EP0744526B1 - Méthode pour contrôler la direction d'un outil de forage - Google Patents

Méthode pour contrôler la direction d'un outil de forage Download PDF

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Publication number
EP0744526B1
EP0744526B1 EP19950107954 EP95107954A EP0744526B1 EP 0744526 B1 EP0744526 B1 EP 0744526B1 EP 19950107954 EP19950107954 EP 19950107954 EP 95107954 A EP95107954 A EP 95107954A EP 0744526 B1 EP0744526 B1 EP 0744526B1
Authority
EP
European Patent Office
Prior art keywords
tool
control circuit
drilling
data
actual
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP19950107954
Other languages
German (de)
English (en)
Other versions
EP0744526A1 (fr
Inventor
Joachim Dr.-Ing. Oppelt
Gerald Dr.-Ing. Heisig
Francesco Donati
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eni SpA
Baker Hughes Holdings LLC
Original Assignee
Eni SpA
Baker Hughes Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=8219289&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0744526(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Eni SpA, Baker Hughes Inc filed Critical Eni SpA
Priority to DE59509490T priority Critical patent/DE59509490D1/de
Priority to EP19950107954 priority patent/EP0744526B1/fr
Priority to NO962113A priority patent/NO962113L/no
Publication of EP0744526A1 publication Critical patent/EP0744526A1/fr
Application granted granted Critical
Publication of EP0744526B1 publication Critical patent/EP0744526B1/fr
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Classifications

    • 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
    • E21B44/005—Below-ground automatic control systems
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
    • 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
    • E21B7/062—Deflecting the direction of boreholes the tool shaft rotating inside a non-rotating guide travelling with the shaft

Definitions

  • the invention relates to a method for controlling a drilling tool, that is assigned at least by a group of the tool, Controllable actuators distributed over the tool circumference is correctable during drilling operations in underground formations the preamble of claim 1.
  • the invention addresses the problem of a method of the type mentioned create that enables precise surface tool guidance.
  • the invention solves the problem by a method with the features of the claim 1.
  • the method according to the invention has the main control function for the external control loop to the latter after evaluation of the received during the day Can exercise data automatically. Instead, or in addition, there is Possibility of individual influence on the tool course through a the operator is monitoring the events underground as well as at automatic course setting the tool control solely by specifying a can make single control vector. This enables extremely gentle, Quickly correctable course determinations that involve drilling a borehole with a smooth curve, largely free of kinks and jags enables. This is particularly the case with bores with extensive Horizontal course of importance, the range of which is determined by the Drill string friction in the borehole is affected, because this is the greater, depending the course of the borehole is more irregular. The method according to the invention therefore favors the creation of horizontal bores with increased range.
  • FIG. 1 schematically illustrates a drilling rig 1 for sinking boreholes 2 into underground rock formations using a drilling tool 3 at the front end of a drill string 4, its progressive construction and drive is generally known and requires no further explanation.
  • a rotating drill string 4 driving the drilling tool 3 can also use a non-rotating drill string with a drilling tool find, whose drill bit is driven by an underground motor.
  • the above-ground operation center is immediate in the example shown shown shown the drilling rig 1 adjacent and labeled 5, can however, it can also be set up at any distance from drilling rig 1, provided that Appropriate transmission of drilling operations data is ensured, which in the example shown by an electrical line connection 6 he follows.
  • the tool 3 comprises a housing screwed to the drill string 4 at 7 8, which is screwed at 9 with a retracted extension 10, the its lower end via a screw connection 11 with a drill bit 12 connected is.
  • the housing 8 and its extension 9 have a central one Flow channel 13 for the implementation of a detergent that the Flows through the drill string 4 downwards, from the drill bit 12 into the borehole 2 emerges and in the annular space between the wall of the borehole 2 and the Tool 3 or the drill string 4 flows back to the drilling rig 1, where it is in reaches a rinsing tank, not shown, from which it is by means of a rinsing pump is promoted in the drill string 4.
  • the fixed ribs 14 of an upper one Stabilizer 15 carries, for example, there is a generator 16 for the Power supply to the tool-side electrical consumers, from a only schematically indicated, acted upon by the flushing agent flow Turbine 17 can be driven.
  • Generator 16 and turbine 17 can be part of an intra-day recipient of information whose reception and further processing part is indicated schematically at 18.
  • information transmitter for example a pulser acting on the flushing agent flow, provided with whose help intraday, tool-internal data to only one schematically illustrated at 20 above-ground information receivers can be transmitted.
  • the daily information provider for the daily present and to be transmitted to the control system of the drilling tool 3 Data is also only indicated schematically in FIG. 1 and designated 21.
  • sleeve-shaped housing part 25 On the retracted area 22 of the extension 10 is a via 23 sleeve-shaped housing part 25 rotatably supported, which is not a in operation assumes a rotating position in borehole 2, while drill string 4, housing 8, extension 10 and drill bit 12 about their central axis as a result of the surface Rotate drive of drill string 4.
  • the housing part 25 has three actuators in the form of ribs 26, 27, 28 provided that have a stabilizer rib-like shape and each around an axis 29 are supported hinged on the housing part 25.
  • Ribs 26, 27, 28 can be used individually and independently of one another using one at a time Pressure medium drive 30,31,32 from the folded in shown in Fig. 4 Starting position in a more or less extended operating position are transferred in which they rest on the wall of the borehole 2 and exert an individually definable pressure force on them.
  • Hydraulic pump 33 For actuating the pressure medium drives 30, 31, 32 there is a in the housing part 25 Hydraulic pump 33 is provided, the hydraulic fluid drives via hydraulic lines 34 30,31,32 pressurized.
  • the hydraulic pump 33 can are driven by an electric motor, which is generated by the generator 16 or is powered by a battery supplied by this.
  • three Actuators that are sufficient for precise alignment of the drilling tool 3 can also have more than three, e.g. four or five, actuators provided his.
  • an electronic control system in the housing part 25 housed, which is indicated at 35 and sensors 36 for recording of required measured values and an evaluation and arithmetic unit 37 includes, which forms part of an internal control loop.
  • the current drilling direction 45 which is determined by the angle 43 Tool of the tool axis 58 to a reference direction, for example the magnetic north direction 40 (Fig. 2) (azimuth) and the angle 44 of Tool axis 58 to a further reference direction, preferably that Direction of gravitational acceleration 41 can be defined.
  • a reference direction for example the magnetic north direction 40 (Fig. 2) (azimuth) and the angle 44 of Tool axis 58 to a further reference direction, preferably that Direction of gravitational acceleration 41 can be defined.
  • To the required Measured values also include the angular position of the drilling tool 3 in the borehole 2 with respect to a reference plane, preferably the zero point 50 of a flat coordinate system 51 which is permanently assigned to the drilling tool 3 intersecting and coinciding with the direction of gravitational acceleration Level 53, which is the top of the tool 3 in an upper culmination line intersects that is defined by the culmination points 52.
  • the current rotational angle po results from the data determined above sition of the drilling tool 3 as the angle 54 between the direction of gravity defined reference plane 53 and the tool-fixed reference plane 55, which coincides with the ordinate of the tool-fixed coordinate system, so that complete information about the orientation and orientation of the drilling tool 3 are given.
  • the force with which the ribs 26, 27, 28 are pressed against the is determined Press the wall of borehole 2. This can be done using pressure sensors or from the control valve settings for the pressure medium drives 30,31,32 are derived. The individual forces become a resulting one Force determined, which is defined by amount and direction and a control vector 56 forms.
  • the direction of the zero point of the tool-fixed coordinate system 51 and the tool axis 58 perpendicularly intersecting control vector 56 is defined as the angle 57 that the control vector 56 makes with the reference plane 53 includes.
  • drilling operations are carried out of the drilling tool 3 from those belonging to the tool-internal control circuit 60
  • Sensors 36 the measured values for the current drilling direction of the drilling tool 3, the current setting of the actuators 26,27,28 and the Orientation of rotation (angle 54) of the drilling tool 3 is determined.
  • This Data is sent to a computing part 61 of the internal control loop 60 transferred that deviations of the tool-fixed reference plane 55 to the by reference plane 53 given in the direction of gravitational acceleration compensated and direction (angle 57) and amount of the current control vector 56 determined.
  • the entire and processed data are sent via a data transmission system 62, for example the information provider 19 and the Includes information receiver 21, passed to an external control circuit 70, in which this data is processed in a manner to be described.
  • the data supplied by the computing element 61 compensated control vector actual values in the tool-internal control loop in one Comparison part 63 of the control circuit 60 with predetermined, stored Control vector setpoints compared and the result of the evaluation and Computing unit 37 of the tool-internal control system 35 fed, which if necessary, the setting of the actuators 26, 27, 28 is corrected.
  • those of the tool-internal control loop 60 supplied actual values of the current drilling direction of the drilling tool 3 above ground compared stored direction setpoints in a computer 72, and taking into account the tool depth ascertained above ground by a measuring device 71 the current geological position of the drilling tool 3 is determined. There are deviations from the specified course, one Appropriate new setpoints can automatically be required for correction determined for the control vector 56 and via a control unit 73 in which the Data e.g. are encoded as a digital sequence of signals and via a data transmission system 74 passed to the internal control loop 60 become.
  • the computer 72 can send a Monitoring unit 75 transmitted data to an operator as an occasion give to realize a control vector 56 chosen by her, what by a corresponding entry can be made at 76.
  • a personal Control a course for the drilling tool 3 can be specified, which is moved outside the options specified in the program. This can be useful not only for the purpose of optimizing a course correction, but also if, for example, due to other data collected during the day a course change over the type of pierced formations is displayed.
  • Direction stop command are transmitted, in which case the current actual direction values of the drilling tool 3 in a data memory of the internal tool Control loop 60, which can be assigned to the comparison part 63, as Setpoint value is stored and then continuously with actual direction values still determined be compared. From such a directional actual value / setpoint comparison based manipulated variables are now used for setting the Actuators 26,27,28 generated, instead of manipulated variables that differ from derive a predetermined control vector. After canceling a direction stop command the internal control circuit 60 then goes back into the operating mode described above.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geophysics (AREA)
  • Earth Drilling (AREA)

Claims (4)

  1. Procédé destiné au guidage d'un outil de forage (3) qui peut être orienté à l'aide d'au moins un groupe d'éléments de réglage (26,27,28) manoeuvrables affectés à l'outil et répartis sur le pourtour de ce dernier, lors d'une opération de forage dans des formations souterraines,
    lors duquel des capteurs de mesures (36), placés du côté de l'outil, déterminent la direction de forage (45) du moment et le réglage du moment des éléments de réglage (26,27,28),
    les valeurs effectives déterminées étant comparées avec des valeurs théoriques prescrites, dans un circuit de réglage, interne à l'outil, comportant un ordinateur (37) commandé par programme, et des variables réglantes, fondées sur cette comparaison valeurs effectives/valeurs théoriques, étant alors conçues afin d'actionner les éléments de réglage (26,27,28), et
    lors duquel le circuit de réglage interne (60) réalise un échange de données avec un circuit de réglage externe (70) au moyen d'un système de transmission des données (62), qui, après traitement des données, reçues de la partie sous terre, dans un ordinateur commandé par programme (72) se trouvant en surface, communique au circuit de réglage interne (60), au moyen du système de transmission des données (62), les données de réglage élaborées en surface,
        caractérisé en ce que
    le circuit de réglage interne (60) détermine les forces avec lesquelles chaque élément de réglage (26,27,28) appuie contre la paroi du trou de forage, et détermine à partir de chacune de ces forces, pour servir de variable directionnelle interne, une force résultante formant un vecteur de guidage (56) et définie selon la direction et l'amplitude,
    le circuit de réglage interne (60) transmet au circuit de réglage externe (70) les valeurs effectives déterminées par les capteurs de mesures (36) pour la direction de forage (45) du moment et pour le vecteur de guidage (56),
    le circuit de réglage externe compare ces valeurs effectives avec les valeurs théoriques enregistrées en surface pour la direction de forage (45) et le vecteur de guidage (56) et élabore, après prise en compte des valeurs effectives déterminées en surface pour la profondeur et la position géologique de l'outil de forage (3), une nouvelle valeur théorique pour le vecteur de guidage (56), puis indique au circuit de réglage interne (60), pour servir de nouvelle variable directionnelle, cette nouvelle valeur théorique qu'il a calculée pour le vecteur de guidage (56).
  2. Procédé conforme à la revendication 1, caractérisé en ce que la direction du vecteur de guidage (56) est définie comme une droite coupant l'origine (50) d'un système de coordonnées rectangulaires (51) attribué de façon fixe à la section transversale de l'outil de forage (3).
  3. Procédé conforme aux revendications 1 et 2, caractérisé en ce que des capteurs de mesures (36) du circuit de réglage interne (60) déterminent en continu l'orientation angulaire (angle 54) d'un plan de référence (53) fixe par rapport à l'outil, dans le système de coordonnées (51) attribué à l'outil de forage (3), par rapport à un plan de référence (55) projeté dans le système de coordonnées (51) et défini par la direction de l'accélération de la pesanteur, et
       en ce que le circuit de réglage interne (60) compense les écarts angulaires entre les plans de référence (53,55), lors de la détermination de la valeur effective actuelle du vecteur de guidage (56) et lors de l'indication des variables de réglage pour les éléments de réglage (26,27,28), en se fondant sur une comparaison valeur effective/valeur théorique du vecteur de guidage.
  4. Procédé conforme à la revendication 3, caractérisé en ce que, lorsque le circuit de réglage externe (70) transmet une instruction directionnelle d'arrêt au circuit de réglage interne (60), les valeurs effectives de l'outil de forage (3) concernant à ce moment-là la direction sont enregistrées dans la mémoire du circuit de réglage interne (60) en tant que valeurs théoriques et comparées avec les valeurs effectives de direction continuant d'être déterminées, et que des variables de réglage pour les éléments de réglage (26,27,28) ne sont élaborées qu'en fonction de cette comparaison valeur effective/valeur théorique de la direction.
EP19950107954 1995-05-24 1995-05-24 Méthode pour contrôler la direction d'un outil de forage Expired - Lifetime EP0744526B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE59509490T DE59509490D1 (de) 1995-05-24 1995-05-24 Verfahren zum Steuern eines Bohrwerkzeugs
EP19950107954 EP0744526B1 (fr) 1995-05-24 1995-05-24 Méthode pour contrôler la direction d'un outil de forage
NO962113A NO962113L (no) 1995-05-24 1996-05-23 Fremgangsmåte til styring av et boreverktöy under boring i underjordiske formasjoner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19950107954 EP0744526B1 (fr) 1995-05-24 1995-05-24 Méthode pour contrôler la direction d'un outil de forage

Publications (2)

Publication Number Publication Date
EP0744526A1 EP0744526A1 (fr) 1996-11-27
EP0744526B1 true EP0744526B1 (fr) 2001-08-08

Family

ID=8219289

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19950107954 Expired - Lifetime EP0744526B1 (fr) 1995-05-24 1995-05-24 Méthode pour contrôler la direction d'un outil de forage

Country Status (3)

Country Link
EP (1) EP0744526B1 (fr)
DE (1) DE59509490D1 (fr)
NO (1) NO962113L (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6601658B1 (en) 1999-11-10 2003-08-05 Schlumberger Wcp Ltd Control method for use with a steerable drilling system
US7556105B2 (en) * 2002-05-15 2009-07-07 Baker Hughes Incorporated Closed loop drilling assembly with electronics outside a non-rotating sleeve
EP1402145B2 (fr) † 2002-05-15 2010-03-17 Baker Hughes Incorporated Ensemble de forage en boucle fermee avec equipement electronique place a l'exterieur d'une gaine non rotative

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6092610A (en) * 1998-02-05 2000-07-25 Schlumberger Technology Corporation Actively controlled rotary steerable system and method for drilling wells
US6158529A (en) * 1998-12-11 2000-12-12 Schlumberger Technology Corporation Rotary steerable well drilling system utilizing sliding sleeve
US6109372A (en) * 1999-03-15 2000-08-29 Schlumberger Technology Corporation Rotary steerable well drilling system utilizing hydraulic servo-loop
US6757613B2 (en) * 2001-12-20 2004-06-29 Schlumberger Technology Corporation Graphical method for designing the trajectory of a well bore
DE602004020753D1 (de) 2003-04-25 2009-06-04 Intersyn Technologies Erfahren zur steuerung einer oder mehrerer systemkomponenten
US7267184B2 (en) 2003-06-17 2007-09-11 Noble Drilling Services Inc. Modular housing for a rotary steerable tool
WO2004113666A1 (fr) * 2003-06-17 2004-12-29 Noble Drilling Services Inc. Enveloppe ouvrante pour outil orientable rotatif
US7252152B2 (en) 2003-06-18 2007-08-07 Weatherford/Lamb, Inc. Methods and apparatus for actuating a downhole tool
GB0710281D0 (en) * 2007-05-30 2007-07-11 Geolink Uk Ltd Orientation sensor for downhole tool
CN102877829A (zh) * 2012-08-21 2013-01-16 福州市第三建筑工程公司 桩孔垂直度与断面校正机构及其施工方法
CA3046649C (fr) 2016-12-14 2021-10-19 Helmerich & Payne, Inc. Systeme de fleche articulee utilitaire mobile

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5220963A (en) * 1989-12-22 1993-06-22 Patton Consulting, Inc. System for controlled drilling of boreholes along planned profile

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6601658B1 (en) 1999-11-10 2003-08-05 Schlumberger Wcp Ltd Control method for use with a steerable drilling system
US7556105B2 (en) * 2002-05-15 2009-07-07 Baker Hughes Incorporated Closed loop drilling assembly with electronics outside a non-rotating sleeve
EP1402145B2 (fr) † 2002-05-15 2010-03-17 Baker Hughes Incorporated Ensemble de forage en boucle fermee avec equipement electronique place a l'exterieur d'une gaine non rotative

Also Published As

Publication number Publication date
EP0744526A1 (fr) 1996-11-27
NO962113L (no) 1996-11-25
DE59509490D1 (de) 2001-09-13
NO962113D0 (no) 1996-05-23

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