CN113482590A - Bending screw rod deflecting parameter control method and system based on downhole robot - Google Patents

Bending screw rod deflecting parameter control method and system based on downhole robot Download PDF

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CN113482590A
CN113482590A CN202110890764.2A CN202110890764A CN113482590A CN 113482590 A CN113482590 A CN 113482590A CN 202110890764 A CN202110890764 A CN 202110890764A CN 113482590 A CN113482590 A CN 113482590A
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bit
angle
pressure
robot
fluctuation
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CN113482590B (en
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赵建国
方世纪
王国荣
刘清友
肖晓华
韩硕
朱海燕
杨荣杰
王菊
梁鹏辉
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Southwest Petroleum University
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E21B7/06—Deflecting the direction of boreholes

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Abstract

The invention relates to a method and a system for controlling deflecting parameters of a bent screw based on an underground robot, wherein the method for controlling a tool face angle comprises the following steps: s1: transmitting target azimuth angle phi from groundaThe calculation circuit (6) calculates the tool face angle deviation delta omega required to be adjusted according to the current borehole azimuth phi; s2: the calculation circuit (6) calculates the required adjusted weight on bit (delta P) according to the required adjusted tool face angle deviation (delta omega)BSize; s3: after being processed by a frequency converter (5) and an amplifying circuit (4), the bit pressure control signal enables the bit pressure control robot (2) to change the bit pressure PBAnd quantitatively controlling the tool face angle omega. Meanwhile, the change of the build-up rate can be effectively controlled by controlling the face angle of the tool to generate certain amplitude and frequency fluctuation. By using the method and the system for controlling the deflecting parameters of the bending screw based on the underground robot, the deflecting parameters of the bending screw can be stably controlled, and the precision and the stability of deflecting operation are improved.

Description

Bending screw rod deflecting parameter control method and system based on downhole robot
Technical Field
The invention relates to the field of deflecting of screw drilling tools, in particular to a bending screw deflecting parameter control method and system based on an underground robot.
Background
A screw drilling tool (PDM drill) is a positive displacement downhole power drilling tool which takes drilling fluid as power and converts liquid pressure energy into mechanical energy.
At present, two modes of rotary steering and bent screw sliding steering are mainly used for the directional drilling of the horizontal well, and the bent screw sliding steering is still the main technology of the directional drilling of the horizontal well due to the facts that a rotary steering tool is mainly imported, cost is high, drilling sticking risks are large and the like. According to statistics, the gas ratio of the Chongqing shale in the 2020 curved screw sliding guide well section exceeds 50%, and the gas ratio of dense oil gas and the like even exceeds 90% due to cost limitation.
When the screw drilling tool needs to be used for quantitative deflecting, a section of bent screw is usually used and installed at the end of the drilling tool and directly connected with a drill bit, the bent screw has a bend angle with a certain angle, when the drilling tool starts to work underground, the stator can finish directional and quantitative well deflecting without rotating speed, but due to the existence of the anti-torsion angle, a guide angle during working is not equal to a preset angle during drilling, generally, a certain device angle is reserved through accurate calculation to offset the anti-torsion angle, and the condition that the guide angle points to the preset deflecting direction can be met. The bent screw rod sliding guide is characterized in that a drill column does not rotate, friction resistance is high, support pressure is easy to realize, so that the drill pressure cannot be effectively transferred, the mechanical drilling speed is usually 20-50% of that of rotary drilling, the support pressure causes the tool surface not to be easily adjusted and controlled, and the drilling time efficiency is reduced by more than 20%.
In the process of drilling operation, along with fluctuation of bit pressure, a tool face angle can deviate relative to a preset angle, if the tool face angle cannot be found and adjusted in time, the deviation is larger and larger, and finally the tool face angle deviates from the deflecting direction, so that the angle of a drill rod device is adjusted by ground personnel, and due to changes of cutting resistance and friction resistance, the adjustment value is difficult to calculate accurately. Meanwhile, in the deflecting operation of the bending screw, the deflecting rate is often required to be adjusted so as to perform transition of a horizontal well section or meet a preset track, while the general adjusting method is to replace the bending screw, the process is complicated, and the track is possibly discontinuous, and aiming at the problems, the bending screw deflecting parameter control method based on the underground robot can be used so as to quantitatively correct deflecting parameters and stably and accurately complete the deflecting operation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and a system for controlling bending screw rod deflecting parameters based on an underground robot.
A bending screw deflection parameter control system based on an underground robot comprises a travel wheel (1), a drilling pressure control robot (2), a pressure reducing valve (3), a circuit amplifier (4), a frequency converter (5) and a calculating circuit (6).
The following steps: the left end of the bit pressure control robot (2) is connected with an upper drill rod (7), and the right end is connected with a screw drilling tool (8) and a drill bit (9).
The following steps: the pressure reducing valve (3) is connected in a hydraulic circuit of the bit pressure control robot (2).
The following steps: the circuit amplifier (4) and the frequency converter (5) are connected in series between the calculating circuit (6) and the pressure reducing valve (3).
The bending screw rod deflecting parameter control method based on the underground robot comprises the following steps:
s1: transmitting target azimuth angle phi from groundaRoot of computing circuit (6)Calculating the tool face angle deviation delta omega required to be adjusted according to the current borehole azimuth phi;
s2: the calculation circuit (6) calculates the required adjusted weight on bit (delta P) according to the required adjusted tool face angle deviation (delta omega)BSize;
s3: after being processed by a frequency converter (5) and an amplifying circuit (4), the bit pressure control signal enables the bit pressure control robot (2) to change the bit pressure PBAnd quantitatively controlling the tool face angle omega.
The following steps: the build rate control comprises the following steps:
s11: the calculation circuit (6) calculates the average build-up rate beta in the last 1-10 minutes according to the travel s, the azimuth angle phi and the well inclination angle theta of the current drilling tool;
s12: if the actual build rate beta is greater than the target build rate betaaThe calculation circuit (6) calculates a tool face angle omega fluctuation interval according to the current build-up rate deviation delta beta, and sends a bit pressure fluctuation instruction to the bit pressure control robot (2) to enable the bit pressure PBFluctuating up and down, wherein the fluctuation of the bit pressure promotes the torque M of the drilling tool to fluctuate, and the fluctuation of the torque promotes the face angle omega of the tool to fluctuate, so that the build-up rate beta is reduced;
s13: if the actual borehole curvature beta is less than the target borehole curvature betaaAnd the calculation circuit (6) reduces the fluctuation amplitude or frequency according to the current bit pressure fluctuation state so as to reduce the torque fluctuation amplitude and frequency and further reduce the tool face fluctuation amplitude theta and frequency f so as to improve the build-up rate beta.
The following steps: the method for adjusting the face angle of the tool through the bit weight comprises the following steps:
s21: is represented by the formula:
Figure BDA0003195953440000031
determining the relationship between the bit pressure and the antitorque angle, and calculating an initial c value;
in the formula:
Figure BDA0003195953440000032
the back twist angle of the screw drill is degree;
MMthe central reaction torque, N.m, acts on the middle points of the screw drill and the elbow joint;
g, shear modulus of steel, Pa;
LMdistance, m, from the midpoint of the motor to the upper tangent point;
JρMequivalent polar moment of inertia, m, for motor and elbow joint4；
MVThe bottom surface of the vertical shaft section has reverse torque, N.m;
LVlength of the vertical shaft section drill pipe, m;
JρVpolar inertia moment of drill rod, m4；
LiIncreasing the length of a drill rod of the well section with inclination, stabilizing and reducing the inclination, and m;
Jρipolar inertia moment, m, of the drill rod at each slant section4；
MSThe bottom of each inclined shaft section has reverse torque, N.m;
WFifriction torque of each inclined shaft section, N.m;
MBthe drill cutting resistance moment, N · m;
DBdiameter of drill bit, m;
PBweight on bit, N;
λ, coefficient.
S22: varying the weight on bit PBMeasuring
Figure BDA0003195953440000033
The amount of change, and the number of iterations of the test to determine a fit for c, can be based on the equation:
Figure BDA0003195953440000034
determining a torsional angle variable
Figure BDA0003195953440000035
And the bit pressure variable DeltaPBOf the pressure of the drill bit P, therebyBQuantitative control toolWith a face angle omega.
The following steps: the weight-on-bit fluctuation parameters (including fluctuation amplitude and frequency) in controlling the build rate are determined by the following steps:
s31: assuming that the tool face angle omega is unchanged during deflection, the borehole trajectory exists in the vertical plane where the azimuth angle phi is located, and when the tool face angle omega fluctuates, the curvature rho in the vertical plane where the azimuth angle phi is located is obtained by a formula 3, so that the fluctuation amplitude theta of the tool face angle can be calculated according to the deviation delta beta of the deflection rate;
Figure BDA0003195953440000041
in the formula:
rho, the borehole curvature in the vertical plane of the azimuth angle phi;
θ, tool face angle fluctuation amplitude;
y, a borehole trajectory formula in the vertical plane where the azimuth angle phi is located;
yωa borehole trajectory formula in the toolface;
s32: from the formula 3, the larger the fluctuation range θ of the toolface angle ω is, the smaller the wellbore trajectory curvature ρ is, and the smaller the corresponding build-up rate β is, and in order to prevent the trajectory from being excessively twisted while controlling the build-up rate β, the toolface angle fluctuation frequency f should be set as required.
The following steps: the function of the pressure reducing valve (3) is:
the drilling pressure control robot (2) is connected with a pressure reducing valve (3), the inlet of the pressure reducing valve (3) is connected with slurry in a pipe, the outlet is connected with a working cavity of the robot, the pressure reducing valve (3) is an electric proportional pressure reducing valve, and the pressure P is set through the setting pressure reducing valveaControlling the working pressure P of the robot and further controlling the bit pressure PB。
The invention has the following advantages: the invention relates to a bending screw deflection parameter control method and a bending screw deflection parameter control system based on an underground robot, which are matched with a traction robot to carry out quantitative control on the bit pressure, can automatically detect and correct a tool face angle underground, and can also fluctuate up and down at a preset angle so as to finish the process of not replacing a bending screw, reducing the deflection rate and realizing the automatic detection and control of underground deflection operation.
Drawings
FIG. 1 is a schematic diagram of a system architecture and modules;
FIG. 2 is a flow chart of a method of tool face angle control;
FIG. 3 is a flow chart of a build rate control method;
FIG. 4 is a flow chart of a method for controlling tool face angle from weight-on-bit;
FIG. 5 is a schematic diagram of a toolface angle control process;
FIG. 6 is a schematic view of the tool face angle fluctuation with decreasing build rate;
FIG. 7 is a schematic view of the tool face angle fluctuation with increasing build rate;
FIG. 8 is a schematic representation of a well angle;
FIG. 9 is a schematic view of a tool face angle;
FIG. 10 is a schematic view of an azimuth angle;
in the figure, 1-stroke wheel, 2-bit pressure control robot, 3-pressure reducing valve, 4-circuit amplifier, 5-frequency converter, 6-calculating circuit, 7-drill rod, 8-screw drilling tool, 9-drill bit, 10-inclination angle alpha, 11-borehole track, 12-tool face angle omega, 13-inclination angle beta.
Detailed Description
The invention will be further described with reference to the accompanying drawings, without limiting the scope of the invention to the following:
the invention aims to provide a bending screw rod deflecting parameter control system based on an underground robot so as to make up for the defects of the prior art. In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1: the bending screw deflection parameter control method and system based on the underground robot comprise a travel wheel (1), a bit pressure control robot (2), a pressure reducing valve (3), a circuit amplifier (4), a frequency converter (5) and a calculating circuit (6), wherein the left end of the pressure control robot (2) is connected with an upper drill rod (7), and the right end of the pressure control robot is connected with a screw drilling tool (8) and a drill bit (9). The pressure reducing valve (3) is connected in a hydraulic circuit of the bit pressure control robot (2). The circuit amplifier (4) and the frequency converter (5) are connected in series between the calculating circuit (6) and the pressure reducing valve (3).
According to the bending screw deflection parameter control method based on the downhole robot shown in fig. 2-7, the specific implementation scheme is as follows:
specific embodiments of the control tool face angle are as follows:
step 1: transmitting target azimuth angle phi from groundaAnd the calculation circuit (6) calculates the tool face angle deviation delta omega required to be adjusted according to the current borehole azimuth angle phi.
Step 2: the calculation circuit (6) calculates the required adjusted weight on bit (delta P) according to the required adjusted tool face angle deviation (delta omega)BThe size is calculated by the following method:
a) determination of the weight on bit P from equation 1BAngle of torsion with
Figure BDA0003195953440000051
And calculating an initial c value;
b) varying the weight on bit PBMeasuring
Figure BDA0003195953440000061
Determining a fitting value of c by repeating the test for a plurality of times, thereby determining the variable of the torsion angle
Figure BDA0003195953440000062
And the bit pressure variable DeltaPBOf the pressure of the drill bit P, therebyBThe toolface angle ω is controlled quantitatively.
c) When the weight on bit increases, the torque angle increases according to equation 2, and assuming that the rotation direction of the drill bit is counterclockwise, the corresponding torque angle increases
Figure BDA0003195953440000063
Clockwise if the two-dimensional rectangular coordinate system is taken as the tool face and the 90-degree direction is taken as the current tool face angle omega, then the weight on bit P is obtainedBWhen increasing, the torsional angle
Figure BDA0003195953440000064
Increasing in the clockwise direction, i.e. less thanThe trend of 90 deg. varies, while if the direction of rotation of the drill bit is clockwise, the corresponding anti-twist angle is
Figure BDA0003195953440000065
Then counterclockwise when the weight on bit PBWhen increasing, the torsional angle
Figure BDA0003195953440000066
Increasing in the counter-clockwise direction, i.e. towards a trend of more than 90 deg., the required weight on bit variable deltap is calculated from the above mathematical relationshipBThen, the bit pressure variable delta P is determined according to the rotation direction of the drill bitBEither increasing or decreasing.
And step 3: after being processed by a frequency converter (5) and an amplifying circuit (4), the bit pressure control signal enables the bit pressure control robot (2) to change the bit pressure PBAnd quantitatively controlling the tool face angle omega.
Assuming that the direction of rotation of the drill bit is clockwise, the system needs to correct the face angle ω as it increases clockwise, as shown in FIG. 5, in which the face angle ω is rotating clockwise, and the calculation circuit (6) should calculate the specific face angle deviation Δ ω and the corresponding weight-on-bit variable Δ PBAfter the analysis of the bit direction of rotation, the bit pressure P should be increasedBTo make the angle of torsion reversed
Figure BDA0003195953440000067
The tool face angle omega can be shifted back to the preset angle by increasing anticlockwise, the steps are continuously repeated in the deflecting process, and the tool face angle omega can be ensured to be stabilized at the preset angle.
The specific embodiment of the control build rate is as follows:
step 1: the calculation circuit (6) calculates the average build-up rate beta in the last 1-10 minutes according to the travel s, the azimuth angle phi and the well inclination angle alpha of the current drilling tool;
step 2: if the actual build rate beta is greater than the target build rate betaaThe calculation circuit (6) calculates a tool face angle omega fluctuation interval according to the current build-up rate deviation delta beta, and sends a bit pressure fluctuation instruction to the bit pressure control robot (2) to enable the bit pressure PB to fluctuate up and down, and the bit pressure fluctuation prompts the drilling tool to twistThe moment M fluctuates, and the torque fluctuation promotes the tool face angle omega to fluctuate, so that the build-up rate beta is reduced;
and step 3: if the actual borehole curvature beta is less than the target borehole curvature betaaAnd the calculation circuit (6) reduces the fluctuation amplitude or frequency according to the current bit pressure fluctuation state so as to reduce the torque fluctuation amplitude and frequency and further reduce the tool face fluctuation amplitude theta and frequency f so as to improve the build-up rate beta.
When the actual build rate beta is larger than the target build rate betaaThen, the bit weight is controlled to fluctuate with a certain frequency and amplitude, so that the tool face angle fluctuates with a certain amplitude theta and frequency f around a predetermined angle to reduce the build rate beta, as shown in fig. 7, if the build rate beta is smaller than the target build rate betaaThe bit pressure fluctuation frequency and amplitude should be reduced, so as to reduce the tool face angle fluctuation amplitude and frequency, and make it fluctuate stably within a certain interval, thereby achieving the purpose of increasing the build rate beta, as shown in fig. 8.

Claims (6)

1. Bending screw rod deflecting parameter control system based on robot in pit, its characterized in that, it includes stroke wheel (1), weight-on-bit control robot (2), relief pressure valve (3), circuit amplifier (4), converter (5), calculating circuit (6), the: the upper drill rod (7) is connected to weight on bit control robot (2) left end, and screw rod drilling tool (8) and drill bit (9) are connected to the right-hand member, the following: a pressure reducing valve (3) is connected in a hydraulic circuit of the bit pressure control robot (2), the pressure reducing valve comprises: the circuit amplifier (4) and the frequency converter (5) are connected in series between the calculating circuit (6) and the pressure reducing valve (3).
2. The bending screw rod deflecting parameter control method based on the underground robot is characterized by comprising the following steps of:
s1: transmitting target azimuth angle phi from groundaThe calculation circuit (6) calculates the tool face angle deviation delta omega required to be adjusted according to the current borehole azimuth phi;
s2: the calculation circuit (6) calculates the required adjusted weight on bit (delta P) according to the required adjusted tool face angle deviation (delta omega)BSize;
s3: through changeAfter the frequency device (5) and the amplifying circuit (4) are processed, the bit pressure control signal enables the bit pressure control robot (2) to change the bit pressure PBAnd quantitatively controlling the tool face angle omega.
3. The downhole robot-based curved screw whip parameter control method of claim 2, wherein the whip rate β control comprises the steps of:
s11: the calculation circuit (6) calculates the average build-up rate beta in the last 1-10 minutes according to the travel s, the azimuth angle phi and the well inclination angle alpha of the current drilling tool;
s12: if the actual build rate beta is greater than the target build rate betaaThe calculation circuit (6) calculates a tool face angle omega fluctuation interval according to the current build-up rate deviation delta beta, and sends a bit pressure fluctuation instruction to the bit pressure control robot (2) to enable the bit pressure PBFluctuating up and down, wherein the fluctuation of the bit pressure promotes the torque M of the drilling tool to fluctuate, and the fluctuation of the torque promotes the face angle omega of the tool to fluctuate, so that the build-up rate beta is reduced;
s13: if the actual borehole curvature beta is less than the target borehole curvature betaaAnd the calculation circuit (6) reduces the fluctuation amplitude or frequency according to the current bit pressure fluctuation state so as to reduce the torque fluctuation amplitude and frequency and further reduce the tool face fluctuation amplitude theta and frequency f so as to improve the build-up rate beta.
4. The downhole robot-based curved screw whipstock parameter control method of claim 2, wherein the weight P on bit is passedBThe method for adjusting the tool face angle ω is as follows:
s21: is represented by the formula:
Figure FDA0003195953430000021
determining weight on bit PBAngle of torsion with
Figure FDA0003195953430000022
And calculating an initial c value;
in the formula:
Figure FDA0003195953430000023
the back twist angle of the screw drill is degree;
MMthe central reaction torque, N.m, acts on the middle points of the screw drill and the elbow joint;
g, shear modulus of steel, Pa;
LMdistance, m, from the midpoint of the motor to the upper tangent point;
JρMequivalent polar moment of inertia, m, for motor and elbow joint4；
MVThe bottom surface of the vertical shaft section has reverse torque, N.m;
LVlength of the vertical shaft section drill pipe, m;
JρVpolar inertia moment of drill rod, m4；
LiIncreasing the length of a drill rod of the well section with inclination, stabilizing and reducing the inclination, and m;
Jρipolar inertia moment, m, of the drill rod at each slant section4；
MSThe bottom of each inclined shaft section has reverse torque, N.m;
MFifriction torque of each inclined shaft section, N.m;
MBthe drill cutting resistance moment, N · m;
DBdiameter of drill bit, m;
PBweight on bit, N;
λ, coefficient;
s22: varying the weight on bit PBMeasuring
Figure FDA0003195953430000024
And (3) determining a fitting value of c by repeated tests, namely according to the formula:
Figure FDA0003195953430000025
obtaining the variable of the torsion angle
Figure FDA0003195953430000026
And the bit pressure variable DeltaPBOf the pressure of the drill bit P, therebyBThe toolface angle ω is controlled quantitatively.
5. The downhole robot-based curved screw whip parameter control method of claim 3, wherein the weight-on-bit fluctuation parameter (including fluctuation amplitude and frequency) when controlling the whip rate β is determined by:
s31: assuming that the tool face angle omega is unchanged during deflection, the borehole trajectory exists in the vertical plane where the azimuth angle phi is located, and when the tool face angle omega fluctuates, the curvature rho in the vertical plane where the azimuth angle phi is located is obtained by a formula 3, so that the fluctuation amplitude theta of the tool face angle can be calculated according to the deviation delta beta of the deflection rate;
Figure FDA0003195953430000031
in the formula:
rho, the borehole curvature in the vertical plane of the azimuth angle phi;
θ, tool face angle fluctuation amplitude;
y, a borehole trajectory formula in the vertical plane where the azimuth angle phi is located;
yωa borehole trajectory formula in the toolface;
s32: from the formula 3, the larger the fluctuation range θ of the toolface angle ω is, the smaller the wellbore trajectory curvature ρ is, and the smaller the corresponding build-up rate β is, and in order to prevent the trajectory from being excessively twisted while controlling the build-up rate β, the toolface angle fluctuation frequency f should be set as required.
6. The downhole robot-based curved screw lead angle control method according to claim 2, wherein: the drilling pressure control robot (2) is connected with a pressure reducing valve (3), the inlet of the pressure reducing valve (3) is connected with slurry in a pipe, the outlet is connected with a working cavity of the robot, the pressure reducing valve (3) is an electric proportional pressure reducing valve, and the pressure P is set through the setting pressure reducing valveaControlling the working pressure P of the robot and further controlling the bit pressure PB。
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CN115450563A (en) * 2022-09-20 2022-12-09 西南石油大学 Anti-torque orientation tool experiment system and method
CN115450564A (en) * 2022-09-20 2022-12-09 西南石油大学 High-precision anti-torque bending screw rod guiding drilling control system and method

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