CN204965894U - Rig model and demonstration figure synchronization system of land rig installation operation simulation system - Google Patents

Abstract

The utility model discloses a rig model and demonstration figure synchronization system of land rig installation operation simulation system and system constitute each part, it is based on computer simulation technology and according to the on -the -spot actual operation flow of drilling operation, realistic simulation is carried out to drilling technology process to ZJ70D land rig, a technological skill training for drilling site operator, the teaching training sense of reality and efficiency have been strengthened, the training cycle has been shortened, the result of training has been improved, the training cost is reduced.

Description

Drilling machine model and demonstration graph synchronization system of land drilling machine installation operation simulation system

Technical Field

The utility model belongs to rig analog system field especially relates to a land rig installation operation analog system's rig model and demonstration figure synchronization system.

Background

With the globalization of the business of the petroleum technology development company in China, the business of drilling machines is spread all over the world, and the developing country has become the main market of the company. Along with the increase of the number of outlet drilling machines, accidents occurring in the using process of the drilling machines are more and more, so that the equipment is damaged, the production progress is influenced, economic loss is brought, and serious safety accidents are caused to cause casualties. Particularly, a plurality of major accidents occur in the moving and using processes of foreign drilling rigs, which can cause adverse effects on the development and image of companies. The drilling machine belongs to engineering machinery, and the safe production of the engineering machinery not only directly influences the service life of the machinery, but also relates to the safety of personnel and property. According to the investigation of the japan institute of labor science, mechanical safety accidents caused by the personal error of the operator account for 88% of the total number of accidents, accidents caused by objective reasons account for 9%, the remaining 2% are irresistible reasons, and accidents caused by unknown reasons account for 1%. Therefore, 97% of the safety accidents of the engineering machinery can be prevented. More than ninety percent of these incidents are due to operator lack of control over the correct method of use and operating irregularities. The problems in the process of assembling and disassembling well site equipment are particularly prominent in the countries of Lame, Africa, middle Asia and the like due to cultural differences and technical level limitations.

After drilling is complete, the wellsite equipment, such as the chassis, derrick, mud pumps, blowout preventer stack, etc., needs to be disassembled, transported to another drilling site, and installed to begin a new drilling operation. In the process of mounting and dismounting the equipment, certain operation rules and technical requirements must be followed to ensure the correct mounting, correct dismounting and safe use of the equipment.

However, at present, the operating rules and technical leaders of the equipment users are mainly obtained through the specifications and training provided by manufacturers, and the operating skills are based on the accumulation of experience and the teaching of master workers, and the methods often have the following problems:

the practical opportunity is limited, and the technical level is difficult to improve: due to the particularity of the drilling operation, the operations of disassembling and assembling the drilling equipment are often carried out for several months or even once a year, and the operators are difficult to accumulate various experiences through actual operation. In addition, in the process of mounting and dismounting the equipment, the accident occurrence probability is relatively small, the individual experience of handling the accident is extremely limited, and the judgment and handling capacity of the accident is difficult to accumulate and improve in the actual production activity. In the event of an accident, significant life and property losses are often caused by the lack of experience and processing power.

The traditional technical manual and the operation instruction are scattered and inconvenient to consult. Some complicated operation processes are difficult to be described clearly by words, and the difference of individual understanding is likely to cause misoperation and accidents. How to improve the skill level of equipment users, avoid equipment damage caused by improper operation and reduce accidents is a pressing problem that companies must solve at present.

Disclosure of Invention

The utility model provides a land rig installation operation analog system's rig model and demonstration figure synchronization system, land rig installation operation analog system includes: driller operation desk, driller model, teacher operation desk and three-channel circular screen projection display system.

The driller operating platform comprises a case, an internal control panel and a parameter computer, wherein the front of the case is provided with a front control panel of the driller operating platform, one side of the case is provided with a side control panel of the driller operating platform, and the other side of the case is provided with a top drive mechanical control panel and a control panel of a buffer hydraulic cylinder. Wherein a power supply button, a starting button, an air horn switch, an anti-collision release button, a suspended weight buffer valve, a bit pressure buffer valve, a hanging tong torque damper, a vertical pipe pressure damper, a fishing brake roller clutch, an input shaft inertia brake control switch, a gear shift control switch, a cat head control switch, a pneumatic turnbuckle control switch, a roller high-low speed switch, an oil cylinder selection switch, a base hydraulic switch, a parking brake switch and an emergency brake switch are arranged on a control panel on the front side of the driller operating platform; the device also comprises a display meter set, wherein the display meter set comprises an air source pressure meter, a cooling water pressure meter, a winch oil pressure meter, a turntable torquemeter, a pump pressure meter, a tong torquemeter, a left tong torquemeter, a right tong torquemeter, a safety tong pressure meter, a cat head pressure meter, a drilling torquemeter, a revolution meter, a turntable ammeter, a gear locking pressure meter and a rolling pressure meter; an assigned switch, a generator emergency stop button, a rectification emergency stop button, a test emergency stop button, a PLC/bypass switch, an electromagnetic eddy current brake switch, a rotary table forward and reverse rotation selection switch, a winch forward and reverse rotation selection switch, a No. 1 slurry pump switch, a No. 2 slurry pump switch, a No. 3 slurry pump switch and a low-voltage alarm switch are arranged on a control panel on the side surface of the driller operating platform;

the internal control panel of the driller operating platform comprises a first programmable controller PLC1 and a second programmable controller PLC2, the programmable controller PLC and the parameter computer are in data communication by adopting an RS232 protocol, wherein a CPU module of the first programmable controller PLC1 is respectively connected with a power button, a start button, an air horn switch, an anti-collision release button, a suspended weight buffer valve, a drilling pressure buffer valve, a hanging tong torque damper, a vertical pipe pressure damper, a fishing brake roller clutch, an input shaft inertia brake control switch, a gear shift control switch, a cat head control switch, a pneumatic turnbuckle control switch, a roller high-low speed switch, an oil cylinder selection switch, a base hydraulic switch, a parking brake switch and an emergency brake switch through an A/D module, and is respectively connected with a distribution switch, a generator emergency stop button, a rectification emergency stop button, a power supply switch, a generator emergency stop button, a rectifier emergency stop button, a power supply switch and, The test emergency stop button, the PLC/bypass switch, the electromagnetic eddy current brake switch, the rotary table forward and reverse rotation selection switch, the winch forward and reverse rotation selection switch, the No. 1 slurry pump switch, the No. 2 slurry pump switch, the No. 3 slurry pump switch and the low-voltage alarm switch are connected; the PLC is used for acquiring various switches on the driller operating platform, and the knob state is used for simulating the lifting control of a winch, the rotating speed control of a turntable and the speed regulation control of a slurry pump; simultaneously collecting the position of a winch clutch, a winch gear, the position of a turntable clutch, a turntable gear, the position of a pump regulator and the position of a diesel engine power regulator; parameters such as the hanging weight, the bit pressure, the air source pressure of a drilling machine, the slurry density, the slurry viscosity, the slurry water loss and the like are monitored, and the driller operating console realizes the lifting control of a derrick/a base, the rotating speed control of a drill plate and the speed regulation control of a slurry pump through the control of a PLC.

Wherein the top drive mechanical control panel is provided with an emergency stop button, a lifting ring middle position button, a reset/mute button, a lifting ring rotation selection switch, an internal blowout preventer switch, a hydraulic pump switch, a locking pin switch, a back-up tong selection switch, a lifting ring inclination selection switch, a brake selection switch, an auxiliary operation switch, a fan selection switch, a motor selection switch, an operation selection switch and a rotation direction selection switch; a control panel of the buffer hydraulic cylinder is provided with a left hydraulic cylinder selection handle, a right hydraulic cylinder selection handle, a hydraulic cylinder pressure selection handle and a hydraulic cylinder extension/retraction control handle; the CPU module of the second programmable controller PLC2 of the internal control panel of the driller operating platform is respectively connected with an emergency stop button, a lifting ring neutral button and a reset/mute button through an A/D module, and is respectively connected with a lifting ring rotation selection switch, an internal blowout preventer switch, a hydraulic pump switch, a locking pin switch, a back-up tong selection switch, a lifting ring inclination selection switch, a brake selection switch, an auxiliary operation switch, a fan selection switch, a motor selection switch, an operation selection switch and a rotation direction selection switch through a switching value input port of the PLC so as to control the top drive.

Wherein, a control panel of the buffer hydraulic cylinder is provided with a left hydraulic cylinder selection handle, a right hydraulic cylinder selection handle, a hydraulic cylinder pressure selection handle and a hydraulic cylinder extension/retraction control handle; the CPU module of the second PLC2 of the internal control panel of the driller operating platform is respectively connected with the left and right hydraulic cylinder selection handles, the hydraulic cylinder pressure selection handle and the hydraulic cylinder extending/retracting control handle through the A/D module so as to control the buffer hydraulic cylinder.

The parameter computer is used as a distributed upper computer to complete data acquisition and control of the whole system, the main control computer and the graphic computer complete execution of a main program of the system and processing and display of a circular screen graphic, and the computers are interconnected through a TCP/IP protocol. Front-end data acquisition and control between the driller console and the drill model are completed by SIEMENSS7-200PLC and connected to form a Siemens PPI network. The PLC and the parameter computer adopt RS232 protocol for data communication. The parameter computer is provided with a communication module which is used for sending information to the main control computer after the front-end hardware information is acquired from the PLC, and the communication module is also used for transmitting the information sent by the main control computer to the front-end hardware through the PLC for displaying.

The drilling machine model comprises a derrick model and a base model, and the derrick model comprises a derrick and a derrick core control machine. The derrick is a front opening derrick and consists of a main body, a propeller strut and accessories, wherein the accessories mainly comprise a racking platform, a dead rope stabilizer and a cage ladder. The derrick body is composed of a front open type steel frame structure consisting of a left upper section, a right upper section, a left middle upper section, a right middle upper section, a left lower section, a right lower section, a back beam, a diagonal draw bar and a connecting frame, and the main body is adjusted and fixed by two clamping pins. The propeller strut is a portal structure composed of a left front leg, a right front leg, a left rear leg, a right rear leg, a cross beam and the like, and is used for lifting and supporting the derrick. The lifting device consists of a lifting rope, a high bracket, a low bracket and a traveling block hook bracket. The derrick adopts the herringbone frame to rise, relies on the power of rig floor winch, through fast rope, big hook pulling rise the rope, realize that the derrick rises, in order to make the steady rest of derrick put on the herringbone frame when the derrick rises, can make the derrick focus move forward when transferring the derrick simultaneously again to rely on the self-weight whereabouts of derrick itself, be equipped with buffer on the herringbone frame, realize through buffer's flexible.

The derrick core control machine selects Siemens S7-200 series programmable controllers to directly control physical quantities corresponding to operation buttons on a driller operating console, takes a parameter computer as an upper computer, and uses a teacher control machine to uniformly manage the winch control console and each front PLC module. The whole system forms a distributed control system with resource sharing and task sharing. Communication among all the control stations adopts a Siemens special PPI communication protocol.

The base model comprises a base and a base core controller, wherein the base mainly comprises a base main body, a lifting device and a hydraulic buffer device, and the base adopts the motion principle of a parallelogram mechanism, so that the low-position installation of high platform equipment is realized. The base is integrally lifted to a working position from a low position by using winch power and a traveling block hook. The base main part is divided into an upper layer, a middle layer and a lower layer: the upper layer is a drilling platform surface part used for installing equipment of the drilling platform surface and is formed by pin connection, the lower layer is a base part, and a left front base and a left rear base, a right front base and a right rear base are respectively connected into a left part and a right part by pins. The connecting component between the left part and the right part is provided with a connecting beam, a connecting frame and an inclined strut. The middle layer is a supporting part and is positioned between the upper layer and the lower layer, and the middle layer plays a role in supporting the drilling platform surface and playing a role in placing a base. Is composed of a front leg of a herringbone frame, a rear leg of the herringbone frame, a front upright post, a rear upright post and an inclined upright post respectively, and is connected with the upper layer and the lower layer by pins. The herringbone frame is composed of a front leg and a rear leg, one end of a lifting large rope is fixed on the rear leg of the herringbone frame, and the herringbone frame plays a supporting role in the whole base lifting process. Lantern rings are arranged at two ends of the lifting large rope, and 1 group of pulleys participating in lifting are fixed on the rear legs of the A-bracket. The drilling model still includes protector group, wherein protector group is including the drilling machine derrick overhead traveling crane that realizes the drilling machine derrick overhead traveling crane and prevents bumping the device that bumps of the drilling machine derrick overhead traveling crane of function, realize preventing that the drilling machine derrick excessively rises to rise the device, realize preventing that the drilling machine derrick excessively transfers the device that prevents that the drilling machine derrick excessively transfers the function, realize preventing that the drilling machine base excessively rises to rise the device, realize preventing that the drilling machine base excessively transfers the device that prevents that the drilling machine base excessively transfers the function, realize preventing that the drilling machine hook excessively transfers the device that prevents that the drilling machine hook excessively transfers the function.

The base core control machine selects Siemens S7-200 series programmable controllers to directly control various physical quantities (which should be various switch button bars) on the driller operating console, takes a parameter computer as an upper computer, and uses a teacher control machine to uniformly manage the winch control console and the front PLC modules. The whole system forms a distributed control system with resource sharing and task sharing. Communication among all the control stations adopts a Siemens special PPI communication protocol.

In order to realize the reusability of the simulation training system, a certain protection device is installed on a drilling machine derrick base model and comprises a drilling machine derrick crown block anti-collision device, a drilling machine derrick excessive lifting prevention device, a drilling machine derrick excessive lowering prevention device, a drilling machine base excessive lifting prevention device, a drilling machine base excessive lowering prevention device and a drilling machine hook excessive lowering prevention device. In order to realize the lifting and the lowering of the derrick base and to be controlled by a driller operating platform, the system adopts a stepping motor to realize the function of a winch.

A main control computer of the land drilling rig installation operation simulation training system is required to continuously communicate with front-end hardware to acquire the equipment state of the front end, namely the operation process of training students; after the equipment state of the front-end hardware is acquired in real time, the equipment state is processed by a main control computer, and graphic software is driven to generate an animation process synchronous with the operation of the hardware equipment; meanwhile, a hardware correction module is further arranged to correct hardware such as a knob, a handle, a foot accelerator and the like which generate continuous numerical values, so that the use habit of a user is met, and the touch feeling of field operation is simulated.

In the model, all mathematical models are established and parameters are determined based on the following assumptions:

1) the annular rock carrying capacity Lc of the drilling fluid is more than or equal to 0.5; the concentration Ca of the annular drilling cuttings is less than 0.09; the annulus flow state stable parameter value Z is less than or equal to the borehole stable value Z.

2) The general drilling rate equation is based on the formation statistics drillability and reflects the macroscopic laws of the drillability of the heterogeneous formation. Meanwhile, the function relation established on the basis that single factors such as the weight-on-bit index, the rotating speed index, the hydraulic parameters, the drilling fluid density difference and the formation macroscopic property which influence the drilling rate are independent variables which do not influence each other is assumed.

3) And when overflow occurs in well drilling, the mud entering the annular space in unit time and the gas-mixed mud formed by the gas are uniformly mixed. Under this assumption we can consider the gas content per unit volume of mixed mud to be equal.

4) And after the overflow is found, the pump is stopped and the well is shut down in time. Formation gas is still continuously entering the well before the pressure in the well is equalized. Therefore, it is assumed that a continuous pure gas column is formed in the well during the period from the shutdown of the pump to the stable shutdown of the well; and the continuous gas column is not destroyed during the killing process.

5) And the gas entering the wellbore from the formation conforms to darcy's law.

6) And if the overflow entering the well is gas, the gas overflow is supposed to expand when rising in the annular space, the expansion process conforms to a gas state equation, and the gas slip phenomenon is ignored.

7) Assuming that the geothermal gradient in the well is a constant, then:

the bottom temperature is the geothermal gradient x well depth + wellhead temperature.

Because the model is mainly used for simulation training, when the computation time, the computation precision and the accuracy conflict, the time is mainly kept in principle, and the excessively complex mathematical model is properly simplified, but the accuracy in the qualitative aspect is ensured.

The teacher operation desk is provided with a main control computer and a graphic computer, wherein the main control computer is provided with a main control module which is used for communicating with the communication module to obtain the state of the hardware equipment in real time; the main control computer also comprises a plurality of drilling machine model simulation devices as follows: the simulation system comprises a drilling machine model drilling process simulation device, a drilling machine model overflow simulation device, a drilling machine model gas expansion simulation device, a drilling machine model circulating pressure calculation simulation device, a drilling machine model drilling tool lifting simulation device and a drilling machine derrick/base lifting/lowering simulation device of a drilling machine model, wherein the main control module further comprises the following simulation systems: the device comprises a device for simulating the lifting/lowering operation of a derrick/foundation of the land drilling machine, a device for simulating the tripping and the lowering operation of the land drilling machine, a device for simulating the drilling operation of the land drilling machine and a device for simulating the accident emergency operation of the land drilling machine.

The teacher operation platform is mainly used for monitoring the operation condition of students by teachers, and automatically judging and scoring operation results. The main control computer is used for completing the execution of the main program of the system and comprises a module for storing and setting simulation parameters, a module for simulating a process program, a module for controlling graphs, calculating and drawing well killing curves, a module for performance evaluation and student management, a module for collecting parameters of front-end equipment, a module for controlling a display instrument on a front-end console and an execution mechanism. The graphic computer is used for processing and displaying the circular screen graphics, and the graphic computer and the circular screen graphics are interconnected through a TCP/IP protocol.

The three-channel annular screen projection display system comprises: projector, engineering annular projection screen and image fusion machine. The projector is three orthographic projection projectors, and the three projectors, the engineering annular projection screen and the image fusion machine form an edge fusion projection system. The image fusion machine comprises a geometric correction module, an edge fusion module and a color correction module. The image fusion machine distributes the image information generated by the graphic computer to three projectors and carries out edge fusion. The edge fusion technology is to overlap the edges of the pictures projected by a group of projectors, and display a whole picture which is brighter, oversized and ultrahigh in resolution without gaps through the fusion technology, wherein the picture has the same effect as the picture projected by one projector. When two or more projectors are combined to project a picture, a part of images are overlapped, and the edge fusion has the main function of gradually reducing the light brightness of the overlapped part of the two projectors to ensure that the brightness of the whole picture is consistent.

Wherein the geometry correcting module comprises: the geometric correction module is used for correcting the geometric shape of the projected image so as to ensure that the edge fusion control can adapt to various screen configurations, preferably a plane configuration, a cylindrical configuration or a spherical configuration, and the picture projected on the screen has no geometric distortion. The geometric correction module comprises the following sub-modules: a module for carrying out space positioning on the annular projection screen in a dot matrix mode by utilizing the longitude and latitude positioning module and the laser array; a module for forming standard grids at equal intervals with the space laser dot matrix on the annular projection screen through the graphic management output of the computer; the module acquires projection images in sequence intelligently and inputs the projection images into a computer, and automatically matches the space laser dot matrix on the projection screen with the standard grid so as to obtain the corresponding relation between the projector image and the projection screen; and the module is used for realizing nonlinear geometric correction on the output image by utilizing the corresponding relation.

Wherein the edge blending module comprises: the image segmentation module is used for segmenting the image into a plurality of regular graphs so that the regular graphs are projected by three projectors respectively, wherein the width of the graph of the mutually overlapped part of the edges of the adjacent graphs segmented into the regular graphs is within 5% of the corresponding size, and the mutually overlapped graphs of the edges of the adjacent graphs simultaneously appear on the edges of the adjacent graphs after segmentation; the longitude and latitude positioning module is used for arranging criss-cross warps and wefts on the whole image, enables the colors of the warps and the wefts in each regular pattern to be different, utilizes three projectors to project the plurality of divided regular patterns, and adjusts the projectors to enable the edges of adjacent patterns to be overlapped with each other to enable the warps and the wefts in the patterns to be overlapped; the gray level adjusting module is used for adjusting white images with the brightness Alpha values of different projectors as 100%, carrying out photosensitive signal acquisition on non-overlapped graph parts through a gray level photosensitive camera, setting the gray level of the white images as Alpha, adjusting the brightness of mutually overlapped graphs on the edges of adjacent graphs downwards until the overlapped gray level beta is equal to the gray level of the non-overlapped graphs or the error of the overlapped gray level beta is less than 0.5%, and then projecting different projectors together;

wherein the color correction module includes: the module is used for measuring the actual brightness generated when different projectors project the same brightness color by using the intelligent camera and processing the photos shot under different brightness to obtain the color mapping relation of each projector; before each projector performs projection display, color tables of different screens are set, and mapping of color values is generated so that the same color projected by different projectors is similar to the color of the same module.

The projector is a high-resolution projector, and the engineering annular projection screen can be an LED/LCD annular display screen.

The land rig installation operation simulation system can also simulate accidents and complex conditions, and mainly simulate common faults and complex conditions in the drilling process. The main control computer generates accidents and requires trainees to judge the type of the accidents through the phenomenon reflected by the model and correctly process the accidents. The main simulated accidents are: the method comprises an adhesion sticking simulation flow, a sand setting sticking simulation flow, a mud bag sticking simulation flow, a male cone salvaging simulation flow and a junk milling simulation flow. The process flow is shown in fig. 20 to 24.

According to the main components of the land drilling rig installation operation simulation system, the three-dimensional animation model is generated as follows:

firstly, collecting materials, namely collecting video and photo materials on the site of a drilling machine installation site in the early stage, and shooting the whole course of each step of the actual installation of the drilling machine through a camera;

secondly, modeling, namely performing 3D modeling work through the collected materials; the size of the model is manufactured in equal proportion according to the size of an actual drilling machine object; in order to ensure the animation quality, the model is refined;

thirdly, performing model action, after the 3D model is manufactured, starting to perform action adjustment work of the 3D model according to the installation step and the process, starting from the first step of drawing a base line diagram, and then installing each object, wherein the installation of each object comprises action adjustment of a crane, animation of the object in place and action adjustment of an upper pin;

fourthly, pasting a model and materials, wherein the pasting and the materials of the model are completely manufactured according to the luster and the color of a real drilling machine, each object in the animation is guaranteed to be the same as the actual situation, and then the materials are endowed to the built model;

fifthly, setting a background, wherein the installation place of the drilling machine in the animation is selected in the desert, so that low rocks and the desert are selected as the background; sixthly, setting light, wherein in order to simulate illumination in a real environment and ensure that the light and shadow effect of the whole installation scene of the drilling machine is more real, a hundred of light arrays are manufactured in the whole scene and are used for simulating illumination of the sky and illumination of the sun;

seventhly, setting a lens, wherein the alignment position of the lens is the part of the animation displayed on the screen, and when the lens is aligned to the part being installed and pins and other small objects are arranged, the lens is drawn close to give close-up in order to ensure that the installation process of each part is clearly seen;

eighthly, integrating, namely integrating the whole scene after finishing material acquisition, modeling, model action, model chartlet and material, background setting, light setting and lens setting, wherein the whole process from drawing a base line, mounting each part and finishing lifting of the base is finished;

performing rendering, namely rendering the integrated scene into pictures according to the set lens, setting the animation of one second into 25 pictures, and setting the picture resolution to be 2560X 768; the rendering machine is a rendering farm consisting of 60 servers, and through 24-hour uninterrupted rendering and 45-day rendering, 192000 high-definition pictures are rendered in total;

tenth step, dubbing, background music and sound effect, wherein the dubbing hires a professional dubbing actor to record, the dubbing comprises each step of installation steps and explanation when the derrick is lifted, the background music is matched with different installation steps, and background music with different tones is selected; corresponding sound effects are matched at positions of hoisting the parts in place, knocking pins by a sledge hammer and the like;

eleventh, post-synthesis, namely importing 192000 rendered pictures into a synthesizer to synthesize complete video animation, adding explained Chinese and English subtitles, and simultaneously synthesizing dubbing, background music and sound effects into a video; in order to ensure the quality, the output video format after the synthesis is an avi file without compression, and the whole file is 1.3 TB;

step ten, the original video file with 1.3TB size needs to be converted into a release format for convenient playing; setting the code rate to 32000Kbps, wherein the format of WMV8 is that an encoder is FFmpeg; the final file after the transformation is 29G; the playing is smooth, and the image quality is protected to the maximum extent.

Drawings

FIG. 1 is a diagram of the system hardware structure of the present invention

Figure 2 is the front control panel front view of the driller operating platform

Figure 3 is the side control panel front view of the driller operating platform of the utility model

FIG. 4 is the front view of the top drive mechanical control panel of the present invention

FIG. 5 is a schematic view of the control relationship of the operation table of the present invention

FIG. 6 is the working principle diagram of the derrick/pedestal model of the drilling machine of the utility model

FIG. 7 is a general structure diagram of the control system of the present invention

FIG. 8 is a flow chart of the derrick hoisting process of the present invention

FIG. 9 is a flow chart of the base lifting process of the present invention

FIG. 10 is a flow chart of the base lowering process of the present invention

FIG. 11 is a process flow chart of the derrick lowering of the present invention

FIG. 12 is a flow chart of the normal drilling process of the present invention

FIG. 13 is a flow chart of the drilling process of the present invention

FIG. 14 is a flow chart of the normal tripping process of the present invention

FIG. 15 is a process flow chart of the drill catching process of the present invention

FIG. 16 is a flow chart of the normal drilling of the connecting column of the present invention

FIG. 17 is a flow chart of the drilling process under the bounce condition of the present invention

FIG. 18 is a flow chart of the high-pressure formation drilling process of the present invention

FIG. 19 is a flow chart of the low pressure formation drilling process of the present invention

FIG. 20 is a flow chart of the adhesion sticking simulation of the present invention

FIG. 21 shows a flow chart of simulation of sand setting and drill sticking

FIG. 22 is a flow chart of simulation of the mud bag drill chuck of the present invention

FIG. 23 is a flow chart of the simulation of the male tap fishing

FIG. 24 is a flow chart of the falling object milling simulation of the present invention

Detailed Description

The utility model provides a land rig installation operation analog system's rig model and demonstration figure synchronization system, land rig installation operation analog system includes: driller operation desk, driller model, teacher operation desk and three-channel circular screen projection display system.

The driller operating platform comprises a case, an internal control panel and a parameter computer, wherein the front of the case is provided with a front control panel of the driller operating platform, one side of the case is provided with a side control panel of the driller operating platform, and the other side of the case is provided with a top drive mechanical control panel and a control panel of a buffer hydraulic cylinder. Wherein a power supply button 8, a starting button 7, an air horn switch 6, an anti-collision release button 5, a suspended weight buffer valve 19, a drilling pressure buffer valve 17, a hanging tong torque damper 14, a vertical pipe pressure damper 15, a fishing brake roller clutch, an input shaft inertia brake control switch, a gear shift control switch, a cat head control switch, a pneumatic turnbuckle control switch, a roller high-low speed switch, an oil cylinder selection switch, a base hydraulic switch, a parking brake switch and an emergency brake switch are arranged on a control panel on the front side of the driller operating platform; the device also comprises a display meter set, wherein the display meter set comprises an air source pressure gauge 2, a cooling water pressure gauge, a winch oil pressure gauge 3, a turntable oil pressure gauge 4, a turntable torquemeter 13, a pump pressure gauge, a hanging tong torquemeter 16, a left tong pressure gauge 9, a right tong torquemeter 10, a safety tong pressure gauge 12, a cat head pressure gauge 1, a drilling torquemeter, a tachometer, a weight indicator 18, a turntable ammeter, a lock gear pressure gauge and an overwind pressure gauge, and the specific structural arrangement is shown in attached figure 2; an assigned switch, a generator emergency stop button, a rectification emergency stop button, a test emergency stop button, a PLC/bypass switch, an electromagnetic eddy current brake switch, a rotary table forward and reverse rotation selection switch, a winch forward and reverse rotation selection switch, a No. 1 slurry pump switch, a No. 2 slurry pump switch, a No. 3 slurry pump switch and a low-voltage alarm switch are arranged on a control panel on the side surface of the driller's stand, and the specific structural arrangement is shown in attached figure 3;

the internal control panel of the driller operating platform comprises a first programmable controller PLC1 and a second programmable controller PLC2, the programmable controller PLC and the parameter computer are in data communication by adopting an RS232 protocol, wherein a CPU module of the first programmable controller PLC1 is respectively connected with a power button, a start button, an air horn switch, an anti-collision release button, a suspended weight buffer valve, a drilling pressure buffer valve, a hanging tong torque damper, a vertical pipe pressure damper, a fishing brake roller clutch, an input shaft inertia brake control switch, a gear shift control switch, a cat head control switch, a pneumatic turnbuckle control switch, a roller high-low speed switch, an oil cylinder selection switch, a base hydraulic switch, a parking brake switch and an emergency brake switch through an A/D module, and is respectively connected with a distribution switch, a generator emergency stop button, a rectification emergency stop button, a power supply switch, a generator emergency stop button, a rectifier emergency stop button, a power supply switch and, The test emergency stop button, the PLC/bypass switch, the electromagnetic eddy current brake switch, the rotary table forward and reverse rotation selection switch, the winch forward and reverse rotation selection switch, the No. 1 slurry pump switch, the No. 2 slurry pump switch, the No. 3 slurry pump switch and the low-voltage alarm switch are connected; the PLC is used for acquiring various switches on the driller operating platform, and the knob state is used for simulating the lifting control of a winch, the rotating speed control of a turntable and the speed regulation control of a slurry pump; simultaneously collecting the position of a winch clutch, a winch gear, the position of a turntable clutch, a turntable gear, the position of a pump regulator and the position of a diesel engine power regulator; parameters such as the hanging weight, the bit pressure, the air source pressure of a drilling machine, the slurry density, the slurry viscosity, the slurry water loss and the like are monitored, and the driller operating console realizes the lifting control of a derrick/a base, the rotating speed control of a drill plate and the speed regulation control of a slurry pump through the control of a PLC.

Wherein the top drive mechanical control panel is provided with an emergency stop button 60, a lifting ring middle position button 82, a reset/mute button 70, a lifting ring rotation selection switch 83, an internal blowout preventer switch 87, a hydraulic pump switch 61, a locking pin switch, a back-up tong selection switch 64, a lifting ring inclination selection switch 66, a brake selection switch 68, an auxiliary operation switch, a fan selection switch 65, a motor selection switch 67, an operation selection switch 69 and a rotation direction selection switch 71; a control panel of the buffer hydraulic cylinder is provided with a left hydraulic cylinder selecting handle, a right hydraulic cylinder selecting handle, a hydraulic cylinder pressure selecting handle and a hydraulic cylinder extending/retracting control handle, and the specific structural arrangement is as shown in figure 4; the CPU module of the second programmable controller PLC2 of the internal control panel of the front-end operation table is respectively connected with an emergency stop button, a lifting ring neutral button and a reset/mute button through an A/D module, and is respectively connected with a lifting ring rotation selection switch, an internal blowout preventer switch, a hydraulic pump switch, a locking pin switch, a back-up tong selection switch, a lifting ring inclination selection switch, a brake selection switch, an auxiliary operation switch, a fan selection switch, a motor selection switch, an operation selection switch and a rotation direction selection switch through a switching value input port of the PLC so as to control the top drive.

Wherein, a control panel of the buffer hydraulic cylinder is provided with a left hydraulic cylinder selection handle, a right hydraulic cylinder selection handle, a hydraulic cylinder pressure selection handle and a hydraulic cylinder extension/retraction control handle; the CPU module of the second PLC2 of the internal control panel of the driller operating platform is respectively connected with the left and right hydraulic cylinder selection handles, the hydraulic cylinder pressure selection handle and the hydraulic cylinder extending/retracting control handle through the A/D module so as to control the buffer hydraulic cylinder.

The parameter computer is used as a distributed upper computer to complete data acquisition and control of the whole system, the main control computer and the graphic computer complete execution of a main program of the system and processing and display of a circular screen graphic, and the computers are interconnected through a TCP/IP protocol. Front-end data acquisition and control between the driller console and the drill model are completed by SIEMENSS7-200PLC and connected to form a Siemens PPI network. The PLC and the parameter computer adopt RS232 protocol for data communication. The parameter computer is provided with a communication module which is used for sending information to the main control computer after the front-end hardware information is acquired from the PLC, and the communication module is also used for transmitting the information sent by the main control computer to the front-end hardware through the PLC for displaying.

The drilling machine model comprises a derrick model and a base model, and the derrick model comprises a derrick and a derrick core control machine. The derrick is a front opening derrick and consists of a main body, a propeller strut and accessories, wherein the accessories mainly comprise a racking platform, a dead rope stabilizer and a cage ladder. The derrick body is composed of a front open type steel frame structure consisting of a left upper section, a right upper section, a left middle upper section, a right middle upper section, a left lower section, a right lower section, a back beam, a diagonal draw bar and a connecting frame, and the main body is adjusted and fixed by two clamping pins. The propeller strut is a portal structure composed of a left front leg, a right front leg, a left rear leg, a right rear leg, a cross beam and the like, and is used for lifting and supporting the derrick. The lifting device consists of a lifting rope, a high bracket, a low bracket and a traveling block hook bracket. The derrick adopts the herringbone frame to rise, relies on the power of rig floor winch, through fast rope, big hook pulling rise the rope, realize that the derrick rises, in order to make the steady rest of derrick put on the herringbone frame when the derrick rises, can make the derrick focus move forward when transferring the derrick simultaneously again to rely on the self-weight whereabouts of derrick itself, be equipped with buffer on the herringbone frame, realize through buffer's flexible.

The derrick core control machine selects Siemens S7-200 series programmable controllers to directly control physical quantities corresponding to operation buttons on a driller operating console, takes a parameter computer as an upper computer, and uses a teacher control machine to uniformly manage the winch control console and each front PLC module. The whole system forms a distributed control system with resource sharing and task sharing. Communication among all the control stations adopts a Siemens special PPI communication protocol.

The base model comprises a base and a base core controller, wherein the base mainly comprises a base main body, a lifting device and a hydraulic buffer device, and the base adopts the motion principle of a parallelogram mechanism, so that the low-position installation of high platform equipment is realized. The base is integrally lifted to a working position from a low position by using winch power and a traveling block hook. The base main part is divided into an upper layer, a middle layer and a lower layer: the upper layer is a drilling platform surface part used for installing equipment of the drilling platform surface and is formed by pin connection, the lower layer is a base part, and a left front base and a left rear base, a right front base and a right rear base are respectively connected into a left part and a right part by pins. The connecting component between the left part and the right part is provided with a connecting beam, a connecting frame and an inclined strut. The middle layer is a supporting part and is positioned between the upper layer and the lower layer, and the middle layer plays a role in supporting the drilling platform surface and playing a role in placing a base. Is composed of a front leg of a herringbone frame, a rear leg of the herringbone frame, a front upright post, a rear upright post and an inclined upright post respectively, and is connected with the upper layer and the lower layer by pins. The herringbone frame is composed of a front leg and a rear leg, one end of a lifting large rope is fixed on the rear leg of the herringbone frame, and the herringbone frame plays a supporting role in the whole base lifting process. Lantern rings are arranged at two ends of the lifting large rope, and 1 group of pulleys participating in lifting are fixed on the rear legs of the A-bracket. The drilling model still includes protector group, wherein protector group is including the drilling machine derrick overhead traveling crane that realizes the drilling machine derrick overhead traveling crane and prevents bumping the device that bumps of the drilling machine derrick overhead traveling crane of function, realize preventing that the drilling machine derrick excessively rises to rise the device, realize preventing that the drilling machine derrick excessively transfers the device that prevents that the drilling machine derrick excessively transfers the function, realize preventing that the drilling machine base excessively rises to rise the device, realize preventing that the drilling machine base excessively transfers the device that prevents that the drilling machine base excessively transfers the function, realize preventing that the drilling machine hook excessively transfers the device that prevents that the drilling machine hook excessively transfers the function.

The base core control machine selects Siemens S7-200 series programmable controllers to directly control various physical quantities (which should be various switch button bars) on the driller operating console, takes a parameter computer as an upper computer, and uses a teacher control machine to uniformly manage the winch control console and the front PLC modules. The whole system forms a distributed control system with resource sharing and task sharing. Communication among all the control stations adopts a Siemens special PPI communication protocol.

In order to realize the reusability of the simulation training system, a certain protection device is installed on a drilling machine derrick base model and comprises a drilling machine derrick crown block anti-collision device, a drilling machine derrick excessive lifting prevention device, a drilling machine derrick excessive lowering prevention device, a drilling machine base excessive lifting prevention device, a drilling machine base excessive lowering prevention device and a drilling machine hook excessive lowering prevention device. In order to realize the lifting and the lowering of the derrick base and to be controlled by a driller operating platform, the system adopts a stepping motor to realize the function of a winch.

A main control computer of the land drilling rig installation operation simulation training system is required to continuously communicate with front-end hardware to acquire the equipment state of the front end, namely the operation process of training students; after the equipment state of the front-end hardware is acquired in real time, the equipment state is processed by a main control computer, and graphic software is driven to generate an animation process synchronous with the operation of the hardware equipment; meanwhile, a hardware correction module is further arranged to correct hardware such as a knob, a handle, a foot accelerator and the like which generate continuous numerical values, so that the use habit of a user is met, and the touch feeling of field operation is simulated.

In the model, all mathematical models are established and parameters are determined based on the following assumptions:

1) the annular rock carrying capacity Lc of the drilling fluid is more than or equal to 0.5; the concentration Ca of the annular drilling cuttings is less than 0.09; the annulus flow state stable parameter value Z is less than or equal to the borehole stable value Z.

2) The general drilling rate equation is based on the formation statistics drillability and reflects the macroscopic laws of the drillability of the heterogeneous formation. Meanwhile, the function relation established on the basis that single factors such as the weight-on-bit index, the rotating speed index, the hydraulic parameters, the drilling fluid density difference and the formation macroscopic property which influence the drilling rate are independent variables which do not influence each other is assumed.

3) And when overflow occurs in well drilling, the mud entering the annular space in unit time and the gas-mixed mud formed by the gas are uniformly mixed. Under this assumption we can consider the gas content per unit volume of mixed mud to be equal.

4) And after the overflow is found, the pump is stopped and the well is shut down in time. Formation gas is still continuously entering the well before the pressure in the well is equalized. Therefore, it is assumed that a continuous pure gas column is formed in the well during the period from the shutdown of the pump to the stable shutdown of the well; and the continuous gas column is not destroyed during the killing process.

5) And the gas entering the wellbore from the formation conforms to darcy's law.

6) And if the overflow entering the well is gas, the gas overflow is supposed to expand when rising in the annular space, the expansion process conforms to a gas state equation, and the gas slip phenomenon is ignored.

7) Assuming that the geothermal gradient in the well is a constant, then:

the bottom temperature is the geothermal gradient x well depth + wellhead temperature.

Because the model is mainly used for simulation training, when the computation time, the computation precision and the accuracy conflict, the time is mainly kept in principle, and the excessively complex mathematical model is properly simplified, but the accuracy in the qualitative aspect is ensured.

Drilling process model

1) Equation of drilling rate

$V=\frac{131.27}{{5.5076}^a{60}^b{0.01026}^c}\×W^a\×N^b\×H_{\mathrm{EI}}^c\×e^{d({\mathrm{\ρ}}_m-{\mathrm{\ρ}}_p)}$

In the formula:

a- -weight on bit index $(a=0.5366+{0.1993}^{k_d})$

b- -rotational speed index $(b=0.9250-{0.0375}^{k_d})$

c- -formation pressure index $(c=0.7011-{0.0568}^{k_d})$

d- -drilling fluid density difference coefficient $(d={0.9767}^{k_d}-7.2703)$

k_d-formation statistical drillability $(k_d=0.00165H+0.635)$

W- -specific bit pressure (KN/mm)

N- -rotational speed (rpm)

H_EIEffective bit specific water power (kw/mm)²)

ρ_mActual or design mud density (g/cm)³)

ρ_pFormation pressure equivalent density (g/cm)³)

V- -mechanical drilling speed (m/h)

2) Calculation of effective bit specific water power

$H_{\mathrm{EI}}=10.95\frac{{\mathrm{\ρ}}_m{Q}^3}{d_e^4{D}_b^2}$

In the formula:

H_EIeffective bit specific water power (kw/mm)²)

ρ_mActual or design mud density (g/cm)³)

Q- -Displacement, liter/sec

D_b- -drill diameter, cm

d_eNozzle equivalent diameter, cm

(j₁，j₂，j₃Nozzle diameter, cm)

(II) Overflow model

1) Simulation of overflow process

In the event of flooding, the amount of gas from the formation entering the wellbore increases, the bottom hole pressure will decrease and the gas entry rate will increase, all parameter changes in the process being a continuous function of time. For this reason, the intake air amount satisfies the quadratic linear equation, provided that it is within a relatively small time interval Δ t.

(1) Gas flow calculation

$Q_{\mathrm{gS}}=C(P_P^2-P_b^2)$

In the formula:

Q_gs- -corresponds to P_bGas permeation rate in the standard state of (1), m 3/s

P_P，P_b-formation, effective pressure downhole, kpa

C- -seepage coefficient, meter 3/kilopascal second (0.2)

During time Δ t at time j: $Q_{\mathrm{gs}\left(j\right)}=C[P_{p\left(j\right)}^2-P_{b(j-1)}^2]$

(2) length of mixture per stage Δ H_mi×(j)(j＝1，2，3，……n-1)

ΔH_mi×(j)＝{Q[P_(j)-P_(j-1)]+U_jQ_gs(j)ln[P_(j)/P_(j-1)]}/(gρQ)

In the formula:

q- -discharge of mud, m 3/s

$U_j=\frac{Z_j{T}_j{P}_s}{Z_s{T}_s},$ Kilopascal

P_(j)- -bottom pressure of the mixture in the j-th stage, kPa

P_(j-1)- -pressure of the top of the mixture in the j-th stage, kPa

Rho- -slurry density, g/cm 3

g- -acceleration of gravity, m/s 2

(3) Total length of annular mixture

$H_{\mathrm{mi}\×\left(n\right)}=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}\mathrm{\Δ}{H}_{\mathrm{mi}\×\left(j\right)}$

(4) Overflow volume in well

$V_K=\left[\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{Q}_{\mathrm{gs}\left(j\right)}\right]\mathrm{\Δt}$

(5) Density determination of mixture per stage

In the formula:

-the integral amount of the slurry body in the mixture,

A_athe cross-sectional area of the annulus of the overflow section, mm 2

-the integral amount of natural gas in the mixture,

ρ_gdensity of natural gas, g/cm 3

Because of ρ_gMuch less than ρ, so the above equation can be rewritten as:

2) shut-in overflow process simulation

The shut-in process is actually the process of bottom hole pressure recovery. When the well is closed, because the bottom pressure is not balanced with the formation pressure, the formation fluid still needs to continuously enter the shaft, and the entering high-pressure gas compresses the shaft annular mixture, so that the casing pressure and the riser pressure are continuously increased. As shut-in time increases, the bottom hole pressure gradually increases and the formation fluid entry rate gradually decreases until finally the bottom hole pressure balances the formation pressure. During shut-in, all parameters are functions of time, whether the wellbore or the formation. Since the mathematical model describing this process and its calculation method are complicated, they will not be described in detail. The calculation formula of the relevant parameters such as the length of the mixture at the bottom of the well after the well is closed and stabilized is only given below.

(1) Length of bottom hole mixture after well shut-in stabilization

$H_{\mathrm{mixO}}=[\mathrm{n\ΔP}+\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{U}_j\frac{Q_{\mathrm{gs}\left(j\right)}}{Q}\ln \frac{P_P-(n-j)\mathrm{\ΔP}}{P_P-(n-j+1)\mathrm{\ΔP}}]/\mathrm{g\ρ}$

In the formula:

ΔP＝gρQΔt/A_a

n- -number of stages of the mixture divided in the ring

(2) Length of pure gas column at bottom of well after well shut-in is stabilized

H_mix(n+1)＝H_mixO-H_mix(n)

(III) gas expansion model

1) Equation of state of gas

$\frac{\mathrm{PV}}{\mathrm{ZT}}=\frac{P_s{V}_s}{Z_s{T}_s}$

In the formula:

P_spressure at standard conditions, kPa

V_s- -volume under Standard, m 3

Z_s-compression factor in standard state

T_s- -temperature at standard conditions, ° K

P- -pressure, kPa

V- -gas volume, m 3

T- -temperature, ° K

Z- -compressibility at temperature T and pressure P

The gas volume at that time can be determined by knowing the pressure, temperature and compression factor at that time.

2) Pressure of gas overflow weight in annulus

According to the fact that the weight of gas is unchanged in the rising process of the gas in the annular space, the density of the gas column at a certain moment of killing the well is obtained by using a gas state equation:

${\mathrm{\ρ}}_g=\frac{Z_s{T}_s{\mathrm{\ρ}}_s{P}_x}{Z_x{T}_x{P}_s}$

in the formula: rho_s，P_s，T_s，Z_s- -represents the gas density, pressure, temperature and compressibility in the standard state, T_xGas rising to the temperature of the formation at the midpoint of the gas column at a certain time, K

The pressure due to the weight of the gas column is:

$P_w=9.8{\mathrm{\ρ}}_g{H}_x=\frac{9.8P_x{Z}_s{T}_s{\mathrm{\ρ}}_s}{Z_x{T}_x{P}_s}$

height of gas by volume V_x(m 3) and the cross-sectional area A_a(m 3) means that:

$P_w=9.8\frac{P_x{Z}_s{T}_s{\mathrm{\ρ}}_s{V}_x}{P_s{Z}_x{T}_x{A}_a}$

in the formula A_aThe cross-sectional area of the annular section where the gas is located is changed; but for convenience of calculation, A may be used_aThe value of (d) is taken as the average cross-sectional area of the entire annulus, the pressure due to the weight of the gas is a constant. Since the value of this pressure is inherently small, the error introduced by this simplified process is negligible.

3) Natural gas compressibility factor

The formula proposed by Kenneth, R.Hall is simplified, and the following calculation formula is used for solving Z_xThe value:

$Z=1+(0.3156-\frac{1.0467}{T_r}-\frac{0.5783}{T_r^3})W+(0.5353-\frac{0.6123}{T_r})W^2+W^2\frac{0.6815}{T_r^3}$

in the formula:

$W=0.27\frac{P_r}{{\mathrm{ZT}}_r}$

contrast pressure:

$P_r=\frac{P}{49.9-3.7{\mathrm{\ρ}}_g}$

comparison temperature:

$T_r=\frac{T}{49.9-3.7{\mathrm{\ρ}}_g}$

the above formula is an implicit format, it is difficult to express the compression coefficient by using an accurate expression, and the compression coefficient can be solved by using a trial algorithm, and the solution is as follows: first, an initial compression factor Z is assumed₀Calculate P_r、T_rThen calculate W, finally calculate Z again, if | Z-Z₀If | is less than or equal to (precision, generally 0.0001), then the hypothetical Z is stated₀Is the required compression factor; if Z-Z₀If l >, "then the new assumption of Z is required₀And then Z is calculated. Up to | Z-Z₀Until | ≦ meets the requirement.

(IV) Cyclic pressure calculation model

1) Pressure loss of drill bit

$P_b=\frac{\mathrm{\ρ}{Q}^2}{20C^2{A}_0^2}$

In the formula:

P_b-bit pressure drop, MPa;

rho- -mud density, g/cm 3;

q- -discharge of mud through the bit nozzles, liters/second;

A₀nozzle outlet cross-sectional area, cm 2

C- -nozzle flow coefficient (0.98)

2) And internal pressure loss of the drill rod:

$P_l=B\frac{{\mathrm{\ρ}}^{0.8}{\mathrm{\η}}^{0.2}{L}_p{Q}^{1.8}}{d^{4.8}}$

in the formula:

P_l-internal pressure loss in the drill pipe, Mpa;

rho- -mud density, g/cm 3;

eta- -plastic viscosity of the slurry, pascal seconds;

d-inner diameter of drill rod, cm;

b-constant, inner flat drill rod B-0.51655

Q- -mud flow, liter/sec;

L_p-total length of drill pipe, meter.

3) Pressure loss in the outer annular space of drill rod

$P_l=0.57503\frac{{\mathrm{\ρ}}^{0.8}{\mathrm{\η}}^{0.2}{L}_p{Q}^{1.8}}{{(D-D_0)}^3{(D+D_0)}^{1.8}}$

In the formula:

P_l-pressure loss in the outer annular space of the drill pipe, Mpa;

rho- -mud density, g/cm 3;

eta- -plastic viscosity of the slurry, pascal seconds;

D，D₀-the hole diameter and the drill pipe outer diameter in cm;

q- -mud flow, liter/sec;

L_p-total length of drill pipe, meter.

4) Internal pressure loss of drill collar

$P_l=0.51655\frac{{\mathrm{\ρ}}^{0.8}{\mathrm{\η}}^{0.2}{L}_c{Q}^{1.8}}{d_c^{4.8}}$

In the formula:

P_l-internal drill collar pressure loss, Mpa;

rho- -mud density, g/cm 3;

eta- -plastic viscosity of the slurry, pascal seconds;

d_c-drill collar inner diameter, cm;

q- -mud flow, liter/sec;

L_c-total length of drill collar, meter.

5) Drill collar outer ring air pressure loss

$P_l=0.57503\frac{{\mathrm{\ρ}}^{0.8}{\mathrm{\η}}^{0.2}{L}_c{Q}^{1.8}}{{(D-D_c)}^3{(D+D_c)}^{1.8}}$

In the formula:

P_l-the pressure loss in the outer annular space of the drill collar, Mpa;

rho- -mud density, g/cm 3;

eta- -plastic viscosity of the slurry, pascal seconds;

D，D_c-the borehole diameter and the drill collar outer diameter, in cm;

q- -mud flow, liter/sec;

L_coverall length of drill collarAnd rice.

(V) drilling tool lifting model

1) Drill string stress model during tripping

Tripping out the drill:

$a(\mathrm{\Σ}{q}_i{l}_i-\frac{F_f}{g})=F-\mathrm{g\Σ}{q}_i{l}_i-F_m+F_f-F_k$

drilling:

$a(\mathrm{\Σ}{q}_i{l}_i-\frac{F_f}{g})=\mathrm{g\Σ}{q}_i{l}_i-F_m-F_f-F_k$

in the formula:

f-lifting force of big hook newton

F_m- -Newton of friction (or braking force) generated by the lever

F_f- -buoyancy Newton

F_f＝ρ(∑q_il_i)ρ_a

a- -acceleration of the drill string in meters/second 2

q_i-kilogram per meter of unit mass of drill string

l_i-length meter of a section of drill string

Rho- -mud density g/cm 3

ρ_a-a section of drill string density g/cm 3

F_k-newton friction of the drill string in the well

g- -gravitational acceleration m/s 2

2) Speed lifting model during tripping

V_pt(i)＝V_pt(i-1)+aΔt

In the formula:

Δ t- -calculation time step, second

V_pt(i)--t_(i)Time of day drill string speed, m/s

The brake lever has the function of generating a friction force to prevent the movement of a drill string in the well, so that the brake lever function is considered to be between 0 and 1, namely when the brake lever is completely pressed down, the brake lever function is 1, and the winch is braked; when the lever is fully raised, it acts as a 0, indicating that the band is fully released. The braking action (the braking action is the friction force generated by the brake band and the brake drum) between 0 and 1 conforms to a friction model of the winch brake drum.

(VI) lifting/lowering model of derrick/base of drilling machine

Derrick lifting and lowering model

Analyzing the lifting force of the derrick: when the derrick rises, the whole derrick rises around the bottom hinge pivot 0 in a rotating way, and the overall stress analysis is as follows:

2F·(b+c)+P·a＝G₁·L₁·cos(α+α₁)+G₂·L₂·cos(α+α₂)

in the formula:

a- -is the arm of force of the fast rope pulling force to the rotating fulcrum 0

b. c- -arm of force of pulling force of lifting large rope on two sides of herringbone frame pulley to fulcrum 0 respectively

L₁、L₂Distance between the center of gravity of the derrick and the center of gravity of the crown block to the pivot point 0

Alpha-is derrick hoisting angle (0 to 90 degree)

α₁-is the angle between the connecting line of the derrick gravity center and the fulcrum 0 and the outline below the derrick

α₂-is the angle between the connecting line of the center of gravity of the crown block and the fulcrum 0 and the profile line under the derrick

G₁-is the derrick dead weight

G₂- -is the weight of the crown block

P-is the tension of the quick rope

F-is the tension of the lifting rope

Calculating a relation between a moment arm b and a lifting angle alpha: wherein the lifting device is simplified into a plane motion mechanism, and the A-bracket pulley is simplified into a fixed point.

$b=S_2\·\sin \left(\arccos \frac{S_2-S_2\·\cos (A-\mathrm{\α})}{\sqrt{{S_1}^2+{S_2}^2-2S_1\·S_2\·\cos (A-\mathrm{\α})}}\right)$

In the formula:

S₁、S₂- -is a structurally fixed parameter

A-is the angle between the hoisting ropes when the derrick is laid flat

Alpha-is derrick hoisting angle (0 to 90 degree)

Secondly, calculating a relation between the force arm c and the lifting angle alpha: the derrick side guide pulley is simplified into a fixed point.

$c=S_3\·\sin \left(\arccos \frac{S_3-S_2\·\cos (B-\mathrm{\α})}{\sqrt{{S_1}^2+{S_3}^2-2S_1\·S_3\·\cos (B-\mathrm{\α})}}\right)$

In the formula:

S₃- -is a structurally fixed parameter

B- -angle between hoisting ropes when derrick is horizontally placed

Alpha-is derrick hoisting angle (0 to 90 degree)

Thirdly, calculating the relation between the force arm a and the lifting angle alpha: the derrick side guide pulley is simplified into a fixed point.

$a=S_5\·\sin \left(\arccos \frac{S_5-S_4\·\cos C-\mathrm{\α})}{\sqrt{{S_4}^2+{S_5}^2-2S_4\·S_5\·\cos (C-\mathrm{\α})}}\right)$

In the formula:

S₄、S₅- -is a structurally fixed parameter

C- -angle between hoisting ropes when derrick is horizontally placed

Alpha-for derrick lifting angle (0-90 degree)

Fourthly, calculating the relation of the lifting large rope tension F, the quick rope tension P and the lifting angle alpha: as a preliminary calculation, the small angle of space, the deformation of the rope and the gravity of the traveling block and the hook are ignored.

$F=\frac{12P}{2\cos \mathrm{\β}}\frac{\mathrm{SP}}{\cos \left(\arcsin \frac{h}{-\sqrt{2}h+L_D-\sqrt{{S_1}^2+{S_2}^2}-2S_1\·S_2\·\cos (A-\mathrm{\α})}\right)}$

In the formula:

f- -for lifting big rope tension F

P-is the tension of the quick rope

Alpha-is derrick hoisting angle (0 to 90 degree)

L-is the length of the lifting rope when the derrick is lifted to the angle alpha

h-is the vertical height from the top of the derrick to the ground

S₁、S₂- -is a structurally fixed parameter

Calculating the relation between the lifting force P and the lifting angle alpha:

in the formula:

G₁-is the derrick dead weight

G₂- -is the weight of the crown block

P-is the tension of the quick rope

Alpha-for derrick lifting angle (0-90 degree)

L-is the length of the lifting rope when the derrick is lifted to the angle alpha

h-is the vertical height from the top of the derrick to the ground

S₁、S₂、S₃、S₄、S₅- -is a structurally fixed parameter.

The teacher operation desk is provided with a main control computer and a graphic computer, wherein the main control computer is provided with a main control module which is used for communicating with the communication module to obtain the state of the hardware equipment in real time; the main control computer also comprises a plurality of drilling machine model simulation devices as follows: the simulation system comprises a drilling machine model drilling process simulation device, a drilling machine model overflow simulation device, a drilling machine model gas expansion simulation device, a drilling machine model circulating pressure calculation simulation device, a drilling machine model drilling tool lifting simulation device and a drilling machine derrick/base lifting/lowering simulation device of a drilling machine model, wherein the main control module further comprises the following simulation systems: the device comprises a device for simulating the lifting/lowering operation of a derrick/foundation of the land drilling machine, a device for simulating the tripping and the lowering operation of the land drilling machine, a device for simulating the drilling operation of the land drilling machine and a device for simulating the accident emergency operation of the land drilling machine.

The teacher operation platform is mainly used for monitoring the operation condition of students by teachers, and automatically judging and scoring operation results. The main control computer is used for completing the execution of the main program of the system and comprises a module for storing and setting simulation parameters, a module for simulating a process program, a module for controlling graphs, calculating and drawing well killing curves, a module for performance evaluation and student management, a module for collecting parameters of front-end equipment, a module for controlling a display instrument on a front-end console and an execution mechanism. The graphic computer is used for processing and displaying the circular screen graphics, and the graphic computer and the circular screen graphics are interconnected through a TCP/IP protocol.

The three-channel annular screen projection display system comprises: projector, engineering annular projection screen and image fusion machine. The projector is three orthographic projection projectors, and the three projectors, the engineering annular projection screen and the image fusion machine form an edge fusion projection system. The image fusion machine comprises a geometric correction module, an edge fusion module and a color correction module. The image fusion machine distributes the image information generated by the graphic computer to three projectors and carries out edge fusion. The edge fusion technology is to overlap the edges of the pictures projected by a group of projectors, and display a whole picture which is brighter, oversized and ultrahigh in resolution without gaps through the fusion technology, wherein the picture has the same effect as the picture projected by one projector. When two or more projectors are combined to project a picture, a part of images are overlapped, and the edge fusion has the main function of gradually reducing the light brightness of the overlapped part of the two projectors to ensure that the brightness of the whole picture is consistent.

Wherein the geometry correcting module comprises: the geometric correction module is used for correcting the geometric shape of the projected image so as to ensure that the edge fusion control can adapt to various screen configurations, preferably a plane configuration, a cylindrical configuration or a spherical configuration, and the picture projected on the screen has no geometric distortion. The geometric correction module comprises the following sub-modules: a module for carrying out space positioning on the annular projection screen in a dot matrix mode by utilizing the longitude and latitude positioning module and the laser array; a module for forming standard grids at equal intervals with the space laser dot matrix on the annular projection screen through the graphic management output of the computer; the module acquires projection images in sequence intelligently and inputs the projection images into a computer, and automatically matches the space laser dot matrix on the projection screen with the standard grid so as to obtain the corresponding relation between the projector image and the projection screen; and the module is used for realizing nonlinear geometric correction on the output image by utilizing the corresponding relation.

Wherein the edge blending module comprises: the image segmentation module is used for segmenting the image into a plurality of regular graphs so that the regular graphs are projected by three projectors respectively, wherein the width of the graph of the mutually overlapped part of the edges of the adjacent graphs segmented into the regular graphs is within 5% of the corresponding size, and the mutually overlapped graphs of the edges of the adjacent graphs simultaneously appear on the edges of the adjacent graphs after segmentation; the longitude and latitude positioning module is used for arranging criss-cross warps and wefts on the whole image, enables the colors of the warps and the wefts in each regular pattern to be different, utilizes three projectors to project the plurality of divided regular patterns, and adjusts the projectors to enable the edges of adjacent patterns to be overlapped with each other to enable the warps and the wefts in the patterns to be overlapped; the gray level adjusting module is used for adjusting white images with the brightness Alpha values of different projectors as 100%, carrying out photosensitive signal acquisition on non-overlapped graph parts through a gray level photosensitive camera, setting the gray level of the white images as Alpha, adjusting the brightness of mutually overlapped graphs on the edges of adjacent graphs downwards until the overlapped gray level beta is equal to the gray level of the non-overlapped graphs or the error of the overlapped gray level beta is less than 0.5%, and then projecting different projectors together;

wherein the color correction module includes: the module is used for measuring the actual brightness generated when different projectors project the same brightness color by using the intelligent camera and processing the photos shot under different brightness to obtain the color mapping relation of each projector; before each projector performs projection display, color tables of different screens are set, and mapping of color values is generated so that the same color projected by different projectors is similar to the color of the same module.

The projector is a high-resolution projector, and the engineering annular projection screen can be an LED/LCD annular display screen.

The land rig installation operation simulation system can also simulate accidents and complex conditions, and mainly simulate common faults and complex conditions in the drilling process. The main control computer generates accidents and requires trainees to judge the type of the accidents through the phenomenon reflected by the model and correctly process the accidents. The main simulated accidents are: the method comprises an adhesion sticking simulation flow, a sand setting sticking simulation flow, a mud bag sticking simulation flow, a male cone salvaging simulation flow and a junk milling simulation flow. The process flow is shown in fig. 20 to 24.

According to the main components of the land drilling rig installation operation simulation system, the three-dimensional animation model is generated as follows:

firstly, collecting materials, namely collecting video and photo materials on the site of a drilling machine installation site in the early stage, and shooting the whole course of each step of the actual installation of the drilling machine through a camera;

secondly, modeling, namely performing 3D modeling work through the collected materials; the size of the model is manufactured in equal proportion according to the size of an actual drilling machine object; in order to ensure the animation quality, the model is refined;

thirdly, performing model action, after the 3D model is manufactured, starting to perform action adjustment work of the 3D model according to the installation step and the process, starting from the first step of drawing a base line diagram, and then installing each object, wherein the installation of each object comprises action adjustment of a crane, animation of the object in place and action adjustment of an upper pin;

fourthly, pasting a model and materials, wherein the pasting and the materials of the model are completely manufactured according to the luster and the color of a real drilling machine, each object in the animation is guaranteed to be the same as the actual situation, and then the materials are endowed to the built model;

fifthly, setting a background, wherein the installation place of the drilling machine in the animation is selected in the desert, so that low rocks and the desert are selected as the background; sixthly, setting light, wherein in order to simulate illumination in a real environment and ensure that the light and shadow effect of the whole installation scene of the drilling machine is more real, a hundred of light arrays are manufactured in the whole scene and are used for simulating illumination of the sky and illumination of the sun;

seventhly, setting a lens, wherein the alignment position of the lens is the part of the animation displayed on the screen, and when the lens is aligned to the part being installed and pins and other small objects are arranged, the lens is drawn close to give close-up in order to ensure that the installation process of each part is clearly seen;

eighthly, integrating, namely integrating the whole scene after finishing material acquisition, modeling, model action, model chartlet and material, background setting, light setting and lens setting, wherein the whole process from drawing a base line, mounting each part and finishing lifting of the base is finished;

performing rendering, namely rendering the integrated scene into pictures according to the set lens, setting the animation of one second into 25 pictures, and setting the picture resolution to be 2560X 768; the rendering machine is a rendering farm consisting of 60 servers, and through 24-hour uninterrupted rendering and 45-day rendering, 192000 high-definition pictures are rendered in total;

tenth step, dubbing, background music and sound effect, wherein the dubbing hires a professional dubbing actor to record, the dubbing comprises each step of installation steps and explanation when the derrick is lifted, the background music is matched with different installation steps, and background music with different tones is selected; corresponding sound effects are matched at positions of hoisting the parts in place, knocking pins by a sledge hammer and the like;

eleventh, post-synthesis, namely importing 192000 rendered pictures into a synthesizer to synthesize complete video animation, adding explained Chinese and English subtitles, and simultaneously synthesizing dubbing, background music and sound effects into a video; in order to ensure the quality, the output video format after the synthesis is an avi file without compression, and the whole file is 1.3 TB;

step ten, the original video file with 1.3TB size needs to be converted into a release format for convenient playing; setting the code rate to 32000Kbps, wherein the format of WMV8 is that an encoder is FFmpeg; the final file after the transformation is 29G; the playing is smooth, and the image quality is protected to the maximum extent.

Claims (1)

1. A system for synchronizing a rig model and a demonstration graphic of a land rig installation operation simulation system, the land rig installation operation simulation system comprising: the system comprises a driller operating platform, a driller model, a teacher operating platform and a three-channel annular screen projection display system; wherein,

the driller operating platform comprises a case, an internal control panel and a parameter computer, wherein the front of the case is provided with a front control panel of the driller operating platform, one side of the case is provided with a side control panel of the driller operating platform, and the other side of the case is provided with a top drive mechanical control panel and a control panel of a buffer hydraulic cylinder; wherein a power supply button, a starting button, an air horn switch, an anti-collision release button, a suspended weight buffer valve, a bit pressure buffer valve, a hanging tong torque damper, a vertical pipe pressure damper, a fishing brake roller clutch, an input shaft inertia brake control switch, a gear shift control switch, a cat head control switch, a pneumatic turnbuckle control switch, a roller high-low speed switch, an oil cylinder selection switch, a base hydraulic switch, a parking brake switch and an emergency brake switch are arranged on a control panel on the front side of the driller operating platform; the device also comprises a display meter set, wherein the display meter set comprises an air source pressure meter, a cooling water pressure meter, a winch oil pressure meter, a turntable torquemeter, a pump pressure meter, a tong torquemeter, a left tong torquemeter, a right tong torquemeter, a safety tong pressure meter, a cat head pressure meter, a drilling torquemeter, a revolution meter, a turntable ammeter, a gear locking pressure meter and a rolling pressure meter; an assigned switch, a generator emergency stop button, a rectification emergency stop button, a test emergency stop button, a PLC/bypass switch, an electromagnetic eddy current brake switch, a rotary table forward and reverse rotation selection switch, a winch forward and reverse rotation selection switch, a No. 1 slurry pump switch, a No. 2 slurry pump switch, a No. 3 slurry pump switch and a low-voltage alarm switch are arranged on a control panel on the side surface of the driller operating platform;

the internal control panel of the driller operating platform comprises a first programmable controller PLC (1) and a second programmable controller PLC (2) which are communicated with a parameter computer by adopting an RS232 protocol, wherein a CPU module of the first programmable controller PLC (1) is respectively connected with a power button, a start button, an air horn switch, an anti-collision release button, a suspended weight buffer valve, a drilling pressure buffer valve, a hanging tong torque damper, a vertical pipe pressure damper, a fishing brake roller clutch, an input shaft inertia brake control switch, a gear shift control switch, a cat head control switch, a pneumatic turnbuckle control switch, a roller high-low speed switch, an oil cylinder selection switch, a base hydraulic switch, a parking brake switch and an emergency brake switch through an A/D module, and is respectively connected with a distribution switch, a generator emergency stop button, a power button, a start button, a gas horn switch, a suspension clamp release button, a hanging weight buffer valve, a drilling pressure, The system comprises a rectification emergency stop button, a test emergency stop button, a PLC/bypass switch, an electromagnetic eddy current brake switch, a rotary table forward and reverse rotation selection switch, a winch forward and reverse rotation selection switch, a No. 1 slurry pump switch, a No. 2 slurry pump switch, a No. 3 slurry pump switch and a low-voltage alarm switch which are connected; the PLC is used for acquiring various switches on the driller operating platform, and the knob state is used for simulating the lifting control of a winch, the rotating speed control of a turntable and the speed regulation control of a slurry pump; simultaneously collecting the position of a winch clutch, a winch gear, the position of a turntable clutch, a turntable gear, the position of a pump regulator and the position of a diesel engine power regulator; monitoring the parameters of the suspended weight, the bit pressure, the air source pressure of a drilling machine, the slurry density, the slurry viscosity and the slurry water loss, and controlling the lifting control of a derrick/a base, the rotating speed control of a drill plate and the speed regulation control of a slurry pump by a driller operating platform through the control of a PLC (programmable logic controller);

wherein the top drive mechanical control panel is provided with an emergency stop button, a lifting ring middle position button, a reset/mute button, a lifting ring rotation selection switch, an internal blowout preventer switch, a hydraulic pump switch, a locking pin switch, a back-up tong selection switch, a lifting ring inclination selection switch, a brake selection switch, an auxiliary operation switch, a fan selection switch, a motor selection switch, an operation selection switch and a rotation direction selection switch; a control panel of the buffer hydraulic cylinder is provided with a left hydraulic cylinder selection handle, a right hydraulic cylinder selection handle, a hydraulic cylinder pressure selection handle and a hydraulic cylinder extension/retraction control handle; the CPU module of a second programmable controller PLC (2) of an internal control panel of the driller operating platform is respectively connected with an emergency stop button, a lifting ring neutral button and a reset/mute button through an A/D module, and is respectively connected with a lifting ring rotation selection switch, an internal blowout preventer switch, a hydraulic pump switch, a locking pin switch, a back-up tong selection switch, a lifting ring inclination selection switch, a brake selection switch, an auxiliary operation switch, a fan selection switch, a motor selection switch, an operation selection switch and a rotation direction selection switch through a switching value input port of the PLC so as to control the top drive;

wherein, a control panel of the buffer hydraulic cylinder is provided with a left hydraulic cylinder selection handle, a right hydraulic cylinder selection handle, a hydraulic cylinder pressure selection handle and a hydraulic cylinder extension/retraction control handle; the CPU module of a second programmable controller PLC (2) of an internal control panel of the driller operating platform is respectively connected with a left hydraulic cylinder selecting handle, a right hydraulic cylinder selecting handle, a hydraulic cylinder pressure selecting handle and a hydraulic cylinder extending/retracting control handle through an A/D module so as to control the buffer hydraulic cylinder;

the parameter computer is used as a distributed upper computer to complete data acquisition and control of the whole system, the main control computer and the graphic computer complete execution of a system main program and processing and display of a circular screen graphic, and the computers are interconnected through a TCP/IP protocol; front-end data acquisition and control between the driller operating platform and the drilling machine model are finished by SIEMENSS7-200PLC and are connected to form a Siemens PPI network; the PLC and the parameter computer adopt RS232 protocol for data communication; the parameter computer comprises a communication module which is used for sending information to the main control computer after the front-end hardware information is acquired from the PLC, wherein the communication module is also used for transmitting the information sent by the main control computer to the front-end hardware through the PLC for displaying;

the drilling machine model comprises a derrick model and a base model, and the derrick model comprises a derrick and a derrick core control machine; wherein the derrick is a front opening derrick and consists of a derrick main body, a propeller strut and accessories; the base model comprises a base and a base core controller, wherein the base mainly comprises a base main body, a lifting device and a hydraulic buffer device, and the base adopts the motion principle of a parallelogram mechanism, so that the low-position installation of high platform equipment is realized;

the teacher workstation is provided with a main control computer and a graphic computer, wherein the main control computer is provided with a main control module which is used for communicating with the communication module to obtain the state of the hardware equipment in real time; the main control computer further comprises a plurality of drilling machine model simulation devices: the drilling machine model drilling process simulation device, the drilling machine model overflow simulation device, the drilling machine model gas expansion simulation device, the drilling machine model circulating pressure calculation simulation device, the drilling machine model drilling tool lifting simulation device and the drilling machine derrick/base lifting/lowering simulation device of the drilling machine model, wherein the main control module further comprises a plurality of simulation systems: the device comprises a device for simulating the lifting/lowering operation of a derrick/foundation of the land drilling machine, a device for simulating the tripping and the lowering operation of the land drilling machine, a device for simulating the drilling operation of the land drilling machine and a device for simulating the accident emergency operation of the land drilling machine;

the three-channel annular screen projection display system comprises: the system comprises a projector, an engineering annular projection screen and an image fusion machine; the projector comprises three front-projection projectors, and an edge fusion projection system is formed by the three front-projection projectors and an engineering annular projection screen combined image fusion machine;

a main control computer of the land drilling rig installation operation simulation training system is required to continuously communicate with front-end hardware to acquire the equipment state of the front end, namely the operation process of training students; after the equipment state of the front-end hardware is acquired in real time, the equipment state is processed by a main control computer, and graphic software is driven to generate an animation process synchronous with the operation of the hardware equipment; meanwhile, a hardware correction module is further arranged to correct hardware of continuous numerical values generated by the knob, the handle and the foot accelerator, so that the use habit of a user is met, and the touch feeling of field operation is simulated.