CN105156091B - Borer system and boring method based on adaptive down-hole equipment tool-face dynamic control - Google Patents
Borer system and boring method based on adaptive down-hole equipment tool-face dynamic control Download PDFInfo
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Abstract
A kind of borer system and boring method based on adaptive mud motor 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, execution module and precarious position judge module.User inputs 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 the control law that drilling situation amendment multi-body Dynamics Model, tool-face estimation module and control law generation module calculate 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, and many-body dynamics mould is based on especially with regard to one kind
Drive churn system and boring method in the top based on adaptive 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.
Because reason, the tool-faces of down-hole equipment such as the abrasion of formation lithology change, slush pump changes in pump speed, drill bit and power drilling tool are 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, descends brill to continue to bore again after the tool-face of drilling tool is adjusted into required position
Enter.Obviously, this method can influence drilling progress, reduce operating efficiency, and increase drilling cost.In addition, 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
The more apparent well of strata condition, it can be driven according to the combined characteristic of well depth and drilling tool by rotating top to overcome frictional resistance to turn round
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
In view of the above-mentioned problems, it is an object of the invention to provide a kind of adaptive down-hole equipment based on multi-body Dynamics Model
Churn system and boring method are driven in the top of tool-face dynamic control, to improve the efficiency of directed drilling operation and precision.
To achieve the above object, the present invention takes following technical scheme：One kind is moved based on adaptive 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 kinetic-control system includes data acquisition module, user's input module, multi-body dynamics modeling module, adaptive
Answer Modifying model module, tool-face estimation module, control law generation module, control information output module, execution module, danger
Condition judgment module and metrical information output module；
Wherein, the well system working condition metrical information collected is transmitted separately to described by the data acquisition module
Multi-body dynamics modeling module, adaptive model correcting module, control law generation module, precarious position judge module and measurement
Message output module；
The control strategy and drilling well model information that user's input module inputs user are transmitted separately to more bodies
Dynamic Modeling module, tool-face estimation module, control law generation module and precarious position judge module；
The multi-body dynamics modeling module according to receive well system working condition metrical information, drilling well model believe
Breath and control strategy carry out multi-body dynamics modeling to well system, and by described in the multi-body Dynamics Model input of well system
Adaptive model correcting module；
The adaptive model correcting module according to the well system working condition metrical information of reception, well system it is more
The many-body dynamics mould of body dynamics model and the tool-face estimation module mechanism of feedback face mould analog values to well system
Type is modified, and the multi-body Dynamics Model of revised well system is sent into the tool-face estimation module；
The multi-body Dynamics Model of revised well system of the tool-face estimation module to receiving carries out more bodies
Dynamics simulation, to obtain the tool-face analogue value；The tool-face estimation module feeds back to the tool-face analogue value described adaptive
Modifying model module is answered, and the tool-face analogue value is transmitted to the control law generation module；
The control law generation module judges whether is the tool-face analogue value that receives according to the control strategy that receives
The drilling tool face set in advance threshold value in the Hedging Point Control of setting：If it is, the control law generation mould
Block generates new execution module control law, and sends it to the control information output module；If it is not, then keep upper one
The execution module control law of controlling cycle is constant, sends it to the control information output module；
The execution module control law received is sent to the execution module by the control information output module；
The precarious position judge module 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 the control law generation module, and sends hydropac to the metrical information output module；
If currently creeping into a safe condition, the execution module control law in control strategy is sent to the control law and given birth to
Into module；
The well system includes a rig floor, and preventer is installed in the middle part of the bottom plate of the rig floor；Drill bit connection bending-type is made
One end of oblique down-hole equipment, the other end of the bending-type deflecting down-hole equipment pass through the underground survey module jointed rod
One end, the other end of the drilling rod are described through connecting the lower end driven on the top after the top plate of the preventer and the rig floor
The upper end that top is driven then is 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 the execution module control rule that the system output module record receives
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 measures on the well includes：Slush pump pump speed, tourist bus position, top turns dynamic angle, top drive is 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, user's input module includes control strategy input module and drilling well model is believed
Cease input module；The control strategy for user's input that the control strategy input module receives includes：1) execution module control rule
Rule：Control law and more bodies are driven in design tool face control law, slush pump pump speed control law, tourist bus control law, initial top
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 obtains 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 information of user's 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, mud information
Including but not limited to change the information of drilling fluid.
A kind of boring method based on adaptive 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 user's 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 execution module, and the execution module starts driving according to the execution module control law and performed
Mechanism works, and it includes：Slush pump is pumped into drilling fluid, and tourist bus moves up and down, and top turns the dynamic angle specified；
3) the well system working condition metrical information collected is sent respectively to described more 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 user's 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's input module input, multi-body Dynamics Model is established 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, is modified to the parameter of the multi-body Dynamics Model of acquisition, and by revised more bodies
Kinetic model exports carries out more bodies to the tool-face estimation module, the tool-face estimation module 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 user's input module is sent
Whether the tool-face analogue value that Dynamics Simulation obtains is considered as tool-face current location in control logic judgment criterion
Judgment criterion, it is determined that the tool-face that uses during generation execution module control law：
If it is, the tool-face analogue value is considered as tool-face current location；
If it is not, then using tool-face measured value as tool-face current location；
8) control strategy input module of the control law generation module in user's input module is sent
Design tool face control law and initial top in execution module control law drive 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 execution module control law, including moved by more bodies
Mechanics Simulation calculates top and drives required rotational angle, the position of tourist bus and slush pump pump speed, and new execution module is controlled into rule
Rule is sent to the execution module by the control information output module, then performs step 9)；
If it is not, then keeping current execution module control law, and it is sent out by the control information output module
The execution module is given, continues to creep into and perform step 10)；
9) the execution module control law that the execution module exports according to the control law generation module drives mud
The action that pump, tourist bus, top are driven, 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) the control strategy input module in user's input module and drilling well model information input module judge 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 change and response of the down-hole equipment at a certain moment or a period of time afterwards；
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. it is modified according to the multi-body Dynamics Model that gain coefficient transmits to the multi-body dynamics modeling module, 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.
For the present invention due to taking above technical scheme, 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 the execution module control law of the drilling tool device action such as driving 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 calculates needed for correction of deviation
Control law, it is high to the real-time control of mud motor tool-face and reliability so as to realize.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 reduce
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 influence caused by autonomous amendment drill tool wear, therefore the present invention can save measure 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 more 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's input module 102, more 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, execution 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 more 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 measures on well includes：Slush pump pump speed, tourist bus position, top turn dynamic angle
The moment of torsion and pulling force for being applied to drilling rod are driven in degree, top；The information that underground survey module 11 measures includes：The tool-face of down-hole equipment,
Hole deviation, azimuth and well depth measurement.In the present embodiment, underground survey module 11 can use downhole drilling system or with
Bore logging system.
The control strategy and drilling well model information that user's input module 102 inputs user are transmitted separately to many-body dynamics
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's input module 102 includes control strategy input module 12 and drilling well model information input module 13.Wherein, control
The control strategy that tactful input module 12 receives user's input is made, the control strategy includes：1) execution module control law：Design
Control law and many-body dynamics mould are driven in tool-face control law, slush pump pump speed control law, tourist bus control law, initial top
Type precision controlling rule；2) control logic judgment criterion：Down-hole equipment judgment criterion whether in the hole, whether will be more
The tool-face analogue value that body dynamics emulate to obtain is considered as the judgment criterion of tool-face current location and currently practical tool-face
The no judgment criterion for deviateing 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 include 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 more
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 of revised well system of the tool-face estimation module 105 to receiving carries out more 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
True is prior art, therefore is repeated no more.
Whether the tool-face analogue value that control law generation module 106 judges to receive according to the control strategy received surpasses
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 keep the execution of a upper controlling cycle
Module control law is constant, sends it to control information output module 107.
The execution module control law received is sent to execution 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 execution 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..
The well system working condition metrical information and hydropac that metrical information output module 110 will receive, transmission
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 a rig floor 21, preventer 22 is installed in the middle part of the bottom plate of rig floor 21.Drill bit 23
One end of bending-type deflecting down-hole equipment 24 is connected, the other end of bending-type deflecting down-hole equipment 24 passes through underground survey module 11
One end of jointed rod 25, the other end of drilling rod 25 drive 26 lower end through connection top after the top plate of preventer 22 and rig floor 21,
The upper end that top drives 26 is then connected with standpipe 27.It should be noted that other executing agencies of well system 200, such as slush pump, trip
Car etc. is also arranged on rig floor 21, and it is same as the prior art with the position of rig floor 21 and annexation, therefore no longer superfluous
State.
As shown in Fig. 2 based on the brill based on adaptive down-hole equipment tool-face dynamic control provided in above-described embodiment
Machine system, the invention also provides a kind of boring method based on adaptive down-hole equipment tool-face dynamic control, it include with
Lower step：
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 module 13 and input well system model information；Control law generation module 106 will control by control information output module 107
Execution module control law in strategy is sent to execution module 108, and execution module 108 is opened according to the execution module control law
Begin to drive executing agency's work, including：Slush pump is pumped into drilling fluid, tourist bus moves up and down and pushes up and turns dynamic angle specified etc..
3) the working condition metrical information of well system 200 collected is sent respectively to more 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.
4) control strategy input module 12 of the precarious position judge module 109 in user's 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's input module 102 input, many-body dynamics is established 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, the multi-body Dynamics Model of acquisition is modified, 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, more 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 change and response of the down-hole equipment at a certain moment or a period of time afterwards.
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. it is modified according to the multi-body Dynamics Model that gain coefficient transmits to multi-body dynamics modeling module 103, 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, the multi-body Dynamics Model persistently transmitted to multi-body dynamics modeling module 103 is repaiied
Just.
Wherein, for corrected multi-body Dynamics Model, if down-hole equipment with the addition of new part, then can be with
It is modified just for one or several parameters of new part, so as to reduce the difficulty of multi-body Dynamics Model makeover process.It is right
The amendment of new part include to newly access single or thribble drill string Modifying model, to the Modifying model of 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's input module 102 is sent
Whether the tool-face analogue value that Dynamics Simulation obtains is considered as tool-face current location in control logic judgment criterion
Judgment criterion, it is determined that the tool-face that uses during generation execution module control law：
If it is, the tool-face analogue value is considered as tool-face current location；
If it is not, then using tool-face measured value as tool-face current location.
8) control strategy input module 12 of the control law generation module 106 in user's input module 102 is sent
Design tool face control law and initial top in execution module control law drive 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 execution module control law, including pass through more body power
Learn simulation calculation top drive needed for rotational angle, tourist bus position and slush pump pump speed, and by new execution module control law
Execution module 108 is sent to by control information output module 107, then performs step 9)；
If it is not, then keeping current execution module control law, and it is sent by control information output module 107
To execution module 108, continue to creep into and perform step 10).
9) the execution module control law that execution module 108 is exported according to control law generation module 106 drive slush pump,
Tourist bus, the action of Ding Qudeng executing agencies, 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) the control strategy input module 12 in user's input module 102 and drilling well model information input module 13 are distinguished
Whether the control strategy and drilling well model information for judging user's 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, it should not exclude the present invention's
Outside protection domain.
Claims (4)
- A kind of 1. borer system based on adaptive 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's input module, multi-body dynamics modeling module, adaptive mode Type correcting module, tool-face estimation module, control law generation module, control information output module, execution module, precarious position Judge module and metrical information output module；Wherein, the data acquisition module includes measurement module and underground survey module on well；Measurement module measures on the well Information include：Slush pump pump speed, tourist bus position, top turns dynamic angle, the moment of torsion and pulling force for being applied to drilling rod are driven in top；It is described The information of underground survey module measurement includes：Tool-face, hole deviation, azimuth and the well depth measurement of down-hole equipment；The data are adopted The well system working condition metrical information collected is transmitted separately to the multi-body dynamics modeling module, adaptive by collection module Answer Modifying model module, control law generation module, precarious position judge module and metrical information output module；The control strategy and drilling well model information that user's input module inputs user are transmitted separately to more body power Learn modeling module, tool-face estimation module, control law generation module and precarious position judge module；The multi-body dynamics modeling module according to receive well system working condition metrical information, 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 moves according to the well system working condition metrical information of reception, more 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 more 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；Whether the tool-face analogue value that the control law generation module judges to receive according to the control strategy received exceeds 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 execution module control law, and send it to the control information output module；If it is not, then keep a upper control The execution module control law in cycle is constant, sends it to the control information output module；The execution module control law received is sent to the execution 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 execution module control law in control strategy is sent to the control law and generates mould Block；The well system includes a rig floor, and preventer is installed in the middle part of the bottom plate of the rig floor；Drill bit connects bending-type deflecting well One end of lower drilling tool, the other end of the bending-type deflecting down-hole equipment pass through the one of the underground survey module jointed rod End, the other end of the drilling rod push up the lower end driven through connection after the top plate of the preventer and the rig floor, what the top was driven Upper end is then connected with standpipe；The kinetic-control system also includes a system output module, the drilling well system that the metrical information output module will receive System working condition metrical information and hydropac are transmitted to the system output module；The system output module record receives Hydropac, well system working condition metrical information and execution 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 adaptive down-hole equipment tool-face dynamic control, it is characterised in that User's input module includes control strategy input module and drilling well model information input module；The control strategy inputs mould The control strategy for user's input that block receives includes：1) execution module control law：Design tool face control law, slush pump pump Control law and multi-body Dynamics Model precision controlling rule are driven in fast control law, tourist bus control law, initial top；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 are considered as the judgment criterion of tool-face current location and whether currently practical tool-face deviates the judgement standard of setting position 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's input, including drilling tool information, mud information And formation information；Drilling tool information, which includes the single or thribble drill string information newly accessed and more bit change information, mud information, to be included But it is not limited to change the information of drilling fluid.
- 3. a kind of controlled using what borer system as claimed in claim 1 or 2 was realized based on adaptive down-hole equipment tool-face dynamic The boring method of system, 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 user's 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 execution module in control strategy Control law is sent to the execution module, and the execution module starts to drive executing agency according to the execution module control law Work, it includes：Slush pump is pumped into drilling fluid, and tourist bus moves up and down, and top turns the dynamic angle specified；3) the well system working condition metrical information collected is sent respectively to more 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 user's 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, is judged 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 Information and the drilling well model information of user's input module input are measured, multi-body Dynamics Model is established to well system；If it is 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 of the multi-body Dynamics Model of acquisition is modified, and by revised more body power Learn model to export to the tool-face estimation module, the tool-face estimation module is to the more body power of multi-body Dynamics Model progress Emulation is learned, to obtain the tool-face analogue value；7) control that control strategy input module of the control law generation module in user's input module is sent Whether the tool-face analogue value that Dynamics Simulation obtains is considered as sentencing for tool-face current location in logic judgment criterion Disconnected criterion, it is determined that the tool-face used during generation execution module control law：If it is, the tool-face analogue value is considered as tool-face current location；If it is not, then using tool-face measured value as tool-face current location；8) execution that control strategy input module of the control law generation module in user's input module is sent Design tool face control law and initial top in module control law drive 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 execution module control law, including pass through many-body dynamics Required rotational angle, the position of tourist bus and slush pump pump speed are driven in simulation calculation top, and new execution module control law is led to Cross the control information output module and be sent to the execution module, then perform step 9)；If it is not, then keeping current execution module control law, and it is sent to by the control information output module The execution module, continue to creep into and perform step 10)；9) the execution module control law that the execution module exports according to the control law generation module drives slush pump, trip The action that car, top are driven, continue 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) the control strategy input module in user's input module and drilling well model information input module judge that user inputs 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).
- 4. the boring method as claimed in claim 3 based on adaptive 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：It is 1. described adaptive according to the tool-face estimation module mechanism of feedback face mould analog values in first controlling cycle Modifying model module predicts change and response of the down-hole equipment at a certain moment or a period of time afterwards；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. being modified according to the multi-body Dynamics Model that gain coefficient transmits to the multi-body dynamics modeling module, will correct 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, the multi-body Dynamics Model persistently transmitted to the multi-body dynamics modeling module are repaiied Just.
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| CN101294491A (en) * | 2008-06-12 | 2008-10-29 | 中国石油集团钻井工程技术研究院 | Self-adaption transmission method and system for down-hole information |
| CN103906893A (en) * | 2011-07-12 | 2014-07-02 | 因格瑞恩股份有限公司 | Method for simulating fractional multi-phase/multi-component flow through porous media |
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| CN103906893A (en) * | 2011-07-12 | 2014-07-02 | 因格瑞恩股份有限公司 | Method for simulating fractional multi-phase/multi-component flow through porous media |
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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 |