CN115370348A - Mud-driven rotary steering drilling control method - Google Patents
Mud-driven rotary steering drilling control method Download PDFInfo
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- CN115370348A CN115370348A CN202211053577.XA CN202211053577A CN115370348A CN 115370348 A CN115370348 A CN 115370348A CN 202211053577 A CN202211053577 A CN 202211053577A CN 115370348 A CN115370348 A CN 115370348A
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- 238000005553 drilling Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 239000002002 slurry Substances 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims description 54
- 230000005484 gravity Effects 0.000 claims description 15
- 230000004907 flux Effects 0.000 claims description 7
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 241001125929 Trisopterus luscus Species 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 abstract description 4
- 239000003345 natural gas Substances 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 238000007789 sealing Methods 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 abstract 1
- 239000003209 petroleum derivative Substances 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 7
- 239000007789 gas Substances 0.000 description 6
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- 238000005259 measurement Methods 0.000 description 4
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- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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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
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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
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/024—Determining slope or direction of devices in the borehole
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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
- 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
- E21B47/14—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 using acoustic waves
- E21B47/18—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 using acoustic waves through the well fluid, e.g. mud pressure pulse telemetry
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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
- 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 discloses a mud-driven steering drilling control method, and relates to the field of petroleum and natural gas drilling. The existing rotary guide system relates to a plurality of dynamic sealing structures such as a generator, a motor, a pump, a rotary valve and the like, and has extremely complex structure, poor reliability and high cost; the guiding force of the guiding drilling can not be finely regulated and controlled, and the automatic guiding drilling can not be realized. The invention discloses a mud-driven rotary steering drilling control method, which comprises the following steps: and sending, measuring and decoding ground mud pulse command signals, and realizing the self-adaptive control of the well inclination angle by controlling the range of the electromagnetic throttle valve, the electromagnetic pressure reducing valve and the tool face angle. The control method is simple and has high reliability; the guiding force is controllable, and the build-up rate control precision is high; as the radial thrust mechanism is driven by the slurry and the extension of the guide block is controlled by the electromagnetic valve, expensive components such as a generator, a motor, a pump and the like are avoided, and the cost is controllable.
Description
Technical Field
The invention relates to the field of drilling engineering, in particular to a mud-driven rotary steering drilling control method.
Background
In 2021, the dependence of petroleum in China on external environment is increased to 72%, natural gas is increased to 46%, which greatly exceeds the internationally recognized warning line, the development of conventional oil gas resources in China has reached the limit, and the development of unconventional oil gas such as shale gas is a necessary choice for relieving the energy requirements in China. The long horizontal well is an important means for promoting the economic and long-acting development of shale gas, the formation of a horizontal well hole needs well track control, and the current technology mainly comprises two well track control technologies of bending screw sliding guide and rotary guide:
the curved screw sliding guide technology is low in cost, so that the curved screw sliding guide is still the main part of horizontal well guide in China, for example, in 2020, the sliding guide ratio of the curved screw of Qinghai shale gas is more than 83%. In the sliding guiding process of the bent screw, a drill column does not rotate, the drill column is high in friction resistance and easy to support pressure, so that the drill pressure cannot be effectively transferred, and the mechanical drilling speed is only 1/10-1/5 of that of rotary drilling generally; the 'pressure support' causes the tool surface to be difficult to adjust and control, and the drilling time efficiency is reduced by over 30 percent; and the formation of a rock debris bed is easy, and the risk of sticking and drilling is high.
The rotary guide technology is seriously dependent on import, and the cost is high: the daily cost is 15-20 ten thousand yuan, calculated according to 45 balance average single well guiding period, the cost of only rotating guiding technology reaches 675-900 ten thousand yuan, and the cost of the whole drilling well reaches 10-20%. Therefore, the rotary steerable technique is still classified as a typical "neck" technique at the 32 nd national gas academic year 2020.
The rotary guide systems are mainly in the foreign countries of the directional patents of US9556679B2, US9784036B2, US9528320, US9714564, US6109372B2, US9828804B2, etc., and the push-back patents of US8672056B2, US9206644, US8672056B2, US7389830B2, US9476263B2, etc., and all adopt the driving and control modes of a motor + a pump + a solenoid valve + a push-back block (hydraulic oil driving) and a motor + a rotary valve + a push-back block (slurry driving), and the control modes mainly have the following defects:
(1) The electric energy demand is large, a generator needs to be equipped, the requirements on the vibration resistance and the rotating speed control precision of the motor are high, the difficulty is high, and the cost is high;
(2) The rotary guide relates to a plurality of dynamic sealing structures such as a generator, a motor, a pump, a rotary valve and the like, and has extremely complex structure and poor reliability;
(3) The system pressure of the control system is uncontrollable, the guiding force of the guiding drilling well cannot be finely regulated, and meanwhile, the ultrahigh-temperature and ultrahigh-pressure motors, the measurement and control circuit, the high-temperature and high-pressure dynamic seal, the pressure compensation pup joint and the like are monopolized by foreign companies, so that a serious technical barrier is formed, and the rotary guiding technology in China still does not break through the neck technology.
Related rotary steering system patents such as CN201510134442.X, CN201810671572.0 and CN201811408149.8 are applied domestically, the patents almost all adopt driving and control modes of a motor, a pump, a solenoid valve, a pushing block (driven by hydraulic oil) and a motor, a rotary valve and a pushing block (driven by slurry), and similar to foreign patents, the technical problems of uncontrollable steering force, poor system reliability, high cost and the like exist.
Based on the technical problems, the mud-driven steering drilling control method is invented to effectively solve the technical problems that the existing rotary steering drilling system is uncontrollable in guiding force, poor in system reliability, high in cost and the like.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a mud-driven rotary steering drilling control method, which is realized by the following steps:
s1: the ground assembled mud drives a rotary steering tool (4) to be lowered to the bottom of the well;
s2: the ground mud pulse emitter emits target build-up rate eta 0, target tool face angle alpha and tool face angle control range +/-delta alpha mud pulse command signals;
s3: a pressure sensor (13-6) in the pipe measures a rotary guide mud pulse instruction signal in real time;
s4: the central processing unit (12) decodes the rotary steering mud pulse command signal measured by the pressure sensor (13-6) in the pipe;
s5: the central processing unit (12) measures the current tool face angle beta in real time;
s6: the central processing unit (12) (12) controls a thrust block (305) of the radial thrust mechanism (3) to contact the well wall (17) within the range of alpha-delta alpha-alpha + delta alpha according to the target tool face angle alpha, the tool face angle control range +/-delta alpha and the current tool face angle beta, and provides a steering drilling acting force for the rotary steering drilling;
s7: the central processing unit (12) controls the control range +/-delta alpha of the tool surface angle, the pressure P1 of the electromagnetic reducing valve (15) and the pressure P of the electromagnetic throttle valve (2) in sequence according to the actually measured build-up rate eta and the target build-up rate eta 0 so as to meet the requirement of the target build-up rate eta 0 and further realize the automatic control of the rotary steering drilling.
The following steps: and 5, real-time tool face angle beta measurement:
s51: judging whether the well inclination angle gamma measured in the first 30-60 s is larger than 10 degrees;
s52: if the well inclination angle gamma is smaller than 10 degrees, starting a magnetic flux measuring instrument (13-2), closing the gravity accelerometer (13-3), and measuring the current tool face angle beta;
s53: if the well deviation angle gamma is larger than 10 degrees, the gravity accelerometer (13-3) is started, the magnetic flux measuring instrument (13-2) is closed, and the current tool face angle beta is measured, so that the tool face angle is measured by the magnetic flux measuring instrument (13-2) for small well deviations, and the tool face angle is measured by the gravity accelerometer (13-3) for large well deviations, and the measuring accuracy of the tool face angle is improved.
The following steps: in S6, the step that the thrust block (305) contacts the well wall (17) in the range of alpha-delta alpha-alpha + delta alpha comprises the following steps:
s61: the central processing unit (12) measures the current tool face angle beta in real time;
s62: when the central processing unit (12) measures the current tool face angle beta = alpha-delta alpha in real time, the two-position four-way electromagnetic cartridge valve (16) is electrified, high-pressure mud enters the radial thrust mechanism (3), and the thrust block (305) contacts the well wall (17);
s63: when the central processing unit (12) measures the current tool face angle beta = alpha + delta alpha in real time, the two-position four-way electromagnetic cartridge valve (16) is powered off, high-pressure mud flows out of the radial thrust mechanism (3), and the thrust block (305) leaves the well wall (17).
The following steps: s7, the central processing unit (12) adjusts the size of the control range +/-Delta alpha of the tool face angle according to the real-time build slope eta, and if the actual build slope eta rate is smaller than the target build slope eta 0, the central processing unit (12) controls the control range +/-Delta alpha of the tool face angle to be reduced and the build slope is increased; if the actual deflecting rate eta is larger than the target deflecting rate eta 0, the central processing unit (12) controls the tool face angle control range +/-delta alpha to be decreased and increased, and the deflecting rate is decreased.
The following steps: s7, the central processing unit (12) adjusts the pressure reducing pressure P1 of the electromagnetic pressure reducing valve (15) according to the real-time build-up rate eta, if the actual build-up rate eta is smaller than the target build-up rate eta 0, the central processing unit (12) controls the electromagnetic pressure reducing valve (15) to reduce the pressure reducing pressure P1 so as to increase the pushing force of the thrust block (305) and increase the build-up rate; if the actual build slope eta rate is larger than the target build slope eta 0, the central processing unit (12) controls the electromagnetic reducing valve (15) to reduce the pressure P1 and increase so as to reduce the pushing force of the thrust block (305) and reduce the build slope.
The following steps: s7, the central processing unit (12) adjusts the throttling pressure P of the electromagnetic throttle valve (2) according to the real-time build-up rate eta, and if the actual build-up rate eta is smaller than the target build-up rate eta 0, the central processing unit (12) controls the throttling pressure P of the electromagnetic throttle valve (2) to increase so as to increase the pushing force of the thrust block (305) and increase the build-up rate; if the actual build slope eta rate is larger than the target build slope eta 0, the central processing unit (12) controls the throttle pressure P of the electromagnetic throttle valve (2) to increase and decrease so as to reduce the pushing force of the thrust block (305) and decrease the build slope.
The following steps: the driving force is calculated by the pressure Pin in the pipe (5) and the pressure Pout in the annulus (7) measured by the pressure sensor (13-6) in the pipe and the pressure sensor (13-7) in the annulus, and the calculation formula is as follows:
f = k (Pin-Pout) S (equation 1)
In the formula 1, F is the pushing force, k is the loss coefficient of the pushing force, and S is the sectional area of the pushing piston.
The following steps: in S53, the step of measuring the current tool face angle beta by the gravity accelerometer (13-3) is as follows: when the gravity acceleration is the lowest, namely the gravity high side, the central processing unit (12) records the current tool face angle beta, the time delta T = (alpha-delta alpha-beta)/R required by the rotation of the front tool face angle beta to the target tool face angle alpha-delta alpha is obtained according to the average rotating speed R of the first 30s, the central processing unit (12) controls the two-position four-way electromagnetic cartridge valve (16) to be powered on at the delta T moment, the time delta T = (alpha + delta alpha-beta)/R required by the rotation of the front tool face angle beta to the target tool face angle alpha + delta alpha is obtained through calculation, the central processing unit (12) controls the two-position four-way electromagnetic cartridge valve (16) to be powered off at the delta T moment, the condition that the tool face angle measurement is inaccurate due to overlarge vibration is effectively avoided, and the control precision of the tool face angle of the rotary steering drilling tool is improved.
Compared with the prior art, the invention has the advantages that:
(1) The control method is simple and has high reliability.
(2) The thrust of the radial thrust mechanism is controllable, and the build-up rate control precision is high.
(3) The cost is low, and the slurry is adopted to drive the radial thrust mechanism, and the extension of the guide block is controlled by the electromagnetic valve, so that expensive components such as a generator, a motor and a pump are avoided, and the cost is controllable.
Drawings
FIG. 1 is a flow chart of a mud driven rotary steerable drilling control method of the present invention.
FIG. 2 is a mud driven rotary steerable drilling tool face control flow diagram.
FIG. 3 is a schematic diagram of a mud driven rotary steerable drilling system.
Fig. 4 is a schematic diagram of the tool face control.
In the figure: 1-drill bit, 2-electromagnetic throttle valve, 3-radial thrust mechanism, 301-plug, 302-spring, 303-piston, 304-connecting rod, 305-thrust block, 306-body, 307-left hydraulic cavity, 308-right hydraulic cavity, 4-rotary guiding tool, 5-internal slurry channel of rotary guiding tool, 6-slurry pulse emitter, 7-annulus, 8-upper joint, 9-drill rod, 10-battery, 11-power management module, 12-central processor, 13-measuring module, 13-2-magnetic flux measuring instrument, 13-3-gravity accelerometer, 13-4-slurry pulse controller, 13-5-memory, 13-6-internal pressure sensor, 13-7-annulus pressure sensor, 14-amplification controller, 15-electromagnetic pressure reducing valve, 16-two-position four-way electromagnetic cartridge valve and 17-well wall.
Detailed Description
In order to make the technical features and objects of the present invention more clearly understood, embodiments of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 1 to 4, the present embodiment provides a mud-driven rotary steerable drilling control method, which includes first connecting, assembling, and lowering the mud-driven rotary steerable drilling system shown in fig. 3; after the well is drilled, the rotary steering drilling operation is carried out according to the following steps, as shown in figure 1:
the method comprises the following steps: the ground mud pulse emitter emits target build-up rate eta 0, target tool face angle alpha and tool face angle control range +/-delta alpha mud pulse command signals;
step two: a pressure sensor (13-6) in the pipe measures a rotary guide mud pulse instruction signal in real time;
step three: the central processing unit (12) decodes the rotary steering mud pulse command signal measured by the pressure sensor (13-6) in the pipe;
step four: the central processing unit (12) measures the current tool face angle beta in real time;
step five: the central processing unit (12) (12) controls a thrust block (305) of the radial thrust mechanism (3) to contact the well wall (17) within the range of alpha-delta alpha-alpha + delta alpha according to the target tool face angle alpha, the tool face angle control range +/-delta alpha and the current tool face angle beta, and provides a steering drilling acting force for the rotary steering drilling;
step six: the central processing unit (12) controls the control range +/-delta alpha of the tool face angle, the pressure P1 of the electromagnetic reducing valve (15) and the pressure P of the electromagnetic throttle valve (2) in sequence according to the actually measured build-up rate eta and the target build-up rate eta 0 so as to meet the requirement of the target build-up rate eta 0 and further realize the automatic control of the rotary steering drilling.
Specifically, as shown in fig. 2, the build rate control method is as follows: the central processing unit (12) adjusts the size of the control range +/-Delta alpha of the tool face angle according to the real-time build slope eta, and if the actual build slope eta rate is smaller than the target build slope eta 0, the central processing unit (12) controls the control range +/-Delta alpha of the tool face angle to be reduced and the build slope is increased; if the actual deflecting rate eta is larger than the target deflecting rate eta 0, the central processing unit (12) controls the control range +/-delta alpha of the tool face angle to be increased and decreased.
If the build-up rate still cannot be controlled by adjusting the size of the control range +/-delta alpha of the specific surface angle, the central processing unit (12) adjusts the pressure reduction pressure P1 of the electromagnetic pressure reduction valve (15) according to the real-time build-up rate eta, and if the actual build-up rate eta is smaller than the target build-up rate eta 0, the central processing unit (12) controls the pressure reduction pressure P1 of the electromagnetic pressure reduction valve (15) to be reduced so as to increase the pushing force of the thrust block (305) and increase the build-up rate; if the actual build slope eta rate is larger than the target build slope eta 0, the central processing unit (12) controls the electromagnetic reducing valve (15) to reduce the pressure P1 and increase so as to reduce the pushing force of the thrust block (305) and reduce the build slope.
If the build-up rate still cannot be controlled by adjusting the pressure P1 of the pressure reduction valve (15), the central processing unit (12) adjusts the throttling pressure P of the electromagnetic throttle valve (2) according to the real-time build-up rate eta, and if the actual build-up rate eta is smaller than the target build-up rate eta 0, the central processing unit (12) controls the throttling pressure P of the electromagnetic throttle valve (2) to increase so as to increase the pushing force of the thrust block (305) and increase the build-up rate; if the actual deflection eta rate is larger than the target deflection eta 0, the central processing unit (12) controls the throttle pressure P of the electromagnetic throttle valve (2) to increase and decrease so as to reduce the pushing force of the thrust block (305) and decrease the deflection rate.
And if the real-time build-up rate eta is still larger than the target build-up rate eta 0, performing the composite drilling operation.
Specifically, the driving force is calculated by the pressure Pin in the pipe (5) and the pressure Pout in the annulus (7) measured by the pressure sensor (13-6) in the pipe and the pressure sensor (13-7) in the annulus, and the calculation formula is as follows:
f = k (Pin-Pout) S (equation 1)
In the formula 1, F is the pushing force, k is the loss coefficient of the pushing force, and S is the sectional area of the pushing piston.
Specifically, the step of measuring the current toolface angle beta by the gravity accelerometer (13-3) is as follows: when the gravity acceleration is the lowest, namely the gravity high side, the central processing unit (12) records the current tool face angle beta, the time delta T = (alpha-delta alpha-beta)/R required by the rotation of the front tool face angle beta to the target tool face angle alpha-delta alpha is obtained according to the average rotating speed R of the first 30s, the central processing unit (12) controls the two-position four-way electromagnetic cartridge valve (16) to be powered on at the delta T moment, the time delta T = (alpha + delta alpha-beta)/R required by the rotation of the front tool face angle beta to the target tool face angle alpha + delta alpha is obtained through calculation, the central processing unit (12) controls the two-position four-way electromagnetic cartridge valve (16) to be powered off at the delta T moment, the condition that the tool face angle measurement is inaccurate due to overlarge vibration is effectively avoided, and the control precision of the tool face angle of the rotary steering drilling tool is improved.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications of the invention without departing from the spirit and principles of the invention should be considered within the scope of the invention.
Claims (8)
1. A mud-driven rotary steering drilling control method is characterized in that: the method comprises the following steps:
s1: the mud assembled on the ground drives a rotary steering tool (4) to be lowered to the bottom of the well;
s2: the ground mud pulse emitter emits target build-up rate eta 0, target tool face angle alpha and tool face angle control range +/-delta alpha mud pulse command signals;
s3: a pressure sensor (13-6) in the pipe measures a rotary guide mud pulse instruction signal in real time;
s4: the central processing unit (12) decodes the rotating guide slurry pulse command signal measured by the pressure sensor (13-6) in the pipe;
s5: the central processing unit (12) measures the current tool face angle beta in real time;
s6: the central processing unit (12) (12) controls a thrust block (305) of the radial thrust mechanism (3) to contact the well wall (17) within the range of alpha-delta alpha-alpha + delta alpha according to the target tool face angle alpha, the tool face angle control range +/-delta alpha and the current tool face angle beta, and provides a steering drilling acting force for the rotary steering drilling;
s7: the central processing unit (12) controls the control range +/-delta alpha of the tool surface angle, the pressure P1 of the electromagnetic reducing valve (15) and the pressure P of the electromagnetic throttle valve (2) in sequence according to the actually measured build-up rate eta and the target build-up rate eta 0 so as to meet the requirement of the target build-up rate eta 0 and further realize the automatic control of the rotary steering drilling.
2. The mud-driven rotary steerable drilling control method of claim 1, wherein: and S5, a real-time tool face angle beta measuring step:
s51: judging whether the well inclination angle gamma measured in the first 30-60 s is larger than 10 degrees;
s52: if the well inclination angle gamma is smaller than 10 degrees, starting a magnetic flux measuring instrument (13-2), closing the gravity accelerometer (13-3), and measuring the current tool face angle beta;
s53: if the well deviation angle gamma is larger than 10 degrees, the gravity accelerometer (13-3) is started, the magnetic flux measuring instrument (13-2) is closed, and the current tool face angle beta is measured, so that the tool face angle is measured by the magnetic flux measuring instrument (13-2) for small well deviations, and the tool face angle is measured by the gravity accelerometer (13-3) for large well deviations, and the measuring accuracy of the tool face angle is improved.
3. The mud driven rotary steerable drilling control method of claim 1, wherein: in S6, the step that the thrust block (305) contacts the well wall (17) within the range of alpha-delta alpha-alpha + delta alpha comprises the following steps:
s61: the central processing unit (12) measures the current tool face angle beta in real time;
s62: when the central processing unit (12) measures the current tool face angle beta = alpha-delta alpha in real time, the two-position four-way electromagnetic cartridge valve (16) is electrified, high-pressure slurry enters the radial thrust mechanism (3), and the thrust block (305) contacts the well wall (17);
s63: when the central processing unit (12) measures the current tool face angle beta = alpha + delta alpha in real time, the two-position four-way electromagnetic cartridge valve (16) is powered off, high-pressure mud flows out of the radial thrust mechanism (3), and the thrust block (305) leaves the well wall (17).
4. The mud driven rotary steerable drilling control method of claim 1, wherein: s7, the central processing unit (12) adjusts the size of the control range +/-delta alpha of the tool face angle according to the real-time build-up rate eta, and if the actual build-up rate eta is smaller than the target build-up rate eta 0, the central processing unit (12) controls the control range +/-delta alpha of the tool face angle to be reduced and the build-up rate to be increased; if the actual deflecting rate eta is larger than the target deflecting rate eta 0, the central processing unit (12) controls the tool face angle control range +/-delta alpha to be decreased and increased, and the deflecting rate is decreased.
5. The mud-driven rotary steerable drilling control method of claim 1, wherein: s7, the central processing unit (12) adjusts the pressure reducing pressure P1 of the electromagnetic pressure reducing valve (15) according to the real-time build-up rate eta, if the actual build-up rate eta is smaller than the target build-up rate eta 0, the central processing unit (12) controls the electromagnetic pressure reducing valve (15) to reduce the pressure reducing pressure P1 so as to increase the pushing force of the thrust block (305) and increase the build-up rate; if the actual build slope eta rate is larger than the target build slope eta 0, the central processing unit (12) controls the electromagnetic reducing valve (15) to reduce the pressure P1 and increase so as to reduce the pushing force of the thrust block (305) and reduce the build slope.
6. The mud-driven rotary steerable drilling control method of claim 1, wherein: s7, the central processing unit (12) adjusts the throttle pressure P of the electromagnetic throttle valve (2) according to the real-time build slope eta, if the actual build slope eta rate is smaller than the target build slope eta 0, the central processing unit (12) controls the throttle pressure P of the electromagnetic throttle valve (2) to increase so as to increase the pushing force of the thrust block (305) and increase the build slope; if the actual build slope eta rate is larger than the target build slope eta 0, the central processing unit (12) controls the throttle pressure P of the electromagnetic throttle valve (2) to increase and decrease so as to reduce the pushing force of the thrust block (305) and decrease the build slope.
7. The mud driven rotary steerable drilling control method of claim 5, wherein: the driving force is obtained by calculating the pressure Pin in the pipe (5) and the pressure Pout in the annulus (7) measured by the pressure sensor (13-6) in the pipe and the pressure sensor (13-7) in the annulus, and the calculation formula is as follows:
f = k (Pin-Pout) S (equation 1)
In the formula 1, F is the pushing force, k is the loss coefficient of the pushing force, and S is the sectional area of the pushing piston.
8. The mud driven rotary steerable drilling control method of claim 3, wherein: in S53, the step of measuring the current tool face angle beta by the gravity accelerometer (13-3) is as follows: when the gravity acceleration is the minimum, namely the gravity high side, the central processing unit (12) records the current tool face angle beta, the time delta T = (alpha-delta alpha-beta)/R required by the front tool face angle beta to rotate to the target tool face angle alpha-delta alpha is obtained according to the average rotating speed R of the front 30s, the central processing unit (12) controls the two-position four-way electromagnetic cartridge valve (16) to be powered on at the delta T moment, the time delta T = (alpha + delta alpha-beta)/R required by the front tool face angle beta to rotate to the target tool face angle alpha + delta alpha is obtained through calculation, the central processing unit (12) controls the two-position four-way electromagnetic cartridge valve (16) to be powered off at the delta T moment, the situation that the tool face angle is measured inaccurately due to overlarge vibration is effectively avoided, and the control accuracy of the rotary drilling guiding tool face angle is improved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211053577.XA CN115370348A (en) | 2022-08-31 | 2022-08-31 | Mud-driven rotary steering drilling control method |
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