EP2816194A1 - Procédé destiné à l'exécution d'un processus de forage profond - Google Patents

Procédé destiné à l'exécution d'un processus de forage profond Download PDF

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Publication number
EP2816194A1
EP2816194A1 EP13172893.3A EP13172893A EP2816194A1 EP 2816194 A1 EP2816194 A1 EP 2816194A1 EP 13172893 A EP13172893 A EP 13172893A EP 2816194 A1 EP2816194 A1 EP 2816194A1
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EP
European Patent Office
Prior art keywords
controller
drill
drilling operation
cable
variable
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.)
Withdrawn
Application number
EP13172893.3A
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German (de)
English (en)
Inventor
Günther Krohlas
Jens Markus
Bernd-Markus Pfeiffer
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Siemens AG
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Siemens AG
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Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP13172893.3A priority Critical patent/EP2816194A1/fr
Publication of EP2816194A1 publication Critical patent/EP2816194A1/fr
Withdrawn legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B2200/00—Special features related to earth drilling for obtaining oil, gas or water
    • E21B2200/22—Fuzzy logic, artificial intelligence, neural networks or the like

Definitions

  • the invention relates to a method for performing a deep drilling operation, wherein a drill pipe is used, which is suspended from a cable and carries at its lower end a drill head.
  • the drill string is rotated by a drive.
  • Geological drilling operations commonly referred to as deep drilling operations
  • deep drilling operations are very energy and cost intensive. For example, in the exploration and production of oil and / or natural gas such drilling operations are carried out at great expense.
  • the cost of operating a derrick is $ 6 per day, and for a rig it can be millions of dollars per day. Improvements in deep drilling operations are therefore of significant economic importance.
  • a manual procedure of drilling operations has hitherto been customary, in which an experienced plant operator controls the drilling process by means of various control interventions, e.g. Example by adjusting the speed of the drill or the braking torque to a cable drum on which a rope is wound to suspend the drill string.
  • the operator observes, among other things, the feed rate of the drill string, which is referred to in the literature as "Rate Of Penetration", ROP, the hook load, which is adjustable in a cable winch with rope drum by their braking torque, and vibrations on the drill string.
  • the recirculated rinsing fluid is often examined by other employees for rocks that are washed to the surface, or on contained gas bubbles. This information may be taken into account when determining the driving style by the system operator. Because the costs for the drilling process are often billed in daily rates, the cost consideration is predominantly time-related and the goal of the plant operator is the minimization of the time required to reach the desired drilling depth.
  • WO 2009/062725 A2 is a method for performing a deep well known in which motors are arranged for feed and rotation of the drill head and thus at the lower end of the drill string.
  • a control is provided in which, in a first mode of operation, the speed of rotation of the bit, often referred to as "RPM,” and the drilling pressure are controlled so that the power at the bit is a predetermined maximum, and at which, in a second mode of operation, regulate the same quantities so that the depth of cut (DOC) is kept at a predetermined value.
  • RPM speed of rotation of the bit
  • DOC depth of cut
  • WO 2012/080812 A2 is a derrick with a hydraulic motor on the drill head known.
  • an iterative optimization of the driving style is performed, which is based on an approximation of characteristics of the hydraulic motor.
  • a PID controller provides there for a defined rotational speed of the cable drum by engaging a mechanical brake, which generates a braking torque on the cable drum.
  • a mechanical brake which generates a braking torque on the cable drum.
  • the invention has for its object to improve the efficiency in performing a deep drilling operation.
  • the invention has the advantage that due to the use of a multi-variable controller, the two controlled variables feed rate and hook load on the cable are controlled simultaneously. Since these sizes are highly dependent on each other, this is of particular advantage.
  • the speed of rotation of the drill pipe which is also referred to as shaft speed below, is consistent with the drill speed when no additional motor is provided at the bottom of the shaft for the drill bit. For example, even if at the lower end of the shaft, a hydraulic motor causes additional rotation of the drill head relative to the shaft, a change in shaft speed will affect the drill speed and thus primarily the feed rate, but will also indirectly affect the hook load, ie, those due to the drill string the cable tension exerted.
  • the brake size for the cable for example, when using a cable drum required for the operation of the drum brake Actuator corresponds primarily affects the hook load, but has a significant effect on the feed rate (ROP) on the contact pressure of the drill head ("Weight On Bit", WOB).
  • ROP feed rate
  • WOB Weight On Bit
  • a suitable multi-variable controller has at least as many inputs as controlled variables and at least as many outputs as manipulated variables.
  • the couplings between the different sizes are taken into account in a uniform controller concept.
  • the design of the multivariable controller takes place via a matrix / vector calculation.
  • the choice of the feed rate (ROP) as a controlled variable has the advantage that it is easily measurable and of great importance for the time required to achieve the desired drilling depth.
  • the hook load is also easily measurable and representative of the contact pressure of the drill head (WOB), which is crucial for the fragmentation of the rock.
  • a use of the contact pressure as a control variable would have the disadvantage that their measurement would be associated with considerable difficulties, since they u. a. depends on the frictional forces on the walls of the borehole and the buoyancy of the drill string in the rinsing liquid, which can be subject to strong fluctuations.
  • the manipulated variables used shaft speed and braking size for the cable advantageously correspond to the previously used by the operator for manual control intervention.
  • the multi-variable controller significantly relieves the operator of manual control actions compared to the conventional manual mode, which has been described above, achieved.
  • the closed-loop multi-variable controller responds faster and more reproducibly to disturbances, which can occur, for example, by changes in the rock formations during the drilling process.
  • the control keeps the feed speed and pressure more precisely at preset values, thus improving the service life of drill heads.
  • a model-based predictive controller (“MPC”) is used as the multi-variable controller.
  • MPC model-based predictive controller
  • a discrete-time dynamic model of the process to be controlled serves to calculate the future states of the process in dependence on the input signals and to select suitable input signals based on this prediction. This allows the calculation of the optimum in terms of a quality function input signal with the simultaneous consideration of input and state constraints.
  • the drive torque which is required to achieve the desired shaft speed, and / or the return temperature of a rinsing fluid used during the drilling operation can be advantageously monitored for maintaining predetermined upper limits in an advantageous manner.
  • This can disturbances, z. As an overload of the drive or overheating of the drill head can be avoided.
  • a regulation of the speed of a pump for the rinsing liquid could be useful in addition to the above-described multi-variable control.
  • the pump speed does not have a significant transverse influence on the other controlled variables of the multiuser controller described above.
  • the control of the pump speed can therefore be done either by a separate size controller or integrated into a correspondingly extended multi-variable controller.
  • the pump speed as a further manipulated variable, which is predetermined as a function of at least the return temperature of the washing liquid by a controller, an optimization of the pump performance while ensuring adequate cooling achievable.
  • the function block for model-based predictive multi-variable control integrated in the SIMATIC PCS 7 process control system contains such an optimization as of PCS 7 V8.0 (December 2012).
  • any linear combination of all manipulated variables and controlled variables of the multivariable controller can be formulated.
  • Secondary conditions for the controlled variables are specified in the form of tolerance ranges for the setpoints.
  • the optimizer delivers setpoints within the tolerance ranges that are optimal in terms of the quality criterion. In this case, the current value of the quality criterion, z.
  • the system operator displayed on an operator station to strengthen the energy and cost awareness.
  • the operating point optimization in the multi-variable controller has the advantage that each manipulated variable and controlled variable can be evaluated with a cost factor. This achieves an objective cost optimization that can deviate significantly from the purely subjective assessment of the system operator.
  • This objective cost optimization is of considerable advantage over a "blind" maximization of the feed rate (ROP), because in the range of the maximum achievable feed rate experience has shown that undesirable side effects already occur, for example a smearing of the drill head, unwanted vibrations, excessive wear or energy waste.
  • the limits that can be specified for each manipulated or controlled variable arise due to technological constraints, eg. As the maximum available drive power, the state of wear of the drill head or the prevention of vibration.
  • the preliminary considerations for the specification of the quality criterion also support the definition of alarm limits, e.g. B. with regard to a required replacement of the drill head.
  • control device for controlling a deep drilling operation which comprises means for carrying out the method according to claim 1.
  • the invention is preferably implemented in software or in software and firmware.
  • the invention is thus also a computer program with program code instructions executable by a computer and, on the other hand, a storage medium with such a computer program, ie a computer program product with program code means, and finally also a control device, in whose memory such a computer program is used as means for carrying out the method and its embodiments loaded or loadable.
  • the single FIGURE shows a block diagram of a deep drilling device 1 with the essential components drill 2 and control device 3.
  • the drill 2 is for example a derrick, which is equipped with measuring means for detecting current measured values and with adjusting means for influencing the drilling process.
  • the control device 3 is realized for example by an automation device, in which a function block 4 is loaded for a multi-variable controller with integrated operating point optimization.
  • the automation device includes a processing unit and a memory in which a computer program is loaded, which is executed during operation of the automation device for controlling the deep drilling operation by the processing unit.
  • a SIMATIC S7 as a function block 4, for example, the model-based predictive multi-variable controller ModPreCon, which is known from the SIEMENS catalog ST PCS 7, is used.
  • a drill pipe In deep drilling operations, a drill pipe is used which is composed of several segments and carries at its lower end a drill head, which, as soon as it is worn, must be replaced with complete removal of the linkage.
  • the feed rate v (ROP) and the wear of the drill head are mainly dependent on the rock type G, which can be determined for example by a laboratory sample of emerging from the borehole mud, from the contact pressure of the drill head (WOB) against the rock and the drill speed n (RPM).
  • the drill head may be preceded by a hydraulic motor, which causes an additional rotation of the drill head relative to the linkage.
  • the bit rotation speed is increased from the shaft speed by a substantially constant offset, which, however, is insignificant for the behavior of the control, so that in the following between the terms shaft speed and drill speed need not be distinguished.
  • Drill speed n and brake magnitude B additionally have an effect on a torque M of the drive motor which rotates the shaft of the drill string and a measured return temperature T of the rinse medium pumped into the borehole.
  • torque M and return temperature T their monitoring would be sufficient in principle to comply with predetermined limits, so that disturbances due to impermissible elevations are avoided.
  • the setting of a return quantity Q of the rinsing agent is carried out to optimize the Spülstoff- and energy consumption with a separate controller 5 in the control device 3, which specifies a pump speed nP as a function of the measured return temperature T and possibly in dependence of the determined rock type G as a manipulated variable.
  • this controller may additionally be implemented in the multi-variable controller, so that instead of a 2 ⁇ 2 multi-variable control, it is then a 3 ⁇ 3 multi-variable control by the functional module 4.
  • exemplary rock properties R, z As further variables which influence the drilling process carried out by the drill 2, exemplary rock properties R, z. As the rock hardness, and a weight FG of the introduced into the borehole drill string drawn. The weight FG of the drill string loads, reduced by the bucket caused by the Spülstoffstand and the hook load FH, on the drill head.
  • the contact force of the drill head (WOB) differs during the drilling process only by an offset of the hook load FH, so measured on the hook load changes, apart from dynamic effects and friction in the borehole, in an advantageous manner for the control of the changes in the contact pressure of the drill head ,
  • the described integration of a working point optimization in the function module 4 and thus in the multi-variable controller has the advantage that an economic optimization of the drilling operation can be carried out, which has the goal to minimize the total costs for a borehole at a location with specific rock properties R and a predetermined depth H.
  • a quality criterion can be specified, which is formed on the basis of the costs.
  • the investment costs KA are time-related costs and result from the costs for the equipment leasing and for the personnel. This costs per day costs dK.
  • KA dK * tDR ,
  • the hook load FH affects the wear of the drill head and thus the maintenance costs via the contact pressure of the drill head (WOB).
  • the replacement of a drill head causes material costs KB.
  • N drill heads are required for the entire drilling operation, with the number of drill heads being the ratio of the tDR time requirement for the entire drilling operation and the average life of a drill bit results.
  • the drill head change has a double effect on the costs.
  • KE KC + KF * n With KC - energy costs and KF - a speed-related cost factor.
  • MSE Mechanical Specific Energy
  • the specific mechanical energy can be compared to the so-called “Rock Compressive Strength", a measure of the physical properties of the rock. If the rock properties are known from laboratory investigations, it can be used to verify the efficiency of the drilling process.
  • the proposed method for performing a deep drilling operation is universally applicable to drilling rigs on land or on oil rigs, ie on-shore or off-shore, regardless of design details of the drilling rig. It can be used in particular for electric or hydraulic main drive drills, directly on a shaft mounted drill head, for downhole hydraulic drilling machines or downhole electric drilling machines, or for drills with cable drag systems, mechanical or electrodynamic depending on the brake type corresponding, predetermined by the multi-variable controller braking effect. In this case, no special downhole sensor technology is required in an advantageous manner.
  • the adaptation to a concrete drilling rig is made by data-based process identification for the model-based predictive controller and possibly by specification of the quality criterion for the optimization from a business or energy point of view. As stated above, a largely exact cost definition for the quality criterion is possible. at This can be done by empirical estimates, eg. B. for the service life of the drill head to be supplemented.

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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)
  • Earth Drilling (AREA)
EP13172893.3A 2013-06-19 2013-06-19 Procédé destiné à l'exécution d'un processus de forage profond Withdrawn EP2816194A1 (fr)

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EP13172893.3A EP2816194A1 (fr) 2013-06-19 2013-06-19 Procédé destiné à l'exécution d'un processus de forage profond

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EP13172893.3A EP2816194A1 (fr) 2013-06-19 2013-06-19 Procédé destiné à l'exécution d'un processus de forage profond

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113073968A (zh) * 2021-04-14 2021-07-06 中煤科工集团重庆研究院有限公司 一种钻进参数自适应调节方法及系统

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2321483A (en) * 1994-02-28 1998-07-29 Jasbir Singh Dhindsa Apparatus and method for drilling boreholes
US20010042642A1 (en) * 1996-03-25 2001-11-22 King William W. Iterative drilling simulation process for enhanced economic decision making
EP1193366A2 (fr) * 2000-09-29 2002-04-03 Baker Hughes Incorporated Procédé et dispositif de prévision des paramètres de forage utilisant un réseau neuronal
US20020096321A1 (en) * 2000-08-11 2002-07-25 Peysson Yannick Method of determining the thermal profile of a drilling fluid in a well
US20030015351A1 (en) * 1996-03-25 2003-01-23 Halliburton Energy Services, Inc. Method and system for predicting performance of a drilling system of a given formation
WO2004090285A1 (fr) * 2003-03-31 2004-10-21 Baker Hughes Incorporated Optimisation de forage en temps reel basee sur des mesures dynamiques mwd
US20050060096A1 (en) * 2002-04-19 2005-03-17 Hutchinson Mark W. Method for improving drilling depth measurements
US20070168056A1 (en) * 2006-01-17 2007-07-19 Sara Shayegi Well control systems and associated methods
US20090090555A1 (en) * 2006-12-07 2009-04-09 Nabors Global Holdings, Ltd. Automated directional drilling apparatus and methods
US20100163307A1 (en) * 2008-12-31 2010-07-01 Baker Hughes Incorporated Drill Bits With a Fluid Cushion For Reduced Friction and Methods of Making and Using Same
WO2012122483A2 (fr) * 2011-03-10 2012-09-13 Baker Hughes Incorporated Graphe pour analyser des paramètres de forage

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2321483A (en) * 1994-02-28 1998-07-29 Jasbir Singh Dhindsa Apparatus and method for drilling boreholes
US20010042642A1 (en) * 1996-03-25 2001-11-22 King William W. Iterative drilling simulation process for enhanced economic decision making
US20030015351A1 (en) * 1996-03-25 2003-01-23 Halliburton Energy Services, Inc. Method and system for predicting performance of a drilling system of a given formation
US20020096321A1 (en) * 2000-08-11 2002-07-25 Peysson Yannick Method of determining the thermal profile of a drilling fluid in a well
EP1193366A2 (fr) * 2000-09-29 2002-04-03 Baker Hughes Incorporated Procédé et dispositif de prévision des paramètres de forage utilisant un réseau neuronal
US20050060096A1 (en) * 2002-04-19 2005-03-17 Hutchinson Mark W. Method for improving drilling depth measurements
WO2004090285A1 (fr) * 2003-03-31 2004-10-21 Baker Hughes Incorporated Optimisation de forage en temps reel basee sur des mesures dynamiques mwd
US20070168056A1 (en) * 2006-01-17 2007-07-19 Sara Shayegi Well control systems and associated methods
US20090090555A1 (en) * 2006-12-07 2009-04-09 Nabors Global Holdings, Ltd. Automated directional drilling apparatus and methods
US20100163307A1 (en) * 2008-12-31 2010-07-01 Baker Hughes Incorporated Drill Bits With a Fluid Cushion For Reduced Friction and Methods of Making and Using Same
WO2012122483A2 (fr) * 2011-03-10 2012-09-13 Baker Hughes Incorporated Graphe pour analyser des paramètres de forage

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113073968A (zh) * 2021-04-14 2021-07-06 中煤科工集团重庆研究院有限公司 一种钻进参数自适应调节方法及系统

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