SA518391951B1 - Rotary Steerable Drilling Tool - Google Patents

Abstract

The rotary steerable drilling tool and system described herein combines both point-the-‎bit and push-the-bit techniques to actively change the direction of the borehole ‎trajectory. In this system, the deflection of the drill bit is limited to a single degree of ‎freedom relative to a coordinate system that is fixed to and rotates with the rotary ‎steerable drilling tool, resulting in a simplified attachment of the bit assembly and bias ‎unit mechanics. Further, steering of the well is accomplished by dynamically ‎controlling the spatial phase and amplitude of the coherent symmetrical bidirectional ‎reciprocating deflections of the drill bit relative to a fixed terrestrial datum as the tool is ‎rotating, simultaneously pointing and pushing the bit. The amplitude and force of the ‎bit deflections can be variably controlled during steering operations to dynamically ‎adjust the instantaneous build rate as needed. When steering is not active, the bit can be ‎mechanically locked into th

Description

ALG Steerable Rotary Steerable Drilling Tool Full Description

Invention background

The apparatus and methods disclosed herein relate to well drilling and precision navigation

Precision navigation and location of well bore trajectories incl

Natural or natural gas hydrocarbon crude oil to produce crude oil from hydrocarbon crude SLY

gas 5 more specifically relates to the devices and methods disclosed in this invention

With a 553 ial assembly at the bottom of the well lly, the ALE is for steering and the power section is for offsetting

Positive displacement may be used independently or in combination with each other

some:

Rotary steerable drilling systems have been used for a long time in directional drilling 0 of hydrocarbons in general; I have used these systems either

Lal add drilling technique “push-the-bit” or ‘point-the-bit’

The system continuously deflects the drill bit in a certain direction away from Gall while the latter

By changing the direction of the drill bit relative to the rest of the tool. Provides both types of rotary steerable systems

The existing rotary steerable systems have significant benefits.” Although both Lia suffer from some disadvantages; As discussed in more detail below.

An early discovery of a rotary steerable drilling rig and method dates back to 1973

less and is described by Bradley in US Patent No. 3,743,034 (later in this application

'3:001'). This list of Blas topics Jie covers the use of triene downhole ull

a mud-driven turbine or an electric motor to drive a hydraulic pump 0 of positive displacement; Using a universal joint dele to connect two poles

rotating shafts that can run randomly and continuously relative to each other;

And the use of hydraulic pistons actuators actuators to maintain continuously

On a desired orientation to sideways that is stationary with respect to ground data when the instrument is rotated.

Cus Bradley predates the commercial application of microprocessors in “down hole tools” it relies on a high speed telemetry link to the surface using a wired drill pipe drill pipe where segments of an insulated electrical conductor are built into each connection of a drill pipe (LS) pipe 5 is described by Fontenot in 1970 in US Patent No. 3,518,699) to carry electrical signals electricalal signals through the drill pipe to the surface in order to control the direction of the tool. Bradley revealed the control of the angle of deflection of the bias unit by regulating the length of time for opening and closing the cpiston control valves, the same valves that control Lal's drilling direction in This is 0 configuration; To allow more or less fluid to enter or leave the pistons, thus changing the reciprocating motion of the pistons. Some of the earliest designs of rotary steerable tools use drilling silt and pressure drop across the bit to drive the "lady" mechanism regardless of whether it uses bit-driving technology, bit-thrust technology or a combination of the two. Other older tool designs would use a mud turbine driving an electrical alternator to generate electric power to displace the drill bit and maintain the -angular displacement a rotary steerable apparatus replaces The subject matter of this disclosure are a number of operating limitations associated with existing rotary steerable systems. in the first place; 0 It is important to note that this disclosure includes two distinct inventions; Both are described in more detail by a lad following—an axial piston pump for dynamically variable displacement and a hinge joint that limits the engagement of the drill bit to a joint of one degree of displacement (instead of a dale joint). with 2 or more degrees of change); This provides a symmetrical bidirectional deflection with spatial phases for the 5 drill bit. Both inventions may be used together but one may also be used independently of the other. The term "spatial phasing" refers to dynamic timing

of an event or effect related to a drill bit jointing operation; When the instrument is rotating” with respect to fixed terrestrial data Jie gravity or the magnetic field of the Earth. The spatial phase is expressed with respect to instantaneous rotational orientation (tool face of the reference mark on the tool) with respect to gravity (angle of the borehole scanning tool). face or Earth's magnetic field (azimuth angle of the borehole surveying tool face Yl - in relation to the characteristics of a dynamically variable displacement axial piston pump; the use of a constant positive displacement pump operates below the welt to generate hydraulic force hydraulic power only over a very limited range of mud flow rates 0 If ag Colt has enough power at the low end of the flow range"; it will probably generate too much power at the higher end of the flow range unless the allowable flow range is severely limited, thus restricting the drilling controller's ability to bring the drilling parameters to ANY level of efficiency and safety without damage to the tool. Here about this problem 5 by dynamically reducing pump displacement per cycle to maintain constant power output when silt flow increases; and dynamically increasing its displacement per cycle when silt flow decreases. (WG. “The amplitude of bit deflections, whether fixed or oscillating” can be controlled by additionally adjusting the displacement per cycle of the dynamically variable displacement pump, allowing the amplitude of the articulation of the bit to be controlled bit articulation 0 independent of control of drilling direction when the tool is rotating; whether the goal is to maintain a constant bit offset angle independent of rotation or if the bit is hesitating at the same frequency as the collar rotation Drill collar for hydraulic with a rotating cylinder driven by a drive shaft 5 that can be formed by two or more lulls placed symmetrically in the cylinder; reciprocating in a direction that is parallel to the axis of rotation of rotation of the piston frame 1 cylindrical

0 pm The installation for this pump is described in more detail in the following sections of this disclosure. One end of each piston may end in a "slipper cup" that touches and slides on the surface of a swash plate. The swash plate is not connected to the drive shaft. Instead, the swash plate is mounted on a separate axle that is line Its center is perpendicular to, but intersects with, the center line of the steering column When the surface of the swash plate is perpendicular to the drive shaft axis This is referred to as a swash plate angle of '0 degrees'. of the swaying disc when the cylinder block rotates the pistons do not hesitate and the pump displacement is 0 when the gilt angle of the swaying disc is increased to some angle 0 Tag the pistons in frequency which increases by 0 dal) Pump Lag of equation (00)0 * “Q=Qo” where “Qo=[Quax/sin(Byax)] where Quax is the maximum practical displacement of the pump per revolution of a shaft Rotate at the maximum practicable angle of the swash plate “M” 0. The other end of the pistons is connected to the hydraulic fluid ports A and B of the pump. depending on whether the angle of the swaying disc is positive or negative; A" will be the exit port and B" the entry port; Or A' will be the entry port and 'B' will be the exit port, respectively. The angle of the sway disc can be controlled by an electrical actuator or a hydraulic actuator through a linkage connected to the sway disc. The position of the sway disk can be measured by LVDT ("lincar variable differential ("transformer or .simple potentiometer in a preferred embodiment"); the angle of the sway disk is dynamically controlled by a unit Steering control module

.control module The use of an axial piston pump of dynamically variable displacement allows for instantaneously variable control (Gl) in the curved sectors ill of the Jill borehole and continuously measures the rate of change in the direction of the high pressure fluid path without having to divert the high-pressure fluid other curved sections to the tank For tools that use drilling silt and pressure drop across the bit 5 the operation is typically entirely or steering control surfaces to operate the steering control surfaces

Not done entirely. In these cases, it is not possible to operate the drill bit deviation completely. By allowing drive (ad) of the bit deflection a more precise graining can be achieved to adjust and maintain orientation while drilling. The second invention disclosed herein relates to a joint which limits the articulation of the drill bit to the tool to a single degree of shift. As explained by interpretation in the following discussion; Limiting the articulated Lal operation of the bit to one degree of shift with respect to a fixed point on the tool and using the method of symmetric interrelated bidirectional deflections with spatial phases relative to fixed ground data; To control the direction of drilling using a single-axis hinge instead of a universal joint with two degrees of shift to attach the drill bit to the bottom of the 0 rotary steerable drilling tool, the new method required to orient the well and take full advantage of the simplified mechanics of the rotary drilling tool is indicated The new steerable as a "bi-directional symmetrical phase-coupled deviation" ale of the drill bit. This will be explained in more detail later in this disclosure. The hinge limits the movement of the drill bit to an individual pitch. However; Two degrees of variability are required in order to direct Df 5 toward an intended target. In the invention of this disclosure, the second degree of variance is provided by the rotation of the rotary steerable drilling tool while drilling is proceeding. BHA or 'bottom hole assembly' describes the lower or at the bottom section of a drill string ending in the drill bit and extending at the apex ad) to the point immediately following the lower end of the drill pipe. To the drill bit The downhole assembly 0 of the well may consist of any number of drill collars for added weight or special purpose collars that may or may not be included (Jie but not limited to: 58011:70:5 offsets cunder-reamers positive displacement mud motors bent subs drill collars equipped with instrumented drill collars to measure various formation and environmental variables (to determine the depth and time correspondence of the mixture) 5 fluid volume in the formation, lithographic properties of the formation or mechanical properties of the formation, borehole inclination or azimuth of the borehole) or rotary steerable tools;

Jie is the subject of this disclosure. Components that are part of a particular downhole assembly are selected

To optimize the drilling efficiency and determine the location of the ll hole and its geometry.

The timing or configuration of the spatial phases of the drill bit deflections is controlled so that; for a monitor

Bil is relative to the ground; The drill bit is deflected reciprocatingly in the same direction for every 180° of rotation of the bottom jill assembly in contrast; For an observer rotating with the instrument; any; He is

fixed with respect to ala) for each 360° rotation of the tool; Bit deviation will be seen

Positive etching towards a fixed bond mark “Jad”) (“scribe line” followed by drill bit deflection

negative bit deflection away from reference mark with scratch mark; Jaa deviation

They are separated by 180 degrees to rotate the tool.

0 Other benefits of using one degree of shift of the articulation relative to a fixed point on the collar will be explained further in the following disclosure. Although not being a preferred embodiment of the invention” it should be recognized that a hydraulically variable displacement pump can be used by Lad to control tools below the Hal other than the rotary steerable tool described above; Included but not limited to a more traditional system with many drivers

5 and axis with many degrees of change of the hinge bar to continuously maintain the angle of articulation (Jas) of the drill bit in a certain direction that is Bl with respect to the ground or to control the speed of the reverse rotation of a fixed assembly relative to the ground To maintain a constant orientation of the geostationary assembly with respect to the ground when the tool rotates. General description of the invention

0 An aspect of the present invention is intended to provide a new dynamically controlled steerable rotary drilling tool; threadable connected to a Jie rotary drive component the output shaft of a mud motor or a rotary drill string driven by a rotary table or drive motor Top drive of a drilling rig that allows directional drilling of selected sectors of the Oh hole

5 whether it is curved or straight; By accurately guiding an ad borehole toward a subsurface target. The rotary steerable drilling tool will be able to drill outside the casing of the drill pipe

cshoe excavating the curve and drain hole to target the depth and target to 'reach' the given slope and azimuth'; in one bit run; Reduce the time it takes for the drilling rig to complete the blasting. One problem is that this aspect of the present invention relates to reducing the mechanical complexity of a dynamically controlled steerable rotary drilling tool. in a preferred embodiment; This is accomplished by using the simplest attachment operation by hinge-hinging the bit assembly to the lower end of the rotary steerable collar; Specifically, simple hinge 11086. The drill bit assembly includes the drill bit attached to the end at the bottom of an articulating shaft 0 Attaching the top end of the bit shaft to the drill collar by means of a simple joint limits the articulating action of the drill bit assembly to One of the change relative to the Saal reference coordinate Gale system b and rotates with the rotary drill collar steerable alld) tool coordinate ("coordinate system" during active steering operations; the length axis is deflected long axis of the drill bit assembly in a directional AUS (ga directional; symmetrical at the same frequency die 5 rotation of the rotary steerable drill collar by a single bidirectional actuator AUS rotates with the rotary steerable drill collar. Additional mechanical simplification may be obtained from the computational implementation of aia a virtual-geostationary navigational platform with optional 9 axis consisting of sensors packed in a physical chamber that is mounted on and rotates with the rotary drilling collar steerable Any mechanical assembly 0 that is geostationary and/or semi-geostationary or a device that rotates counter to the rotary steerable drill collar but is otherwise part of the steerable rotary blister bottom assembly is thus eliminated. Eliminating the need for a geostationary and/or semi-geostationary mechanical assembly eliminates the additional need for Ae) rotating electrical connections eg “slip rings” 5 pressure seals and bearings

One difference between the above embodiment of the rotary steerable drilling tool rig described here and other rotary steerable drilling tools is that a bidirectionally reciprocating bit shaft is mechanically attached to the bottom of the steerable rotary collar by means of a hinge Single axis hinge The aye 5 torque transfers the weight from the rotating steerable drill collar to the drill bit shaft and drill bit. This design contrasts with the more complex attachment and actuation mechanics required to support two or more degrees of variation of the hinge link for tools that continuously drive the bit in a specific direction with respect to ground data when the rotary steerable tool rotates; For example (JU) esplined ball joints and valve joints

0 non-returnable (CV) check valve or universal connections to many independent actuators. for push-the-bit tools that continually deviate from the center of the bit in a specific direction; Multiple actuators and/or control surfaces are required; The ability to maintain an off-center bit position while drilling may be restricted by the number and process of locating equipped drivers.

The method for orienting a bit in a certain direction with respect to gravity or magnetic north is implemented by controlling the configuration of the spatial phases of said reciprocating deflections of said drill bit shaft with respect to either the angle of the bore sweep tool (GTF) gravity tool face sll or the azimuth of the 0” (MTF) magnetic tool face when the tool is rotated. (Corresponds to the angle of the bore hole surveying tool

Instant zero degree point when a datum marker is directed onto the tool. Known as a "scratch mark line"; toward the top of the borehole. The instantaneous 180-degree angle of the bore hole surveyor corresponds to the point when the scratch marking line is directed toward the bottom of the bore hole. similarly to the borehole surveying tool azimuth; the borehole surveying tool azimuth corresponds to an instantaneous zero degree point when the scratch-marking line is oriented toward magnetic north; Corresponds to the azimuth of the borehole survey tool

5 Instantaneous 180° point when scratch mark line is oriented toward magnetic south. In Alls borehole cals the angle value of the borehole sweep is undefined. Likewise for an angle

The azimuth of the bore hole surveying tool in the case where the borehole azimuth is north or south

And the inclination of the borehole is equal to the local inclination of the magnetic field (pal, so dad (the azimuth angle of the borehole surveying tool is undefined). This allows the drill bit to distinctly remove formation on one side of the drill hole (the "front side") while removing less formation on the

the opposite side of the drill hole (the back side") in order to change the direction of the wellbore toward a target inclination and/or azimuth for the purpose of drilling a progressively curved and/or straight wellbore toward an intended engineering or geological target or for the efficient drilling of vertical wells. This method allows hole diameter

drilling that is slightly enlarged from zero to about 5 percent of the nominal drill bit diameter in curved sectors; Thus, frictional forces and stress concentrations are reduced

0 mechanical stress on the blister bed assembly and segments 1 of the other tubulars as it slides or rotates through the dog leg resulting in less drag on the drill string and therefore more weight and torque on the drill bit While in the curve and under the curve. The slight magnification of the drill bit during routing operations is considered to be very important

Curved section drilling is a direct result of the steering motion of the bit while the tool is rotating. will be done

5 Explain this in detail in the discussion on Figures 7c and 7d; LED is below. The drilling daily deflection during routing operations increases the effective cutting diameter of the drilling daily by a small percentage per

Differential direction of steering. At the same time extra material is distinctly removed from the “front side” of the hole in the direction where the BAY is directed) less material is removed from the “AN side” of the hole;

Which leads to a curved well bore trajectory with an enlarged bore hole diameter

Borehole diameter 0 is slightly enlarged. Jian Another benefit of the new method disclosed here is that during directives; while in the curve; Additional mechanical cutting power is added to the drill bit as it drills further. returns this

To the additional motion given to the bit as a result of the steering operations. Do not add other methods

which maintains a skewed off-center orientation or a fixed angled orientation (gl).

daily 5 drilling When the tool rotates no additional cutting power to the drill bit. from scientifict side; lead to

Additional mechanical cutting power provided to the 12 drill bit results in faster drilling in curve and overall

Higher drilling efficiency. The method's use of symmetric interconnected reciprocating motions with spatial phases of the drill bit for directional drilling is in contrast to traditional point-the-bit systems that continuously maintain a certain side angle of the axis of rotation of the drill bit relative to the axis of rotation of the drill bit. Rotation of the 'ill bottom assembly' and static ground data independent of rotation of the rotary steerable drilling tool when the collar is rotating during steering operations; Requiring a mechanically articulated linkage and actuation with two or more degrees of shift. additionally; The use of interconnected bidirectional symmetric frequency deviations with bit spatial phases is in contrast to the Gla

0. From conventional drill bit drive systems that continuously maintain a fixed side profile parallel to the axis of rotation of the drill bit relative to the axis of rotation of the downhole assembly and constant ground data that is independent of the rotation of the drilling tool The steerable circuit when the collar is rotating ol Routing operations ; Which requires machining using two or more degrees of variance to continuously generate lateral eccentric forces in a given direction.

5 Some embodiments of the invention utilize a dynamically variable displacement axial piston pump powered by drilling mud regulates the variable and/or fluctuating input power available from a drill mud driven trine and Lad regulates the output flow rate of a pressurized hydraulic fluid to the load in response to the power requirements of the bias unit actuators for instant and continuous control of the deflection force and deflection amplitude of the

0 with symmetric interconnected bidirectional motion frequencies of the drill bit shaft and drill bit. The term 'bias' sang' describes that section of a rotating steerable tool that 'biases' or points the tool in a particular direction. The bias bang is formed by the drill bit; a means of actuation and control for deflecting the bit off-center or for its hinged collar; Optionally one or more centralizers and a power supply of power 5003708. The output of the pump

5 by driving a single bidirectional hydraulic piston using a force axis directed perpendicular to both the hinge axis and the downhole assembly rotation axis asd operating frequencies

The aforementioned symmetrical interconnected movement with spatial phases of the drill bit shaft and drill bit for the purposes of directing the wellbore in the said chosen direction. during active routing operations. A dynamically variable displacement axial piston pump allows for continuously variable control of the amplitude of said symmetric interrelated frequency deviations of said drill bit assembly in order to control the measurement of the rate of change in the direction of the well path (rate of curvature of said change in direction of pall hole and dynamic control of lateral steering forces applied to the bit responsive to the mechanical properties of the formation; cutting dynamics and bit integrity; rotation initiated by sticking - initial slip detected and/or to allow rotation Sticky - slide up and down

0 preset limit. In a special embodiment BL the amplitude and spatial phase configuration of said correlated drill bit motion frequencies are controlled by a microcontroller in an internal Dall and/or microprocessor assembly This assembly may include configurations Miscellaneous May include microcontroller and/or processor 385¢ memory; 4505 “nonvolatile memory” 5 input/output channels Various navigational sensors; and/or programs stored in memory that the assembly executes at runtime. The microprocessor unit and/or microprocessor assembly of the instrument below ll generates steering control signals in response to either surface-generated commands or autonomous algorithmic commands derived from navigational variables navigational parameters 0 below the acquired well; or a combination thereof. The rotary steerable drilling tool of the present invention is therefore dynamically adjustable while the tool is placed downhole and during drilling to change the inclination and azimuth of the path of the blister bore in a controllable manner as required. The configuration of the spatial phases of these coherent motion frequencies is independently controlled; separately from the amplitude of the motion frequencies; While the well is gradually rotated in a specific direction. In contrast, the amplitude of said motion frequencies can be dynamically set independently of the configuration of the spatial phases of said motion frequencies; To be continuously and gradually increase or decrease the rate

Curvature of the HA hole to achieve the target HA hole trajectory and optimize the blister hole quality and smoothness. In an embodiment of the present invention; during routing operations; JS's duty cycle from the individual valves operating the hydraulic actuator is 750; any; The on time for each valve is approximately equal to the off time. in addition to; The valves are out of phase with respect to each other. When one valve is Sle the other valve is off. When one of the valves goes from the off position to the working position; The other valve is in transition from the working position to the off position. When the HN is rotated the timing of the valve control signals with respect to the borehole sweep tool angle or the borehole sweep tool azimuth angle controls the spatial direction 0 as the tool drills but not the amplitude of the couplings the articulation of the apex .bit articulations yall instead.”; Controlling the angle of the dynamically variable displacement axial piston pump's swing disc controls the amplitude of the drill bit's hinge operations. This method of independently controlling the amplitude of the hinge operations separately from the timing of the bit hinge operations when the tool is 5 rotating results in a smooth and repeatable resulting drill bit movement regardless of the amplitude of the hinge operations. This method, in contrast to the method disclosed by ls Bradley, will result in short, abrupt drill bit movements as the tool attempts to maintain a constant drill bit offset angle in a fixed direction relative to the tool's axis of rotation. Bradley reveals the duty cycle variability of individual valves that actuate each of the hydraulic actuators 0 to control the amplitude of the bit articulation operations while simultaneously controlling the

Timing to turn each valve on and off to control the direction as the tool digs. Rotary steerable drilling tools can rely on accelerometers, cmagnetometers, and gyroscopes to provide navigational information for the routing of underground wells for oil and gas production or injection of water and/or steam. 5 Laas enables these navigational sensors in a secondary assembly within a rotary steerable drilling tool that rotates counter-rotally to the drill collar so that the sensors maintain a constant relationship relative to

Grounds are often referred to as 'aid' to the ground. However, the concept of a geostationary platform that rotates in reverse brings with it additional mechanical complexity in terms of seals, bearings, hearings and rings. M1a” in addition to a means of controlling and maintaining reverse rotation with variable downhole assembly rotation rates and the mechanical inertia of the geostationary platform effect 0 US Patent 3,743,034 Bradley proposes the use of dle! Self" is mounted directly to a chamber in the rotating drill collar - in this case; Ake” support as the center of a gyroscopic platform with a gimbled (sic) gyroscopic (sic) ¢'platform packed into the articulating section of the tool placed under the universal 0 joint - to determine in which direction the bit is driven drilling. Ade “inertial reference” is by definition a non-rotating or geostationary reference marker. From pf by mounting a gyroscope with a pivoting support in a rotating housing the gyroscope is a realistic geostationary reference marker that maintains Fixed orientation of the gyro platform

relative to the ground by the angular momentum of the gyroscope. 5 in an embodiment of the present invention; Accelerometers and magnetometers are packed into and rotate with the instrument including a 'dais' non-inertial rotating navigational platform." One of the benefits of relying on a rotary navigational platform rather than a geostationary inertial navigational platform is that that errors related to the alignment of the physical structure of navigational sensors, particularly accelerometers and magnetic field 0 intensity gauges, can be reduced or eliminated to improve the accuracy of measurements, with the result that the borehole positioning will be as intended by the customer.There are at least two sources of mechanical errors. of misalignment when using accelerometers and magnetic field strength meters The first is the misalignment of the device inside its packaging and the second is the misalignment of mounting the package on a PC© or chassis in the instrument The 5 mechanical errors of misalignment affect orthogonality relative to each of the sensors' axes. The accelerometers can additionally be influenced by

Effects of centering thrust when not precisely fitted to the spindle of the tool. For some dual-axial micro-electrical-mechanical systems ("MEMS") the relative orthogonality of the axes is determined by the stone process 0985 anl (E110108) used to manufacture the device, which results in near-perfect orthogonality, which eliminates

Hypothetically the source of error when compared to vertically mounted uniaxial devices. Errors due to misalignment differences can be significant either when a vertical Hl bore is efficiently routed

The inclination (tilt) of the borehole by definition is very parasympathetic to zero degrees or when it is inclined

The drill hole is parallel to the horizontal. When a vertical well is efficiently drilled; Ghat is specified as Gly

Within about 1 turn from the vertical plane. For example; for a target depth of 10,000 feet; no

0 The bottom of the vertical borehole section (al) shall deviate laterally by more than 175 feet in any direction relative to the surface drilling rig or subsea entry point on the seabed. for occasional measurements of gravity and magnetic field made using a rotary navigational platform; Electrical misalignment and misalignment errors can occur at DC direct current while the measurements of interest have the same alternating current frequency

(AC) current 5 as the rotational rate of the tool. additionally; Any differences in gain or sensitivity Lad between two orthogonal transverse channels caused by misalignment in the installation process can be easily corrected dynamically by the equation

AC measurements capacitance of one channel relative to the other to improve accuracy of measurements. in addition to; To measure the ctransverse magnetic field would be

0 A small correction is needed to compensate for the electromagnetic surface phenomenon of the alternating current which is relative to the rotation frequency. Phase correction can be up to 15 degrees

The amplitude correction should reach 6.2 dB. The effect is reproducible and can be inferred experimentally as a function of frequency and temperature. for axial measurements of gravity and magnetic field made with a navigational rotary platform; Vary-specific errors occur

5 Alignment at a frequency equal to the rotational rate of the tool. The amplitude of the AC error signal will give a quantitative indication of the axial alignment variation to allow the application of a correction factor

The correction factor is small on the DC component of the measurement. Appropriate low-band filtering of AC fault signals will remove the fault. For an axial magnetic signal, no compensation is needed for the surface electromagnetic phenomenon, since the axial component of the magnetic field is at DC whether the collar is rotating or not. However; The use of a rotating navigational platform does not eliminate the need for direct current shunting and thermal property gain for the axial means.

transverse devices and gain thermal property of transverse devices devices assuming for example in a vertical well drilled with a geostationary navigational platform that each is misaligned by a small random angle in a random direction 75 cy ox accelerometers fixed with the tool. thereafter at the Cartesian coordinate system with respect to the Cartesian coordinate system 0 minutes to obtain; Different sae (Kalin) can take a survey The alignment of the accelerometers relative to the axis of the instrument will affect the accuracy of the survey and enter the path of the blister pit unless properly calibrated and interpreted. Lad should be taken into account Source of consideration Accelerometers are typically mounted perpendicular to each other relative to a system pointing downhole toward the z bit with axis oriented BY) Cartesian coordinates rotated with 5 drill bits along the drill's axis of rotation Collect the bottom of the blister. The two transverse axes are numbered via g equals , because where ya is in as ©" and" and formed a right-handed coordinate system with "7" such that the Cartesian axes that correspond to the Cartesian unit vectors wz » The dy unit vectors are the relation attached to the tool. During rotation the behavior differs according to the misalignment of the transverse sensors for 2 axis sensors. It is 20 Lae x transverse sensors for the transverse sensors; The initial sensitivity is perpendicular to the axis of rotation, which results in the current signal borehole tilt Ala} dad angle alternating with a frequency equal to the rotation frequency and amplitude proportional to the transverse alignment difference Small vector sensitivity in direction 2 along the Und axis The angle produced by the transverse sensor Und be a response (a tool. It is a direct current bias. Using a GY) The alignment variation is independent of the rotation of the overlay 5; The total transverse sensor signal is the primary AC signal plus current

small continuous superimposed on it. For coaxial sensors; The opposite is true the misalignment error produces a small transverse vector sensitivity on the instrument axis. using overlay; The total axial sensor signal is the raw DC signal that is g-proportional times the cosine of the tilt angle plus a small AC misalignment error signal superimposed on it. However; The misalignment of an axial sensor is simply eliminated by averaging the samples over an integer number of rotations of the blister bottom assembly. in the case of a vertical blister pit so that axis 2 of the instrument is precisely aligned with the gravity vector; any; when the tilt angle is zero degrees; The x transverse accelerometers WNR will not include any AC component; Only beside the DC sensor is small. When the amplitude of the transverse accelerometers is zero this confirms that the JA hole is vertical. when the borehole begins to deviate away from the vertical direction; any; when the drill bit begins to tilt; Tag AC capacitance accelerometers transverse * nor increment; Provided that the amplitude is proportional to the amount of tilt. The 5-axis oriented accelerometer 2 measures the cosine (ALY) of tilt angle times gravity and the gly of tilt is insensitive to small changes in the tilt angle when the Aligning the axial accelerometer with the Earth's gravitational vector; It is not suitable for vertical drilling control. practically; For the case where the axis of rotation of the instrument is tilted at some angle with respect to the 0 terrestrial gravitational vector; The tangential accelerometers can be used dynamically to determine the amount of borehole inclination down to about 75° of the angle of inclination by using the fundamental frequency amplitude of the tangential accelerometers AC signal. the highest is about 75 degrees; The DC signal from the accelerometer 'penal' >" should be used to dynamically measure the inclination of the drill hole. When accelerometers are used dynamically at the rotation rate of the all bottom assembly, 5 Gaussian noise reduction techniques are used to reduce the effects of accelerations generated by Random shocks and vibrations.For best results, the frequency response should be frequency

©0856 for navigational accelerometers The range is limited by the physics of the instrument such that the instrument is inherently insensitive to frequency shocks and high vibrations which can be significant; which leads to saturation of the medium outside the frequency band of interest; Which affects the accuracy of the method in the range of interest. GUY typically perceives the “frequency of interest” as meaning frequencies less than about 2 or 3 times the maximum rotational rate of the Hull bottom assembly Additional “proper method selection will minimize the effects of vibration straightening” allowing the full benefits of noise filtering to be realized For the most robust calculation of the borehole slope inclination, the borehole inclination azimuth and angle

Drill hole survey tool and azimuth angle of tool instant drill hole survey tool.

An embodiment of the present invention relies on a fully autonomous virtual geostationary platform with self-correcting and self-calibrating measurements to generate the signals and timing required to dynamically orient the steerable drilling tool in a desired direction with respect to ground data or a target. Three orthogonal accelerometers are placed Three orthogonal magnetic field strength meters

5 cmagnetometers and three orthogonal rate gyroscopes are included in the tool to cover a wide range of drilling conditions” bore Gilt 85 tilt angles and cases where the Earth’s magnetic field is distorted by the bore casings well 85 nearby or if the wellbore path extends from north to south or from south to north and the slope of wellbore A is within a few degrees of agreement with the particular local inclination angle

0 in the Earth's magnetic field. These 9 axes are dynamically combined over a wide range of bottom blister assembly rotation rates from zero rpm up to many hundreds of rpm. The “geostationary” output results of the rotating virtual geostationary platform are the borehole slope slope and the borehole tilt azimuth. The instantaneous or dynamic output results are the borehole sweep angle; The azimuth of the pial surveying tool) the local angle

5 between the angle of the borehole surveyor and the azimuth of the borehole surveying tool (angle); and the instantaneous rotation frequency is 1050001006005. These 6 output results are used to control the

The timing of actuators that dynamically deflect the drill bit and cause the rotary tool to point Jl) in a specific direction is constant relative to the Earth. in embodiment; The Lead virtual geostationary platform may include a microprocessor and/or a microprocessor assembly for a separate virtual geostationary platform microcontroller ("VGPMA") or may use a microcontroller and/or microcontroller assembly for another system; Such as that of the rotary steerable assembly as described above. May include a virtual geostationary platform microprocessor and/or microprocessor assembly; If configured on various configurations that can include a microcontroller and/or microprocessor; memory"; persistent memory I/O channels; 0 Various sensors” and/or programs stored in memory that the assembly executes at startup. additionally; As discussed in the clad section) The virtual geostationary platform can be configured with sensors that include: three vertical accelerometers; three vertical magnetic field anemometers; three vertical gyro rate sensors; All of which provide input(s) to a default 5 geostationary platform microprocessor and/or microprocessor assembly or an alternative processing system” such as that of a rotary steerable assembly. after that; This sensor input data processing system processes this information to calculate position and identify any potential misalignment errors. Optionally, sensor data and/or other data can be registered to the memory. The gyro sensors referred to in this embodiment are not used for inertial navigation and they are not the north-seeking gyroscopes to which there will be a dala for inertial guidance and they are not a mounted pivot beam . It measures the rotation rates of the downhole assembly along each axis of the tool coordinate system to identify variables relevant to drilling dynamics and kinematics. The 2 axis gyroscope measures the instantaneous rotation rate of the tool 5 around the axis 2 to determine and correct the sticking and slipping motion of the bit and magnetic interference ranges. The x-axis and gyroscopic “axis” sensors provide an indication of the movement of the tool in response to

Shock and vibration during drilling. specifically; If the movement of the fundus assembly due to trauma is transient; the gyro sensors yg x will not read any relative rotation. However; If the x wheel gyro sensors sense a rotating component of the downhole assembly movement that is linked to the accelerometers on the x-axis and *-axis respectively” this means that the tool response to shock and vibration includes pitch and yaw of the hole and that the movement includes a pendulum-like component. This movement can set a false indication of the tilt of the drill hole so that it can be appropriately determined when the tool is tilted in

The hole, not the tilt of the hole. Electronic instrumentation and processing to control tool orientation includes multiple cfeedback sensors, navigational sensors, and a microcontroller and/or microprocessor assembly to process combined inputs from various sensors to orient the tool based on sensor inputs. Any pre-programmed control parameters and/or additional control inputs delivered from the surface or other downstream systems. in embodiment; Gain (LAY) allows noise reduction; Processing with Dynamic Wad Correction with a real-time calculation of instantaneous tool surface measurements 5, downhole assembly rotation rates and wellbore trajectory variables is geospatial for either a rotary or a stationary tool, thus eliminating the need for a geostationary platform or quasi-geostationary for navigational sensors; Allowing direct, immediate, uninterrupted and transparent wellbore corrections to the drilling process. additionally; It is a well-known technique for placing two similar measurements separated by a known separation distance; For example; inclination 0 to dynamically calculate and monitor the rate of change in the spot well path direction so that preventive build rate adjustments can be made quickly without interrupting rotary drilling and routing operations; They note the need for downlink depth and/or ROP information from the surface and note the command generated at the surface. in addition to or alternatively; Strain meters can be used to measure the rate of change in well path direction based on the fully inverted flexural capacity 5 of the drill collar as it rotates in or through the curved section of the well. additionally; in embodiment; Electronic equipment and measuring equipment can be combined to control

control instrumentation of a steerable rotary drilling tool with a downlink channel surface to tool below the blister allows tool updating and/or tool reprogramming from the surface so that required target values for wellbore azimuth and inclination are adequately established or changed while continuing to rotate and/or steer. In addition to the required navigational instrumentation; in embodiment; The instrument may include measuring equipment for various formation assessment measurements such as intermediate and/or quaternary gamma ray detection Lela; resistance to multi-depth formation Density and neutron porosity 060000 Acoustic porosity; borehole resistance imaging; forward-looking and side-looking sensing; Ultrasonic calibrated measurement of 0 blister hole diameter and drill mechanics calibrated it. Electronic non-volatile memory is in the on-board electronics embodiment of the instrument; Capable of recording and/or recording and transmitting; or streamlined transmission in real-time or in delayed mode using chuffer memory ALIS collection of wellbore surveys and other data to allow geosteering capability so that the 5 steerable rotary drilling tool can be efficiently used to drill all private sectors well with a specified diameter. when placed under a positive displacement slurry stirrer; Real-time data from the remotely steerable rotary tool can be measured with a short, wireless direct link to a remote dale receiver tool mounted on top of the slurry actuator and then telemetry to the surface via a mud pulse 00010.” electromagnetic ("EM") electro magnetic; or other 0 telemetry device that may become available. in embodiment; Electrical power is provided to control and operate the electronics of the solenoid valves and measuring equipment. Short direct link telemetry by down-hole batteries ill or alternator powered by mud turbine powered alternator or a combination of the two. additionally; The system can be powered by power generation systems 5 downstream of the other well. Brief description of the drawings

Figure 1 shows a lateral view of a drill string with a 530 rotary drill bit 8 spread out with the bottom blister assembly. Figures 12 and 2b show an embodiment of a rotary steerable drill and show two vertical side projections Gall of the rotary steerable drill bit.

Figure 2c shows a rendering of the rotary steerable drill bit shown in Figures 2 and 2b from the perspective of an observer looking toward the bit from above ll and selecting a Cartesian coordinate system for reference. Figures 1-3 1-3 «3c-1»; and 3D-1 illustrates a rendering of a steerable rotary drilling tool and shows a sequence of vertical profiles for attaching the drill bit to the rotary drilling tool

0 steerable when the tool is dynamically dropping angle. 3-3b-1 3c-1; and 3D-1, respectively, from the perspective of an observer looking towards the drill bit from the bottom of the well and specifying a Cartesian coordinate system as a reference.

5 FIGURE 414b showing a cut-out side view showing the internal structure of an embodiment of a rotary steerable drilling tool and showing two projections of the reciprocating motion of the drill bit and the drill bit shaft. Figure 5 shows an enlarged section of the boom actuator of the ALG steering rotary drilling tool shown in Figures 4a-4b.

0 FIGURE 6-16) showing a side view showing the internal structure of an embodiment of a rotary steerable drilling tool and showing two projections of the operation of the locking mechanism The lever arm that is used to lock the drill bit in the centered position When routing operations are not active Fig. 16 Jia locking Fig. 6b represents non-locking Figs 17-37 shows an embodiment of drill bit operation of a rotary steerable drilling tool.

5 Figures 8-18 shows an embodiment of the virtual geostationary platform navigation module.

Figure 9 shows a lateral perspective projection of a tubing string of a fa steerable instrument deployed with the blistering bed assembly configured using a virtual geostationary platform. Figure 10 illustrates an application of HAT for drilling oil and gas wells and shows an embodiment where the output of a dynamically variable displacement axial piston pump can be connected by a hydraulic line to a chydraulic motor thus forming a -hydraulic transmission Sil ne Figure 1- 111 1b illustrates an embodiment of another Lad where the output shaft of a hydraulic motor can be configured to actuate a rotary mud valve to generate mud pulse telemetry. Figure 12 shows an application of a dynamically variable displacement axial piston pump in a system Hydraulic system 0 reversible closed-loop for cutting essential parts of the sidewall. Figure 13 shows an embodiment using a dynamically variable displacement axial piston pump in a closed-loop configuration to control and operate a pump In the shape of a dog bone. 5 Detailed description with reference to Figure 1; A sock hole 10 is shown being drilled by a rotating drill bit 12 which is attached at the lower end of a drill string 14 which extends upwards to the surface where it is actuated by the rotary table 16 or the top drive 6 of a modular drill rig 8. The drill string 14 consists Typically segments of a drill pipe 18 connected to an ill bottom assembly 28 0 having one or more drill collars 20 attached to them for the purpose of applying weight to the drill bit 12. The wart sis 10 of Figure 1 is shown as having a vertical top section or largely cephalic 22 and subsection oblique; Curved or horizontal 24 drilled under active control of a rotary steerable drilling tool generally offered at 26 which is configured according to one aspect of the present invention. Lad will be described in detail as follows; The rotary steerable drill 5 26 is constructed and positioned to cause the drill bit 12 to drill along a curved path d indicated by the control settings of the steerable rotary drill 26 hy

to the principles disclosed here. Drilling mud is pumped down the inside of the drill string 14; flows through the bottom of the blister assembly 28 and out of the jets in the drill bit 12; It returns to the surface with the drill extractors in the annulus 30. The downhole assembly includes 28 drill bits 12 directly attached to the bottom of an efficiently controlled steerable rotary drilling tool 26. The downhole assembly Lad may include other drilling tools such as positive daly slurry motors to control speed and torque; Thrusters to control the weight on the drill bit. Furthermore it; The arrangement of these components within a drill string may be chosen by the drillers depending on their experience and preferences Way to a wide variety of drilling characteristics Jie Turning radius of JA 0 curved hole section wellbore section being drilled; the distinguishing characteristics of the formation being drilled; the characteristics of the drilling rig that is used for drilling; and the depth at which the excavation occurs. Since the number of possible combinations and interchanges of these other collars is (Bas) they will not be enumerated in this disclosure. Suffice it to say that the determination of the location and arrangement of these auxiliary components in the drill-line string relative to the rotary steerable drill is properly controlled. Effective 26

It has no effect on the construction and operation principles of the present invention. Figures 12 and 2b show an embodiment of a rotary steerable ('/RSDT') 26 drilling tool and show two vertical profiles of drill bit 2 attached to the rotary steerable tool. A fixed support point on the rotary steerable bale called a scratch line 7 may or may not be visible on the drill collar of the 0 rotary steerable drill. whether or not it is visually marked; The Gils scratch line is relative to and rotates with the mechanical and electronic characteristics of a steerable rotary drilling tool and acts as a spatial reference marker for the calculations performed by the steerer system. For this discussion, it would be useful to define a three-dimensional reference Cartesian coordinate system. displayed in Figure 2c; From the perspective of an observer looking down the well towards the drill bit, he is attached to the steerable drilling tool (sisal) and rotates with it. The point of intersection of the coordinate axes 203 of the reference Cartesian coordinate system is the point of intersection of the centerline 50 of the tool

Steerable and biaxial rotary drilling rigs * and LOR. The x-axis 204 passes through the point of intersection of the coordinate axes 203 and intersects perpendicular to the scratch mark line 7. The y-axis 205 is perpendicular to the x-axis and parallel to the hinge axis 5 of the hinge bar 3. In accordance with the set of standard terms; Axis 2 is 206 shown in Figures 2 and 2b; Parallel to the 50 centerline of the rotary steerable drilling tool, the Gage is in the direction down the wart by increasing the measured depth and negative in the direction above the borehole by decreasing the measured depth. The polarity of the 5 y axis is chosen so that the cy ex and y axes are always right [Alaa] order. Unit vectors Ls cy oI satisfy the following relations for the product of two wave quantities: =I, , mala; salt na what and JA 1.0, AA. Referring to Fig. 2, a segment of a straight line parallel to the x-axis that extends from 0 centerline 50 of the rotary steerable drilling tool and is perpendicular ging to the scratch mark line 7” constituting the tool orientation vector can be determined 60. When the tool is rotating in a hole J that is not vertical with respect to the Earth's gravitational field; The instant bore hole sweep tool angle of a rotary steerable drilling tool is said to be '0 degrees' or 'up' when the vertical component of the tool direction vector 60 points in a direction opposite to the gravitational vector. Not vertical with respect to the gravitational field; the spot borehole sweep angle of the rotary steerable drilling tool is said to be "180°" or Lexie "Jan" The vertical component of the tool direction vector 60 points in the same direction Jie the terrestrial gravity vector Referring again to Fig. 2c, it is useful to define a cylindrical coordinate system 0 for a tool that Bale has the Hag steerable rotary drilling tool with. Axis 2 remains as rendered for the 3D Cartesian coordinate system. to the projection of the cross section AA in Fig. 2 (the y axes 5 x are replaced by radius r 210 and angle 0 (theta) 2. When describing a point on the instrument. radius 7 is equal to Hx? yp?) The angle is defined as 0 with respect to the scratch mark 7 and is 0 degrees at the scratch line and is 5 positive in the clockwise direction when viewed in the +2 direction in the direction below all

Referring to the specific embodiment of slab steerable rotary drilling rig shown in both Figures 2 and 2b; The drill bit assembly is attached at the bottom end of the rotary steerable drill by means of a single axis hinge assembly 5; Consists of coupler 41 preferably integrated with rotary steerable drilling tool collar 43; The drill bit shaft 33 is screwed into the drill bit 12 at its lower end and meshes with the yoke coupler 41 at its upper end; and a hinge pin 37 that aligns with the yoke 41 and the upper end of the drill bit shaft 33. As shown in both Figures 2 and 2b; The direction of the hinge pin 37 is parallel to the axis « 205 of the Cartesian coordinate system of reference for the tool; making it perpendicular to both the tool direction vector 60 and the centerline 50 of the rotary steerable drilling tool. The tool direction vector will be 0 60 in the direction of zero degrees in the tool's cylindrical coordinate system. The Jain 5 hinge allows the 33-joint drill bit drive one degree of shift with respect to the steerable spinning drill tool collar 3 around the hinge 5 axis of the hinge linkage 3. This is in contrast to drill bit driving systems that use multi-directional spindles omnidirectional pivots or dale joints so that the daily's Ghat 5) can keep the drill stationary with respect to a geostationary coordinate system (a coordinate system that does not rotate with the tool but takes the Earth as a reference) as the tool rotates. Ladd will be discussed in more detail below; Changing the direction of the Jl hole in a particular direction using this aspect of the present invention is effected by the spatially interconnected symmetrical interconnected bidirectional reciprocating motions of the drill bit shaft 33 and drill bit 12 when the efficiently controlled steerable rotary drilling tool rotates. A pair of stabilizer blades 35 can be either integrated with or welded onto the drill bit shaft 33 at 2:2 zero degrees and 1850 degrees on the drill bit shaft; ef extends the hinge pin 37 to improve the steerability of the rotary steerable drill. additionally; It may be useful to add a pair of fully gauge stabilizer blades directly above drill bit 5 with the blades centered at D:0<90° and 270° to further improve the steerability of the rotary steerable drill. One or more balancer blades can be installed

Fixed 39 and installed on the OD of the rotary steerable drilling tool collar 43 above the hinge as needed for downhole assembly stability and steerability. The balancer blades 39 can be either straight or curved; cylindrical or watermelon-shaped; Compatible with target build rates and down-jill characteristics applied by drillers.

The “lll” of the tool in Figures 13 through 3d shows a sequence of 4 side and end projections from bottom to top as the steerable rotary drilling tool is rotated and oriented for the scenario where the well Bris is an angle of incidence; ie; the “front side” of the The curve is at the bottom. The hinge lel drill collar is numbered as 43 and runs on the centerline of the tool 50. The angle direction of the tool's spot drill hole sweep tool in each figure is determined by the location of the scratch mark 7

0 and tool direction vector 60. For clarity’s sake; The deviation of the drill bit shaft is exaggerated and the equalizer blades are not shown. The direction of rotation in each figure is clockwise when viewed from the surface and is indicated by curved arrows which are marked with the symbol "177" (omega). When the rotary steerable drilling tool rotates; The shaft of the drill bit 33 and the drill bit 12 are deflected relative to the centerline 5 of the tool 50. To align; The tool's reference Cartesian coordinate system axes are superimposed for each image. Axis 2 206 is parallel to the centerline of Tool 50. The x-axis 204 and axis f 205 are both tangential to the centerline of Tool 50. For this discussion; The point of intersection of the coordinate axes of the reference coordinate system 3 is displayed at the intersection of axis 2 206 x axis 204 and the hinge axis of articulation 0 3. The hinge axis of hinge 3 is parallel to axis 205. Deflection of the drill bit with respect to the centerline 50 of the rotary steerable drill by the Greek letter delta (5)” representing the angle formed by the long axis 85 of the drill shaft 33 and the centerline 50 of the rotary steerable tool. The signal term for angle 6 is negative when the drill bit drive shaft 5 33 deviates away from the scratch line 7 and positive when the drill bit drive shaft 33 deviates toward the 7 mark line 7. The drill hole sweep angle angles of zero are marked

degree; 90 days 180 days and 270 degrees on the bottom terminal plan in each figure. These angles are fixed relative to the Earth's gravitational vector and do not rotate with the instrument. In Fig. 3) the scratch mark is 7 “up”; the borehole sweep angle is 0°. in Fig. 23 the scratch mark 7 is “down”; the borehole sweep angle is 180°. The directions for “right” are marked and “left” from the perspective of the andl device factor corresponding to the end projections shown in Figures 3b and 3d. In Figure 3b the scratch marking line 7 is at 90 degrees. A borehole sweep tool angle of 90 degrees is denoted as “LAW As deviations of the drill bit in that direction will cause the drill bit to rotate to the right.Similarly for Fig. 3d; the scratch mark line 7 is at 270 degrees; it is indicated as 0 'easy' as deviations of the bit in that direction will cause the drill bit to rotate to the right. Drill hole rotation to the left Figure 13 shows the long axis 85 of the drill bit drive shaft 33 deflected away from the scratch mark 7 by a negative angle 5, but since the angle of the drill hole sweeper to the mark line is zero degrees, the drill bit 12 performs distinctly The cutout in Fig. 3c is taken after the steerable rotary drilling tool has been rotated 180° 5 from its orientation in the cutout in Fig. 13 and the long axis 85 of the drill bit shaft 33 is deflected toward the scratch mark 7 at a positive angle 5; However, since the drill hole sweep angle to the scratch mark is 180° (indicated by Jan), the drill bit 12 again distinctly removes material on the underside of the hole. The shots in Figures 3b and 3d show the long axis 85 of the drill bit shaft 33 in line with the 0 centerline 50 of the rotary steerable drill.In this position the drill bit 2 momentarily makes contact with the "back side" diameter of the hole and thus removes less material than the "back side" diameter of the hole during routing operations than it does photographically Normal when drilling straight When steering action is activated and the rotary steerable drilling tool is rotated This symmetric reciprocating motion of the drill bit 12 is at the same frequency as the rotation of the all 5 phased bottom assembly synchronously with respect to the spatial direction Where the wellbore routing Lila is distinct from the method and device of the present invention.

In an embodiment of the chan gill adjustable rotary drilling tool the reciprocating motions of the drill bit 12 and the drill bit shaft 33 can be actuated by the mechanism shown in Fig. | and 4b. The boom 87 is attached to the drill bit shaft 33 at hinge 5 by a lower extension 121 taking the boom 87 into mesh with a centerline hole through the center of the drill bit shaft 33 which is perpendicular to the special hinge pin axis 3. An elastomeric mud seal 91 is provided at this joint to prevent drilling fluid from leaking around the boom extension 121 3) meshing with the hinge 5. The boom extension 121 includes a special centerline hole with which is open on the centerline hole in the drill bit drive shaft 33 to allow drilling mud to pass through to reach the drill bit 12 and the nozzles 0 in the drill bit. in this embodiment; The boom 87 is constructed of two parallel rails and several spacers and fasteners that Leh is attached along the lower end 121. In Figure 4a; When the boom 87 is shifted angularly toward the scarification line 7 the drill bit 12 and the drill bit drive shaft 33 will be shifted angularly in the opposite direction away from the scarification line 7 by the effect of the hinge 5. In contrast; in 5 Fig. cod when the boom 87 is shifted angularly away from the scratch mark 7; The drill bit 12 and the drill bit drive shaft 33 will be displaced angularly in the opposite direction towards the scratch mark 7 by the action of the hinge 5. In this embodiment; The angular displacement of the boom 87 is driven by a hydraulic servo piston assembly 95 although other means can be used such as an axial servo piston with clinkage 0 electrical actuator with or without daly bar ) or a drilling mud piston All these variations are within the scope of this invention. The angular displacement of the drill bit 12 is equal to and corresponding to the angular displacement of the boom 87 by the hinge effect. The maximum angular offset of the drill bit 12 is limited by the maximum angular offset of the boom 87 which is limited by the maximum offset of the operating boom

5 booster piston assembly 95.

The embodiment shown in Figs. 4 and 4b includes an electronics housing 7 containing the dynamic navigational sensors and acquisition electronics positioned between the two parallel bars of the boom 87. The centerline of the housing is symmetric. With center line 50 of collar 43 firmly mounted on collar 43 dh wg mechanical supports 68. Electrical connections are provided by wire tube 130 extending from the upper electronic equipment bay electronics chamber (not shown) toward the lower end of the electronic equipment housing 7. The housing rotates with the collar and does not counter-rotate or resonate with the movements of the boom 87. In 0 this embodiment; No part of the tool rotates; mechanical or electronic; Ge for rotary steerable drilling tool rotation; Although this reverse rotation of certain components is not considered by Dylans

By this aspect of the present invention. FIGURE 5 presents a detailed view of the boom 87 operating the servo piston assembly 95. This embodiment is shown with two pistons 106 connected hydraulically in parallel to reduce the cross-sectional area 5 provided for the silt flow through the rotary steerable drilling tool; To additionally balance the forces on the rotary plate 114 of the boom 87) and to adequately pack the assembly into the available volume. A single servo piston may be used, provided that sufficient operating force can be achieved given the operating limits of the hydraulic system, namely maximum flow rate and output pressure pressure while the servo piston is fitted to the available size.There are two upper chambers 105 and two 0 lower chambers 107. The upper chambers 105 are hydraulically connected to the power supply via a hydraulic swivel 113 and hydraulic tubing 9. The lower chambers 107 are hydraulically connected to the power source via a hydraulic sway bar 115 and hydraulic piping 111. When high pressure hydraulic fluid from the pump (not shown) and control valves (5 not shown) is connected to the lower piston chambers 107; Connecting the upper piston chambers 105 has a high pressure hydraulic tank/reservoir 75 (not shown);

The piston assembly housing 95 will move in the downward direction; causing the end of the boom to move downward away from the scarify 7 and cause the drill bit to deflect upward toward the scarify 7. In contrast; When high-pressure hydraulic fluid from the pump (not shown) and control valves (not shown) is connected to the upper piston chambers 105 and the lower piston chambers 107 is connected to a high-pressure hydraulic reservoir/tank 5 (not shown); the piston assembly housing 95 will move in the upward direction; causing the ghd end of the lever to move upward toward the scarification line 7 and causing the bit to deflect downward away from the marking line 7. Once the maximum angular deflection of the drill bit assembly has been determined by design; it is possible to choose to set the 0 position of the piston assembly 95 relative to the hinge axis 3 (Figs. 4 and 4b) and the allowable displacement of the piston assembly to limit the corresponding maximum angular offset of the drill bit 12. Figures 16 and 6b are shown; Locking mechanism 125 for boom operation 87 that can be used to lock the drill bit in the centered position when steering operations are not active. The boom 7 terminates with a wedge assembly comprising a mounting bracket 116 and a male wedge 5 117. The plunger ram assembly includes a plunger female ram 103 shaft 119; Piston 101 and spring 99. The chamber containing the spring 99 is hydraulically connected to the tank. The high-pressure side of the piston 101 is hydraulically connected to the high-pressure fluid by a hydraulic channel 123. Figure 16 shows the case when the steering is off and the wedge 117 is mechanically engaged by the plunger 0 103 and held in position by the spring 99. This corresponds to where The system hydraulic pressure is low allowing the spring 99 to push the female plunger 103 into engagement with the male wedge 117. This mechanically locks the boom 87 in the centered position and prevents it from moving. The figure displays the state where the routing is allowed. When the hydraulic operating pressure increases; High-pressure hydraulic fluid flows through the passageway 123 causing piston retraction 101) spring pressure 99; disengagement

The female plunger 103 is separated from the male wedge 117) thus allowing reciprocating movement of the boom 87. Figure 6b corresponds to the case where the boom 87 is free to move but is momentarily efficiently held in the centered position by the steering control system of the steerable lal drilling tool In preparation for starting steering operations Figures 4a and 4b show the case where active steering is allowed and lever ghd 87 is displayed in an angularly deflected position during active steering operations if boom 87 is not actively steered by rotary drilling tool operation cana gill the boom 87 will be in the locked position as shown in Fig. 6a.As a fail-safe condition, if for any reason the hydraulic operating pressure inside the tube 123 drops below the 0threshold set by the spring 99, the plunger The plunge locking ram 103 engages with the wedge 117 and returns the drill bit 12 to the spatially locked position. Figures 7a through 7d show a hydraulic embodiment of the actuation of drill bit motions during routing and the method associated with that embodiment. Figure 17 is a Lan schematic of the hydraulic system for a rotary steering rotary drilling tool. Power is provided by a drill powered by a drill gallon mud powered turbine 5 71 mounted on a crankshaft 83) connected to a dynamically variable displacement axial piston pump 70 small charge pump 72” and a small alternator small electrical alternator 73. The displacement of the dynamically variable displacement axial piston pump 70 is dynamically controlled by an axial piston pump actuator 74 that controls the angle of an internal non-rotating swash plate relative to the shaft spindle. drive shaft revolution of an axial piston pump for dynamically variable displacement 70 by the angle of the swaying disc. At zero degrees; the pump displacement is essentially 0 cm"/revolution. The maximum pump displacement will be achieved when the swaying disc is at the maximum allowable angle. The conversion pump Charge 72 draws hydraulic fluid from reservoir 75 through the FI filter and provides minimal flow to the dynamically variable displacement axial piston pump 70 via line 5 low pressure inlet line 97. Once it is prepared for firing; The dynamically variable displacement axial piston pump 70 will draw additional fluid from the reservoir

hydraulic 75 through the filter F2, the check valve 78 and the low-pressure inlet port line 97. The dynamically variable displacement axial piston pump 70 instantly performs two important functions; specifically; Dynamically regulating the amount of hydraulic power delivered to the system from the silt-powered gear 71 and dynamically regulating the amount of power delivered to the boom operating the piston assembly 95. The angle of the sway disc will be adjusted to compensate for changes in either the shaft rotational speed 83 or the pump output flow rate 70 required to drive the steering motion of the drill bit 12. The drilling mud power-assisted turbine 71 is designed to handle a practical range of mud flow rates specified by the rig operator and drill controller. This requires the tool to operate at a minimum flow rate and a minimum silt weight of 0 at full capacity; Which means that with a hypothetical fixed dal pump there will be an excess amount of capacity at maximum flow rate and maximum silt weight. As the 70 axial piston pump is specially designed for the purpose of regulating the inlet and outlet capacity; When increasing the input capacity of the available gear 71 the swaying disc of the axial piston pump 70 can be adjusted to generate only the power required by the tool; From ep no excess power 5 will be generated by the axial piston pump 70. Excess power should be dissipated in the form of heat without doing any useful work. when flow rate and/or silt weight increases; The sway disc angle is reduced dynamically to generate only the power required for any given load. on the drain or load side of the pump; The hydraulic power required by the load is determined by the bottom assembly ¼ rpm and the amplitude required for the drill bit deflections during routing operations. If the required power is increased by the dynamically steerable 0 rotary drilling tool, the disc angle dynamically rotated by the operator will increase by 74 in.

in response to control signals from the .steering control processor when steering is stopped; The power required from the pump is essentially zero daly of tmechanical equivalent power and the pump's 70 swash plate angle will be close to zero degrees. In this case; Valve 86 is in the off position 5 and diverts flow from pump 70 through hydraulic line 81 and check valve 0 to tank 75. Valve 86 also connects pressure line 123 to

tank 75 » so that the boom locking mechanism 125 mechanically locks the boom 87 in the centered position » since the piston 101 provides no resistance to the spring 99 which pushes the wedge 103 by

Shaft 119 to mechanical engagement with plunger locking plunger

7. During latency when routing operations are first allowed; Send electronic control equipment

control electronics 5 signals the solenoid 84 of the valve 86 which changes it to the 'on' state and sends a signal to the swash plate actuator 74

to increase the angle of the swash plate”, causing the pump output pressure inside the tubes to increase by 81 mm

Retracts the female plunger 103 of the lever ghd locking mechanism 125 by

actuation of the piston 101 and compression of the spring 99 which causes the drive shaft 119 to be retracted simultaneously;

10 Valves 90 and 94 will be energized by the “on” signals to solenoids 592 96 respectively. This applies the same pressure to both chambers 105 and 107 of the arm

dail) that drives piston assembly 95; The boom is hydraulically momentarily locked in the center position by the effect of check valves 88 5 89 which prevent hydraulic fluid from traveling between chambers 105 and 107. The steering movement of the drill bit begins

5 Once the timed signals have caused the valve solenoids 92 and 96 to alternately open and close valves 90 and 94 as shown by curves 51 and 52 in Figure 7b. (These curves will be interpreted in the discussion for Fig. 7b.) A high pressure accumulator 93 is provided to level out any transient pressure spikes that may be generated by the momentary switching of the valves 94

0 and 90; and with non-return valve 80; To act as a local reservoir with pressure Me to maintain the boom locking mechanism 125 in the unlocked position until valve 86 is turned to the off position.

allowing the boom locking mechanism to engage the plunger 103 with the wedge 117. In fig.

7) Excess pressure relief is provided by relief valves 76 and 77. If

The pressure in the hydraulic line 81 exceeded the relief valve's preset relief pressure

relief valve 5 77 The pressure will be relieved by venting the fluid back to the inlet port side of the axial piston pump 70 by means of the non-return valve 79 and the hydraulic line

7. If the pressure on the inlet port side of the axial piston pump 70 is too high; It will be drained by venting the fluid back into the tank 75 by the relief valve 76. For a given input shaft rotation rate 83; The amplitude of the drill bit deflections is proportional to the angle of the swaying disc. This reveals another benefit of the dynamically variable displacement axial piston pump 70; Specifically, the amplitude of drill bit deflections can be dynamically reduced in response to the Cais of the stick-slip rotational motions of the drill bit 12 that are independent of the timing of valves 90 and 94. when the capacity is increased; If a sticky-slipping start is detected; The angle of the swaying disc can be directly reduced to reduce or avoid Als sticking and slipping; Until the drilling parameters are changed in response to a drilling mechanics alarm downhole 0 that is sent to the surface. Another benefit of the axial piston pump 70 is also that routing operations can be gradually performed in and out phases to avoid the formation of veins 8 in the borehole wall. By slowly increasing the angle of the swaying disc of the dynamically variable displacement axial piston pump 70) the steerable rotary drilling tool will transition smoothly from a straight section in the hole section a:a:0e to a curved section in the hole section 5 by Controlled reverse amplitude deflection amplitude deflection 12 Laie Laie It is time to suspend routing operations; the sway disc angle will gradually be reduced down to zero degrees causing the bit deflection 12 deflection amplitude to be restrained again to zero in a controlled manner Figure 7b shows a schematic of the preferred timing and waveforms that implement Method 0 for symmetric, simultaneous bidirectional reciprocating deflections implemented on the daily phases of the drill 12 employed by the rotary steerable drilling tool; representing one side of the For the curves in Fig. 7b, the x-axis of JS plotted is the angle of the borehole sweep tool over the range from 0° to 360° for two consecutive turns of the rotary steerable drill tool 5. The curves in Fig. 7b are consistent with the previously discussed 'angle of drop' scenario presented in Figures Boge through 3d. One with normal skill should grasp it

In the field that the relative timing of the waveforms with respect to each other will remain the same for the ill orientation in (aT) directions only the configuration of the spatial phases of the waveforms with respect to the borehole surveyor angle (or borehole surveyor azimuth) will be different. However; for this example, the goal is to point the JA hole in the direction of the bottom of the hole or in the direction of the 180° angle of the glad borehole surveyor. Additionally » a turnover of 420 rpm is implicitly assumed

The minute when it is necessary to shift the x-axis of the borehole survey tool angle to time. When directed A) the inclusion of drill bit deflections is controlled by an onboard electronics control module (shown in Fig. 6) which repeatedly and alternately activates the two valves 94 5 90 by the respective solenoids 0 for 96 and 92. The EEC module will provide the correct spatial configuration of the solenoid control signals needed to direct the blister in any desired direction. In Figure 7, curve 51 shows the control signal that operates the control solenoid 96 for valve 94. Curve 52 shows the control signal that operates the control solenoid 92 for valve 90. Axis 5 graphs the curves 51 and 52 set a Boolean value of 1 for 'on' and zero for 'off'. As mentioned before; The x axis of the plots for all curves in the figure is the spot drill hole sweep tool angle of the scratch marking line 7 of the rotary steerable drill. The x-axis of the Blas charts measures approximately 0 degrees; or slightly more than 2 full revolutions of the sal steerable drill. Curves 51 and 52 are logical completions and each have a duty cycle of 750. At points “a” (ii) valve 94 is switched to the “on” position at the same time Cus valve 90 is turned to "Off" mode. In contrast » at points B & W. Valve 94 is turned to the OFF position at the same time that valve 90 is turned to the ON position. When valve 90 is in the GLa on position and valve 94 is in the GLA position 5 "to turn on"; The pressure of the chamber 107 of the boom operating the piston assembly 5 is conditioned causing the boom 87 to move away from the scratch mark line 7 thus causing

in the movement of the drill bit 12 in the direction opposite to the scratch mark line 7 or in the direction of the positive x-axis 204 of the rotary steerable drill tool coordinate system; Displayed on curve 6 is between 0° and 180° for the angle of the borehole survey tool. In contrast; when valve 94 is in the “off” position and valve 90 is in the “on” position; The pressure of the chamber 105 of the hay is adapted to the lever that operates the piston assembly 95 causing the movement of the boom 87 towards the scarification line 7 and thus causing the drill bit 12 to move in the opposite direction away from the marking line 7 or in the direction of the pivot x negative 204 of the rotary steerable drilling tool coordinate system; Displayed on curve 56 is between 180° and 0° for the bore hole surveying tool angle. In this specific JU of directing the well in the direction i.e. the positive bit deflections of the drill bit in Curve 6 will be maximum when the angle of the borehole scanning tool is 180 degrees or the scratch marking line is Jan! and the negative deviations of the bit will be Excavations in the curve 56 maximum when angle ,al

Clear the drill hole at zero degrees or when the scratch mark is "up". in Figure 7b; Curve 53 shows the differential pressure between chambers 5 107 and 105,; In the form Prior = AP «ald - Watt. when AP is positive; The drill bit is deflected in the direction towards the scratch line 7. When AP is negative; The drill bit is deflected in the direction away from the scratch mark 7. The AP capacity is determined by the flow rate of the dynamically variable displacement axial piston pump 70 and the frictional drag forces on the bit as it deflects and rotates the adjustable rotary drilling tool for guidance. Curve 54 displays the hydraulic fluid flow rate at pin 1 of valve 94. Curve 55 displays the negative value of the hydraulic flow rate at pin 1 of valve 0. Valves 94 and 90 are not instantly converted from operating mode to Off and the picture of off to on. Each valve takes a set amount of time JE from one state (on or off) to the other state (off or on). 5 The limited latency must be taken into account by the ELEM by pre-empting the timing of the solenoid control signals by half the time

moving in. at 420 rpm; Travel per valve requires approximately 54 degrees; Hence, the control signals must precede the target timing of drill bit deflections by half that amount, or approximately 27 degrees. For the maximum positive deflection of the drill bit 12 to occur at a borehole sweep tool angle of 180°; Valves must be turned at a borehole sweep angle of 153 degrees. For the maximum negative deflection of the drill bit 12 to occur at a borehole sweep angle of zero degrees; Valves must be turned at a borehole sweep angle of -27°. The amount of valve lead angle control will decrease linearly with decreasing Revolutions Per Minute (RPM) per minute. Figure 7b demonstrates the particular benefit of using two (pil) independent three-way valves to control separately and simultaneously at Each chamber 0 is for the lever rod that operates the piston assembly 95: the travel time is divided in half by shunting between both valves 94 and 90 simultaneously; compared to the shunt travel time of a three-position four-way single core valve with a core that must be traveled by

Twice as far and it takes twice as long to convert. Figure 7c presents two curves representing drill bit displacement as a function of drill hole surveying tool angle 5 for the 'drop angle' or 'point down' scenario illustrated by Figures 3d - 13. For the purposes of this discussion, the term 'deflection' will refer specifically to bit motion Drilling relative to the coordinate system that Gide is on the tool and rotates with it. The x axis of the graph displays the immediate angular direction or drill hole sweep tool angle of the scratch line 7 of the steerable rotary drilling tool. The “ axis of the graph displays the ratio The 0 percentile of the maximum displacement of the bit in two vertical directions: in this case the vertical plane (curve 62) and the horizontal plane (curve 63).More clases Curve 62 shows the instantaneous displacement of the bit in the direction of guidance, in this case, upwards and below.Graph 63 displays the drill bit sinker displacement in the direction perpendicular to the drill bit pointing direction, in this case left and right.The resulting drill bit displacement is the sum of the vector quantities of the correlative frequency deviations 5 of the daily drill 12 and of the tool rotation. when operating and dropping angle; The tool's electronic equipment control module will spatially time the movement of the drill bit

reciprocating such that the maximum deflection of the drill bit 12 occurs in the direction of the gravity vector so that the drill bit 12 will distinctly remove more formation from the lower side of the hole than from the upper side of the hole. The punctuation mark “3” corresponds to the case in Figure 3 where the deviation of the drill bit AIL 2 is or away from the scratchline 7. wherein the scratchline 7 is upwards at a borehole sweep angle of zero degrees; The drill bit 12 is offset in the “down” direction. The punctuation mark “3c” corresponds to the case in Fig. 3c where the drill bit is deflected 12”aed or toward the notchline 7. As the notchline 7 is down at a borehole sweep angle of 0°; the bit is again offset 12 in the "down" direction. Whereas, the repetitive motion of drill bit deflection is at the same frequency Jie as the rotation of the rotary steerable drilling tool; 0 For a GSO observer, the bit offset motion will appear at twice the frequency of rotation of the steerable tool Rotary Steerable Drilling.For every 180 degrees of rotation of the rotary steerable drilling tool, the drill bit will complete a full rotation of motion from center (3b) to be completely offset in the direction of guidance (3c) another Bray to center (3d). The next turn of a steerable rotary drilling tool, the movement will be from center (3d) to fully offset 5 in the steering direction (3a) and back to center (3b).cles Typically maximum drill bit offset 2 is a few tenths of an inch; However, they can be more or less by design depending on the specification

required build rate. Figure 7d is a polar plot of drill bit displacement 12 generated during routing operations. Curve 4 is a reference plot of the instantaneous displacement of the drill bit 12 for "simple harmonic perfect sinusoidal motion" versus steerable rotary drill tool rotations as a function of the drill-hole sweep angle of the scratch line 7. Curve 65 is a plot of the actual instantaneous displacement of drill bit 12 versus rotations of a steerable rotary drilling tool as a function of drill hole sweep angle of the scratch line 7 using control algorithm 00001 algorithm “stop . “operation” and the device disclosed in Figures 17 and 7b. The use of 5 complementary control signals to control valves 94 and 90 yields hydraulic flow rates to the boom that operates the piston assembly 95

be trapezoidal; Hence the speed distribution segment of the drill dally drill 12 is trapezoidal OY (Lia) the drill bit offset velocity is ad proportional to the net flow rate into and out of the ghd lever 87 which operates the plunger assembly 95. The diagram is of actual bit displacements shown in Curve 65 is very similar to the diagram for ideal drill bit displacements shown in Curve 64. Drill bit path 12 shown in Curve 65 is actually preferred over that shown in Curve 64 as the actual enlargement of the drill hole in the curved segment is controlled by The trapezoidal motion is somewhat less than the enlargement achieved by controlling the sinusoidal motion.If the maximum deviations of the drill bit are 25.0" while the tool is being driven, the diameter of the hole in the 0 curved sector will be asymmetrically enlarged by 25.0" in the direction of curve; the sides of the bore hole (left and right) will be symmetrically enlarged by approximately 2.0 inches, reducing frictional forces on the idl bottom assembly and drill string as it rotates or slides through the special curved section

by piercing. Figure 18 presents a schematic diagram of the optional non-functional inertial dnav sensor 5 and its processing process. All navigational elements, including sensors and electronic equipment for acquisition and processing, are directly installed; On a collar or on a mechanical structure that is fixedly attached to the collar and rotates with the collar. in this embodiment; No hull in the tool rotates counterclockwise to the rotation of the rotary steerable drilling tool to create a geostationary platform or semi-geostationary 0 platform. By not using a counter rotating assembly, bias unit mechanics and wiring are simplified by eliminating the need for slip rings and rotating mud seals Special pressure compensated with it. Another advantage from a computational point of view is that there is a common coordinate system; a common rate of rotation; The Borehole Sweeping Tool Angle and the Instant Borehole Sweeping Tool Azimuth 5 are common to the entire instrument and all sensors. (Alia) form allows no fixed grouping for

Ground physical by placing the sensors within a few feet of the drill bit surface and directly behind

Hinge. The term Laid fixed with respect to DU (Ga) or 'geostationary assembly' refers to an assembly in a rotating tool that rotates inversely with respect to the rotating tool so that the assembly does not rotate with respect to a coordinate system that is Bl relative to the Earth where the rest of the tool rotates. The “geometric” orientation of this set assembly is controlled relative to the borehole surveying tool angle and/or the azimuth of a non-rotating borehole surveying tool to influence the pointing direction of the tool in a particular direction. To control the direction of the GSO assembly intended either on the GSO assembly directly or on the rotating 0 collar as implemented in US Patent No. 6,742,604 as Brazil (referred to herein as “ANME:13”). In Brazil the instantaneous position of the collar relative to the GSO assembly is measured using an electromechanical component | An additional electromechanical component known as a rotating ALS resolver will instantly read the relative position of the inner GST assembly relative to the outer rotating collar 5. The angle of the rotating electromechanical electromechanical resolver is used angle Transfers only the angle of the borehole surveying tool from the rotating collar frame to the non-all collar of the geostationary assembly. A simpler approach shown in Figure 18 aid creates a virtual geostationary By having simultaneous acquisition on 3 axes of each of 3 types of sensors, namely, accelerometers, gyro sensors, and magnetic field intensity meters, a total of 9 axes, all of which share a common coordinate system that is anchored to and rotates with the rotary steerable drilling tool. Measurements are acquired in frame 31. They are transmitted to frame 132 where the conditioning algorithm shown in Figs 8b and 8c eliminates errors caused by DC angles and misalignment caused by composition; Add errors from shock and vibration 5 on the accelerometers. The default geostationary processing algorithm in frame B2 numbered 8177571214 “EARTH COORDINATE” can be used to calculate the specific inclination and azimuth

Rotary steerable drilling rig spindle. by definition; The inclination and azimuth of the axis of rotation of the rotary steerable drilling tool are the same as the inclination and azimuth of the bore hole. Rotation Matrix Driven by either Fore Borehole Sweeping Tool Angle or Forebo Borehole Sweeping Tool Azimuth Angle X or Tool Rotation 7 10 5 Ground Ratio is used to convert measurements Accelerometer and magnetometer obtained in the rotary steerable rotary tool support base to a virtual geostationary support base (i.e. 'EARTH COORDINATE SYSTEM for calculating the inclination and azimuth of the Sigal drill tool rotation axis) The borehole surveyor angle and borehole surveyor azimuth are used for the two vars of the scratch marking line 7 on collar 0 roundabout 43; and the angle Laid between them defined as 'angle XX' with fixed-to-Earth default outputs for the inclination and azimuth to drive Rotary steerable drilling tool and directional borehole direction

required by the client. The geostationary reference rig will have a > axis pointing downwards al and parallel to the axis of the borehole Mg substantially parallel to axis 2 of the sisal steerable drill tool. The x-axis of the geostationary bearing points up perpendicular to the 2-axis of the borehole. The axis , axis 2 and the gravitational vector are coplanar. The y-axis of the GSO is horizontal and pointing to the right when looking down the well; It is perpendicular to the ix axis, the oz axis, and the gravitational vector. by definition; The borehole slope is expressed as a positive number of degrees equal to the angle Lad between the gravitational vector and the > axis of the borehole 0 and can range from 0° to 180°. The slope value of a vertical well is 0 degrees (fag) and the slope of a horizontal well is 90 degrees. By definition, the azimuth of the borehole is expressed as a positive number of degrees between 0° and 360° equal to the angle between the projection of axis 2 on the horizontal plane and the direction of magnetic north. The process of calculating azimuths is well known to anyone of average skill in the art. to instantly convert a pair of cross-measurements; 5 Either acceleration due to gravity; or the Earth's magnetic field; From the non-inertial rotary steerable rotary drilling tool's coordinate reference mode to the special reference mode

by inertial non-local rotation; Axrspr*cos(GTF) + = AxporenoLe ¢Ayrspr*sin(GTF) and Aspsomst = (Axgspr*-sin(GTF) + Ayrspr*cos(GTF) where AyrsprEHOLE § AXBOREHOLE are the accidental components transverse components of gravity in the borehole bearing domeh Ayrspr gy transverse components of gravity in the bearing of the rotary steerable drilling tool and the angle of the borehole sweep the angle of the instantaneous borehole sweep of the rotary steerable drill As a quality check, the value of Ayporenore should identically be zero If the AypoRrEHOLE is not zero the borehole slope calculation will not be considered valid If the borehole sweep angle is not valid the azimuth of the borehole tool can be used Borehole sweep + angle (x 0) as an estimate of the borehole sweep angle value. If both the valid borehole sweep angle and the valid borehole sweep tool azimuth are not available instantaneously, it may become possible to derive an estimated value of the borehole sweep angle The bore hole is to include the rotational speed of the rotary steerable drilling tool from the ground sensor of the axis oz 02. Therefore, the calculation of the borehole slope is INCL = Glossy Matt (T201)1e-. The “Mxgspr Jail ¢ ‘MzrsDT ‘MyrspT 15 ArmSauta § ¢MYyBOREHOLE ben ¢AZrSDT ¢AYRSDT ¢AXRSDT <AXBOREHOLE ArmSat respectively in the rotation matrix for magnetic field calculation

of the ground in the borehole reference frame and the standard calculation of the borehole azimuth. One advantage of the 550 Nav Platform is that the instruments are continuously self-calibrating by using system rotation to cancel out compositing and DC instrument errors that may be a function of 0°C. This allows accurate measurement of very small values of the tilt inclination when the borehole is near-vertical and the tilt azimuth when the borehole is oriented north-south or south-north and the axis of the instrument is oriented parallel to the Earth's magnetic field lines. In contrast to Brazil, an embodiment in this disclosure transfers the measurements from the rotary steerable rotary bore tool support to the bore hole tilt inclination and bore hole azimuth (Ale) in the geostationary bearing 5; Without the need to pause drilling or to create a geostationary assembly in the tool. The default geostationary platform of the steerable rotary drilling tool

Able to continuously and dynamically measure the inclination of the drill hole (inclination gradient) and the azimuth of the drill hole

The gilt azimuth is relative to a non-rotating terrestrial coordinate system. Figure 8b shows a frame diagram of the processing algorithm's rendering algorithm that is used to cancel out errors of misalignment on transverse accelerometers. This discussion is Lia is applicable to magnetic field intensity measures. AD from accelerometers” is displayed as 600 610 620 for (Az Ay Ax respectively. The yg x axes represent the transverse axes ctransverse axes axis 2 marks the center line of the tool and is positive in the downhole direction The output of the Ble accelerometers is a serial digital data stream and there are no analog signals 0 represented in the schematic diagram Processing for Az 620 directly as it always reads the “dc value of gravity” other than values for axial shocks and misalignment errors that can be easily filtered out by the filter 624 even at low rotation rates Accelerometers should preferably be mounted close to the axis Rotation of the rotary steerable drilling tool is possible to minimize the stick-slip rotation effects that add the AC component to the DC dad of the impulse acceleration toward the center. It is also wad advantageous to have the accelerometer Az fitted as close to the center line of rotation as possible to minimize any errors of the DC impulse acceleration from misalignment. For accelerometers (Ay 5 Ax 600 and 610; errors for misalignment and off-axis centripetal accelerations 0 are DC signals. Filters 604 and 614 are filters Matching digital type dal) Adaptive Low Frequency AIR JIR The cutoff frequency is dla over the tool rotation frequency. If the rotational frequency is 7 Hz (420 rpm) » the low-frequency cutting frequency is 5.0 Hz. If the rotational frequency is 3 Hz (180 revs in dada), the low-frequency cut-off frequency is .214 Hz.5 The filter gain decreases approximately 90 dB with a 360-degree phase shift at the rotation rate of the tool, so the output is The JS filter 604 and 614 are just flags

The DC error of Ax and Term respectively; It is then extracted from the relevant channels; This results in error free signals 606 and 616. This allows Ax and Term to be used to detect very small amounts of tilt when drilling vertically. This same error-correcting processing is also used for magnetic field strength meters. Filter 624 for (Mz) Az is identical to filters 604 and 614 for transverse measurements (Ay s Ax) because DC errors such as electrical offsets cannot be cancelled.

by this method; Instruments for axial measurements must be calibrated by temperature. Figure 8c shows a flowchart of the dynamic navigational processing that can be used to orient the tool as it is rotated. This processing 0 runs continuously when the tool is rotating. The pivot values for Az and 1172 Lay do not change and can be updated every few seconds in step 2.b. The transverse measurements are continuously updated in step 1.2 0 in step 3; The gyroscope offsets are updated for all three axes when the tool is stationary in the hole. The 2 axis gyroscope gain line below ad) is calibrated by attaching Led to Mx A or Ax and lah in the case of magnetic interference. In 5 step 4 the instantaneous values of borehole angle, borehole surveyor azimuth and angle 2 are first computed as they are required to dynamically compute the coefficients in the rotation matrix. The transverse measurements of the accelerometer and magnetic field strength scale are then transferred to the coordinate system on Earth and combined with Az and 1472 to calculate the inclination of the borehole and the azimuth of the borehole. Angle x fills in to serve two purposes. One is that sensitive measurements are typically obtained 0 azimuth against the azimuthal angle of the borehole survey tool. The borehole surveying tool azimuth plus angle X will provide a pseudo borehole surveying angle value so that the obtained measurements can be correctly azimuthaled relative to the borehole dad. in step 5; The borehole surveyor angle and borehole surveyor azimuth are corrected to handle delays so that they read the spatially corrected values of the borehole surveyor angle and borehole surveyor azimuth 5 for guidance purposes. The data is then sent with low latency to the routing control unit

to generate routing commands; stored in sl memory) and put it in combination with other data in order to

Telemetry 8/17 sent it to the surface.

Figure 8D displays the static survey treatment that can be used when the instrument is not

moving; Typically at each joint while the drill string is in slips this processing takes several minutes to obtain and process measurements. The tool must be stopped. Operations are measured

Acceleration due to gravity and the Earth's magnetic field in all three instrument axes. if it was

suspected magnetic interference or misalignment errors; Measurements can be combined

Static from two or more additional directions of the bore hole surveying tool angle and/or angle

Azimuth of the borehole survey tool to improve the accuracy of the inclination and azimuth of the borehole.

0 Figure 9 shows an Ulla tool design for one possible embodiment of a rotary steerable drilling tool. At the end at the bottom of al) the drill bit 12 is attached to the drill bit shaft 33 which is attached to the drill collar 43 by hinge 5. Offsets are not shown. The electronic nine-axis dynamic navigation control and steering control and sensors comprising the virtual geostationary platform are housed directly above (or behind) the hinge

5 5. The dynamically variable displacement axial piston pump is placed under the 'Hydraulic Power Section and Steering Operation'. The upper section of the tool includes auxiliary measurements including but not limited to a six-axis survey package environmental measurements and drilling mechanics measurements Ultrasonic calibrator Multi-spacing impedance propagation; EM al transverse distance of resistance variations

dull 0 2d short direct hop telemetry antenna acquisition of central data; communications; memory; and backup batteries for power during deliveries. This disclosure has presented and discussed the many benefits and characteristics of a dynamically variable displacement axial piston pump relevant to the operations and execution of a rotary steerable drilling tool.

5 however; It should be noted that the same benefits and characteristics of a dynamically variable displacement axial piston pump are applicable to the design and operation of the tools.

the other below all whether connected by a drill pipe; Wire line or .coiled tubing when the capacity and/or total power required to operate the MWD tool exceeds measurement while drilling or Logging while drilling (LWD) 5 Downhole for a period of up to 200 hours Power that can be practically provided by downhole batteries All suitable for use in the oil field Coil field It becomes practical to generate downhole power by means of a fluid turbine that is powered by mud. In this case; The usual procedure is to provide a pit slurry-operated fluid turbine such as that described in US Patent 4 Ad and US Patent Jones and Malone 5.249.161. The fluid turbines may provide power to drive either an electric alternator or a hydraulic pump. A fluid turbine must operate over a range of mud flow rates and mud densities to be a viable downhole power source. The no-load rotational velocity of the terrine is proportional to the flow rate and the stall torque is proportional to the flow rate and silt weight. Where power is the product of torque multiplied by rotational speed” available power can approximately moje Jie increase the silt flow rate times the increase in silt weight. additionally; It is common for a 2:1 flow rate range to be covered using a single trine design; Which means the available capacity could easily be four times that range. For clarification; If the minimum silt weight is taken to be 3.8 pounds per gallon; Max silt weight can be 16 lbs per gallon; HAT coefficient of 2 increments in available torque. A terrine designed for a 0 well should provide the minimum amount of power required to operate the system at the minimum flow rate and minimum drilling mud weight. For the purposes of this discussion; The minimum power required to operate a system can be selected as 2 HP. This means that the available capacity from the terrane at the maximum flow rate and silt weight can be approximately 8 times the available capacity at the minimum flow rate and silt weight; Approximately 16 HP. If the triene is triggering an alternator; As described in Malone 5 10088 US Pat. 5.249.161 The output current may be handled by the load; However, the output voltage of the alternator will tend to double as the rotational speed doubles

triene. One way to deal with this situation is to use a homo-polar alternator mixed with field windings to boost or break the output voltage and hold it within a manageable range over all or gia of the alluvial flow range . There will be various design trade-offs to minimize PR copper losses in the alternator windings in order to minimize overheating while keeping the output voltage below a manageable level. In addition to cells there are cases of losses of copper 178 in the field windings as well. The field windings will never be able to practically cancel out the internal magnetic field; So there will be a rotational speed at which the voltage will increase unavoidably even with the maximum field bucking current of the 5610. additionally; Due to limitations in sell size there is a practicable 0 upper limit on the amount of power that can be reliably generated by an alternator. For those applications requiring more than about 3 HP, it may be more practical to operate a hydraulic pump with a fluid turbine rather than an electric alternator. An embodiment of the present disclosure uses a hydraulic pump driven by turbinating the power-supply fluid with slurry. If the turbine is driving a fixed positive displacement pump as discussed in “Bradley 5 (USP No. 3,743,034) Lease the speed of the turbine increases” the output flow rate of the pump will increase. Additionally, when the flow rate is increased” The pressure will be increased to the finite point by a pressure relief valve at Og and a maximum drilling mud flow rate generating approximately 16 hp; 5 to 10 hp J Hydraulic fluid is vented without heat exchange through orifice back into the low pressure hydraulic tank causing the valve temperature to rise well above specified levels resulting in valve and system failure One solution to this problem is to replace dal) fixed positive pump with dynamically variable displacement axial piston pump; Lal denoted as daa “swash plate pump” 5 A dynamically variable displacement axial piston pump is ideally positioned to be used in an embodiment of the current detection .outside the field of drilling tools under Ha underground oil; pumps are used

axial piston pumps for dynamically variable displacement in many locations Jie chydraulically operated tractor implements construction equipment such as dozers 011; They are very common on zero-turn mowers. in these cases; One or more dynamically variable displacement reversible axial piston pumps are used to control the variable output flow rate and flow direction to independently drive the wheels and/or shafts. In the field of downhole measuring-while-drilling and logging tools powered by drilling mud; The Sa pump really provides power management for alluvium-driven collar-mounted tools for use in oil and gas drilling” although such an operation has not been implemented before. When the flow rate and the weight of the sludge are increased, the angle of the swaying disc can be reduced, thus reducing the pump displacement; This allows the flow rate out of the pump Bll to remain constant for a given drilling mud flow rate and weight; The angle of the swaying disc will be chosen to provide the amount of flow and pressure required by the load driven by the dynamically variable displacement axial piston pump. The angle of the sprocket can be controlled either by an electrically powered linear actuator or by a 5 1 electronic displacement controller 16000016©"; it uses a proportional valve and hydraulic pistons to actuate the sprocket. Figure 17 is shown as Described (Ga Lad) is an open loop hydraulic embodiment where a dynamically variable displacement axial piston pump 70 is used to regulate both the variable inlet power available from the trine 71 and match it with the variable outlet power required by the dynamic load. of valves 90 and 94 and the bidirectional piston actuator 95. In this embodiment the angle of the swaying disc is determined by the drilling mud flow rate and the amount of hydraulic fluid required by the load. Adjusting the angle of the swaying disc to increase or decrease the amplitude of movement of the boom 7 which controls the symmetrical interconnected deviations of the drill bit.5 Another application of Jilly oil drilling is shown in Figure 10 where the output of a dynamically variable displacement axial piston pump 300 can be connected by a hydraulic line 302 motorized

Hydraulic 0. All Gee hydraulic transmission in this embodiment; The angle of the sway disc is adjusted by a 325 actuator; It can be either motorized or hydraulically actuated; To control the speed of the output shaft of the 310 Hydraulic Motor. The 310 Hydraulic Motor can be a fixed displacement hydraulic motor or a variable displacement hydraulic motor to allow more control over the degrees of variance. The output shaft 312 of the hydraulic motor 310 can drive an electric alternator 315. The transmission mechanism composed of the dynamically variable displacement axial piston pump 300 and the hydraulic motor 310 can maintain a constant speed of the output shaft 312 over a wide range of sludge flow rates his weights; The mawlad can be very simple and basic manub without a brush. The output voltage 0 of “OB” DA and ©© will be preserved; constant by maintaining a constant speed of the input shaft 312 of the motor 310 by adjusting the angle of the swing disc depending on the drilling mud flow rate. Power supply 330 will measure the output voltage of the alternator 315 and generate a feedback signal 335 to increase or decrease the angle of the sway disc by the actuator 5. A charge transfer pump 305 ensures that the dynamically variable displacement axial piston pump 5 300 is set to fire upon start-up. The hydraulic fluid tank is 75. Various drain valves are provided; Pressure relief valve 3 (PRV3) pressure relief valve and pressure relief valve 4 to prevent any overpressure conditions. Various non-return valves are provided; non-return valve 5; non-return valve 6; and non-return valve 7 to prevent any unwanted backflow. Filters 172 and 13 are provided to ensure that any particulate matter present in the hydraulic fluid 0 remains in the fluid reservoir and is not recycled through the system. The gly 300 dynamically variable displacement axial piston pump sprocket disc regulates the input power available from the drilling mud rig as well as providing the variable power that may be required.

By carrying measurements or services conveyed through a drill pipe. Figure 11 shows another Wad embodiment where the output shaft 412 of the hydraulic motor 5 410 can be used to operate the gall member of the rotary mud valve rotor 0 Telemetry generation of a mud pulse transported through a drill pipe during drilling. when it is rotated

Rotary mud valve stator 450 next to rotary mud valve stator 452; It generates an oscillating sequence of high and low pressure; As described by Malone g Jones phase shifts are cyclically introduced into the rotor of the 450 rotary valve in order to digitally encode data in a sequence of high and low pressure. A dynamically variable displacement axial piston pump 400 and hydraulic motor 410 will replace the electric motor that drives a rotary valve as described in Jones P1480100. The output of the hydraulic motor shaft 412 will be connected to an electro-transformer drive 133 shaft resolver 420 and a single-position bipolar magnetic positioner 1435 The gear box 440 can be any gear ratio beneficial to the operation of the 410 hydraulic motor; But it will need to correspond to the number of lobes on the silt valve rotor ll 450 and stator 452. The telemetry control processor 430 receives the input data stream 432” and uses Shaft position feedback from the rotary electrotransformer 420 to drive the sizing disc 5 by the actuator control line 437 and the swaying disc actuator 5 to introduce phase shifts in the mud pressure wave generated by

Rotary member for rotary valve 450 and stator 452. An alternative embodiment of the measurement system for a hydraulically operated alluvial pulse aad is shown in Figure 1[b; It is similar to the embodiment shown in Figure 11a; but with a rotor of valve 0 rotary having two protrusions 460 and a stator 462; without gearbox” but with a four-pole (two-position) magnetic positioner 437 and a rotary electrocommutator 420. The rotary electromagnet 420 is needed at the output of the hydraulic shaft in order to know and control the rotation of the hydraulic motor drive shaft 2 as a function of time. The magnetic positioner 437 is an optional but preferred mechanism 5 because it will passively return the rotary member of the swivel valve 460 to an open position when the power is turned off or if the electronic equipment fails to prevent the wet slik from being drawn

pipee Processor 430 attached to the range disk driver control unit will accept 425 incoming bit stream 432 over a digital data bus It will convert the incoming digital data stream 432 into a sequence of shaft positions 412 as a function over time. Drill bits may be set to pressure pulses using Binary Phase Shift Keying (BPSK), Quadrature Phase Shift Keying (QPSK) or Quadrature Phase Shift Keying “261: 6. The rotary electrotransformer 420 feedbacks the shaft position 412 to the processor 430 which controls the rotary valve data stream 460 so that the processor 430 may make dynamic adjustments to the angle of the sway disc by means of the control line 437 and the sway disc actuator 425; To achieve the required 0-pressure wave sequence of alluvial pressures for telemetry of a mud pulse during drilling conducted through a drill pipe. All of the previously disclosed applications and embodiments of the DALI dynamodynamically variable axial piston pump have been open loop hydraulic circuits that do not take full advantage of the reversibility of the dynamodynamically variable 5 displacement axial piston pump. Lia can use a dynamically variable displacement axial piston pump in closed-loop hydraulic applications where the pump's ability to reverse the flow of hydraulic fluid through the pump can result in an impressive decrease in the number of valves to be controlled, resulting in a decrease in the number of chydraulic passageways. In addition to more accurate control in low differential pressure applications such as formation fluid sampling. Figures 12 and 14 will illustrate the benefits 0 of using a dynamically variable displacement axial piston pump of a variable displacement axial piston in fully closed-loop ALS hydraulic circuits. These embodiments may be embedded in downhole tools that are transported on a coiled tubing bore cable; and/or drilling collar. Figure 12 is the hydraulic schematic diagram for a sidewall coring application. Hydraulic pumps have been used in this type of application before; 5 The pumps are fixed displacement and unidirectional. If the core cutting hole saw sticks; The motor that powers the saw cannot be reversed and the shaft must be cut

management so that the tool can be safely withdrawn from the hole without damaging either the drill hole or the tool. The diagram shown in Figure 12 solves this problem. An electric motor 540 drives a shaft 512 that drives a dynamically variable displacement axial piston pump 500 and a charge transfer pump 505. The angle of the swaying disc of the dynamically variable displacement axial piston pump 500 is increased by the swaying disc actuator (not shown) so that high-pressure hydraulic fluid flows out Line 502 to Hydraulic Motor 510; Which causes the shaft 522 to rotate the hole saw to cut the bore 550 in the direction of cutting. Pressure can be monitored via the 510 hydraulic actuator to confirm system operation and to identify potential anomalies. If the 550 cutter gets stuck; The high pressure within the tubing 502 will increase so that it releases the pressure relief valve 0 11 and by forcing fluid through line 507 connected to the negative servo piston 576 reducing the angle of the swash disc in the pump 500. If the operator determines that the breaker 550 is engaged; The direction of rotation of the 522 shaft of the 510 engine is reversible; loosen the cutter screw” by setting the angle of the sway disc to a negative value; causing high pressure to flow into the 503 tubing. Excess pressure relief is provided by pressure relief valve 14.5 in that case; High pressure will be applied to the positive servo valve of the swaying disc 575 causing the angle of the swaying disc to reduce the flow rate of the dynamically variable displacement axial piston pump 500 relieving the overpressure condition within the tubes 503. A special feature of this system is that it protects itself automatically; And if the 550 cutter gets stuck; the pump can be reversed; Remove the cutter screw 550 from the shaft 522 so that

0 The shaft 522 can be safely pulled out and the tool can be pulled out of the hole. Another application for which the pumped variable displacement axial piston is ideally positioned is that of formation fluid sampling using a 'dog bone piston pump'. An example of the previous Jad is shown in Figure 13. Requires the use of a single end pump Single ended pump of constant displacement 600 Lal of valves daly Vg Ve «Vp Va of 5 check valves check valve 20 check valve 21 check valve 22; and check valve 23 to drive the dog bone piston pump 640. Probe is deployed

The side-wall packer probe 653 is held up against the borehole wall with sufficient strength to make a hydraulic seal with the formation. to push the piston 649 of the dog bone piston pump 640 to the “right”; in shape; The electric motor 635 drives the non-reversible constant displacement pump 600. Valves VA and VD or 'agai' are on while valves VB and VC are 'off' close them." The high-pressure in-piping fluid 623 flows through the non-return valve 21 to the VA valve in chamber 641 displacing the piston 649 to the right. Low pressure fluid flows out of chamber 644 through the VD valve into tank 75. Fluid is extracted from the formation through flow line 647; And it is pasted in compartment 0 643. At the same time; The formation fluid in chamber 642 is forced out through the non-return valve 2 to the flow line 648; Where the fluid will either drain into the drill hole or be deflected into a sample bottle for transfer to the surface when the tool is pulled out of the hole. Once the plunger 9 of the dog bone piston pump 640 has been moved all the way to the right, the valves are reversed. VA and 70 are closed while the two valves “VC 3 VB” open allowing fluid 5 high pressure to flow from pump 600 into chamber 644 causing the canine-shaped piston 649 to shift to the left in fig. The formation fluid that has just been drawn into chamber 3 is now pressed out through the non-return valve 33 in line 648 to drain into the drill hole or to additionally fill a sample bottle for transport to the surface. All valves “VC” VA VA VD are controlled by a control unit 611. Any overpressure condition that occurs is relieved by a pressure 0 relief valve 60. Control of the formation fluid sampling rate is carried out by controlling the motor speed Ales 635 responds to changes in pressure measured by the pressure vector

650 transducer To replace the fixed displacement pump 600 of the 'field dam 14 is the embodiment in the preceding' in Fig. 13 with a dynamically variable displacement axial piston pump 700 shown in Fig. 23 522 21 ¢ 20 and check valves VD 5 “VC” “VB” VA valves can be removed (14. 5 in Figure 13) and the number of hydraulic passages is reduced, greatly simplifying the manifold.

Hydraulic hydraulic manifold Another simplification is that it can be the electric actuator

which drives the 700 variable displacement axial piston and charge transfer pump

5 through shaft 712 Ble on a fixed speed induction motor ©0. Spread the sidewall packing probe 753 up against the borehole wall so that it forms

5 Hydraulic seal with configuration; The angle of the sprocket disc of the dynamically variable displacement axial piston pump 700 is increased in the positive direction by the sprocket actuator 725

such that the hydraulic fluid flows through line 702 into chamber 741 and out of chamber 744 of dog bone piston pump 740 through line 703; causing

Shift the dog bone piston 749 to the right. This pushes the formation fluid out of chamber 742

0 through non-return valve 42 to line 748 to drain into the bore hole or deflect into a sample bottle to move to the surface when the tool is pulled out of the hole. At the same time; The formation fluid is drawn from probe 753 to chamber 743 through flow line 747 and check valve 41.

The sway disc angle adjustment can be increased or decreased in response to readings from Jal's own pressure

Flowline 750 to ensure that the pressure drop in Flowline 747 is extremely low; command

5 which will cause any dissolved gas in the TAT formation fluid to come out of solution. Once the 749 dog bone piston has reached its full travel to the right;

The angle of the sway disc of the dynamically variable displacement axial piston pump 700 is reversed by the sway disc actuator 725 under the control of the control module 711 and control lines

control lines 716. When the angle of the sway disc is negative; The flow is reversed through a pump

0 Dynamically variable displacement axial piston 700. High-pressure hydraulic fluid flows into the tubing 703 into chamber 744 and out of chamber 741 through line 702 back to the pump. This causes canine-shaped piston 749 to shift to the left in the figure; Than

The formation fluid in chamber 743 is forced to flow through the non-return valve 43 to the flowline 748 to drain into the borehole or continue to skew into a sample bottle (not shown) for transfer to

5 surface when the tool is pulled out of the hole. At the same time the formation fluid is drawn into chamber 2 through the non-return valve 40; Stream line 747; and probe 753. A discharge is provided

Pump 700 is overpressurized by pressure relief valves 31 and 32. Use of a reversible closed-loop variable displacement axial piston pump effectively simplifies the hydraulic manifold required to interface with the dog bone pump and results in a greater degree of control of the formation fluid pressure.

Relay list: GTF 'fr ab' alt page 'c' . Right 0 d "left a down and sinusoidal motion" y constant speed with limited and synchronous transitions for valve 'H' 0721 5 LTA ALTI J' 072 'K' PRV2 the TRDCR1I PRV1 " a ACT1 "yg 20 "0d EQ 2 013 'q".

ch"Valves" Path 1 of valve 94W" Path 1 of valve 90"H" Drill bit deflection P107-P105 '¥ 5' Z Move the bit towards + scratch mark line 1" Move the bit away from the mark line scratch 1" timing based on rotation 'c1' milliseconds 0 "d1" dail moves you drill toward the scratch line dail "1a" drill toward the scratch line and 1" dade drills away from the scratch line 1" Curve 62 - Drill bit displacement 12 in the direction of guidance 077 (percentage of normal drawing scale) "h1" Curve 63 - displacement of the drill bit perpendicular to the guiding direction (hole expansion) 'h1' Curve 62 “lS Curve 63 1” Corresponding figures ‎ "TJ. Scratch marking line 7 0 "m1" 3a-shift 0117-up 'n1' 3d - zero offset GTF - left x1" 0177-right 3b zero offset "h1" 3c + offset 017-down 'f1' Sey 5 "p1" constant speed with simultaneous limited value transfers 's1" microprocessor

TL Digital to Analog Converter “TH Slope Slope of Borehole (Earth Frame) AT1”. Borehole Slope Azimuth (Earth Frame) “TE Angle of the Borehole Borehole Scanning Tool X1” Angle of the Borehole Scanning Tool Azimuth of the Borehole X=MTF-GTFa ll "13 'd1" Rotational Frequency 21" Earth Coordinate System 'b2 “Rotary Tool Coordinate System 0 C2_Lad Data) 23” to Solenoid 711 (Fig. 7a) ‘E2” to Solenoid 72 (Fig. 17) 124 to Swing Disc Actuator 74 (Fig. 17) 2 Control Module In directive Ax "h2 5

Ay, 2nd edition, Am 24

Gx "2d

Gy "2J Gz "2a" 0

Mx "2

My "20

Mz 'p2' Acceleration axis 28 20a 5 Acceleration Y axis 's2' Acceleration 7 axis

2) Earth 'H2' axis 7 cM Axis 2' 7th Earth axis 'W2' X Heme for the magnetic field strength meter "H2" 7th axis for the 23" magnetic field strength meter 23" 7th axis for the magnetic field strength meter 'D2' AX A and Fati Az "3d 0 30 A Lag Alay 134 3" Rotary Speed Proportional System Width- (0.5/7) 335 RPM 34" Free Detection Ax 7" Drill Collar Shop Joint 5" 32 "Free detection Ay 3" tilt from the horizontal plane 3 "honesty 90 degrees 33" dynamic survey processing Time rotary tool for each continuous point 3 Get dynamic navigation: "m3" Az accelerometers and thread 3 "gyro sensors Gx,Gy and 62 "x3" juntas magnetic field strength Mx,My and Mz, "p3" calibrate JeAX Ay, MxMy towards dynamically for errors 3 06 thermal collimators and 5 "p3" special errors By different alignment 3" measure the free 02 floor when the tool is stopped

'R3' Calibrate JeMz Az dynamically for AC errors 3' Low Frequency +11 adaptive 4th order 3' Correct the ground gain error by correlation with Mx (Ay AX) and My 3' Calculate the instantaneous rotation rate of the tool and the sticking and sliding movement "x3" Calculate the static output results relative to the virtual ground 33" Calculate the instantaneous 017 and 1017 3" Calculate the angle (X= (MTF-GTF) 7" Bandpass filter AX and 7E Reject shocks and vibrations "4d Transfer MycMxeAyeAx to a baseband using a rotation matrix of 0 "4" Calculate the slope (ALY) in the Earth coordinate system 4" Calculate the tilt azimuth in the Earth coordinate system 'E4' Correct the 0677 and 1017 Forby for the bandwidth and handle the delays in the offset Phase at instrument rotation rate 4g Transmission to RCU; Memory; Transmission RIT 4315 Bias Unit "H4" Melt ALY (Step 4) AN Azimuth ALY (Step 4) 4d Scratch Marking Line GTR gel (Step 5) 4 Instant Scratch Marking Line 1111 (Step 5) 0 40 Free rotation frequency and detection of adhesion and slip (Step 3) M4 Treated by static survey - non-moving device Time For each point several minutes that4" get static survey signals: "Q4" Az Ax Ay p4" Mz MxMy ad 4S 25 according to the 4 inclination of the instrument axis

's4" azimuth of the tool axis 4" 06017 for the scratch mark 45" 117 / the scratch mark 'at4' angle = 1111-6117 (X 5" w4) if there is suspicion of magnetic interference "h4" rotate the tool partly To change the MTF 5 GTF 43" go to step 1 -a - repeat it twice 4" Compare the measurements "ST" from 3 static surveys 0 ab5' MTF GTF to make sure different orientation 'c5' is correct. Store Results in instrument memory and R/T transmission surface on telemetry start transmission 5" previous field "5a batteries 1 and 5" 0# quad; frequency and 114 transverse; short direct compass antenna "h5"_environmental and drilling mechanics measurements Gob sonic calibrator 'f5' six-axis survey package and steering process operation 0j5' nine-axis dynamic navigation 'k5' detailed 'SJ' Articulated connection for turning the drill bit sy Drill bit 'N5' Hydraulic power sector and steering actuation 5 "x5" Load 'P5' PRV3

PRV4 "5 'As5' CV7 CV6 '53 'RC' Actuator U54 5T Se Silt SE Pressure Valve H5 oly Barbs PRV5 '53 "Sua" 10 B 6" 7210© 'B6' CVs 'C6' Rotary Electrode 6" Shaft Position Feedback PRV6 "6x" 5 4 6" Thread Loosen (if Sticking) 'G6' Core Cutting Tube (Saw) (dl) eG” heart (normal process) CW '6L' in ccw PRV15 '6& PRVI2 '6J CVIl "64 6" 7212 C6" PRVI3 'G6 PRVI14

6 "1711 AD, 6" 0730© 6 "731 0733 "6 732 "64 5 0720 'T6' '0721 "6

PRV60 "67"

VA "63

VB '6 = 10 ve 7 h

VD "7d 0741 "7g

Ccv4o "74

PRV31 "7a" 5 and 7" 42t 7" kt

FF 'H7' 0737 "Lk

PRV30 '74 0

F25 "7d

PRV32 "7J 0723 M7" 722 N7'

Ax 600 25

Ay 0

Az 0

4 Adaptive Low Frequency Class IV AxAc 06 AyAC 6 604,614 Adaptive Low Frequency Class IV (ARC SIN(Az/GainDC) 626 5 0 Alternating Power Source AS 2 Stator 0 Rotor 410, 510 , 540, 11635 p2 5 0 Telemetry control processor 2 EDC input data 425 pl 400 15 P 750,543

Claims (1)

protection elements 1- Bottom hole assembly ull (28) has a rotation axis and includes: Drill bit assembly (12) rigged to rotate about a longitudinal axis ¢ (43) drill collar AL rotary steerable drilling tool (26) operable connected with drill bit assembly (12); Including: hinged connection (5) between the drill collar (43) and bit assembly drill bit assembly (12); Threads through a hinge in a single plane that is Gl For a support point on the bottom hole assembly (28). Where the hinged connection (5) is ready for articulation, while the drill bit assembly (12) rotates around its longitudinal axis. 2- Gg (28) bottom hole assembly il of claim 1, where: The rotary steerable drilling tool (26) additionally includes: Lever (87) fitted for hinged connection (5) and drill bit assembly (12)¢ and Hydraulic piston operable connected to jack Jdever 3- Bottom hole assembly ll (28) pursuant to claim 2© where: The rotary steerable drilling tool (26) additionally includes: 0 “electronically actuated valve” microcontroller assembly comprising: "processor nonvolatile memory element" is a nonvolatile memory element A program stored in nonvolatile memory configured to control the timing of lever movement (87) by actuating the clectronically actuated Gig yi} valve 5 4- Bottom Gag Assembly (28) bottom hole assembly ll for claim 1; 2 or 3 where: The rotary steerable drilling tool (26) additionally includes a power source that includes: a dynamically variable displacement axial piston pump (70) 0 A fluid turbine driven by power with drilling mud (71) operating the ghd input shaft of a dynamically variable displacement axial piston pump (70). 5 - bottom hole assembly (28) pursuant to claim 1, where: The rotary steerable drilling tool (26) additionally includes a power source that includes: a dynamically variable displacement axial piston pump (70)” Trien Fluid turbine 29% power in drilling mud (71) drives insertion arm input shaft 0 for a dynamically variable displacement axial piston pump (70)¢ where the rotary steerable drilling tool (26) additionally includes: an electronically actuated valve “electronically actuated valve.” 5 microcontroller assembly, including: a processor Nonvolatile memory element A program stored in nonvolatile memory ready to perform the steps for: Controlling the amplitude of the lever movement (87) by changing the angle of the axial piston pump for a dynamically variable displacement variable axial displacement (70). 6- Lads bottom hole assembly yl of claim 5; Where the program stored in the nonvolatile memory additionally performs the steps for: Controlling the timing of the lever movement (87) by operating the electronically actuated valve. 7- Bottom hole assembly ull (28) according to claim 2 where: The rotary steerable drilling tool (26) additionally includes a power source comprising: piston pump pump driven to dynamically variable displacement 5 Displacement snapshot (70) (“Tripping a fluid turbine powered by drilling mud (71) operates the input shaft of the axial piston pump of dynamically variable displacement (Jui ig”) 70( dynamically variable displacement axial rotary steerable drilling tool (26) further on: A hydraulic fluid passageway connecting the output of a dynamically variable displacement axial piston pump (70) to the hydraulic piston 8—bottom hole assembly ) 28) pursuant to claim 1, where: The hinge (5) of the rotary steerable drilling tool (26) is configured to be substantially perpendicular to the center line axis of the drill collar (43). Bottom hole assembly (28) of claim 1, where: The rotary steerable drilling tool (26) additionally comprises a navigational module comprising: three or more sensors Accelerometer sensors One or more cgyroscopic sensors dns wg pall comprising at least one 0 gyroscopic sensor closely aligned with the spindle of the bottom hole assembly ull (28 ); one or more magnetometer sensors and a navigational module microcontroller assembly comprising: 5 processors nonvolatile memory element A program stored in nonvolatile memory ready to perform the steps for: receiving data from three or more accelerometer sensors one or more gyroscopic sensors and one or more ET sensors magnetic field sensors Process data received from the three or more accelerometer sensors 5 to correct errors of misalignment in the data; Generate accelerometer sensor data corrected for misalignment; processing data received from one or more gyroscopic sensors 5 one or more magnetic field sensors : 01280161001616 and accelerometer sensor data corrected for misalignment; Use the processed data to generate an output related to one or more of: the gravity toolface angle the azimuth of the magnetic toolface the angle x and the rotation frequency 10- Lg bottom assembly (28 ) bottom hole assembly ull of protection element 9 where the program stored in nonvolatile memory is additionally configured to perform the step for: Use the output of the gravity toolface to generate an output related to one or more of: slope lt inclination of the axis of rotation of the Dall bottom hole assembly (28) or the tilt azimuth of the axis of rotation 0 of the bottom hole assembly ull (28). 1- Bottom assembly Ld, (28) bottom hole assembly ull of protection element 9 where the program stored in nonvolatile memory is additionally configured to perform step for: Use azimuth output magnetic toolface of borehole magnetic toolface 5 and the angle x to generate an output relative to one or ST of: the slope lt inclination (lt inclination of the bottom hole assembly yal (28) or azimuth tilt azimuth ALY) of the axis of rotation of the bottom assembly Bottom hole assembly ill (28). 2- Bag bottom hole assembly (28) bottom hole assembly idl of protection element 9) where 0 additionally initializes the program stored in nonvolatile memory to perform the step for: Include a rotation frequency output to estimate the angle of the tool Gravity hole scan .toolface 3- A method for directional drilling of segments from a Cus “fy” hole that includes the steps for: a bottom hole assembly (28) that has a rotation axis and includes: a drill bit assembly (12) adapted to rotate around a longitudinal axis ¢ drill collar (43); a rotary steerable drilling tool (26) operably attached to a drill bit assembly (12); comprising: a hinged connection (5) between the drill collar (43) and the drill bit assembly (12); a support point on the bottom hole assembly (28); And an articulated band for the hinge (5) while the drill bit assembly (12) rotates around its longitudinal axis using similar interconnected bidirectional deflections with spatial phases so that the drill bit (12) is directed ) in a desired direction. 4- The method according to claim 13 further comprising the steps for: using the lever (87) to make the connection to the hinge (5) and drill bit assembly (12); and moving the lever lever (87) using a hydraulic piston 5- Method according to claim 13 Cus. The rotary steerable drilling tool (26) additionally comprises: “electronically actuated valve” microcontroller assembly included on me: 0 processor “processor” nonvolatile memory element A program stored in nonvolatile memory ready to control the timing of the lever movement (87) by actuating the clectronically actuated valve Gig yi} valve 6- Method Gig of protection element 14 Cus The rotary steerable drilling tool (26) includes: An electronically actuated valve A microcontroller assembly is included On: processor «processor A nonvolatile memory element A program stored in the nonvolatile memory Lies nonvolatile memory to control the amplitude of the lever movement (87) by changing the angle of the axial piston pump for dynamically variable displacement axial (70). 7- The method according to Clause 16) where the program stored in the nonvolatile memory additionally performs the steps for: Controlling the timing of the lever movement (87) by operating the electronically actuated valve. electronically actuated valve 8. The method pursuant to claim 13; 14 or 15 where further includes steps for: Use of a dynamically variable displacement axial piston pump (70) to provide power to a rotary steerable drilling tool Drilling (26) ¢ and operating ghd input shaft of the axial piston pump for dynamically variable displacement axial (70) using a fluid turbine 2g 3 power with drilling mud esd (71). 5 19. The method according to claim 14 (Wall) includes the steps: Use of a dynamically variable rotary steerable piston pump to provide power to a displacement axial rotary drill tool (70) drilling tool (26(¢) f Rotating the input shaft of the axial piston pump for dynamically variable displacement Dynamically variable displacement axial 5 (70) with power driven fluid turbine Cus (71) drilling mud The rotary steerable drilling tool (26) additionally includes: Piston The output of the piston pump reaches hydraulic fluid passageway jas (70) dynamically variable displacement axial pump .hydraulic piston 10 0 - method according to claim 13; where: The hinge (5) of the rotary steerable drilling tool is configured drilling tool (26) to be substantially perpendicular to the centerline axis of drill collar 5 (43). 1- The Gay method of claim 14; The steps also include: Using an axial piston pump for dynamically variable displacement Rotary steerable to provide power to the rotary steerable drilling tool (70) axial displacement and ¢(26) drilling 20 lumens Rotating the input shaft of the axial piston pump for dynamically variable displacement dynamically variable displacement axial (70) with fluid turbine 393 power Cus (71) drilling mud The rotary steerable drilling tool (26) additionally includes a navigational module comprising: Three or more accelerometer sensors One or more gyroscopic sensors One or more magnetometer sensors and a navigational module The microcontroller assembly includes: a processor Nonvolatile memory element A program stored in nonvolatile memory prepared to perform the steps for: Receiving output data from three or more accelerometer sensors One or more cgyroscopic sensors and one or more of the magnetometer sensors Process the output data received from the three or more accelerometer sensors 5 to correct for misalignment errors in the data; Generate accelerometer sensor data corrected for misalignment; processing of output data received from one or more gyroscopic sensors 5 one or more magnetometer sensors and accelerometer sensor data corrected for misalignment; Use the processed data to generate an output related to one or more of: the gravity toolface angle the azimuth of the magnetic toolface the angle x and the rotation frequency 2- The method according to claim 21 where it further includes the step for: Using an output related to the bore hole angle of the drill hole surveying toolface to generate an output related to one or more of: the slope lt inclination of the axis of rotation of the Dall bottom assembly bottom hole assembly (28) or the tilt azimuth of the spindle 5 of the bottom hole assembly ull (28). 3- The method pursuant to claim 21; It additionally includes the step of: using the azimuth output of the magnetic toolface of the bore hole magnetic toolface and angle x to generate an output related to one or ST of: the inclination of the axis of rotation of the bottom hole assembly yal (28) or the tilt azimuth ALY of the spindle of the bottom hole assembly (28). 4- Method Uy of claim 21) where it additionally includes the step for: Include an output related to rotation frequency to estimate the borehole sweep angle gravity toolface EROS 3 3 3 3 3 § : 3 3 > Matthew 8 Mujdid Ho Jaht Jah Fano we Nod Fat oy § tg FRE be FEES FEO + Fe i 1 ا 3 5 2 NY 7 : WOE 8 | For iF : B Mar 8 1 LF No, $4 El REE Amma to 1 etc ENA M A A F105 Bee 2 > i FR TRON 3 $F Re FFE Amma A The Sousse Alma Hay iy ENA en SET RE # #& if a Hoge 3 Ee 3 ‎and. 3 i : B ind ee Son 3 3 8 No ii £ ey 4 § T > 3 iH Sed ii 3 Fed i iF TR : etc iF RE NN Fen Ben 3 FEST RN iY AE Ise HEA mint b if the FE 1A Ed $F a i 4 elt JE da aN 1 : 1 last as ed Eds} § aa oY - 3 > nigger or SRT I have 8" ad FOSS dhs 1 d TET 2 $F HR "Need TH AAAA: AA 1 the i" od: No: no: no: no: no: no: no: no: no: no: no: no: no: no: no: no: hey 0d SE i NE: AMT IE NR, oh, PYF, egal, AA: FN bo Fy thesaesd: Li Sirhan: esse ity: Friars sip: Shakal Alik, no: i RE NI A A A A A A A A A A A L A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A La A La A A A A A A A A La A A A A A A A A A La A A A A A A A A A La A A A A A A A A A A A A A A A A A A A A A A La A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A A HN DLA SEED Hoes EEE het x Re TE A 7 Lava ect SNE FHT ENR WTR ERAN : RE Tay EE i wud SANE 1 : I SEIT FOE SER Ed oa SREY OH SRD Cea A EH FEE saa SH ELH Naas YH ERR LCH LEASES LAT AT LA LT LT A LAH AH AH AT CETERA we 8 ¥ 5 : for WW for I. aaa: a. erm Se Mr D A and 1 REE GE i. 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T r WHE a "0 Fy LE 8 : YA vi The Saudi Authority for Intellectual Property Sweden Authority for Intellectual Property pW RE .¥ + \ A 0 § Um 5 + < Ne ge “Benaj > Aye Ki Jada Li Days TEE Bbha Nase eg + Ed - 2 - 3 .++ .* provided that the annual financial fee is paid for the patent and that it is not null and void due to its violation of any of the provisions of the patent system, layout designs of integrated circuits, plant varieties and industrial designs or its implementing regulations. »> Issued by + BB 0.B Saudi Authority for Intellectual Property > > > “+ PO Box 1011 .| for ria 1*1 uo ; Kingdom | Arabic | For Saudi Arabia, SAIP@SAIP.GOV.SA