WO2021118416A1

WO2021118416A1 - Drilling rig training simulator

Info

Publication number: WO2021118416A1
Application number: PCT/RU2020/050372
Authority: WO
Inventors: Евгений Валентинович ТЯН
Original assignee: Евгений Валентинович ТЯН
Priority date: 2019-12-13
Filing date: 2020-12-10
Publication date: 2021-06-17
Also published as: RU2725451C1

Abstract

A drilling rig training simulator comprises a trainee's station having: panels simulating an activation panel of an engine and manometers of a drilling rig; taps simulating feed and discharge control of drilling fluid; and also levers and controls simulating control elements for the engine and drilling rig, and comprises an instructor's console having a data input module for giving instructions and a module for monitoring the actions of the trainee. The simulator also comprises a display capable of visually representing a drilling process and movement of drilling rig elements, and comprises a control system. The technical result consists in increasing the effectiveness of the training process.

Description

Drilling Rig Simulator

Technology area

The technical solution relates to models and dummies for training and testing the qualifications of operators of industrial processes, in particular, such as drilling with hydraulic exploration rigs.

Given the high cost of mining and exploration equipment and the value of operating it efficiently and cost-effectively, and the need to minimize operator injury and accident rates, it is important to ensure that the operator is properly trained before accessing the actual equipment.

Prior art

The prior art includes various solutions in the field of creating mock-ups and models for operator training. As a rule, such solutions are characterized by the development of theoretical knowledge about ongoing processes and operating rules, equipment inspection and response to emerging problem situations, but do not provide an opportunity to physically work out the necessary tactile skills and create the necessary psychomotor skills to control equipment. In particular, such solutions are disclosed in the following documents: RF patent for invention Ж2503065 "DISTRIBUTED SYSTEM FOR DRILLING SIMULATION", IPC G09B 9/00, G09B 19/24, G09B 25/02, published on 27.12.2013; Chinese patent No CN101852076 "Underground working condition simulation method for controlled pressure drilling experiment and test", IPC E21B21 / 08, E21B44 / 00, E21B47 / 00, published on 06.10.2010; US patent application N ° US2013101968 "HEAVY EQUIPMENT SIMULATOR AND RELATED METHODS", IPC G09B5 / 02, published 04.25.2013. The well-known computer models do not contain physical elements that imitate, for example, a control panel for equipment, which would allow practicing the necessary psychomotor skills.

The prior art also known solutions, including various manipulators and regulators, allowing you to train tactile skills to control equipment. Such solutions include student stands, the manipulators on which are connected to real equipment, equipped with sensors that allow you to receive information about the actual position and condition of individual parts or assemblies. equipment. Thus, you can form a virtual model that displays the result of the student's actions at the console. In particular, such solutions are disclosed in the following documents: US patent for invention N ° US8139108B2 "Simulation system implementing real-time machine data", MPK H04N7 / 00, published on July 31, 2008; US patent for invention N ° US9129233B2 "System and method for training a machine operator", IPC G06Q10 / 00, G06Q10 / 06, G06Q10 / 10, published 09/08/2015. Such solutions make it possible to work out the necessary psychomotor skills of equipment control well, but their implementation is associated with high material costs, due to the need to use real equipment, additionally equipped with sensors. In addition, such simulators require large areas and are characterized by insufficient flexibility, since they are suitable for training control only with the available equipment.

Disclosure of invention

When creating a technical solution, the task was to create a simulator that would allow the trainees to reveal the features of the behavior of the equipment and its response to the operator's actions, in particular, the mechanisms of interaction of the rock cutting tool and drilling fluid with the well; see a visual model of the processes occurring in the well and hidden from direct observation, observe the occurrence and development of complications and emergency situations.

The technical result consists in increasing the efficiency of the learning process. The presence in the simulator of the physical control panel of the drilling rig, identical to the real one, allows students to immerse themselves in the environment of a real drilling rig and create the necessary psychomotor skills of drilling control in them, bring the technology to their fingertips. The simulator, in particular, enables successful well drilling training in a safe and controlled environment. Critical and costly operations can be trained before the trainee encounters them in practice, helping to save lives, equipment and the well from the potential consequences of rig errors.

The solution to the problem and the claimed technical result is achieved by the fact that a simulator of a drilling rig, including a student's stand, which contains panels simulating the engine start panel and pressure gauges of a drilling rig, cranes that simulate control of the supply and discharge of drilling mud, levers and regulators that simulate control elements for the engine and the drilling rig, the instructor's console, which contains a data input module for setting instructions and a module for monitoring student actions, a display capable of visualizing the drilling process and movement of the drilling rig elements, and a control system that includes interacting random access memory, serving to store the current parameters of the equipment received from the student's stand and instructions from the instructor's console, the data processing unit and the animation control unit, functionally connected to the display for displaying animation, according to the claimed solution contains a controller interacting with the control system, while cranes simulating control of the supply and discharge of drilling mud, equipped with on-off sensors, levers simulating engine and drilling rig controls, equipped with position sensors, regulators simulating engine and drilling rig controls, equipped with angle sensors position, which can be performed as multi-turn, all sensors are functionally connected to the controller for data transmission. The levers simulating the controls for the engine and the drilling rig can be made in two- and three-position. The data input module for setting instructions is configured to set drilling parameters and operating modes of the equipment, and the data processing unit is configured to perform actions, including, but not limited to, matching instructions, calculating parameters for indicators, generating random numbers to simulate unevenly occurring real processes, and readings, calculation of drilling speed, rotator position and rotational speed.

The student's stand in its appearance and the arrangement of levers and controls very closely mimics the control panel of a prototype drilling rig. It contains panels that simulate an engine start panel and drill rig gauges. The engine start pad controls the virtual engine model, including the indicators included in it. In particular, for a diesel engine, the panel can display the following controls and displays: ignition toggle switch (key) for starting the engine, toggle switch (button) bypass protection, toggle switch (button) for turning on the starter, toggle switch (button) for checking the performance of hazard indicator lamps, toggle switch for engine preheating , engine emergency stop button, diesel engine speed increase / decrease switch (availability and type depends on the machine model), a group of light indicators signaling emergency engine modes. In the case when a drilling rig equipped with an electric motor instead of a diesel engine acts as a prototype of the simulator, the control panel is modified accordingly. Drilling Rig Gauges Panel displays a virtual model of a real drill, including indicators included in it. In particular, for a hydraulic drilling rig, the following controls and displays can be displayed on the panel: drilling rig pressure gauges and readings, such as: spindle speed, axial load, pressure and flow rate setting, ROP, borehole depth, etc. .d. In the exam mode, some of the readings can be hidden to control the adequacy of skills training. The student's bench also contains cranes that simulate the control of the drilling fluid supply and discharge system, equipped with on-off sensors, multi-position levers and regulators simulating motor and drilling rig controls, equipped with induction and multi-turn angle position sensors. The levers can be made two-position and three-position, in order to accurately simulate the controls of a real engine and drilling rig. All data coming from the sensors is fed to the inputs of the controller interacting with the control system to create a virtual model of the drilling rig operation and, in particular, to reflect this virtual model on the display. The display is usually large or a projector is used to bring the simulator as close as possible to the actual rig environment.

To control the student's actions and create a virtual model of the behavior of the drilling rig in the process of training and examinations, all levers and regulators are equipped with sensors that allow determining the current position of each control element, collecting data from them and transferring it to the data processing unit through the controller for the program to work. real-time virtual model of the drilling rig. The position of the two- and three-position levers can be monitored, for example, using inductive proximity sensors that provide reliable reading and lack the disadvantages of mechanical switches and buttons, such as limited resource, unreliability and bounce. Smooth regulation of the parameters of some units of the drilling rig is possible, in particular, with the use of hydraulic multi-turn regulators (chokes). Reading data about their position, that is, about the angles of rotation of the regulators, can be carried out by the transmission of rotation using a gear or belt transmission to the encoder and further processing of the pulses coming from it using a quadrature counter with transmission to the controller, and using an absolute magnetic angle encoder with a hollow shaft mounted on the shaft or knob of the regulator, with further processing by the controller, taking into account the number of revolutions in this case, it is performed by monitoring the difference in the output signal of the sensor when passing through 0

The instructor's console is used to set the drilling parameters and operating modes of the equipment, as well as monitor the student's actions. The console contains a data entry module, through which the instructor can set the operating conditions of the drilling rig, for example, the structure of the geological section of the well from several types of rocks by the depth and drillability category, the size of the tool and the degree of absorption of the drilling fluid, the presence of complications in the form of polishing and sub-wedge, and also allows you to create abnormal situations of the engine operation. A control module is used to control the student's actions and assess the degree and correctness of skills development.

To control the operation of all units of the simulator, a control system is designed that includes interacting random access memory, for example, in the form of RAM, which serves to store the current parameters of the equipment received from the student's stand controller and instructions from the instructor's console, a data processing unit that serves to compare instructions , calculation of parameters for indicators, random number generators for simulating uneven readings, calculation of drilling speed, rotator position and rotation speed, etc., and an animation control unit functionally connected to the display for displaying animation. The data processing unit includes at least a processor for executing a program for creating a virtual model, which calculates drilling modes depending on the composition of the rock and parameters set by the operator, determines the position of the drill string at each unit of time, the spindle speed, the behavior of the cargo and core winches , actuation of the tube holder and clamping hydraulic chuck, etc. Based on the virtual model obtained in the data processing unit, visual models are formed, which, for example, simulate the behavior of the non-rigid elements of the machine tool (high pressure hoses and cables) in accordance with the laws of physics (gravity, elasticity and inertia). The animation control unit generates display signals for visual display of the drilling process and movement of the drilling rig elements. Brief Description of Drawings

The claimed solution is further illustrated with the help of figures, which, using the example of a simulator of a hydraulic drilling rig with a long stroke of a rotator based on a diesel engine, demonstrates one of the embodiments of the technical solution.

FIG. 1 is a block diagram of a simulator.

FIG. 2 shows a general view of the simulator.

FIG. 3 contains a general view of the student's stand.

Figure 4 shows the interface of the drilling rig gauge panel at the student's bench in training mode.

Fig. 5 shows the interface of the drilling rig gauge panel on the student bench in the exam mode.

6 shows an interface of an input module for setting instructions for a motor.

7 shows an input module interface for setting instructions regarding drilling conditions.

8 shows the interface of the control module.

The numbers on the figures indicate: 1 - student's stand, 2 - instructor's console, 3 - display, 4 - control system, 5 - engine dashboard, 6 - engine control panel, 7 - drilling rig gauge panel, 8 - taps simulating feed control and drilling mud discharge, 9 - two-position hydraulic chuck lever, 10 - two-position hydraulic rod holder lever, 11 - three-position mast control lever, 12 - mixer two-position lever, 13 - three-position floating rotator position control lever, 14 - three-position slow feed lever, 15 - regulator rotation speed, 16 - main winch release lever, 17 - feed speed regulator, 18 - slow flow valve operating pressure regulator, 19 - flush pump regulator, 20 - rotation direction control lever, 21 - quick feed lever, 22 - main winch control lever , 23 - control lever for the core-receiving winch, 24 - random access memory, 25 - data processing unit, 26 - animation control unit. The content of information on the interfaces shown in FIG. 4-8 is for demonstration purposes and may differ depending on the machine model, learning algorithm, stage of the process being studied, etc.

An embodiment of the invention

Further, with reference to the figures, the implementation of the claimed technical solution is described using the example of a simulator-simulator of a hydraulic drilling rig with a long stroke of a rotator based on a diesel engine. It is obvious to a person skilled in the art that the names and / or the location and / or the number and / or shape of the elements of the simulator given below in the example are not limiting the scope of the claimed technical solution. In the example of a simulator described below, minor levers or controls may be missing, for example, intended for tripping operations and adjustment actions that are not directly related to the drilling process. If necessary, it is possible to install or remove elements, change the arrangement of elements in accordance with the design of the drilling rig and the corresponding revision of the processing unit software. In addition, some technological operations, due to the lack of possibility or the need to implement them in the form of real objects, are performed using buttons on the stand of 1 student, for example, gear levers, selection of the type of drilling fluid, etc. The choice of such parameters is made on one of the panels of the stand 1, while, like on a real drilling rig, changing these parameters is available only if the required conditions are met, for example, gear shifting when rotation is off.

The stand of 1 student in its appearance and the arrangement of levers and controls very closely mimics the control panel of a prototype drilling rig. As a rule, the stand 1 includes an upper part, on which the engine dashboard 5, the drilling rig gauge panel 6 and the engine start panel 7 are located. On the horizontal surface and in the lower part of the stand 1 there are levers and regulators, their relative position depends on the model of the drilling rig. Cranes simulating drilling fluid supply and discharge control can be connected from the side or installed on the front panel of the stand 1.

The dashboard 5 of a diesel engine displays all the indicators available on this dashboard for a real engine.

The engine control panel 6 contains controls and displays, in particular, an ignition toggle switch (key) for starting the engine, a toggle switch (button) bypass protection, a toggle switch (button) for turning on the starter, toggle switch for checking the efficiency of hazard warning lamps, toggle switch for engine preheating, emergency stop button, switch for increasing / decreasing the diesel engine speed, a group of indicator lights indicating emergency engine modes, etc.

Panel 7 displays the drilling rig pressure gauges and, if available in the prototype, the spindle speed indicator and flow meter.

Valves 8, simulating connection to the drilling fluid supply and discharge system, can be made in the form of ball valves, functionally corresponding to the drilling fluid supply and discharge valves, equipped with inductive sensors on and off.

The two-position lever 9 of the clamping hydraulic chuck is made with fixed positions and is equipped with an inductive position sensor. It is used to control the clamping hydraulic chuck, which allows the rotation and axial load of the rotator to be transferred to the drill string in the closed state. To open the hydraulic chuck, the lever 9 is moved forward; to close the hydropathron - back. Lever 9 is equipped with a mechanical locking device to prevent accidental activation.

The two-position lever 10 of the hydraulic rod holder, with fixed positions, is used to control the clamping device of the rod holder. It is equipped with an inductive position sensor. To close the rod holder, the lever 10 is moved forward, to open the rod holder - back. Lever 10 is equipped with a mechanical locking device to prevent accidental activation;

A three-position lever 11 with non-fixed positions serves to control the speed and direction of the mast movement by means of two hydraulic cylinders. It is equipped with two inductive position sensors. To raise the mast, it is necessary to move the lever 11 forward, to lower the mast - move it back.

Two-position lever 12 with fixed positions for controlling the switching on of a hydraulically driven mixer. Equipped with an inductive position sensor. To turn on the mixer, it is necessary to move the lever 12 back, to turn off the mixer, move it forward.

The three-position lever 13 for controlling the positions of the floating rotator is made with fixed positions. Equipped with two inductive position sensors. Moving the lever 13 forward provides a smooth downward movement of the rotator for screwing the thread; the movement of the lever 13 backwards provides a smooth movement of the rotator upward to unscrew the thread; in the neutral position of the lever 13, the rotator remains motionless.

The three-position jog lever 14 has fixed positions. Equipped with two inductive position sensors. Provides a slow downward or upward feed of the rotary head while drilling. With the lever 14 in the middle position, the slow feed hydraulic system is turned off, which allows the use of the fast feed valve. Moving the lever 14 forward provides a slow feed downward (drilling). Moving the lever 14 backward provides a slow upward feed (drilling, coring).

The speed controller 15 is equipped with an angular position sensor. Rotation of this regulator 15 allows you to change the setting of the minimum working volume of the rotator motor and, therefore, change the rotation speed and torque of the rotator. When the knob 15 is turned clockwise, the rotation speed increases to the maximum, when the knob 15 is turned counterclockwise, the rotation speed decreases. Regulator 15 allows you to select the optimal speed of rotation of the drill string in one of four ranges of the gearbox when shifting. The rotational speed depends on the position of the regulator 15, the gear ratio of the gearbox, the rotational speed of the diesel engine and the angle of deflection of the rotation engaging lever. The rotational speed indicator is displayed on the screen of the instructor's console 2 and, if available in a specific model of the drilling rig, on the panel 7 of the pressure gauges of the drilling rig of the student's stand 1 (Fig. 4). If there is no tachometer in the prototype, then in the "Exam" mode it is hidden from the student, as shown in Fig. 5

Lever 16 release of the main winch with fixed positions is equipped with an inductive position sensor. Lever 16 controls the oil flow to release the main winch brake. Turning valve lever 16 clockwise activates the winch brake to operate the winch in normal tripping mode. Turning valve lever 16 counterclockwise releases the winch in drilling mode.

The feed rate controller 17 is equipped with an angular position sensor. The regulator 17 sets the feed rate of the drill string. When the knob 17 is turned clockwise, the groove speed decreases, counterclockwise - it increases. The pressure in the lower cavity of the hydraulic cylinder created the aggregate weight of the projectile, axial load, drift, pressure in the upper (injection) cavity and throttle throughput is calculated in the data processing unit 25 and displayed on panels 5 and 7 of the student's stand and in the control module of the instructor's console 2.

The regulator 18 of the working pressure of the slow-feed valve is equipped with an angular position sensor and allows you to set the optimal hydraulic pressure in the pressure chamber of the hydraulic cylinder (that is, the desired sensitivity) for the operation of the feed rate regulator in accordance with the weight of the drill string and the pressure on the bit. The pressure is displayed on the panel 7 of the stand of 1 student and in the control module of the console of the instructor 2.

The regulator 19 of the flush pump is equipped with an angular position sensor and is located directly below the auxiliary manifold on the front of the student's stand 1. Turning the regulator 19 counterclockwise turns on, and also increases the speed of rotation of the hydraulic motor of the drive of the flushing pump. When you turn the knob 19 clockwise until it stops, the flushing pump will stop working.

Lever 20, equipped with an angular position sensor, controls the right or left rotation of the chuck. Lever 20 is equipped with a mechanical stop that prevents accidental activation, as well as an abrupt change in the direction of rotation.

The quick feed lever 21 is equipped with an angle position sensor. Controls the up and down movement of the rotary head at a speed proportional to the deflection angle. Not used during creep drilling (i.e. remains in neutral). Moving the lever 21 to the upper position raises the rotator, moving the lever 21 to the lower position lowers it. The neutral position of this non-locking lever 21 is set by means of a spring.

The main winch control lever 22 is equipped with an angular position sensor. When this lever 22 is moved up, the cable will be wound on the drum of the main winch (lifting the drill string), and when it is moved down, the cable will, accordingly, unwind from the drum of the main winch (lowering the drill string) at a speed proportional to the deflection angle. The neutral position of this non-locking lever 22 is set by means of a spring.

The lever 23 for controlling the coring winch is equipped with an angular position sensor. When moving this lever 23 upwards at a speed, proportional to the deflection angle, the cable will wind on the drum of the coring winch, raising the hook of the coring pipe, and when it is moved down, the cable will, accordingly, unwind from the drum of the coring winch, lowering the hook of the coring pipe. Lever 23 is provided with a mechanical stop to prevent accidental activation.

The random access memory 24 performs the functions of the operating memory of the control system 4, that is, it serves to store the executable machine code (program), as well as input, output and intermediate data processed by the processor during the operation of the control system, such as the current parameters of the equipment obtained from 1 student's stand controller, instructions from the instructor's console 2, data processing unit 25, etc.

The data processing unit 25 serves to compare instructions, calculate parameters for indicators, generate random numbers to simulate uneven readings, calculate drilling speed, rotator position and rotational speed, and the like. The data processing unit includes at least a processor for executing programs for creating a virtual model. The algorithms embedded in the programs describe the regularity of the behavior of virtual actuators and parameters displayed on indicator devices, depending on the drilling conditions set by the instructor and the current position of the stand 1 controls, which are transmitted to the data processing unit by means of a controller, to the inputs of which all data are received from sensors connected to levers and regulators.

The animation control unit 26 is an element of the control system and is functionally connected to the display 3 for displaying animation.

The use of the claimed simulator is described below.

On the engine control panel 6, the ignition is turned on by moving the key to the "ignition" position, the indicators on the panel - 5 at the same time show the current state: battery voltage 12 (24) V (depending on the model), crankshaft speed - 0 rpm , engine temperature (if the engine has been warmed up before, the temperature will be shown in accordance with the usual cooling rate, approximately 20 minutes from 100 ° C to 0 ° C), and the low oil pressure and emergency shutdown warning lamps light up. When the starter button is turned on, the battery voltage drops to 9 (16) V, then after 2 seconds in summer (5 seconds in winter) the engine starts. After starting, the oil pressure rises to 3 bar (within 2 seconds in summer, - 40 seconds in winter). Into the cold To prevent the engine from shutting down due to low oil pressure (less than 1 bar), the protection bypass button must be pressed. After starting, the crankshaft rotation speed is 800 rpm, the generator voltage is 14 (28) V. The oil pressure within 5 - 20 seconds will rise to 3 bar. The crankshaft speed can be increased / decreased by switching the toggle switch or the throttle control lever (depending on the machine model). When the speed rises above 2600 rpm, the engine automatically shuts off (depending on the machine model). When the "winter" mode is selected, the initial engine temperature is set in the system - 40 ° С and within 20 minutes after starting the temperature rises to 80 ° С. In the "summer" mode, the temperature rises from 0 ° С. On the panel 5 of the engine of stand 1, the indication of the season can be displayed as a line at the bottom of the screen. To start a cold engine (winter mode), it is necessary to preheat the air in the intake manifold (30 sec). The operation of the diesel engine (starting the starter, running) is accompanied by sounds that correspond to real ones. When the engine speed changes, the sound of the engine changes. Information about starting the engine is also sent to the data processing unit 25, which, after processing it, generates a command to the animation control unit 26 and the display 3 displays an increased content of soot and soot emission from the exhaust pipe during starting and at increased loads. The data on the crankshaft rotational speed are transmitted to the data processing unit 25, from where they are sent to the rest of the simulator elements.

With the help of the instructor's console 2, it is possible to create abnormal situations of engine operation (Fig. 6), for example, low oil pressure - reduces the oil pressure readings of the pressure gauges on panel 5 of stand 1, after 30 seconds the engine stalls, overheating - when it is turned on, the engine temperature readings smoothly increase, and after reaching the temperature of 105 ^° C, the engine stops, the command for the generator failure, when it is turned on, the voltmeter shows a decrease in voltage at the battery terminals, the diesel engine does not start - the engine will not start while this button is pressed, lamp failure - turn off the warning lamps at stand 1 student.

After starting, warming up and reaching operating speed of the diesel engine crankshaft, the drilling rig is ready for operation. The operating parameters of the pressure gauges of the drilling rig are displayed on the panel 7 of the stand of 1 student (Figs. 4, 5). Panel 7 in the lower row simulates the drilling rig manometers, in the upper row - the calculated readings of the spindle speed, axial load, pressure and setting of the flow rate of the flushing fluid. IN in the upper right corner there is a system button "System" for configuring the panel. In the middle row, the ROP, the depth of the borehole, the "Rod extension" buttons, cameras (to select the type of machine in the animation), and gear shift levers are displayed. During examinations, some of the indicators may be hidden depending on the design of the real machine, for example, spindle speed, axial load, flush setpoint, mechanical speed and well depth. Pressing the "Build-up" button increases the string length by 3 m. There may be no tripping procedures, such as unscrewing, screwing on the projectile, lifting and lowering the core tube, in the simulator's functionality, due to the simplicity of training personnel in practice. Buttons that functionally correspond to the gearbox levers are active (react to pressing) only when there is no spindle rotation and the rotator is positioned at a height of no more than 2 m.

With the help of the data input module for setting instructions of the instructor's console 2, various drilling parameters can be set, for example, the structure of the geological section of the well of five types of rocks by the depth and drillability category, the size of the tool and the degree of absorption of the drilling fluid (Fig. 7). If, when specifying the depths of the rocks, an error was made, in which the depth of the previous rock was greater than the next, then an error message will appear. The initial depth is set by the “Well depth” line, while the number of drill rods in the string and the weight of the drill string are automatically calculated, which is displayed in the “Number of rods” line and on the bit load indicator. The category of the interval from the initial depth to depth2 corresponds to the category of rock 1. The "Section complexity coefficient" takes into account the nature of the wellbore walls (for a normal section - 1, in difficult geological conditions - 1.5-2). It affects the power consumed for rotation of the drill string and drilling. In the window "type of solution" a drop-down list of 4 options appears, the selected type is displayed next to it (for example, clay-polymer + grease). The "Landing of the core barrel" button starts the simulation of the landing of the core barrel in the column sequence of changing the readings of the drilling mud pressure gauge. The student needs to track them and relieve the pressure in time by opening the drain valve. The buttons of the "Complications" block allow you to run the simulation of polishing and sub-wedge and their variants - disposable - non-disposable polishing and soft or hard sub-wedge. Disposable polishing is eliminated by specific actions student. Button "Wedge" when choosing a type with the button "Hard" causes an increase in the pressure of the flushing fluid up to 60 atm. The student must tear off the tool from the bottom without turning off the rotation, while the pressure on the pump drops to a level below the working percent by 10, twist the tool for 10 seconds and repeat the attempt to continue drilling. If the situation is repeated "dead" sub-wedge, you must stop drilling. When selecting "Soft subclimbing", within a few seconds there is a gradual rise in pressure from a few to a couple of tens of atmospheres above the operating pressure. To eliminate the "soft" sub-subcliner, it is necessary to increase the load on the bottomhole by at least 300 kg, but not more than the permissible load, and if the sub-sub-sub-subclin is not removed within 2 minutes, then lift the core tube. The "Cuttings Stick" button in combination with drilling in soft formations starts the simulation of this mode. The way out of this situation is to relieve the flushing pressure with a drain valve. All student reactions to the occurrence of complications are processed by the program in accordance with the algorithms of the driller's behavior in situations similar to those in reality.

The control module of the instructor's control panel 2 allows displaying the parameters of the equipment that change as a result of the student's actions (Fig. 8). In the upper line of the window there are indicators that duplicate the manometers of the stand of 1 student. The bottom line displays the parameters that are calculated by the data processing unit 25, based on the positions of the levers and regulators set by the student, as well as the pressure of the flushing fluid, the selected gearbox speed and the buttons for controlling the cameras of the 3D model. Using the button of the 3D model "General view" you can select the main image on the screen of the second monitor: the general view of the machine or the view from the position of the drilling rig operator. The 3D model buttons Section, Borehole View and Slider View include windows in the corners of display 3 that show a video of the borehole section, the wellhead and a ruler on the slide along which the slider moves, which allows the student to estimate the drilling speed.

The data processing unit 25 executes a virtual model program that calculates the drilling modes depending on the rock composition set by the instructor and the parameters set by the student, determines the position of the drill string at each unit of time, the spindle speed, the behavior of the cargo and core winches, the operation of the pipe hanger and clamping hydropathron. When the simulator is turned on, the initial position of the installation is - the diesel engine is off, the mast is lowered, the rotator is at its lowest point, the hydraulic chuck is clamped. After turning on, warming up and reaching the operating modes of the diesel engine model, the drilling rig model is ready for operation.

A three-position lever 11 for controlling the raising and lowering of the mast, equipped with two position sensors, sets the direction of raising (lowering) the mast of the drilling rig. The signals from the sensors of the lever 11 are fed to the input of the controller of the stand 1, which transmits the data to the data processing unit 25 for processing by the program that controls the position of the machine mast in the virtual model. To start work, the mast is set in a vertical position by turning the lever 11 to the "Up" position.

To move the projectile with a cargo winch, it is necessary to first unfasten the hydraulic chuck with lever 9. When starting work, the free length of the cable is zero, so the projectile must hang motionless on the cable of the cargo winch. To avoid lowering the projectile under its own weight in the off position of the lever 22 of the main (cargo) winch, it is necessary to set the lever 16 of the winch brake control to the “fixed” position. In the case when the winch brake is not braked, the image of the drill pipe with its lower end will go down to the bottom, or, if the rotator is in the upper position, and the distance from the upper end of the tool equipped with an oil seal will be less than the distance from the lower end of the pipe to the bottom , the projectile will stop due to the oil seal on the hydropathron. The program executed by the data processing unit 25 takes into account the signals from the sensors and, when unclamping by lever 9, calculates the length of the projectile, the relative position of the elements on the mast, generates signals for displaying on the visual model the movement of the body of the hydraulic cartridge corresponding to the position "The cartridge is unlocked" When opening, the image of the drill string will go down, choosing the free length of the cable, or, when the lever 16 of the winch brake control is in the "locked" position, it will remain in a stationary position. As a result, the position of the drill string is recorded in the model.

Before the start of drilling, the chuck is released with the lever 9, the drill is set to the bottom with the lever 22 of the cargo winch, the rotator rises to the upper position with the lever 21 of the quick feed or the lever 14 of the slow feed, the hydraulic chuck is clamped by the lever 9, the regulator 19 turns on and sets the mud pump to the required performance, ball the drilling mud supply valve is moved to the "open" position, the ball valve for drilling mud discharge - to the "closed" position. The rig is ready for drilling. Information from the sensors about the position of the elements as a result of the above actions of the student goes to the controller and from it to the data processing unit 25, where changes in the state of the virtual machine model are formed, and the control commands from the unit 25 enter the animation control unit 26 and lead to a change in the position of the elements in the visual model shown on the display 3.

The student, having turned on the feed of the projectile down with the lever 14 and turned on the rotation with the lever 20, starts the drilling process. The axial load is determined by the position of the feed rate regulator 17 and, if necessary, by the operating pressure regulator 18. The rotational speed is regulated by the position of the regulator 15, taking into account the gear ratio of the gearbox, the rotational speed of the diesel engine and the angle of deflection of the lever 20 of the direction of rotation.

The virtual model, after reaching the calculated value of the contact of the rock cutting tool (diamond bit) located at the lower end of the drill string, with the borehole bottom connects the data stored in the random access memory 24 concerning the drilling parameters. This takes into account all the information specified by the instructor in the module for setting the drilling parameters about the type, composition of the rock, the depth of the well, the complexity of the section and other data, as well as the modes of the drilling rig set by the operator. The formula describing the drilling process calculates, on the basis of these parameters, the behavior of the drill, the drilling speed, the power consumption, the pressure of the drilling fluid, the pressures on the machine manometers and the corresponding rotational speed, the axial load, displays them on the corresponding indicators and transmits commands to the animation control unit 26. To make the formula more realistic, floating correction factors can be introduced into the formula, changing the drilling parameters within small limits, creating the effect of a reaction to changing rock, its drillability, hydraulic resistance of the near-wall cavity of the well through which cuttings are carried out, which affects the pressure of the drilling fluid.

Visual models for display on the display 3 are formed in the animation control unit 26 based on commands and data coming from the data processing unit 25, and simulate the behavior of the non-rigid elements of the machine (high-pressure hoses and cables) in accordance with the laws of physics (gravity, elasticity, etc. inertia). The animation control unit 26 stores data about the visual 3D model of the drilling rig. The commands coming from the data processing unit 25 are used to simulate the behavior of actuators, generate rig parameters and drilling data, control the position and speed of movement of the rig nodes. The general view, the most convenient for observation and work, is selected (adjusted) using the "mouse" type manipulator of the instructor's panel 2. Additional images in the form of small screens in the corners provide more complete information. In most cases on the territory of the Russian Federation in difficult and harsh climatic conditions, the rig is usually located inside a mobile drilling room, but for the sake of ease of observation in the animation the rig is displayed without it.

Industrial applicability

The declared simulator is an effective technical tool for training and advanced training of drillers. It allows you to acquire and improve practical skills in performing, monitoring and optimizing the main technological processes of drilling wells for minerals, recognizing and preventing complications and emergencies.

It should be noted that a variety of hardware and software and various structural components can be used to implement the claimed simulator. The given example of the implementation of the simulator and its use does not limit the scope of the declared solution to the presented particular forms of execution of individual components or stages. A person skilled in the art will appreciate that at least the software aspects of the implementation may be implemented by one or more processors. The various components of the simulator described in the example may include standard hardware and software, such as one or more processors, one or more permanent machine-readable media modules, one or more I / O interfaces, and various connections (such as a system bus) for connecting components. It should be understood that if a component is indicated to be “connected” to another component, it means that it can be “directly connected” to another component, or “electrically connected” to another component through a third component. In addition, unless otherwise indicated, the words "include", "comprise" and their forms "includes", "contains", "including", "comprising" means the presence of the specified components, but not the absence of any other components.

Claims

Formula

1. A simulator of a drilling rig, including a student's stand, which contains panels that simulate the engine start panel and pressure gauges of a drilling rig, cranes that simulate control of the supply and discharge of drilling mud, levers and regulators that simulate controls for the engine and the drilling rig, an instructor console, which contains a data input module for setting instructions and a student control module, a display made with the ability to visually display the drilling process and the movement of drilling rig elements, and a control system that includes interacting random access memory used to store the current parameters of the equipment received from the stand student, and instructions from the instructor's console, a data processing unit and an animation control unit, functionally connected to the display for displaying animation, characterized in that it contains a controller interacting with the control system, cranes that simulate control of the supply and discharge of drilling fluid ra, equipped with on-off sensors, levers simulating engine and drilling rig controls, equipped with position sensors, regulators simulating engine and drilling rig controls, equipped with angular position sensors, all sensors are functionally connected to the controller for data transmission.

2. The drilling rig simulator according to claim 1, characterized in that the levers are made two- and three-position.

3. The drilling rig simulator according to claim 1, characterized in that the angular position sensors of the regulators are multi-turn.

4. The drilling rig simulator according to claim 1, characterized in that the data input module for setting instructions is configured to set drilling parameters and operating modes of the equipment.

5. Drilling rig simulator according to claim 1, characterized in that the data processing unit is configured to perform actions, including, but not limited to, matching instructions, calculating parameters for indicators, generating random numbers to simulate unevenly flowing real processes and readings, calculation of drilling speed, rotator position and rotational speed.