RU2739781C1 - Method of controlling movement of lever device for delivering instruments and equipment to horizontal and penchant sections of cased and uncased wells - Google Patents

Abstract

FIELD: oil and gas industry.

SUBSTANCE: invention relates to oil and gas industry. Disclosed is a method of controlling movement of a lever device for delivering instruments and equipment to horizontal and highly inclined sections of cased and uncased wells. In order to achieve the declared technical result, the traction links of the device are equipped with sensors and electronic units to provide control of conditions and rapid response of the device to change of movement-preventing factors. System is also equipped with low-speed telecommunication systems for communication via a geophysical cable from an on-board computer of a ground-based logging system, which is high-speed for real-time control of traction link motors and readings of sensors. Movement of traction links and pressing of the fixing assembly is performed by alternate actuation of electric motors at the command of the electronic unit controller. At the same time with the help of the electronic unit controller the traction links pressing is controlled with the help of sensors and movement control determined by control intervals of the beginning and the end of movement, measured by the number of electric motors revolutions.

EFFECT: technical result consists in uniform non-stop movement of lever device for delivery of instruments and equipment to horizontal and highly inclined sections of cased and uncased wells with provision of accident-free passage of well and increase of speed of movement.

1 cl, 2 dwg

Description

The invention relates to the oil and gas industry and can be used to deliver instruments and equipment to horizontal and highly inclined sections of cased and uncased wells in conditions of complicated geometry of the inner section and the need for logging, requiring uniform, without jerks and stops, movement of passenger geophysical instruments using lever device.

Known is a lever device for delivering instruments into a horizontal well (RF patent No. 2175374, IPC Е21В 23/14, publ. 27.10.2001), with the help of which the simplest method of delivering geophysical instruments and equipment into horizontal wells is realized, containing a cylindrical body, hingedly installed wedging supports, guide rods and a propeller made in the form of four bushings connected in pairs by riving supports, and in each pair, the movable bushing has a running nut and is installed with the possibility of movement, and the other bushing is fixedly fixed on the corresponding guides in the rods installed in the corresponding housings, in each of which is equipped with an electric motor with a reduction gear, a lead screw with a pitch that excludes its self-braking. During operation, the proposed device is connected to the descent tool and the logging cable is connected to the ground control panel with which the operation is controlled. The movement of the device is carried out by alternately turning on the motors and changing the directions of their rotation.

The disadvantage of the method of movement is low productivity, since in the process of movement constant stops are inevitable at the end of the movement cycles, increased accident rate and low reliability due to the impossibility of predicting future traffic complications. The impossibility of realizing a uniform motion for carrying out logging operations.

A known delivery method, implemented using a device (RF patent No. 27207610, IPC E21B 23/14, publ. 11/28/2019), consisting of two wheel sections with electric motors for moving and pressing the wheels, upper and lower centralizers, an electronic unit with built-in telemetry a communication system with a ground-based logging system, which drives the wheels of the device by appropriate commands, while recording the readings in the electronics unit of temperature sensors, accelerometers and cable tension.

This method does not allow using the alternating operation of two traction links, since the device is fundamentally different in the design of the mover, and does not have discrete steps of movement.

The closest analogue to the claimed method is a method for delivering tools into a horizontal well, implemented using a device for delivering tools into a horizontal well (RF patent No. 2515141, IPC Е21В 23/14, publ. 05/10/2014), containing at least two links, each of which contains a hollow cylindrical body, a unit for moving it, equipped with an electric motor, a ball screw pair and a traction element, a fixation unit equipped with fixing platforms and articulated levers. The housings of the links are connected with the possibility of providing a rigid connection between them in the direction of their axial movement and mutual rotation in two orthogonal planes and in the direction of mutual twisting. In the cavity of each link there is a link movement unit and a link fixation unit, while the movement units are made in the form of electric motors located at both ends of the link, the output shafts of each of which are kinematically connected to a ball screw pair, the nut of which is rigidly connected to a traction element made in the form of a rod , the other end of which is rigidly connected to the attachment points of the hinged levers of the fixation unit.

The device is delivered to the horizontal section of the well in the transport position with folded fixing units of all links. The device is controlled from ground equipment through a logging cable connected to the device to ensure its delivery to the horizontal interval. Subsequently, the device is moved, alternately pressing and moving the fixation units with the help of electric motors, providing the necessary pulling force to move the passenger geophysical instruments and cable.

The disadvantages of this method are: the impossibility of uniform movement to ensure high-quality logging, increased dynamic loads on drive elements, increased traffic accidents in complicated sections of horizontal wells due to the lack of special sensors to predict situations during movement and, in this regard, the impossibility of automating the movement process ... Low speed of movement, due to forced stops in movement cycles.

The problem to be solved by the invention is to increase the reliability, durability and operational safety of the device, as well as to expand the technological possibilities of use.

EFFECT: uniform non-stop movement of a lever device for delivering tools and equipment to horizontal and highly inclined sections of cased and uncased wells, ensuring trouble-free passage of the well and increasing the speed of movement.

The specified technical result is achieved by the fact that a method for controlling the movement of a lever delivery device for tools and equipment in horizontal and highly inclined sections of cased and uncased wells, carried out by means of a lever delivery device consisting of an electronic unit, as well as lower and upper traction links, including a housing, fixation units and movements, equipped with electric motors, ensuring their fixation and movement of the body, which, using the built-in telemetric communication system with the ground-based logging system, are set in motion by the appropriate commands, alternately fixing the nodes of the traction links and moving the body with the movement nodes, carry out a step motion, while in the electronic unit readings of temperature sensors, accelerometers and cable tension are recorded, according to the invention, to ensure smooth non-stop movement of the delivery device, the fixation and movement nodes of the traction links are equipped with actuating electronic units, and drives with electric motors providing clamping and movement are equipped with sensors for the position of the rotor of electric motors, sensors for pressing force or power supply of electric motors, with the help of which they control the intervals of movement of the movement units and fixing units of the links, as well as the forces that arise during their movement, with at least two centralizers, while the lower centralizer is equipped with sensors: control of movement, opening diameter and an executive electronic unit, with the help of which impending complications to movement are analyzed, cases of slippage of fixation units are detected and eliminated when they are insufficiently pressed against the borehole wall, while monitoring the movements are carried out using a controller installed in the electronic unit through high-speed telemetry, which connects the controller with the executive electronic units for fixing and moving the traction links, providing real-time control and using a special of the program installed in the controller of the electronic unit, on command from the on-board computer of the ground recording complex, provide the movement of the device as follows: first, a test mode is started, in which the parameters of the movement of each node are measured, and one cycle of movement is performed, based on these measurements, control the intervals of the beginning and end of the movement, which should be several percent of the ranges of displacements of the nodes, measured in the number of revolutions of the engines, and the beginning and end of the movement are determined by the increase in the current consumption of the engines, then the elements of the traction links are set to the initial positions for the movement, the fixation nodes are, depending on the complicating situations, they completely fold or open to the value of the internal diameter of the well admissible by the program, fixing nodes are installed in the traction links in the extreme lower position along the axis of the device, then on command from the controller of the electronic unit to the executive electric This node of the fixation unit, the fixation unit of the lower traction link is pressed against the borehole wall and at this time, the body begins to move with the movement unit, while the device is moved forward, the upper traction link at this time is in standby mode, until the lower link the fixing unit will not reach the final control interval and when the fixing unit of the lower link enters the control interval, upon a signal from the controller of the electronic unit, the fixing unit of the upper link is pressed and, simultaneously with the clamp, the upper link is moved forward, after controlling the pressing force of the fixing unit of the upper link, by the command from the controller of the electronic unit, spinning and movement to return the fixing unit of the lower link is allowed, which, during the movement of the fixing unit of the upper link, is returned to its original position, this cycle is repeated until the end of the intended interval of movement, while, if necessary, the reverse movement is carried out in reverse order.

Moreover, according to the invention, in order to improve the quality of the uniform movement of the device, the controllers of the drive motors are equipped with an automatic control program, which will provide the device with the possibility of smooth movement at a given speed.

The present invention implements the non-stop movement of the lever device in cased and uncased wells at the closest to a uniform speed, which reduces the dynamic loads on the power elements of the device and reduces the accident rate, improves the quality of logging. The device uses sensors and electronic assemblies to ensure monitoring of conditions and prompt response of the device to changes in factors interfering with movement.

To implement the claimed method, the lever device is equipped with sensors for the position of the rotor of electric motors, sensors for measuring the pressing force or supply current of the electric motors in order to monitor the conditions and predict the response of the device to changes in the factors interfering with the movement. At the same time, the traction links are equipped with electronic units with controllers for controlling electric motors, processing sensor readings and high-speed telemetry for communication with the controller of the electronic unit. Also, in order to ensure the possibility of a prompt response (to detect cases of slippage of the fixing units in case of insufficient compression during wedging) and to automate the movement process, sensors for measuring the diameter of the well and a wheel sensor for monitoring the movement of the device are installed on the front centralizer. The mentioned sensors are made with the possibility of transmitting a signal to the electronic unit.

The controller of the electronic unit contains programs based on algorithms for controlling the movement of electric motors of traction links, based on data obtained using a high-speed telemetry system, as well as information exchange using a low-speed telemetric communication system via a geophysical cable with an on-board computer with a ground logging system. To monitor the load on the lever device, it is equipped with a cable tension sensor.

Thus, non-stop movement of the device is ensured, and accidents are reduced. The smooth, non-stop movement of the passenger logging tool ensures quality logging material. In addition, the elimination of stops in motion cycles allows the device to move faster.

The invention is illustrated by the description of a specific example of implementation and the accompanying graphic materials, where:

fig. 1 schematically shows a lever device, when controlling the movement of which inside the well, the proposed method is implemented;

fig. 2 is a block diagram illustrating the control algorithm for the movement of the lever device inside the well.

To implement the claimed method, the lever device is equipped with at least two rigidly connected traction links 1, each of which contains a cylindrical body 2, a displacement unit 3.1 (for the upper link), 3.2 (for the lower link) and a fixation unit 4.1 (for the upper link ), 4.2 (for the lower link) with a lever system 5 containing movable levers, as well as an electronic control unit 6, with which the readings of temperature sensors, accelerometers and cable tension are recorded (Fig. 1).

Each displacement unit 3.1, 3.2 contains an electric drive, including a power motor 7, on the shaft of which a position sensor (encoder) 8 of the fixing unit 4.1, 4.2 is placed, a gearbox and a screw pair 9, which are connected to the lever system 5 of each fixing unit 4.1, 4.2, ensuring the possibility of its movement. In addition, each displacement unit 3.1, 3.2 contains an electronic unit including a controller with a high-speed telemetry modem for receiving commands from the electronic unit 6 and processing the data of the position sensor 8 of the rotor of the electric motor 7 for their subsequent transmission to the electronic unit 6, a temperature sensor for monitoring the overheating of the electric motor , the sensor of the current consumption of the electric motor to exclude the emergency mode, as well as the power driver to control the operating modes of the electric motor.

Each fixing unit 4.1, 4.2 contains an electric drive, including a power motor 10 with a position sensor (encoder) 11 of the rotor of the electric motor 10 and a sensor for measuring the pressing force or supply current 12 of the electric motor 10, a gearbox, a telescopic connection 13 made with the possibility of ensuring freedom of movement of each fixation unit 4.1, 4.2 relative to the housing 2 of the traction link 1 when the screw pair 14 rotates by the electric motor 10. Free movement of each fixing unit 4.1, 4.2 relative to the housing 2 ensures the compression and folding of the lever system 5. Additionally, the fixing unit 4.1, 4.2 contains an electronic unit including a controller with a modem high-speed telemetry for receiving, processing data from sensors 11 and 12 and subsequent transmission to the controller of the electronic unit 6, a power driver for controlling the operating modes of the electric motor.

Electronic unit 6 includes a controller and telemetry modems of a communication system of low-speed 21kBaud for communication via a cable with an on-board computer of a ground-based logging system and a high-speed 1.2MBaud for real-time control of the motors of traction links 1 and real-time readings of the readings of sensors 8, 11, 12 ...

Thus, the controller of the electronic unit 6 contains programs based on real-time control algorithms for the motors of the traction links 1 and lever systems 5, based on signals received from sensors 8, 11, 12 and recording the readings of all available sensors.

In addition, the device is equipped with a cable tension sensor 15 to monitor the load on the device. The cable tension sensor 15 is a device with an elastic element equipped with a Hall sensor or strain gauge sensor, which serves to measure the amount of its deformation proportional to the cable tension force. In this case, the cable head 16 of the device is equipped with a low-melting retainer 17, which in an emergency situation melts when, for example, a reverse polarity current is supplied to it through one of the cable cores from a ground source, and releases the cable from the device. Releasing the cable from the device will allow you to put the funnel of the fishing system on the device without complications.

To control the forces arising in the course of movement, the device is equipped with at least two centralizers 18, 19 to reduce the load on the device of friction forces when passing through the well. At the same time, the front centralizer 19 is equipped with rotary Hall sensors for measuring the diameter 20 of the borehole 22 and a displacement control sensor 21 placed on one of the centralizer wheels 19 to detect cases of slippage of fixation units 4.1, 4.2 in case of insufficient compression during wedging. In this case, the wheel of the front centralizer 19, on which the displacement control sensor 21 is located, is additionally spring-loaded, and its rolling surface is corrugated for better adhesion to the borehole wall 22.

The method for controlling the movement of the lever device inside the well is illustrated by the presented block diagram (Fig. 2).

On the day surface there is a high-voltage power source of the device, a ground-based recording system with an on-board computer for communication and control of the device, and a logging winch with a geophysical cable.

After the device is connected with a passenger geophysical device and a geophysical cable, a test mode is started, in which the parameters of movement of each node are measured, and one movement cycle is performed. On the basis of these measurements, control intervals of the beginning and end of movement are formed, which should be about 20% of the ranges of movement of the nodes. The specified value, determined empirically during the testing process, is an example of the invention and does not limit its implementation. The control intervals are measured by the number of revolutions of electric motors 7 and 10. The beginning and end of the movement is determined by the increase in the current consumption of electric motors 7 and 10.

Then the elements of the traction links 1 are set in the initial positions for movement through the ground recording system. Fixation units 4.1, 4.2 are set to the initial positions for movement, while, depending on complicating situations, they are completely folded or open to the permissible value of the internal diameter of the well 22. In the traction links 1, fixation units 4.1 and 4.2 are set to the lowest position along the axis of the device (Fig. 1, 2).

Using a logging winch, the device is lowered into the well. As a rule, before complications to the movement, usually - before entering the horizontal or highly deviated section of the well, which begins with the transition to a production string of a different diameter.

When entering a highly inclined or horizontal part of the well on command from the on-board computer of the ground-based recording complex, the movement of the device is provided as follows:

on command from the controller of the electronic unit 6, the fixing unit 4.2 of the lower traction link 1 is pressed against the borehole wall 22 and its movement unit 3.2 begins to move the body 2, while the device is moved forward. Electric motors 7 and 10 of the upper traction link 3.1 are in standby mode at this time, until the fixing unit 4.2 in the lower link 1 reaches the final control interval;

when the fixation unit 4.2 enters the control interval, with the help of the controller of the electronic unit 6, simultaneously a signal is supplied to the clamp and the forward movement of the upper fixation unit 4.1;

after controlling the pressing force of the fixation unit 4.1 of the upper link 1 using the power supply current sensor 12 of the motor 10, a command from the controller of the electronic unit 6 allows the spinning and movement to return the fixation unit 4.2 of the lower link 1, which, during the movement of the unit 4.1 of the upper link 1, is returned to the original position.

In order to ensure the uniform movement of the device, the controllers of the driven electric motors 7 and 10 of each link 1 are equipped with an automatic control program, which ensures smooth uniform movement at a given speed.

The controller of the electronic unit 6 provides cycling until the end of the movement interval. In the process of movement, the readings of sensors 8, 11, 12, sensors 20, 21 of the front centralizer 19, cable tension sensor 15 are analyzed and the optimal parameters of movement and pressing are automatically selected. If necessary, the reverse movement of the device is carried out by repeating the cycle in reverse order. At the same time, movement control is carried out using executive electronic units for fixing and moving the traction links 1, as well as using acceleration sensors (accelerometers), a collar locator, as well as a cable tension sensor 15 and a depth gauge on a logging winch in an electronic unit 6, a movement control sensor 21 and a sensor measuring the diameter 20 of the borehole 22 on the front centralizer 19.

The mode of non-stop uniform movement is necessary to ensure high-quality logging, for example, thermometry, which is required when moving along a horizontal section forward, using a delivery device, while the well fluid is not yet mixed by the passage of the equipment.

Currently, the development of a lever device for the delivery of instruments and equipment to horizontal wells, Ø54 mm in diameter, about 9 meters long, equipped with all the described assemblies and sensors, has been completed. Bench tests were carried out, where all the inherent characteristics were confirmed, traction force up to 400 kg, movement speed up to 400 meters per hour. Well tests are planned at one of the fields.

Thus, in comparison with the known analogs, the design of the device has the ability to move non-stop in difficult sections of the well, not cased wells, which reduces the dynamic loads on the elements of the device and the accident rate, increases the speed, and the possibility of uniform, jerk-free movement ensures high-quality logging.

Claims (2)

1. A method for controlling the movement of a lever device for delivering tools and equipment to horizontal and highly inclined sections of cased and uncased wells, characterized by the fact that it is carried out by means of a lever delivery device consisting of an electronic unit, as well as lower and upper traction links, including a housing, fixation units and displacements equipped with electric motors that ensure their fixation and movement of the body, with the help of appropriate commands of the built-in telemetric communication system with the ground-based logging system, move, alternately fixing the nodes of the traction links and moving the body with the displacement nodes, perform a step motion, while the readings of the sensors are recorded in the electronic unit temperature, accelerometers and cable tension, characterized in that to ensure smooth non-stop movement of the delivery device, the fixation and movement units of the traction links are equipped with executive electronic units, and the drive with electric Electric motors that provide clamping and movement are equipped with sensors for the position of the rotor of electric motors, sensors for pressing force or supply current of electric motors, with the help of which they control the intervals of movement of the movement units and fixing units of the links, as well as the forces that arise during their movement, at least two centralizers , while the lower centralizer is equipped with sensors: movement control, opening diameter sensors and an executive electronic unit, with the help of which impending complications to movement are analyzed, cases of slippage of fixation units are detected and excluded when they are insufficiently pressed against the borehole wall, while movement control is carried out using a controller , installed in the electronic unit through high-speed telemetry, connecting the controller with the executive electronic units for fixing and moving the traction links, providing real-time control, and using a special program, installed in the controller of the electronic unit, on command from the on-board computer of the ground recording complex, the device is moved as follows: first, a test mode is started, in which the parameters of the movement of each node are measured, while one cycle of movement is performed, based on these measurements, control intervals of the beginning are formed and the ends of the movement, which should be a few percent of the ranges of movements of the nodes, measured in the number of revolutions of the engines, and the beginning and end of the movement are determined by the increase in the current consumption of the engines, then the elements of the traction links are set to the initial positions for the movement, the fixation nodes, depending on complicating situations, completely fold or open to the value of the internal diameter of the well admissible by the program, fixing nodes are set in the traction links to the lowest position along the axis of the device, then, upon command from the controller of the electronic unit, to the executive electronic unit of the fixation unit, the fixation unit of the lower traction link is pressed against the borehole wall and at this time, the body begins to move with its movement unit, while the device is moved forward, the upper traction link at this time is in standby mode, until the fixation unit in the lower link reaches of the final control interval, and when the fixing unit of the lower link enters the control interval, upon a signal from the controller of the electronic unit, the fixing unit of the upper link is pressed, and simultaneously with the clamp, the upper link is moved forward, after controlling the pressing force of the fixing unit of the upper link by a command from the controller of the electronic unit, spinning is allowed and a movement to return the lower link fixation unit, which during the movement of the upper link fixation unit is returned to its original position, this cycle is repeated until the end of the intended interval of movement, while, if necessary, the reverse movement is carried out in the reverse order. 2. A method for controlling the movement of a lever device according to claim 1, characterized in that in order to improve the quality of the uniform movement of the device, the controllers of the drive motors are equipped with an automatic control program, which will provide the device with the possibility of smooth movement at a given speed.

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