; 3. a screw drill; 4. receiving a short section; 5. provided is a measurement while drilling system.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in FIG. 1, the present invention provides a dynamic well deviation measurement method, comprising the steps of: and correcting the dynamic well deviation measurement signal at a certain moment by combining the magnetic field component and the instrument angular velocity at the moment to obtain corrected dynamic well deviation data.
Specifically, the method comprises the following steps:
detecting the radial acceleration component a of the dynamic well deviation measuring short section at each moment x (i) Component of tangential acceleration a y (i) And an axial acceleration component a z (i)；
Detecting the instantaneous angular velocity gyro (i) of the dynamic well deviation measuring short joint;
detecting radial magnetic field component m of dynamic well deviation measuring nipple x (i) And a tangential magnetic field component m y (i)；
According to gyro (i) to a x (i) And a y (i) Correction is carried out to obtain a corrected radial acceleration component a x1 (i) And correcting the tangential acceleration component a y1 (i) (ii) a According to m x (i) And m y (i) Reference signal was established in conjunction with gyro (i) to calculate a x1 (i) Of the radial quadrature component Rx and the radial in-phase component Xx, a y1 (i) The tangential quadrature component Ry and the tangential in-phase component Xy, and a correction a z (i) Obtaining the amplitude Az of the corrected axial acceleration component; a dynamic well deviation value θ is calculated from Rx, xx, ry, xy, and Az.
Firstly, measuring the instantaneous angular velocity gyro (i) of the short joint by detecting the dynamic well deviation to measure the radial acceleration component a x (i) And a tangential acceleration component a y (i) Correction is made to eliminate measurement errors and rotational speed non-uniformities caused by instrument inertia, mainly three-axis accelerationThe centrifugal acceleration and the torsional acceleration are included in the radial acceleration component and the tangential acceleration component of the degree sensor to obtain a corrected radial acceleration component a x1 (i) And correcting the tangential acceleration component a y1 (i) And then using the detected radial magnetic field component m x (i) Tangential magnetic field component m y (i) Establishing a reference signal by combining instantaneous angular velocity gyro (i), and correcting the corrected radial acceleration component a of the triaxial acceleration sensor x1 (i) Correcting the tangential acceleration component a y1 (i) And axial acceleration component a z (i) Correcting and filtering to mainly correct the mounting position error of the triaxial acceleration sensor and filter the vibration acceleration and the impact acceleration mixed in the radial and tangential output signals of the triaxial acceleration sensor so as to eliminate the mounting position error of the triaxial acceleration sensor and the measurement error caused by the severe working conditions such as underground vibration, impact and the like, and finally obtain a x1 (i) Radial quadrature component Rx and radial in-phase component Xx, a of y1 (i) Tangential quadrature component Ry and tangential in-phase component Xy, and a z (i) And then calculating the dynamic well deviation. The method is characterized in that the interference of inertia effect, uneven rotating speed, vibration and impact, installation error of a triaxial acceleration sensor and the like in a measurement signal is removed by adopting a mode of jointly correcting and filtering a dynamic well inclination measurement signal at a certain moment by adopting a magnetic field component and an instrument angular velocity at the moment.
In some optional embodiments, said pair a according to gyro (i) x (i) And a y (i) Correction is carried out to obtain a corrected radial acceleration component a x1 (i) And correcting the tangential acceleration component a y1 (i) The method specifically comprises the following steps:
according to the formula S ei ＝gyro (i) 2*r calculating centrifugal acceleration S ei According to a x’ (i)＝a x (i)-S ei Calculating to obtain a radial filtering centrifugal acceleration component a x’ (i)；
According to the formula R i Computing normalized coefficient R = k (gyro (i)/gyro (i) _ avg) i According to a x1 (i)＝a x’ (i)-(a x’ (i)-a x’ (i-1))*R i Calculating a corrected radial acceleration component a x1 (i)；
According to the formula S ti Calculating torsional acceleration S of = (gyro (i + 1) -gyro (i))/t ti According to a y’ (i)＝a y (i)-S ti Calculating to obtain a tangential filtering torsional acceleration component a y’ (i)；
According to the formula a y” (i)＝a y’ (i)-(a y’ (i)-a y’ (i-1))*R i Calculating to obtain a normalized radial acceleration component a y” (i)；
According to the formula a y1 (i)＝a y” (i)-a x1 (i)*(a y” (i)_avg/a x1 (i) Avg) calculates a corrected radial acceleration component a y1 (i)；
Wherein: r is the distance from the triaxial acceleration sensor to the center of the dynamic well deviation measuring short section, t is the interval time between two sampling points, k is the uneven interpolation coefficient of the rotating speed, gyro (i) _ avg is the average value of gyro (i) in the current acquisition time period, a y” (i) Avg is a in the current acquisition period y” (i) Average value of a x1 (i) Avg) is a within the current acquisition period x1 (i) I is the sampling point ordinal number.
In some alternative embodiments, said is according to m x (i) And m y (i) Establishing a reference signal by combining gyro (i), and specifically comprising the following steps:
according to the formula
Calculating a magnetic tool face TFO _ M (i) value of each sampling point;
according to the formula
Calculating a sinusoidal reference signal sinT (i);
according to the formula
Calculating a cosine reference signal cosT (i);
wherein: i is the number of sampling points, m x Mid and m x Am is the radial magnetic field component m x (i) Amplitude and base bias of (1), m y Mid and m y Am is the tangential magnetic field component m y (i) TFO _ M (ps) is the start point of the waveform plateau and TFO _ M (pe) is the end point of the waveform plateau.
In the present embodiment, shkR = (gyro (i)) max -gyro(i) min )/gyro(i) avg And calculating a torsional vibration value shkR in the current acquisition time period.
Wherein, gyro (i) max Is the maximum value of gyro (i) in the current acquisition time period, gyro (i) min is the minimum value of gyro (i) in the current acquisition time period, and gyro (i) avg is the average value of gyro (i) in the current acquisition time period.
And judging a section with a relatively stable waveform of output signals of the triaxial acceleration sensor and the biaxial magnetometer in the current acquisition time period through the shkR value, namely positioning starting points TFO _ M (ps) and TFO _ M (pe) of the section with the relatively stable waveform in TFO _ M (i). Establishing a radial output signal m associated with a two-axis magnetometer x (i) Sine wave sinT (i) with same frequency and a section of tangential output signal m with the biaxial magnetometer x (i) Cosine waves cosT (i) of the same frequency are used as reference signals.
In some alternative embodiments, the calculation a x1 (i) Radial quadrature component Rx and radial in-phase components Xx and a of y1 (i) The tangential quadrature component Ry and the tangential in-phase component Xy specifically include:
according to the formula
Calculating a radial orthogonal component Rx;
according to the formula
Calculating a radial in-phase component Xx;
according to the formula
Calculating a tangential orthogonal component Ry;
according to the formula
Calculating a tangential in-phase component Xy;
wherein: i is the ordinal number of the sampling point, and n is the number of samples in the period.
In some alternative embodiments, the correction a z (i) The obtaining of the corrected axial acceleration component amplitude Az specifically includes:
according to the formula
Calculating an axial orthogonal component Rz;
according to the formula
Calculating an axial in-phase component Xz;
according to the formula
Calculating to obtain a corrected real-time axial acceleration component a z1 (i)；
According to the formula
Calculating the amplitude Az of the corrected axial acceleration component;
wherein i is the ordinal number of the sampling point, and n is the number of samples in the period
In some optional embodiments, the calculating the dynamic well deviation value θ according to Rx, xx, ry, xy and Az specifically includes:
according to the formula
Calculating the amplitude Ax of the radial gravitational acceleration component;
according to the formula
Calculating the amplitude Ay of the tangential gravity acceleration component;
according to the formula
Or->
Calculating a dynamic well deviation value theta;
wherein: i is the ordinal number of the sampling point, and n is the number of samples in the period.
In the above embodiment, if the sampling frequency is 1khz, n =1000.
As shown in fig. 2-5, the present invention further provides a dynamic well deviation measuring sub, comprising: a body 21 having an accommodating groove therein; still include measuring device 22, it locates in the holding tank, include: a triaxial acceleration sensor 221 for detecting the radial acceleration component a of the dynamic well deviation measuring short section at each moment x (i) Tangential acceleration component a y (i) And an axial acceleration component a z (i) (ii) a The measuring device further comprises a gyroscope 223 for detecting the instantaneous angular velocity gyro (i) of the dynamic well deviation measurement sub; also included is a dual axis magnetometer 222 for detecting the radial magnetic field component m of the dynamic well deviation measurement sub x (i) And a tangential magnetic field component m y (i) (ii) a Further comprising an analysis unit for correcting a z (i) Obtaining the amplitude Az of the corrected axial velocity component according to gyro (i) to a x (i) And a y (i) Corrected to obtain a corrected radial acceleration component a x1 (i) And correcting the tangential acceleration component a y1 (i) (ii) a According to m x (i) And m y (i) Reference signal was established in conjunction with gyro (i) to calculate a x1
(i) Radial quadrature component Rx and radial in-phase components Xx and a of y1 (i) A tangential quadrature component Ry and a tangential in-phase component Xy; a dynamic well deviation value θ is calculated from Rx, xx, ry, xy, and Az.
Firstly, the instantaneous angular velocity gyro (i) of a dynamic well deviation measuring short joint detected by a gyroscope is utilized to measure the radial acceleration component a detected by a triaxial acceleration sensor x (i) And a tangential acceleration component a y (i) Correcting to eliminate measurement error caused by inertia and rotation speed unevenness of the instrument, mainly including centrifugal acceleration and torsional acceleration in the radial acceleration component and tangential acceleration component of the triaxial acceleration sensor, to obtain corrected radial acceleration component a x1 (i) And correcting the tangential acceleration component a y1 (i) Then the radial magnetic field component m detected by the biaxial magnetometer x (i) Tangential magnetic field component m y (i) Establishing a reference signal by combining instantaneous angular velocity gyro (i) detected by a gyroscope, and correcting a corrected radial acceleration component a of the triaxial acceleration sensor after correction x1 (i) Correcting the tangential acceleration component a y1 (i) And axial acceleration component a z (i) Correcting and filtering to eliminate error in the installing position of the three-axis acceleration sensor and the vibration acceleration and impact acceleration in the radial and tangential output signals of the three-axis acceleration sensor, and finally to obtain the final product x1 (i) Of the radial quadrature component Rx and radial in-phase components Xx and a y1 (i) The tangential quadrature component Ry and the tangential in-phase component Xy, and a z (i) And then calculating the dynamic well deviation. The interference of inertia effect, uneven rotating speed, vibration and impact, installation error of the triaxial acceleration sensor and the like in the measurement signal is removed by adopting a mode of jointly correcting and filtering the dynamic well inclination measurement signal at a certain moment by adopting the magnetic field component and the instrument angular velocity at the moment, compared with the conventional method, the precision of correcting the centrifugal acceleration and the torsional acceleration mixed in the output signal of the triaxial acceleration sensor by the gyroscope is higher, and the magnetometer and the gyroscope are jointly correctedThe mounting error of the triaxial acceleration sensor and the mixed vibration and impact interference in the output signal of the triaxial acceleration sensor are positively and filtered, the reference significance of the measurement result to the well drilling is large, the oil layer drilling rate index is ensured, and the correction and filtering mode is flexible and easy to modify.
In this embodiment, the measurement device 22 is provided in the form of a master measurement circuit board, which includes a signal acquisition unit, a master control unit, a power management unit, and a data storage and download unit for acquiring and processing the output signals of the group of well deviation sensors.
The well deviation sensor group in the signal acquisition unit of the main control measurement circuit board is composed of a triaxial acceleration sensor 221, a biaxial magnetometer 222 and a gyroscope 223. The device comprises a geological guide tool, a triaxial acceleration sensor, a sensor and a controller, wherein the triaxial acceleration sensor adopts an MEMS sensor, has a nominal temperature of 125 ℃, and is used for measuring the components of the gravity acceleration of the geological guide tool on three axes, wherein the three axes are along the radial direction of a drilling tool, the tangential direction of the drilling tool and the axial direction of the drilling tool; the nominal temperature of the double-axis magnetometer is 150 ℃, and the double-axis magnetometer is used for measuring a magnetic field component change signal generated by the rotation of the instrument, and the double axes are along the radial direction of the drilling tool and the tangential direction of the drilling tool; the gyroscope has a nominal temperature of 175 ℃ and is used for measuring an angle periodic variation signal generated by instrument rotation. The three chips are all high temperature resistant chips and are integrally installed on the main control measuring circuit board.
Referring to fig. 2 again, a containing groove is arranged in the body 21, and includes at least three grooves distributed uniformly, wherein one groove is used for placing a near-bit master control measurement circuit board; a battery 23 is respectively arranged in the two grooves and is called a No. 1 battery bin and a No. 2 battery bin (only one battery bin is shown in the figure) to supply power for all components on the dynamic well deviation measuring short section of the near drill bit. The assembly of the circuit bin comprises the steps of firstly placing a rubber gasket at the bottom of the circuit bin, then embedding the main control measuring circuit board in the rubber gasket, then performing sealing glue treatment on the surface of the main control measuring circuit board, then covering a layer of metal shell on the surface of the main control measuring circuit board and fastening the metal shell by using screws, and finally covering a cover plate, wherein the two ends of the cover plate are locked with a body 21 of the dynamic well inclination measuring short joint by using screws. A battery module packaged by a metal shell is firstly placed in the No. 1 battery bin, then a power line led out by the battery module is led into the circuit bin through a wire passing hole in the dynamic well deviation measuring nipple body 21, then a cover plate covers the battery bin, and two ends of the cover plate are locked with the dynamic well deviation measuring nipple body 21 by screws. No. 2 battery compartment's assembly process refers to No. 1 battery compartment. The body 21 is also provided with a data communication port 211 for reviewing downhole measurement data at the surface.
Referring to fig. 3 and 4 again, the measuring device 22 is installed in a circuit cabin on the body 21 of the dynamic well deviation measuring sub, and includes a signal acquisition unit (including a triaxial acceleration sensor 221, a biaxial magnetometer 222 and a gyroscope 223), an analysis unit, a data storage module, a data downloading module and a power supply module, and is responsible for acquiring and processing output signals of the well deviation sensor group. In the implementation process, the working principle is as follows: the power supply module provides voltage required by normal operation for the whole circuit; the signal acquisition unit comprises components such as a triaxial acceleration sensor, a biaxial magnetometer and a gyroscope, wherein the triaxial acceleration sensor and the biaxial magnetic force output digital signals which can be directly input into the analysis unit, and the gyroscope outputs analog signals which need to be input into the analysis unit after analog-to-digital conversion.
Referring to fig. 5, which is an exploded view of acceleration and magnetic field in the embodiment of the present invention, referring to fig. 5, the three axes of the three-axis acceleration sensor 221 are Ax (installed along the radial direction of the drill), ay (installed along the tangential direction of the drill) and Az (installed along the axial direction of the drill), and the output signal of the acceleration sensor is positive in the direction of the arrow in the figure, and negative in the opposite direction; the two axes of the two-axis magnetometer 222 are m x (radially of the drill) and m y (installed tangentially to the drill) the magnetometer outputs are positive in the direction of the arrow in the figure, and negative otherwise.
As shown in fig. 6, the present invention further provides a drilling tool assembly, which includes a dynamic well deviation measuring sub, and further includes: the drill bit 1 is arranged at one end of the dynamic well deviation measuring nipple 2; the screw drilling tool 3 is arranged at the other end of the dynamic well deviation measuring nipple 2; the receiving nipple 4 is arranged at the other end of the screw drilling tool 3 and is used for receiving the dynamic well deviation value measured by the dynamic well deviation measuring nipple 2; the measurement while drilling system 5 is arranged at the other end of the receiving short section 4 and used for transmitting the dynamic well deviation value received by the receiving short section 4 to the ground.
In the embodiment, the whole drilling tool is composed of a drill bit 1, a dynamic well deviation measuring pup joint 2, a screw drilling tool 3, a receiving pup joint 4 and a measurement while drilling system 5, wherein the measurement while drilling system 5 comprises a battery joint, an electronic probe, a gamma probe, a driving joint and a pulser or a pulser with a generator. In the drilling process of the drill bit 1, the dynamic well deviation measuring short section 2 measures well deviation and other parameters of the stratum where the drill bit 1 is located in real time, transmits the measured parameter values to the receiving short section 4 above the screw drilling tool 3 through wireless short transmission, and then converts the measured data into a mud pressure pulse signal by a measurement while drilling system 5 above the receiving short section 4 according to a certain coding rule and transmits the mud pressure pulse signal to the ground. This dynamic well deviation measuring nipple of drilling tool is nearer apart from the drill bit, measures the real-time high, and the electric elements who chooses for use all are high temperature resistant, low-power consumption chip in the instrument in addition.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A method of dynamic well deviation measurement, comprising: correcting the dynamic well deviation measurement signal at a certain moment by combining the magnetic field component and the instrument angular velocity at the moment to obtain corrected dynamic well deviation data; the method comprises the following steps:
detecting the radial acceleration component a of the dynamic well deviation measuring short section at each moment x (i) Component of tangential acceleration a y (i) And an axial acceleration component a z (i)；
Detecting the instantaneous angular velocity gyro (i) of the dynamic well deviation measuring short section;
detecting radial magnetic field component m of dynamic well deviation measuring nipple x (i) And a tangential magnetic field component m y (i)；
According to gyro (i) to a x (i) And a y (i) Corrected to obtain a corrected radial acceleration component a x1 (i) And correcting tangential acceleration componentQuantity a y1 (i) (ii) a The method specifically comprises the following steps:
according to the formula S ei = gyro (i) 2*r calculating centrifugal acceleration S ei According to a x’ (i)＝a x (i)-S ei Calculating to obtain a radial filtering centrifugal acceleration component a x’ (i)；
According to the formula R i Computing normalized coefficient R = k (gyro (i)/gyro (i) _ avg) i According to a x1 (i)＝a x’ (i)-(a x’ (i)-a x’ (i-1))*R i Calculating a corrected radial acceleration component a x1 (i)；
According to the formula S ti Calculating torsional acceleration S of = (gyro (i + 1) -gyro (i))/t ti According to a y’ (i)＝a y (i)-S ti Calculating to obtain a tangential filtering torsional acceleration component a y’ (i)；
According to the formula a y” (i)＝a y’ (i)-(a y’ (i)-a y’ (i-1))*R i Calculating to obtain a normalized radial acceleration component a y” (i)；
According to the formula a y1 (i)＝a y” (i)-a x1 (i)*(a y” (i)_avg/a x1 (i) Avg) calculates a corrected radial acceleration component a y1 (i)；
Wherein: r is the distance from the triaxial acceleration sensor to the center of the dynamic well deviation measuring short section, t is the interval time between two sampling points, k is the uneven interpolation coefficient of the rotating speed, gyro (i) _ avg is the average value of gyro (i) in the current acquisition time period, a y” (i) Avg is a in the current acquisition period y” (i) Average value of a x1 (i) Avg is a in the current acquisition period x1 (i) I is the ordinal number of the sampling point;
according to m x (i) And m y (i) Reference signal was established in conjunction with gyro (i) to calculate a x1 (i) A radial quadrature component Rx and a radial in-phase component Xx; a is a y1 (i) The tangential quadrature component Ry and the tangential in-phase component Xy, and a correction a z (i) Obtaining the amplitude Az of the corrected axial acceleration component; calculating a dynamic well deviation value theta according to Rx, xx, ry, xy and Az;
said according to m x (i) And m y (i) Establishing a reference signal by combining gyro (i), and specifically comprising the following steps:
according to the formula
Calculating a magnetic tool face TFO _ M (i) value of each sampling point;
according to the formula
Calculating a sinusoidal reference signal sinT (i);
according to the formula
Calculating a cosine reference signal cosT (i); />
Wherein: i is the number of sampling points, m x Mid and m x Am is the radial magnetic field component m x (i) Amplitude and base bias of (1), m y Mid and m y Am is the tangential magnetic field component m y (i) TFO _ M (ps) is the starting point of the plateau of the waveform,
end point of TFO _ M (pe) waveform plateau;
calculating a x1 (i) Radial quadrature component Rx and radial in-phase components Xx and a of y1 (i) The tangential quadrature component Ry and the tangential in-phase component Xy specifically include:
according to the formula
Calculating a radial orthogonal component Rx;
according to the formula
Calculating a radial in-phase component Xx;
according to the formula
Calculating a tangential quadrature component Ry;
according to the formula
Calculating a tangential in-phase component Xy;
wherein: i is the ordinal number of the sampling point, and n is the number of samples in the period;
the correction a z (i) Obtaining a corrected axial acceleration component amplitude Az, specifically including:
according to the formula
Calculating an axial orthogonal component Rz;
according to the formula
Calculating an axial in-phase component Xz;
according to the formula
Calculating to obtain a corrected real-time axial acceleration component a z1 (i)；
According to the formula
Calculating the amplitude Az of the corrected axial acceleration component;
wherein i is the ordinal number of a sampling point, and n is the number of samples in a period;
the calculating of the dynamic well deviation value theta according to Rx, xx, ry, xy and Az specifically comprises the following steps:
according to the formula
Calculating the amplitude Ax of the radial gravitational acceleration component;
according to the formula
Calculating the amplitude Ay of the tangential gravity acceleration component;
according to the formula
Or->
Calculating a dynamic well deviation value theta;
wherein: i is the ordinal number of the sampling point, and n is the number of samples in the period.
2. A dynamic gauging sub for carrying out a method of dynamic well deviation gauging as claimed in claim 1, comprising:
a body (21) provided with an accommodating groove therein;
a measuring device (22) disposed within the receiving tank, comprising:
-a triaxial acceleration sensor (221) for detecting the radial acceleration component a of the dynamic well deviation measurement sub (2) at each moment in time x (i) Component of tangential acceleration a y (i) And an axial acceleration component a z (i)；
-a gyroscope (223) for detecting the instantaneous angular velocity gyro (i) of the dynamic well deviation measurement sub (2);
-a dual axis magnetometer (222) for detecting the radial magnetic field component m of the dynamic well deviation gauging sub (2) x (i) And a tangential magnetic field component m y (i)；
An analysis unit for pairing a according to gyro (i) x (i) And a y (i) Corrected to obtain a corrected radial acceleration component a x1 (i) And correcting the tangential acceleration component a y1 (i) (ii) a According to m x (i) And m y (i) Reference signal was established in conjunction with gyro (i) to calculate a x1 (i) Of the radial quadrature component Rx and the radial in-phase component Xx, a y1 (i) The tangential quadrature component Ry and the tangential in-phase component Xy, and a correction a z (i) Obtaining the amplitude Az of the corrected axial acceleration component; a dynamic well deviation value θ is calculated from Rx, xx, ry, xy, and Az.
3. The dynamic well deviation measurement sub of claim 2, wherein: the accommodating groove comprises at least three grooves which are distributed at equal intervals, wherein one groove is used for accommodating the measuring device (22), and the other two grooves are used for accommodating the battery.
4. A drilling tool assembly comprising a dynamic well deviation measurement sub according to claim 2, comprising the dynamic well deviation measurement sub, and further comprising:
the drill bit (1) is arranged at one end of the dynamic well deviation measuring nipple (2);
the screw drilling tool (3) is arranged at the other end of the dynamic well deviation measuring nipple (2);
the receiving short section (4) is arranged at the other end of the screw drilling tool (3) and is used for receiving the dynamic well deviation value measured by the dynamic well deviation measuring short section (2);
and the measurement while drilling system (5) is arranged at the other end of the receiving short section (4) and is used for transmitting the dynamic well inclination value received by the receiving short section (4) to the ground.
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