CN105156021B - Borer system and boring method based on self adaptation down-hole equipment tool-face dynamic control - Google Patents
Borer system and boring method based on self adaptation down-hole equipment tool-face dynamic control Download PDFInfo
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Abstract
A kind of borer system and boring method based on self adaptation down-hole equipment tool-face dynamic control, the borer system includes kinetic-control system and well system, and kinetic-control system includes data acquisition module, control strategy input module, drilling well model information input module, multi-body dynamics modeling module, adaptive model correcting module, tool-face estimation module, control law generation module, performing module and precarious position judge module.User input control strategy and drilling well model, data acquisition module collection system creeps into situation, multi-body dynamics modeling module is based on drilling well model and carries out multi-body dynamics modeling, adaptive model correcting module is based on drilling situation amendment multi-body Dynamics Model, and tool-face estimation module and control law generation module calculate the control law of control executing agency based on control strategy, drilling situation and revised multi-body Dynamics Model；Precarious position judge module sends alarm when system is in the hole.The present invention can significantly improve directed drilling operating efficiency and precision, can be widely used for downhole orientation drilling operation.
Description
Technical field
The present invention relates to a kind of oil gas field borer system and boring method, many-body dynamics mould is based on especially with regard to one kind
The rotary drilling machine system and boring method of the self adaptation down-hole equipment tool-face dynamic control of type.
Background technology
Slipping drilling is carried out using the deflecting drilling tool of bent angle formula, is a kind of drilling method commonly used in oil directed drilling.
Due to reasons such as formation lithology change, slush pump changes in pump speed, drill bit and power drilling tool abrasions, the tool-face of down-hole equipment is easy
Drift about, so as to cause well track off-design track.When Ground Engineer has found that the tool-face of drilling tool is drifted about,
Conventional treatment method is to stop to bore and above carry drilling tool immediately, and the tool-face of drilling tool is adjusted to behind required position again into lower bore continues to bore
Enter.Obviously, this method can influence drilling progress, reduce operating efficiency, and increase drilling cost.In addition, being led in conventional slide
Into drilling process, because the drill string of slide-and-guide well system does not rotate, therefore larger drag and torque is easily produced.For
Strata condition more apparent well, can overcome frictional resistance to turn round according to the combined characteristic of well depth and drilling tool by rotary turnplate
Square；But for high-fineness ratio flexible drillstem system, then it is difficult to achieve effective control drilling tool face and well track.
The content of the invention
Regarding to the issue above, it is an object of the invention to provide a kind of self adaptation down-hole equipment based on multi-body Dynamics Model
The rotary drilling machine system and boring method of tool-face dynamic control, to improve the efficiency and precision of directed drilling operation.
To achieve the above object, the present invention takes following technical scheme：One kind is moved based on self adaptation down-hole equipment tool-face
The borer system of state control, it is characterised in that the borer system includes kinetic-control system and well system；The dynamic control
System includes data acquisition module, user input module, multi-body dynamics modeling module, adaptive model correcting module, instrument
Face estimation module, control law generation module, control information output module, performing module, precarious position judge module and measurement
Message output module；Wherein, the data acquisition module transmits the well system working condition metrical information collected respectively
To the multi-body dynamics modeling module, adaptive model correcting module, control law generation module, precarious position judge module
With metrical information output module；The user input module transmits the control strategy of user input and drilling well model information respectively
To the multi-body dynamics modeling module, tool-face estimation module, control law generation module and precarious position judge module；Institute
Multi-body dynamics modeling module is stated according to the well system working condition metrical information received, drilling well model information and control plan
Multi-body dynamics modeling is slightly carried out to well system, and the multi-body Dynamics Model of well system is inputted into the adaptive model
Correcting module；The adaptive model correcting module is according to the well system working condition metrical information of reception, well system
The many-body dynamics of multi-body Dynamics Model and the tool-face estimation module mechanism of feedback face mould analog values to well system
Model is modified, and the multi-body Dynamics Model of revised well system is sent into the tool-face estimation module；Institute
The multi-body Dynamics Model for stating revised well system of the tool-face estimation module to receiving carries out Dynamics Simulation,
To obtain the tool-face analogue value；The tool-face analogue value is fed back to the adaptive model amendment mould by the tool-face estimation module
Block, and the tool-face analogue value is transmitted to the control law generation module；The control law generation module is according to receiving
Control strategy judge the tool-face analogue value that receives whether in the Hedging Point Control of setting drilling tool set in advance
Tool-face threshold value：If it is, the control law generation module generates new performing module control law, and send it to
The control information output module；If it is not, then keeping the performing module control law of a upper controlling cycle constant, it is sent to
To the control information output module；The performing module control law received is sent to institute by the control information output module
State performing module；The precarious position judge module is measured according to the control strategy and well system working condition received to be believed
Breath, judges whether current drilling is in the hole：If currently creep into it is in the hole, by the control strategy received
In emergency control policy be sent to the control law generation module, and send dangerous alert to the metrical information output module
Report；If currently creep into it is in a safe condition, by the performing module control law in control strategy be sent to it is described control advise
Restrain generation module；The well system includes installing preventer, the top board of the rig floor in the middle part of a rig floor, the base plate of the rig floor
Middle part rotate connection rotating disk, the rotating disk by transmission mechanism connect setting the rig floor side rotary tray motor；It is described to bore
One end of head connection bending-type deflecting down-hole equipment, the other end of the bending-type deflecting down-hole equipment passes through the underground survey
One end of module jointed rod, the other end of the drilling rod passes through one end that kelly bar is connected after the preventer, the drill with ferrule
The other end of bar passes through the lower end that tap is connected after the rotating disk, and the upper end of the tap is then connected with standpipe.
In a preferred embodiment, the kinetic-control system also includes a system output module, the measurement letter
Breath output module transmits the well system working condition metrical information and hydropac that receive to the system output module；
Hydropac, well system working condition metrical information and performing module control rule that the system output module record is received
Rule, and it is presented to user；Meanwhile, the system output module can also be by the many-body dynamics of revised well system
Model, and the tool-face analogue value or the metrical information in current tool face are also presented to user.
In a preferred embodiment, the data acquisition module includes measurement module and underground survey module on well；
The information that measurement module is measured on the well includes：Slush pump pump speed, hook position, the angle of rotating disk rotation, rotating disk are applied to
The moment of torsion and pulling force of drilling rod；The information of the underground survey module measurement includes：The tool-face of down-hole equipment, hole deviation, azimuth
With well depth measurement.
In a preferred embodiment, the user input module includes control strategy input module and drilling well model is believed
Cease input module；The control strategy for the user input that the control strategy input module is received includes：1) performing module control rule
Rule：Design tool face control law, slush pump pump speed control law, hook control law, initial rotating disk control law and many bodies
Kinetic model precision controlling rule；2) control logic judgment criterion：Down-hole equipment judgment criterion whether in the hole,
Whether the tool-face analogue value that Dynamics Simulation is obtained is considered as the judgment criterion of tool-face current location and currently practical
Whether tool-face deviates the judgment criterion of setting position；3) emergency control policy：The control measure that should be taken for precarious position；
4) drilling tool face set in advance threshold value；The drilling well model information input module receives the drilling well model letter of user input
Breath, including drilling tool information, mud information and formation information；Drilling tool information includes the single or thribble drill string information that newly accesses and more
Bit change information, mud information includes but is not limited to the information for changing drilling fluid.
A kind of boring method based on self adaptation down-hole equipment tool-face dynamic control realized using above-mentioned borer system,
It comprises the following steps：
1) executing agency of well system is started；
2) user inputs control strategy by the control strategy input module in the user input module, and control strategy is defeated
Enter module and control strategy is sent respectively to the multi-body dynamics modeling module, tool-face estimation module, control law generation
Module and precarious position judge module；The user is inputted by the drilling well model information input module in user's input module and bored
Well system model information；The control law generation module passes through the control information output module by the execution in control strategy
Module control law is sent to the performing module, and the performing module starts driving according to the performing module control law and performed
Mechanism works, and it includes：Slush pump is pumped into drilling fluid, and hook is moved up and down, and rotating disk rotates the angle specified；
3) the well system working condition metrical information collected is sent respectively to described many by the data acquisition module
Body dynamics modeling module, adaptive model correcting module, control law generation module, precarious position judge module and measurement letter
Cease output module；
4) control strategy input module of the precarious position judge module in the user input module is sent
Whether the down-hole equipment judgment criterion whether in the hole and currently practical tool-face in control logic judgment criterion are inclined
From the judgment criterion of setting position, and the well system working condition metrical information that the data acquisition module is sent, judge
Whether current drilling is in the hole：
If currently creeping into the hole, send hydropac and perform emergency control policy；
If current drilling is not in precarious position, step 5 is performed)；
If 5) system is in first controlling cycle, the well system work shape according to the data collecting module collected
State metrical information and the drilling well model information of user input module input, multi-body Dynamics Model is set up to well system；
If system is not at first controlling cycle, step 6 is directly performed)；
6) the adaptive model correcting module tool-face estimation module mechanism of feedback face mould analog values and brill
Well working state of system metrical information, the parameter to the multi-body Dynamics Model of acquisition is modified, and by revised many bodies
Kinetic model is exported to the tool-face estimation module, and the tool-face estimation module carries out many bodies to multi-body Dynamics Model
Dynamics simulation, to obtain the tool-face analogue value；
7) control strategy input module of the control law generation module in the user input module is sent
In control logic judgment criterion whether the tool-face analogue value for obtaining Dynamics Simulation is considered as tool-face current location
Judgment criterion, it is determined that the tool-face that uses during generation performing module control law：
If it is, the tool-face analogue value is considered as into tool-face current location；
If it is not, then regarding tool-face measured value as tool-face current location；
8) control strategy input module of the control law generation module in the user input module is sent
Design tool face control law and initial rotating disk control law in performing module control law, judge that tool-face current location is
It is no to exceed drilling tool face set in advance threshold value in control strategy：
If it is, the control law generation module generates new performing module control law, including it is dynamic by many bodies
Mechanics Simulation calculates rotational angle, the position of hook and the slush pump pump speed needed for rotating disk, and new performing module is controlled into rule
Rule is sent to the performing module by the control information output module, then performs step 9)；
If it is not, then keeping current performing module control law, and it is sent out by the control information output module
The performing module is given, continues to creep into and perform step 10)；
9) the performing module control law that the performing module is exported according to the control law generation module drives mud
Pump, hook, the action of rotating disk, continue to creep into so that down-hole equipment tool-face revert to design attitude, to complete to down-hole equipment
The dynamic adjustment control of tool-face；
10) control strategy input module and drilling well model information input module in user input module judges user respectively
Whether the control strategy and drilling well model information of input change：
If it is, return to step 2)；
If it is not, then return to step 4).
Carrying out above-mentioned steps 6) when, the adaptive model correcting module enters to the multi-body Dynamics Model of well system
Row amendment comprises the following steps：
1. in first controlling cycle, according to the tool-face estimation module mechanism of feedback face mould analog values, it is described from
Adaptive model correcting module predicts the change and response at a certain moment or a period of time of the down-hole equipment after；
2. the adaptive model correcting module is by the tool-face analogue value and well system working condition metrical information
Down-hole equipment tool-face is contrasted, and obtains gain coefficient；
3. the multi-body Dynamics Model transmitted according to gain coefficient to the multi-body dynamics modeling module is modified, will
Revised multi-body Dynamics Model is sent to the tool-face estimation module；
4. in a certain controlling cycle behind, repeat step 1.~3. so that the adaptive model correcting module is real
When track down-hole equipment tool-face situation, the multi-body Dynamics Model that is persistently transmitted to the multi-body dynamics modeling module is carried out
Amendment.
The present invention is due to taking above technical scheme, and it has advantages below：1st, the present invention is due to defeated by control strategy
Enter control strategy of the module input to down-hole equipment, action is then entered to full well DRILL-STRING SYSTEM by multi-body dynamics modeling module
Mechanics Simulation and estimate, and model is repaiied in real time according to the metrical information of real-time drilling system by adaptive model correcting module
Positive multi-body Dynamics Model, and drive the performing module control law of the drilling tool device actions such as slush pump, therefore energy of the present invention
Directional tool tool-face deviates the real-time condition of preset value under enough reliably monitoring wells, more accurately needed for calculating correction of deviation
Control law, so as to realize real-time control to mud motor tool-face and reliability is high.2nd, the present invention is due to setting
Adaptive model correcting module is put, it uses adaptive approach to be modified multi-body Dynamics Model, can not only reduced
To the precise requirements of down-hole equipment model, and allow to carry out the parameter in down-hole equipment model simple and quick measurement or
Estimation, additionally it is possible to the influence that autonomous amendment drill tool wear is caused, thus the present invention can save determine drilling tool model parameter when
Between, lift drilling operation efficiency.3rd, the adaptive model correcting module of the invention due to setting uses adaptive approach to many bodies
Kinetic model is modified, and can reduce the accuracy requirement to formation information, can be applied to various stratum, especially
The layer very not clear and definite prospect pit of situation, therefore the present invention can widen the directional drilling controlling party based on many-body dynamics method
The scope of application of method.Based on above advantage, power drilling tool tool-face when the present invention can be widely applied to creep into downhole orientation
Real-time, dynamic control.
Brief description of the drawings
Come to carry out the present invention detailed description below in conjunction with accompanying drawing.It should be appreciated, however, that accompanying drawing has been provided only more
Understand the present invention well, they should not be interpreted as limitation of the present invention.
Fig. 1 is the structural representation of kinetic-control system of the present invention；
Fig. 2 is the structural representation of well system of the present invention；
Fig. 3 is the schematic flow sheet of dynamic control method of the present invention.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1 and Figure 2, borer system of the invention includes kinetic-control system 100 and well system 200.
As shown in figure 1, kinetic-control system 100 includes data acquisition module 101, user input module 102, many body power
Learn modeling module 103, adaptive model correcting module 104, tool-face estimation module 105, control law generation module 106, control
Message output module 107 processed, performing module 108, precarious position judge module 109, metrical information output module 110 and system are defeated
Go out module 111.
Wherein, the well system working condition metrical information collected is transmitted separately to many bodies by data acquisition module 101
Dynamic Modeling module 103, adaptive model correcting module 104, control law generation module 106, precarious position judge module
109 and metrical information output module 110.In the present embodiment, data acquisition module 101 includes measurement module 10 and underground on well
Measurement module 11.Wherein, the information that measurement module 10 is measured on well includes：The angle that slush pump pump speed, hook position, rotating disk are rotated
Degree, rotating disk are applied to the moment of torsion and pulling force of drilling rod；The information that underground survey module 11 is measured includes：The tool-face of down-hole equipment,
Hole deviation, azimuth and well depth measurement.In the present embodiment, underground survey module 11 can using downhole drilling system or with
Bore logging system.
The control strategy of user input and drilling well model information are transmitted separately to many-body dynamics by user input module 102
Modeling module 103, tool-face estimation module 105, control law generation module 106 and precarious position judge module 109.In this reality
Apply in example, user input module 102 includes control strategy input module 12 and drilling well model information input module 13.Wherein, control
The tactful input module 12 of system receives the control strategy of user input, and the control strategy includes：1) performing module control law：Design
Tool-face control law, slush pump pump speed control law, hook control law, initial rotating disk control law and many-body dynamics mould
Type precision controlling rule；2) control logic judgment criterion：Down-hole equipment judgment criterion whether in the hole, whether will be many
The judgment criterion and currently practical tool-face that the obtained tool-face analogue value of body dynamics emulation is considered as tool-face current location be
The judgment criterion of no deviation setting position；3) emergency control policy：The control measure that should be taken for precarious position；4) set in advance
Fixed drilling tool face threshold value.Drilling well model information input module 13 receives drilling tool information, mud information and formation information etc. and used
The drilling well model information of family input, wherein drilling tool information include the single or thribble drill string information newly accessed and more bit change letter
Breath, mud information includes but is not limited to the information for changing drilling fluid.Multi-body dynamics modeling module 103 is according to the drilling well received
Working state of system metrical information, drilling well model information and control strategy carry out multi-body dynamics modeling to well system, and will
The multi-body Dynamics Model input adaptive Modifying model module 104 of well system.In the present embodiment, well system is carried out
Multi-body dynamics modeling can directly use the applicant's Patent No.：ZL201010616202.0, entitled " one kind rotation is led
To the quick method for analyzing and modeling of drilling system many-body dynamics " described in modeling method, be not limited herein.
Adaptive model correcting module 104 according to the well system working condition metrical information of reception, well system it is many
The multi-body Dynamics Model of body dynamics model and the mechanism of feedback face mould analog values of tool-face estimation module 105 to well system
It is modified, and the multi-body Dynamics Model of revised well system is sent to tool-face estimation module 105.
The multi-body Dynamics Model for the revised well system that 105 pairs of tool-face estimation module is received carries out many bodies and moved
Mechanics Simulation, to obtain the tool-face analogue value；The tool-face analogue value is fed back to adaptive model and repaiied by tool-face estimation module 105
Positive module 104, and the tool-face analogue value is transmitted to control law generation module 106.In the present embodiment, many-body dynamics is imitated
It is really prior art, therefore repeats no more.
Control law generation module 106 judges whether the tool-face analogue value received surpasses according to the control strategy received
Go out drilling tool face set in advance threshold value in control strategy：If it is, control law generation module 106 generates new execution
Module control law, and send it to control information output module 107；If it is not, then keeping the execution of a upper controlling cycle
Module control law is constant, sends it to control information output module 107.
The performing module control law received is sent to performing module 108 and system by control information output module 107
Output module 111.
Precarious position judge module 109 is sentenced according to the control strategy and well system working condition metrical information that receive
Whether disconnected current drilling is in the hole：If currently creep into it is in the hole, by the control strategy received
Emergency control policy is sent to control law generation module 106, and sends hydropac to metrical information output module 110；Such as
Fruit currently creeps into a safe condition, then the performing module control law in control strategy is sent into control law generation module
106.Wherein, precarious position can be bit freezing or well track is seriously offset, doubtful control fails, well system working condition is surveyed
Measure information not fully or partially numerical exception etc..
Metrical information output module 110 transmits the well system working condition metrical information and hydropac that receive
To system output module 111.
System output module 111 records the hydropac received, well system working condition metrical information and performs mould
Block control law, and it is presented to user.In the present embodiment, can also be by the many-body dynamics of revised well system
Model, and the tool-face analogue value or the metrical information in current tool face are presented to user also by system output module 111.This
Outside, system output module 111 can also be not provided with, the work of the kinetic-control system 100 of whole down-hole equipment tool-face will not
It is affected.
As shown in Fig. 2 well system 200 includes installing preventer 21, rig floor 20 in the middle part of a rig floor 20, the base plate of rig floor 20
Top board in the middle part of rotate connection rotating disk 22, rotating disk 22 by transmission mechanism connect setting the side of rig floor 21 rotary tray motor 23.
One end of the connection bending-type deflecting of drill bit 24 down-hole equipment 25, the other end of bending-type deflecting down-hole equipment 25 passes through underground survey
One end of the jointed rod 26 of module 11, the other end of drilling rod 26 passes through one end that a kelly bar 27 is connected after preventer 21, drill with ferrule
The other end of bar 27 passes through the lower end that a tap 28 is connected after rotating disk 22, and the upper end of tap 28 is then connected with standpipe 29.Need
It is noted that other executing agencies of well system 200, such as slush pump, hook are also arranged on rig floor 21, and its with
The position of rig floor 21 and annexation are same as the prior art, therefore repeat no more.
As shown in figure 3, based on the brill based on self adaptation down-hole equipment tool-face dynamic control provided in above-described embodiment
Machine system, the invention allows for a kind of method based on self adaptation down-hole equipment tool-face dynamic control, it includes following step
Suddenly：
1) executing agency of well system 200 is started.
2) user inputs control strategy, control strategy by the control strategy input module 12 in user's input module 102
Control strategy is sent respectively to multi-body dynamics modeling module 103, tool-face estimation module 105, control rule by input module 12
Restrain generation module 106 and precarious position judge module 109；User is defeated by the drilling well model information in user's input module 102
Enter the input well system model information of module 13；Control law generation module 106 will control by control information output module 107
Performing module control law in strategy is sent to performing module 108, and performing module 108 is opened according to the performing module control law
Begin to drive executing agency's work, including：Slush pump is pumped into drilling fluid, hook and moved up and down rotates angle for specifying etc. with rotating disk.
3) the well system working condition metrical information collected is sent respectively to many body power by data acquisition module 101
Learn modeling module 103, adaptive model correcting module 104, control law generation module 106, the and of precarious position judge module 109
Metrical information output module 110.
4) control strategy input module 12 of the precarious position judge module 109 in user input module 102 is sent
Whether the down-hole equipment judgment criterion whether in the hole and currently practical tool-face in control logic judgment criterion are inclined
From the judgment criterion of setting position, and the well system working condition metrical information that data acquisition module 101 is sent, judge to work as
Whether preceding drilling is in the hole：
If currently creeping into the hole, send hydropac and perform emergency control policy；
If current drilling is not in precarious position, step 5 is performed).
If 5) well system 200 is in first controlling cycle, the well system gathered according to data acquisition module 101
The drilling well model information that working condition metrical information and user input module 102 are inputted, many-body dynamics is set up to well system
Model；If well system 200 is not at first controlling cycle, step 6 is directly performed).
6) adaptive model correcting module 104 compares the mechanism of feedback face mould analog values of tool-face estimation module 105 and drilling well
Working state of system metrical information, is modified to the multi-body Dynamics Model of acquisition, and by revised many-body dynamics mould
Type is exported to tool-face estimation module 105, and tool-face estimation module 105 carries out many-body dynamics to multi-body Dynamics Model and imitated
Very, to obtain the tool-face analogue value.In the present embodiment, many body power of the adaptive model correcting module 104 to well system
Learn model and be modified and comprise the following steps：
1. in first controlling cycle, according to the mechanism of feedback face mould analog values of tool-face estimation module 105, adaptive mode
Type correcting module 104 predicts the change and response at a certain moment or a period of time of the down-hole equipment after.
2. adaptive model correcting module 104 is by the well in the tool-face analogue value and well system working condition metrical information
Lower drilling tool face is contrasted, and obtains gain coefficient.
3. the multi-body Dynamics Model transmitted according to gain coefficient to multi-body dynamics modeling module 103 is modified, will
Revised multi-body Dynamics Model is sent to tool-face estimation module 105.
4. in a certain controlling cycle behind, repeat step 1.~3. so that adaptive model correcting module 104 is real-time
Down-hole equipment tool-face situation is tracked, persistently the multi-body Dynamics Model that multi-body dynamics modeling module 103 is transmitted is repaiied
Just.
Wherein, for corrected multi-body Dynamics Model, if down-hole equipment with the addition of new part, then can be with
One or several parameters just for new part are modified, so as to reduce the difficulty of multi-body Dynamics Model makeover process.It is right
The amendment of new part is included to single or thribble drill string the Modifying model newly accessed, the Modifying model to the drill bit of replacing and right
Modifying model of formation information etc..
7) control strategy input module 12 of the control law generation module 106 in user input module 102 is sent
In control logic judgment criterion whether the tool-face analogue value for obtaining Dynamics Simulation is considered as tool-face current location
Judgment criterion, it is determined that the tool-face that uses during generation performing module control law：
If it is, the tool-face analogue value is considered as into tool-face current location；
If it is not, then regarding tool-face measured value as tool-face current location.
8) control strategy input module 12 of the control law generation module 106 in user input module 102 is sent
Design tool face control law and initial rotating disk control law in performing module control law, judge that tool-face current location is
It is no to exceed drilling tool face set in advance threshold value in control strategy：
If it is, control law generation module 106 generates new performing module control law, including pass through many body power
Rotational angle, the position of hook and the slush pump pump speed needed for simulation calculation rotating disk are learned, and by new performing module control law
Performing module 108 is sent to by control information output module 107, step 9 is then performed)；
If it is not, then keeping current performing module control law, and it is sent by control information output module 107
To performing module 108, continue to creep into and perform step 10).
9) the performing module control law that performing module 108 is exported according to control law generation module 106 drive slush pump,
The executing agencies such as hook, rotating disk act, and continue to creep into so that down-hole equipment tool-face revert to design attitude, to complete to underground
The dynamic adjustment control in drilling tool face.
10) control strategy input module 12 and drilling well model information input module 13 in user input module 102 is distinguished
Judge whether the control strategy and drilling well model information of user input change：
If it is, return to step 2)；
If it is not, then return to step 4).
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each part, connected mode etc. are all can be
Change, every equivalents carried out on the basis of technical solution of the present invention and improvement should not be excluded the present invention's
Outside protection domain.
Claims (5)
1. a kind of borer system based on self adaptation down-hole equipment tool-face dynamic control, it is characterised in that the borer system bag
Include kinetic-control system and well system；
The kinetic-control system includes data acquisition module, user input module, multi-body dynamics modeling module, adaptive mode
Type correcting module, tool-face estimation module, control law generation module, control information output module, performing module, precarious position
Judge module and metrical information output module；
Wherein, the well system working condition metrical information collected is transmitted separately to many bodies by the data acquisition module
Dynamic Modeling module, adaptive model correcting module, control law generation module, precarious position judge module and metrical information
Output module；
The control strategy of user input and drilling well model information are transmitted separately to many body power by the user input module
Learn modeling module, tool-face estimation module, control law generation module and precarious position judge module；
The multi-body dynamics modeling module according to the well system working condition metrical information received, drilling well model information and
Control strategy carries out multi-body dynamics modeling to well system, and the multi-body Dynamics Model input of well system is described adaptive
Answer Modifying model module；
The adaptive model correcting module is moved according to the well system working condition metrical information of reception, many bodies of well system
Mechanical model and the tool-face estimation module mechanism of feedback face mould analog values are entered to the multi-body Dynamics Model of well system
Row amendment, and the multi-body Dynamics Model of revised well system is sent to the tool-face estimation module；
The multi-body Dynamics Model of revised well system of the tool-face estimation module to receiving carries out many body power
Emulation is learned, to obtain the tool-face analogue value；The tool-face analogue value is fed back to the adaptive mode by the tool-face estimation module
Type correcting module, and the tool-face analogue value is transmitted to the control law generation module；
The control law generation module judges whether the tool-face analogue value received exceeds according to the control strategy received
Drilling tool face set in advance threshold value in the Hedging Point Control of setting：If it is, the control law generation module life
Cheng Xin performing module control law, and send it to the control information output module；If it is not, then keeping a upper control
The performing module control law in cycle is constant, sends it to the control information output module；
The performing module control law received is sent to the performing module by the control information output module；
The precarious position judge module judges to work as according to the control strategy and well system working condition metrical information received
Whether preceding drilling is in the hole：If currently creep into it is in the hole, will be urgent in the control strategy received
Control strategy is sent to the control law generation module, and sends hydropac to the metrical information output module；If
Currently creep into a safe condition, then the performing module control law in control strategy is sent to the control law and generates mould
Block；
The well system includes installing in the middle part of a rig floor, the base plate of the rig floor to be turned in the middle part of preventer, the top board of the rig floor
Dynamic connection rotating disk, the rotating disk by transmission mechanism connect setting the rig floor side rotary tray motor；Drill bit connection bending
One end of formula deflecting down-hole equipment, the other end of the bending-type deflecting down-hole equipment is connected by the underground survey module to be bored
One end of bar, the other end of the drilling rod passes through one end that kelly bar is connected after the preventer, the other end of the kelly bar
The lower end of tap is connected after through the rotating disk, the upper end of the tap is then connected with standpipe；
The kinetic-control system also includes a system output module, and the metrical information output module is by the drilling well system received
System working condition metrical information and hydropac are transmitted to the system output module；The system output module record is received
Hydropac, well system working condition metrical information and performing module control law, and be presented to user；Meanwhile,
The system output module can also be by the multi-body Dynamics Model of revised well system, and the tool-face analogue value or works as
The metrical information of preceding tool-face is also presented to user.
2. the borer system as claimed in claim 1 based on self adaptation down-hole equipment tool-face dynamic control, it is characterised in that
The data acquisition module includes measurement module and underground survey module on well；The packet that measurement module is measured on the well
Include：Angle that slush pump pump speed, hook position, rotating disk are rotated, rotating disk are applied to the moment of torsion and pulling force of drilling rod；The underground survey
The information of module measurement includes：Tool-face, hole deviation, azimuth and the well depth measurement of down-hole equipment.
3. the borer system as claimed in claim 1 based on self adaptation down-hole equipment tool-face dynamic control, it is characterised in that
The user input module includes control strategy input module and drilling well model information input module；The control strategy inputs mould
The control strategy for the user input that block is received includes：1) performing module control law：Design tool face control law, slush pump pump
Fast control law, hook control law, initial rotating disk control law and multi-body Dynamics Model precision controlling rule；2) control is patrolled
Collect judgment criterion：Down-hole equipment judgment criterion whether in the hole, whether the instrument for obtaining Dynamics Simulation
Face mould analog values be considered as tool-face current location judgment criterion and currently practical tool-face whether deviate setting position judgement it is accurate
Then；3) emergency control policy：The control measure that should be taken for precarious position；4) drilling tool face set in advance threshold value；
The drilling well model information input module receives the drilling well model information of user input, including drilling tool information, mud information
And formation information；Drilling tool information includes the single or thribble drill string information and more bit change information newly accessed, and mud information includes
But it is not limited to change the information of drilling fluid.
4. it is a kind of using as described in any one of claims 1 to 3 borer system realization based on self adaptation down-hole equipment tool-face
The boring method of dynamic control, it comprises the following steps：
1) executing agency of well system is started；
2) user inputs control strategy, control strategy input mould by the control strategy input module in the user input module
Control strategy is sent respectively to the multi-body dynamics modeling module, tool-face estimation module, control law generation module by block
With precarious position judge module；The user inputs drilling well system by the drilling well model information input module in user's input module
System model information；The control law generation module passes through the control information output module by the performing module in control strategy
Control law is sent to the performing module, and the performing module starts to drive executing agency according to the performing module control law
Work, it includes：Slush pump is pumped into drilling fluid, and hook is moved up and down, and rotating disk rotates the angle specified；
3) the well system working condition metrical information collected is sent respectively to many bodies and moved by the data acquisition module
Mechanical modeling module, adaptive model correcting module, control law generation module, precarious position judge module and metrical information are defeated
Go out module；
4) control that control strategy input module of the precarious position judge module in the user input module is sent
Whether down-hole equipment judgment criterion whether in the hole and currently practical tool-face in logic judgment criterion, which deviate, sets
The judgment criterion put, and the well system working condition metrical information that the data acquisition module is sent are positioned, judges current
Whether drilling is in the hole：
If currently creeping into the hole, send hydropac and perform emergency control policy；
If current drilling is not in precarious position, step 5 is performed)；
If 5) system is in first controlling cycle, the well system working condition according to the data collecting module collected is surveyed
The drilling well model information of information and user input module input is measured, multi-body Dynamics Model is set up to well system；If being
System is not at first controlling cycle, then directly performs step 6)；
6) the adaptive model correcting module tool-face estimation module mechanism of feedback face mould analog values and drilling well system
Unite working condition metrical information, the parameter to the multi-body Dynamics Model of acquisition is modified, and by revised many body power
Learn model to export to the tool-face estimation module, the tool-face estimation module carries out many body power to multi-body Dynamics Model
Emulation is learned, to obtain the tool-face analogue value；
7) control that control strategy input module of the control law generation module in the user input module is sent
In logic judgment criterion whether the tool-face analogue value for obtaining Dynamics Simulation is considered as sentencing for tool-face current location
Disconnected criterion, it is determined that the tool-face used during generation performing module control law：
If it is, the tool-face analogue value is considered as into tool-face current location；
If it is not, then regarding tool-face measured value as tool-face current location；
8) execution that control strategy input module of the control law generation module in the user input module is sent
Design tool face control law and initial rotating disk control law in module control law, judge whether tool-face current location surpasses
Go out drilling tool face set in advance threshold value in control strategy：
If it is, the control law generation module generates new performing module control law, including pass through many-body dynamics
The position of rotational angle, hook needed for simulation calculation rotating disk and slush pump pump speed, and new performing module control law is led to
Cross the control information output module and be sent to the performing module, then perform step 9)；
If it is not, then keeping current performing module control law, and it is sent to by the control information output module
The performing module, continues to creep into and perform step 10)；
9) the performing module control law that the performing module is exported according to the control law generation module drive slush pump, it is big
The action of hook, rotating disk, continues to creep into so that down-hole equipment tool-face revert to design attitude, to complete to down-hole equipment tool-face
Dynamic adjustment control；
10) control strategy input module and drilling well model information input module in user input module judges user input respectively
Control strategy and drilling well model information whether change：
If it is, return to step 2)；
If it is not, then return to step 4).
5. the boring method as claimed in claim 4 based on self adaptation down-hole equipment tool-face dynamic control, it is characterised in that
Carrying out above-mentioned steps 6) when, the adaptive model correcting module is modified bag to the multi-body Dynamics Model of well system
Include following steps：
1. in first controlling cycle, according to the tool-face estimation module mechanism of feedback face mould analog values, the self adaptation
Modifying model module predicts the change and response at a certain moment or a period of time of the down-hole equipment after；
2. the adaptive model correcting module is by the underground in the tool-face analogue value and well system working condition metrical information
Drilling tool face is contrasted, and obtains gain coefficient；
3. the multi-body Dynamics Model transmitted according to gain coefficient to the multi-body dynamics modeling module is modified, and will be corrected
Multi-body Dynamics Model afterwards is sent to the tool-face estimation module；
4. in a certain controlling cycle behind, repeat step 1.~3. so that the adaptive model correcting module in real time with
Track down-hole equipment tool-face situation, is persistently repaiied to the multi-body Dynamics Model that the multi-body dynamics modeling module is transmitted
Just.
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| CN108133096B (en) * | 2017-12-20 | 2021-04-09 | 大连交通大学 | Dynamic reliability prediction method of coupler based on MBD and SVM |
| CN108227495B (en) * | 2018-01-05 | 2020-11-24 | 中国海洋石油集团有限公司 | An adaptive sliding steerable drilling control system and control method |
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Address after: 100010 Beijing, Chaoyangmen, North Street, No. 25, No. Co-patentee after: CNOOC research institute limited liability company Patentee after: China Offshore Oil Group Co., Ltd. Address before: 100010 Beijing, Chaoyangmen, North Street, No. 25, No. Co-patentee before: CNOOC Research Institute Patentee before: China National Offshore Oil Corporation |