SU760130A1 - Device for simulating automatic drilling plant - Google Patents

Description

The invention relates to a device for modeling industrial

processes and machines, namely, devices for electrical modeling of automated drilling rigs; ³ installations.

By an automated drilling rig is meant a drilling rig — a rig that has automatic control systems (SAR) of specified parameters of the drilling mode (SAR axial load on the bit - automatic bit feeding, SAR rotor speed and SAR rotation speed of the drive of drilling pumps - the number of double strokes per minute piston), as well as sensors of processes occurring in the drilling rig and well (the weight of the drilling tool on the hook, the axial load on the bit, the speed of rotation of the rotor, the speed of rotation of the drive of the drilling owls, pressure and flow of wash liquid to the drilling vykide naso- cos 25, torque on the upper end of the drill string - in the rotor, feeding the drilling tool, the torque developed turbodrill and its rotation rate of dt +.

2

A device designed to simulate the processes occurring during drilling [1]. A disadvantage of this device is that it allows you to simulate the processes occurring only in the circulating system (in the system flushing wells).

Of the known devices, the closest in technical essence to the proposed is the device [(2], which is based on the principle of electrical analogy, the actual processes occurring in the well and drilling automated drilling rig (change of characteristics of the drilling fluid, pressure in the drill string and annulus) , the number of piston strokes of drilling pumps,. the work of all the main sensors of the SAR of the drilling rig, both in the modes of normal drilling and in the conditions of occurrence of complications and emergency ituatsy) are simulated by modifying the corresponding electrical parameters.

• The disadvantage of this device is that it can simulate the processes that occur only when the rotor SP3

760130

four

well drilling, while over 50% of all drilling in our country is carried out using the pipe method.

The purpose of the invention is to expand the functionality of the device for modeling an automated drilling rig, namely the creation of a device that, in addition to modeling the processes that occur during the rotary drilling method, also allows to simulate the processes that occur during the turbine drilling method.

This goal is achieved by the fact that the composition of the device, which contains nodes for modeling the dynamics of the SAR, setting the depth of the well, modeling the circulation system, modeling the torque on the rotor, calculating the weight of the hook, setting the emergency situations, calculating the mechanical. speed, modeling of the wear of the armament of the chisel, modeling of penetration and interfacing with the computer, a turbodrill modeling unit was introduced. The inputs of this node are connected to nodes modeling the dynamics of the SAR, specifying the depth of the well and modeling the circulation system, and the outputs are connected to the inputs of the interface with the computer, with one of the outputs also connected to the nodes calculating the mechanical speed and modeling of bit wear. This node in. The combination of newly introduced connections between it and known nodes allows modeling the following dependences characteristic of turbine drilling: / dependence of the torque developed by the turbodrill on the flushing fluid flow rate and on the speed of its rotation; the dependence of the number of revolutions developed by the turbo-drill from the flow rate of the washing liquid '; the dependence of the mechanical speed of penetration on the number of revolutions of the turbodrill and the axial load on the bit. Using such a device, it is also possible to simulate sensor signals from an automated drilling rig, which characterize both the normal (trouble-free) drilling process and the occurrence of complications and accidents (overload of the drill string with a torque, jamming of the drill bits, loss of tightness of the drill string breakage or flushing). It is also possible to simulate complications during the operation of a turbo-drill, in particular, overloading it with excessive axial load on the bit, which leads to a decrease in the rotation of the turbo-drill and even to its stopping.

FIG. 1 is a block diagram of the device according to the invention; FIG. 2 is a functional diagram that serves to explain the principle of operation of the nodes.

The node 1 set the depth of the well is used to generate stress,

simulating the value of the depth H of the well. Site 2 modeling of the circulation system is designed for the formation of stresses that simulate pressure P and flow rate of flushing fluid using drilling pumps. Site 3 modeling of the dynamics of the SAR is provided for modeling the inertia of the real SAR of the drilling rig. Setpoint signals are received at this node - axial load on the bit Sdu, rotor rotation speed Νρ ^ and rotation speed of electric drives and pumps Ν „ _η .3τη signals in the computer mode of operation on the real drilling rig affect the local actuators ATS axial load on the bit (automatic feed bits), SAR speeds of rotation of the rotor and ATS speeds of rotation of the drive of drilling pumps. Moreover, these SARs cannot react instantly to the 6 _D y, Νρ ^ and Ν _Η ^ signals, due to the large inertia (large masses of actuating motors, drill pipe string, and τp). Is this inertia real ?: The SAR of the drilling rig is modeled in node 3 using electrical dynamic links, the time constants of which are chosen to be equal to the corresponding time constants of the real SAR. Received at the output of node 3, the signals of the axial load on the bit C _d , the rotor rotation speed насосρ and the pump rotation speed Ν _Η correspond to the signals of real sensors of the drilling rig. .

Node 4 calculate the mechanical speed is used to calculate the signal that simulates the value of the mechanical rate of penetration. Node 5 Simulation of Wearing A Bit Armament Used to calculate a signal that simulates a bit’s weapon wear process. The node 6 modeling the torque on the rotor is designed to generate a voltage that modulates the value of the torque on the rotor H _p . Node 7 for calculating the weight on the hook is provided for generating a voltage that simulates the weight of the drill string on the hook of the drilling rig C _to . Node 8 is the emergency task for generating disturbances simulating the appearance emergencies turbodrill simulation unit 9 - for generating strains simulating the torque on the shaft turbodrill M _m and the speed of rotation of the turbodrill Ν _τ. Node 10 simulation of penetration is used to generate a voltage that simulates the signal penetration K. Node 11 interface with a computer is used for. coordination of the device and communication channels with a computer.

5 7

Node 1 set the depth of the well output connected with the first inputs of the node 2 modeling of the circulating system, node 4 calculate the mechanical speed, node 6 modeling of torque on the rotor, node 7 calculate the weight on the hook node

9 simulation of a turbodrill and computer interface 11. Node 3 modeling the dynamics of the SAR, the input of which is connected to the node 11, interface with a computer, the output is connected with the first input of the node

5 simulations of bit wear and with the second inputs of the circulation system simulation unit 2, the mechanical speed calculation unit 4, the rotor torque modeling unit 6 on the rotor, the hook weight calculation unit 7, the turbo-drill simulation unit 9, and the computer interface unit 11. Node 8 for setting emergencies is connected with the third inputs of node 2 for modeling a circulation system, node b for modeling torque on the rotor of node 7 for calculating the weight on the hook and fourth input for node 9 for modeling a turbodrill. The output 2 of the simulation of the circulating system is connected to the output of the third inputs of the mechanical speed calculation unit 4, the turbodrill simulation node 9 and the computer interface 11. Node 4 calculating the mechanical speed of the output is associated with the second input of the node 10 simulation of penetration, the first input of which is connected to the output node 5 modeling the wear of the armament of the bit. Node output

10 simulation of driving is associated with six "? the entrance node 11 mates

with the computer, the fourth input of which is connected to the output of the node 6 modeling the torque on the rotor, and the fifth input - to the output of the node 7 calculating the weight on the hook. The first output of the turbodrill simulation node 9 is connected with the second input of the bit wear simulation assembly 5, with the fourth input of the mechanical speed calculating node 4 and with the seventh input of the computer interface 11, the eighth input of which is connected to the second turbodrill simulation node 9.

The proposed device works as follows (see Fig. 1).

The signals of the settings With _And y, Iru and through the node 11 mates with a computer come to the node 3 modeling of the dynamics of the SAR. Received at the output of node 3, the signals C _d , Ν _ρ and 3 _Η through the node 11 enter the computer and correspond to the signals of real sensors of the drilling rig.

Change control signals

C _D y, Νρ ^ and Ν _Η;) should cause a change in the weight of the tool on the hook C _to ,

pressure P and flow rate 0. flushing

liquids on discharge. pump torque

30 ό

m _p torque on the rotor (at the upper end of the drill string), ROP, torque _T M and the rotational speed Ν _τ turbodrill.

The signal Cd from the output of the node 3 is fed to the input of the node 7 to calculate the weight on the hook, in which it is subtracted from the signal of the weight of the tool produced from the signal of the depth of the well n

С _к = с „- С _А = К, · Н - Сд, (1)

where K, is the coefficient of proportionality.

At the third (bottom in Fig. 1) input 'of node 7 in the normal (trouble-free) mode, the signal is zero. Obtained on the output node 7 _{to the} signal C is input to the computer instead of the weight sensor ka hook real rig.

The signal Ν _Η of the rotational speed of the drive of the drilling pumps from the output of the node 3 enters the node 2 of the simulation of the circulation system, at the other input of which there is a signal H of the depth of the well formed in the node 1. At the entrance of the node 2 connected to the node 8 of the emergency task The normal operation mode of the signal is zero. At the output of node 2 of the simulation of the circulation system, the signals 0. and P are obtained as functions of the arguments Ν _Η and H

.. . _α = _Ц_2! л, ( ₂ )

p = h · N · (3)

where K _g and - coefficient of proportionality.

Equations (ϊ) - (3) are valid for both rotary and turbine drilling methods.

The signals ζ and P through the node 11 are fed to the input of the computer instead of the signals of the sensors of the flow rate of flushing fluid and pressure at the discharge of the pumps of the real drilling rig.

Dependencies (2) and (3) model the objective relations of the flow rate 0. and the pressure P of the circulation system of the real drilling rig: with an increase in the pump drive speed Ν _{вследствие} due to the increase in the performance of the latter, proportionally increase!} And P; when the well depth H is increased, the hydraulic resistance of the well increases and there is a need to switch to a piston system (bushings) of pumps of smaller diameter, which results in an increase in pressure P to the required value while reducing the flow rate () and producing C · P = coagulum.

Signals C _A and Ν _ρ from the output of node 3 arrive at node b of the torque simulation on the rotor, at the first input of which there is a signal of depth K from the output of node 1. At the third input of node 6 connected to nodes 760130

scrap 8, in the normal (trouble-free) mode, the signal is zero. Node 6 output

AND,

· ^C A- (H-Νρ).

(four).

where K, is the coefficient of proportionality.

Equation (4) models the dependence of the torque on the rotor (at the upper end of the drill string) on the axial load on the bit C _d , deep; bins of the well H and the rotor speed Ν _ρ . In equation (4), the first term is the moment on the bit, which is necessary for rock erosion, and the second is the idling moment (the moment of friction of the drill pipes on the borehole walls, plus the moment when the drill string starts moving).

In equation (4), the plus sign corresponds to the rotor method of drilling, and the minus sign to the turbine one (since, in the latter case, the drill string tends to be rotated by the turbine itself, and the idling moment impedes this, so this value _ρ corresponds to the Named scrolling the drillstring at low revs - in order to prevent it from sticking to the borehole walls). One or another sign is given from the node b.

Signals and Ν _Η from the output of node 3,

And from the output of node 1 and b from the output of node 2 arrive at node 9 of the simulation of a turbo-drill, which produces a sig-. The rolls correspond to the torque Μ _{Ύ of the} turbodrill and the rotational speed M of its shaft.

The work of a real turbodrill is characterized by the following relations. The torque M _t, developed by turbodrill, th rotation speed N _r of its shaft: svyzanY between a linear relation with negative coefficient: the smaller the time _t m, the greater the rotation speed Ν _τ and vice versa. At a rotation speed of> zero, the torque reaches its maximum value M _1or (braking mode); when is the moment Μγ ·. becomes zero, the shaft _rotation speed reaches its maximum value Ν _χχ (idle mode) · · This relationship between M _t and Ν _τ is determined by the operating characteristic of the turbo ^ borax

_Well * Mt (s)

. ^p tor ^p xx

And

Μ _γ 4 Μ _TO p, Ν _τ έ Ν _χί . ·

The value of _{ο γορ is} proportional to the square of the amount of pumped flushing fluid

^m torus = K ₅ . b ² , · = · / (6)

where K- is the proportionality coefficient.

. The value of Ν _{χχ is} proportional to the amount of pumped flushing fluid

15

where K ₆ - coefficient of proportionality.

On the shaft of the turbo-drill there is a chisel, which creates a load moment M _A , proportional to the axial load applied to the bit C _d

(eight)

where K, is the coefficient of proportionality.

In steady state operation of the turbodrill developed by them moment M _t equals the load torque M _A

Μ _Ύ = Id = K ₇ · C _d = G, (C _d ). (9)

Expressing from equation ($)

^M A = ^K 7

Ν,

will get

Xx

- K, - ¢ 11

Ίο)

20. From equations (9) and (10) it can be seen that while the torque M _{g of the} turbodrill depends only on the magnitude of the axial load Cd per bit, the rotation speed Ν _{τ of the} turbodrill depends

25 as from size 6 _D , and, from size b ·

Equations (9) and (10), ^with the Features' rizuyuschie real work turbodrill

^: implemented by node 9. Signals Μ _γ and Νγ

30 through node 11 enter the computer instead; torque sensor signals on the shaft

turbodrill and its rotational speed in ^{: a} real drill. <

The signals С _Α and Ν _ρ from the output of node 3,

3 ^ Ν _γ from the Output of the node 9, b from the output of the node 2 and H from the output of the node 1 arrive at the node 4 for calculating the mechanical speed U _m , which produces a signal:

with rotary drilling method ⁴⁰ ν _Μ ρ = κ ₆ ·, (6 _Α , Νρ, 6, Η); : (eleven)

: direct turbine drilling method

ν _Μρ «Cd-G ₅ (Cd, M _t , b, H), (12)

: characterizing a real addiction

mechanical velocity ν _Μ 'drilling from

4 $ thrust load on the bit C _d , speed:. ···; these rotor rotations Ν _ρ or turbodrill Ν _ν , washing liquid consumption b

and well depths I. The drillability factor Cd, given in node 4, allows you to simulate the drilling of rocks with different types of drilling.

The signals SD and Ν _ρ from the output of node 3 and Ν _τ from the first output of node 9 also arrive at node 5 of the wear simulations

,, arms (teeth) bit. Output ³ node 5 is the signal

(13)

where K ”is the ratio factor60. nosti;

u — drilling time.

The fall of the signal values _d and exponential models with increasing wear of the bit ⁰ in the process of arms

65 real drilling. Coefficient K _th

(7)

760130

ten

it makes sense of wear resistance of weapons or abrasiveness of the breed and is expressed as follows:

K _& = ί ₆ · (6 _Α , Ν _Α ). (14) Equation (14) reflects the dependence of the wear rate of the weapon, bit on the axial load. ^On bit · ³ С _А and bit rotation speed _{Α Α} , equal to the speed, rotor rotation при _ρ with the rotor drilling method or rotation speed of the turbo-drill Ν _τ with the tour -, binomial method: with increasing C _A and the coefficient K ₈ increases.

Given equation (14), the signal and _d takes the form

and _d * ^δ (15) ¹⁵

The signal ν _Μ and and _A from the outputs of nodes 4 and 5 arrive at the node 10 of the modeling of bore b (feed of the drill string), at the output of which the signal is received:

with rotary drilling

B. “ ^Ν .Μ _Ρ · and _A · όι

ABOUT

= K ^ · G ₄ (Cd, Νρ, O, H

25

_e -1 ₆ Yd. ”pR ₈

(sixteen)

άί;

with turbine drilling method

zo

B = 1 ν _"τ · and _A = 01 (17)

ABOUT

= I ^K «- ^p 5 (Cd, I _t L, N). _e

"° 35

simulating the actual dependence of penetration K on the axial load on the bit C _A , the rotational speed — the rotor Ν _ρ or the turbodrill _{пром Ύ} , the flow rate of the flushing fluid, the depth of the well.

N, the drillability coefficient K $, the drilling time 1 $ and the K ₈ coefficient of wear resistance of the bit’s armament (abrasiveness of the rock). . ·. ·

Everything described concerned the mode-, of the failure-free operation of boring. 45 howl installation. Simulation of emergency situations and complications during rotary and turbine drilling is carried out as follows.

The breakage of the upper part of the drill column is characterized by a significant decrease in hook weight C _k , pressure P at pump discharge and torque on the rotor M _p . These phenomena are modeled using the node 8 'task, emergency situations, issuing mode. Modeling the top break. columns on nodes 2, 6 and 7 signals, which reduce the signals P, M _p and C _to the outputs of these nodes. The computer, having received these changes of signals through node 11, 60 recognizes the type of accident and signals it to the operator.

Breakage of threaded connections weighted drill pipe located in

bottom of the drill string, harak-65

It is tested by reducing the torque on the rotor M _p , pressure P and dropping to zero the mechanical speed ν _{Μ of} drilling; the weight on hook C _to remains unchanged. These phenomena are modeled by node 8, which in this mode outputs signals only to nodes 2 and 6, a. also with the help of node 4 by setting the drillability coefficient in it K § = '0. In this case, in accordance with formula (16) or (17), the penetration b is set at a constant level (reached by this point in time), which indicates zero mechanical speed.

When flushing the body of the drill string or locking joints, there is a decrease in pressure P at pump discharge, as well as a decrease in mechanical, drilling speed ν _Μ and an increase in torque on the rotor M _p due to the deterioration of bottomhole cleaning from drilled rock. These phenomena are modeled using nodes 4 and 8 as described.

Worn out bearings of roller bits leads to an increase in backlash and, ultimately, to the jamming of sharoshek. With this torque. M _p : the rotor (at the upper end of the drill string) begins to fluctuate sharply around its mean value. These fluctuations are modeled by node 8, which in this mode generates a signal to node 6 as a random noise-like process. The computer, having received the signal M _p , containing a significant level of the random component, recognizes the occurrence of the shredder stitch, and gives the operator a signal to replace the bit.

Overloading of the drill string with the torque Мр on the rotor, which can occur in actual drilling conditions when the drill string is stuck in the well or excessively forced drilling mode, is modeled using node 8, which in this mode generates a signal to node 6, resulting in a significant increase in signal M _p . The computer, having received a signal M _p exceeding the permissible level M _pA „„. , should switch to a drilling mode with a lower load on a bit C _d and a rotor speed of rotation that will reduce the moment of m _r to a safe level.

All described emergencies and complications are typical for both rotary and turbine drilling modes.

In addition, when drilling a turbo-drill, specific complications can arise - problems in its operation, namely, stopping the turbo-drill during drilling, as well as “not accepting” the load.

Turbo-drill stop during drilling is most often caused by excessive increase of 1 1

760130

12

The value of the axial load on the bit C _d ;

This problem is modeled by the node 8 which 'produces the mode signal at node 9, which leads to a significant increase in the moment M _t turbodrill, reducing its rotating speed with scheniya N _γ to zero and, consequently, to reduce to zero speed mechanical ν _Μ and stop sinking b.

The computer, perceiving such ratios of signals M ₇ , Ν _τ , C _A , K, recognizes the stop of the turbo-drill. '·

By “not accepting” a turbo-drill, we mean a sharp decrease in the axial load on a bit C _d (as compared with the previously applied load), at which the turbo-drill stops. 1.5

This is most often caused by a bit jamming. At the same time, the turbo-drill (unloaded) raised above the bottom is working, and under load, it stops at the bit. This problem is modeled 20 using node 8, which generates a signal to node 9 in this mode. awesome dyaschy to increase moment M _t turbodrill, reducing its rotation speed Ν _Τ, and reduce mechanical. 25

"Velocity V _m and penetration b Under these conditions, axial load on the bit C _d. Allowable previously, leads to the stop of the turbodrill. Computer, sensing such signals relation M _t, Ν _Τ, ed _d C, K, detects this fault.

The functional diagrams and the operation principle of the device nodes are illustrated in FIG. 2. Nodes 1-10 devices contain elements 12-44. Positions 45-48 are indicated in FIG. 2 inputs of the node 11.

Node 1 contains the voltage divider 15 and the P1a board of the P1 switch.

With the aid of the latter, it is possible to set (simulate) a different depth H of the well. When switching the switch P1 to the upper position, the signal H

/ increases.

Node 2 contains two voltage dividers 16 And 17, two boards P1b and Ts1v of switch P1 and adder 19. As soon as the boards P1a-P1v have a common drive, then when switching switch P1 to the upper position (increasing depth of the well) the signal simultaneously increases P and decreases 50 signal Z. Such a change in P and C is due to the fact that the dividers 16 th 17 are included, as can be seen in figure 2, in a mutually inverted pattern. The pin / pin of boards П1б and П1в, thus, simulates the change of bushings of the mud pumps. The dividers 16 and 17 of the voltage are made so that at a constant value of the signal N _m (coming from the dynamic link 14 of block 3), a simultaneous increase in P and a decrease in D 60 due to switching P1 satisfies the condition

Р · О »соз1 (18)

The adder 19 is designed to simulate a reduced signal P, 65

in the event of an emergency, for which an inverted input signal is generated from the emergency task node. · '

Node 3 contains three dynamic links G2, 13, and 14, which are integrating KS chains, the time constants of which are determined by the values of their resistors and capacitors.

Node 4 has two boards P'2a and P2b of switch P2, two functional converters 31 and 32, two dividers 33 and 34 of voltage, board P1d of switch P1 and switch PZ. The upper position of the P2 switch corresponds to the rotor drilling method, the lower one — to the turbine one. The P2a board commutes at the upper input of the converter 32 a rotor speed signal Ν _ρ or a turbodrill Ν '_Τ; a signal is produced at its output;

with rotary drilling

9zzr “^ r> gr '(θχ> Np ^; ".. 0 9)

with turbine drilling method

= ^ 2T. • (Sd.Mt). (20)

P2b board switches the signal 0c from one input of the converter 31 to another; a signal is produced at its output;

when the rotary method of drilling Uedr = Ln _P ><*)>. . (21)

with turbine drilling method and _e1T = / _{3 <r} (0 _Λ , Ν _Τ , 0). . (22).

The signal · and _a1p or K _54t is divided into two., Successively connected dividers 33 and 34. Since the P1d board switches when the depth H of the well changes, we have a signal at its output contact

with rotary drilling method _P =. * n · P = ^k n 'ί 31 p (6d, N p, a), (2 3) with turbine drilling method

= to „. (b _A , n _t l), (24). where K _and is the coefficient of proportionality, changing with a change in the depth H of the well. It reflects the general trend of decreasing rock drillability and mechanical speed with increasing. well depths.

The signal at the output of the switch PZ is determined by the formula;

with rotary drilling

ν " _Ρ « υ _34ρ = κ _δ to _th –th ₃ / _r (e _A l _p l) _,. (25) with the turbine drilling method ”^ В4Т ⁼ К8 '' t (> ¢),. (26)

where Κ _δ is the coefficient of the curliness, which can be specified arbitrarily with. using the switch PZ.

Formula (25) corresponds to formula (1 1), and (26) corresponds to formula (12).

Node 5 contains two-function transducer 36 and 40, generator 3 7, the counter 38 and the multiplying device 39.

The output of the Converter 36 produces a signal

8 * 6 “Tab '(bd,“ _A ), (27)

coefficient reflecting

13

760130

14

bit wear from drilling mode parameters - axial load on bit Od and bit rotation speed ID equal to rotor rotation speed Ν _ρ with rotor drilling method, or turbo-drill rotation speed при _τ with turbine. The received signal is fed to the analog input of the multiplying device 39, the digital input of which contains the number Ν ₅₈ , which is currently available in the counter 38. The output voltage of the digital-analog multiplying device 39 is determined by the expression

(¼> * a> · (28)

37 pulse generator turns on

at the time of the start of "drilling", therefore '5

^ 38 ⁼ '(29)

where G _a7 - the pulse repetition rate of the generator 37;

ϊε - time "drilling".

^l 20

ten

where K is the proportionality coefficient,

and the angle of rotation during drilling / is calculated by the formula '

φ = K ·] ν _Μ ·. (35)

about

From this formula, it can be seen that the rotation angle φ of the selsyn rotor is proportional to b,

φ = K - b. (36)

By measuring the angle Δφ and calculating the penetration ΔΚ over a period of time, determine the mechanical speed of penetration (average Over $ 41)

A b a k

(37)

From here we have

~ ^p h7 '(¾¾). * ^ι δ ·

(thirty)

The received signal is converted by converter 40 in accordance with the following expression:

25

'40

(31)

The formula (3 О corresponds to the formula (15).

Node 10 contains a multiplying device 41, a converter 42 voltage pulses into frequency, a stepper motor 43 and a resolver sensor 44,

The multiplying device 41 produces: multiplication of signals ν _{Μ ρ} or ν _ΜΤ by the signal and ₄₀ and outputs the signal as a function of the mechanical drilling speed ν _Μ from Od, H _p or Ν _τ , and ΐ $:

for the rotary method of drilling ^ Ж4 <p ^{= to} m '* A1p ( ⁶ A' ^Ν ρ '

thirty

35

40

"E

(32)

45

for turbine drilling

<4 <T = ^K »· ^K N '

".E

a * 5 K 'l ¹ §

It should be noted that when φφ = 360 °, the ambiguity of determining the mechanical velocity may arise. To eliminate this ambiguity, the pulses of the discrete feed sensor are used, which are generated when the selsyn rotor rotates 360 °.

The signals from the drilling tool feed sensors are modeled in node 10 as follows.

The signal of the mechanical speed ν _{Μ4 (} fed to the Converter 42 and is converted to a pulse frequency:

^Р 42 ' ^К 42- ^К 8' ^К к ^ν «44 ' ^{6 36} * * \ (38)

where K, „- coefficient of proportionality.

The resulting pulses arrive at the stepper motor 43, the rotor of which will rotate with an angular velocity

™ ^{= K} 43 ^K 8 ' ^K "< ^ν Μ4" ^e

Ρ ^_ί 3ϊ ^£ Зб ( ^С А ' ^М д)

. (39)

(we neglect the discreteness of the stepping motor operation).

The angle φ of rotation of the rotor of the stepper motor 43 for the time is determined by the formula

(331 ^{50 K} & Chc (H0)

On a real drilling rig, the mechanical drilling speed is usually measured by the help of a discrete sensor feeding the upper end of a drill string, 55 columns. generating pulses every δK feed, and an analog feed sensor, which uses a selsyn-sensor, the rotor of which is connected to the shaft of the crown block TO the drilling rig; When drilling at a rate of ν _{Μ, the} angular speed of the selsyn is determined by the expression

(zi

and b is the expression

<·· £ · & · ^to “<” '>. 43 O

During the circular rotation of the rotor of the stepper motor 43 by means of a mechanical contact device, impulses are formed (One pulse соответствует corresponds to the rotation of the pTTER by 360 °), which correspond to the amount of penetration

_Αφ .160 °. (Th2)

^K 4E

760130

sixteen

15 , .

These pulses are fed to the input 48 of the node 11 mates with a computer.

The rotor of the selsyn sensor 44, the compound, will rotate with the speed ω. ball motor with a rotor 4 3. The angular position φ of the selsyn rotor is characterized by a three-phase voltage supplied to the inputs 45-47 of the computer interface unit 11. ·

As can be seen from the formula (* ♦!), The drilling b and the mechanical drilling speed (integrative expression) depend on the parameters of the drilling mode С _д ,,

¢, brimies of rock Kg and ί ₃₆ , and also from the time of drilling ίβ. Moreover, the mechanical velocity ν _Μ decreases with time in an exponential function with a time constant, called the wear coefficient, and is equal to (c Ν Ν.)

. which; - the most, also depends on the parameters of the drilling mode C.

• ^"; and a and g PP By switching the switch can, at its discretion modeling, Rowan different rock drillability · / (ask), and by changing the frequency generator 37 - * different bit durability (set function _fl · g (e _g, Ν. _Α )).

Node 6 contains a functional Converter 28, the card P2V of the switch, the switch P2 and the adder 29. '

Converter 28 generates a signal for idle moment according to the second term of formula (4)

. 0 _28. · = (Η, Νρ). (4 h)

This signal in the adder 29 using the P2B board is either summed with the signal of the moment on the bit required for rock destruction (see the first term in the formula (M) for the rotary drilling method; or subtracted from it during turbine drilling. At the same time, at the lower input of the adder 19 in trouble-free mode, the signal is zero.

Node 7 includes an adder 30, at the output of which, the signal corresponds to formula (1).

Node 8 contains a generator 35 and a switch P4, by means of which the generator 35 outputs to various blocks signals simulating the occurrence of emergency situations and complications. · '.

Node 9 has a divider. 18 voltage ',. P1g board of switch P1, adders 20 and 24, variable resistances 22., 23, .26 ,. 27 and executive motors 21 and 25. Node 9 generates signals M _t and _τ in accordance with equations (9) and (10). It can be seen that the implementation of these dependencies requires the presence of signals proportional to 6 _D , D and O ² .

A signal proportional to C _d is fed to node .9 from node 3 - from the output

dynamic link 12. The signal is proportional to 0., served in node 9

from node 2 - from the output of the divider 17.

To obtain a signal proportional to ² , elements 18, 20-23 of node 9 are used.

The signal H, produced by the divider 17, is formed by multiplying with the last two factors:

α = · q.x, (^) ·

where is 0? _n is the signal component 0. from, the change in the depth of the well H, this factor introduces | 0 the angle of rotation of the board P1c,

having a common drive s.platoy 'P1a.uzla 1, · proportionally

. the national signal H;

H _x - signal component <} from

changes in the pump drive speed Ν ,, (the number of double strokes per minute), this factor is introduced by the voltage supplying the divider 17, which is proportional to the 20 ′ signal Ν „.

From the output of the divider 17, a voltage proportional to the signal поступ is supplied as the supply to the input of the divider 18. Since the P1g board has a common drive with the P1a board, Then a signal is obtained at the output of the divider 18, which can be represented in. video of the input signal of the divider 30 18 (i.e., the values of H „· H _x ) and a signal proportional to the angle of rotation of the P1g board (i.e., the values of H _n ). Therefore, with the appropriate choice of elements of the scheme we have.

35 -M) = d · α _χ · ('• δ)

From the output of the divider 18 voltage

•. proportional to the signal CH · H _x , arrives as a variable resistance 23 supplying the input, the engine of which is mechanically connected with the variable resistance motor 22 and the rotor of the executive motor 21. The last two elements, as well as the adder 20, form a tracking electric drive, which operates in the following way .

The inverting input of the adder 20 receives a voltage proportional to the signal Ν ^, Ηβ non-inverting input voltage comes from 50 auxiliary variable resistance 22. The voltage from the output of the adder 20, proportional to the voltage difference at its inputs, is applied to the engine 21 and causes ss its rotor ( and with it the engines of variable resistances 22 and 23) turn until the voltage at the output of the adder becomes zero. In this case, the voltage at its inputs are equal; The rotation angle 60 of the rotor of the engine 21 becomes proportional to the signal Ν _Η , and hence to the signal H _x . The described actuator monitors changes in the signal Ν _Η (component <2 _X ) and reflects such a turning angle, when

760130

18

The torus always preserves the mentioned proportionality.

Thus, on the variable resistance 23, the multiplication of two factors is performed, one of which is its supply voltage (see equation (45)), and the other is entered by the angle of rotation of its slider, proportional to _xth . With the latter with the appropriate choice of elements

The circuit is taken signal ^ 5 = 5.8 · 9х = and · <ίχ) αк = and ² - (46)

The signal M _t is removed from the variable resistance slider 26, the supply voltage of which is the signal M jr, proportional to Ts ² (see equation (6)) and fed to the variable resistance slider 23. The signal M _t is removed from the variable resistance slider 27, the supply voltage of which is the signal Ν _χχ , proportional (see equation (7)) and 20 supplied from the output of divider 17 of node 2. The motors of variable resistances 26 and 27 are mechanically connected with each other; friend and with the rotor of the executive motor 25. The adder 24-25

together with elements 25 and 26 form. . tracking drive, which works as follows.

At the average input of the adder 24, the signal in the trouble-free mode of operation is zero. The inverting input receives a voltage corresponding to the signal Cd and is proportional to, 'according to equation (8), the moment on the' bit of MD. At the inverting input of the Sum- '__ Mator 24 voltage is supplied from the engine variable, resistance 26 ,. proportional to the moment M _t , developed. Vaemom turbo-drill. The voltage from the stroke of the adder 24, proportional to the "voltage difference at its inputs, 40 is applied to the engine 25 and causes the rotor (and together the engines of variable resistances 26 and 27 to rotate) to rotate until the voltage at the output of the adder 45

not. will become zero. In this case, the voltage at its inputs are equal, ' ¹ i. '<

the magnitude of the signal Μ _γ becomes equal to the magnitude of the signal M _d in accordance with equation (9). -c / '5ό ^?

From the circuit of the electric drive described in FIG. 2, it follows that the rotor of the motor 25 rotates the variable resistance motor 26, both in the case of a change in the signal C _d assigned to the inverting input sum— "torus 24, and in the case of change.

the signal M _1or , input to variable resistance 26 (since in both cases the voltages at the inputs of the adder 24 become different 60 and the error voltage other than zero appearing at its output causes the rotor of the engine 25 to turn until the indicated error voltage is eliminated). .65

The actuator, functioning in the manner described, therefore allows you to continuously monitor changes in both the magnitude of the signal Un, and the signal ^m tor> working out the angle of rotation of the variable resistance _motor 26 so that in both cases the signal Μ _Ύ taken from the output of variable resistance 26 is always proportional to only the magnitude of the signal C _d , and does not depend on the magnitude of the signal M _{tor L,} which reflects the fact that the signal M _{t is} independent of the magnitude of ¢.

The signals M _t and Ν _τ taken from the engines of variable resistances 26 and 27, respectively, located on the common shaft of the engine 25, are determined by the following relations:

M.

m

(47)

t make

'max

(48)

where - the angle of rotation of the engine variable resistance 26, measured from the grounded (bottom in Fig. 2) output resistance 26?

Ψ ₂ - the angle of rotation of the engine variable resistance 27, measured from the grounded (upper in Fig. 2) output resistance 27 /

^ mako is the maximum angle of rotation for the variable resistance engines 26 and 27.

Since the variable resistances 26 and 27 are included in a mutually inverted pattern,

= = (49)

Substituting the value of φ ₂ from equation (49) and the value into equation (48)

* Pmax

from the equation

“XX (’

/ Smake

(47)

we get

Nt

M

torus

-) " (50)

It can be seen that equation (50) coincides with equation (10), i.e. Block 9 simulates the operation of a real turbo-drill,

The mode of operation of a real turbodrill in the drilling process, which is determined by the position of the operating point of the turbodrill on its characteristics (see equation (10)), can be controlled by changing the axial load Unit and the flow rate C of the washing liquid. The value of Units (with ¢ = sopya) determines the position of the working point (ie, the torque M _{t of the} turbodrill and the rotational speed Ν _τ e * o shaft) on a fixed characteristic, the value D (with Un »SOP5G) determines the position of the characteristic itself (t . e. tor> .ν

760130 20

The torque is _{θ 1θρ} and the idling speed Ν _χ> . ).

To change the parameters of 6 _D and 0 node 9 modeling Turbobur responds completely similar to a real turbo-drill. Consider how in node 9 the position of the working point of the turbo-drill and its characteristics change depending on the changes of these parameters - C _d and ¢.

An increase (decrease) in the axial load (at a constant flow rate <} of the washing liquid) leads to an increase (decrease) in the loading moment MD per bit (see equation (8)). A tracking drive, made on elements 24-26, tracks this change in MD and changes the torque M _{at the} turbo-drill so that the latter becomes equal to the moment M _А (see equation (9)), which indicates the exit of the turbo-drill to the steady state. The rotation speed Ν _{τ of the} turbodrill with the EG decreases; is (increases), but for any combination of the values of M _t and N _{t, the} latter are on the characteristic of a turbodrill (see equation (10) at · П = cond).

An increase (decrease) in the flow rate of 0. flushing fluid (at a constant value of the axial load SD) leads to an increase (decrease) in the braking torque M _TO p of the turbodrill proportional to <1 ² (see equation (6)). The speed of rotation of idling Ν _приχ in this case increases (decreases) proportionally to th (see, equation (7)) · A tracking actuator, made on elements 24-26, tracks this change M _1or and changes the torque M _{t of the} turbo-drill so that the latter remained equal to the load moment MD, depending only on SD (see equation (9)). The rotation speed Ν _{τ of the} turbodrill at the same time increases (decreases), but for any combination of the values of M _y and Ν _{γ, the} latter are on the characteristic of the turbo-drill (see equation (10) with Cd = con 5 s).

When excessive increase in axial load torque C _A M _T turbodrill, trying 'to equalize a load torque M _d on bit may be equal to (but not exceeding) the brake torque mTorr determined by the current value ¢ ..Eta.situatsiya oz'nachaet stop turbodrill . The rotation speed Ν _{γ is} thus equal to zero (since the variable resistance slider 27 is at its grounded end).

Received on the outputs of the node 9, the signals m _t and Y _t through the node 11 enter the computer ", corresponding to the signals of the real sensors of the drilling rig.

“" "Thus * a'zzO'y‘7 in" "o'tD'yyy'e - £ UT" of the Pretotype, the Proposed Device for

simulation of automated bu10

,five

20

25

thirty

35

40

45

50

55

60

the level installation allows you to simulate the work of the drilling rig in the turbine drilling method, namely: to simulate the change of the load signal on the bit C _A , the weight of the tool on the hook C _to , the torque on the rotor M _p , and the torque can be. ment turbodrill M _t, the speed of rotation Ν _τ, penetration K (ROP drilling ν _Μ), pressure P and flow and wash liquid in vykide mud pumps and the drive rotational speed pumps Ν _Η - the change of control actions: Load signal on bit C _d and the speed of rotation of the pump drive Ν _Μ .

The device, like the prototype, allows you to simulate various drilling conditions - different depths of the well, rock drillability, bit wear resistance and change of mud pump bushings. Furthermore, it is possible to simulate both normal 'drilling process and the occurrence of complications or accidents: bridging cones bit, overload drillstring torque M _p at its scroll, open the top of the drill string or drill pipe, rinsing the drill column body, and also characteristic of the turbine drilling method is the stop of the turbo-drill during drilling and the "non-acceptance" of the turbo-drill. ·.

Such wide functionality of the device ensures that when it is connected to the system. Automatic control on the basis of a computer, a full and comprehensive check and debugging of both the technical means of the system and its software. After such a check, the control system can be connected to a real drilling rig, carrying out both rotary and turbine drilling methods.

The device also makes it possible to carry out preventive monitoring and troubleshooting of existing control systems by switching them to this device and checking under various “drilling” conditions.

Finally, the device can be successfully used as a simulator for training driller operators to work on automated drilling rigs having FLEC control systems. The use of the described device for this purpose ensures shorter terms and higher learning efficiency.

Claims (1)

Claim A device for simulating an automated buro.voy installation, containing a node for modeling the dynamics of an automatic regulating system65 21 760130 22 unit consisting of the first and second voltage dividers, the first and second switches and the adder, the well depth setting node consisting of the voltage divider and the switch, the mechanical calculation unit speed, consisting of the first and second functional transducers, the first and second voltage dividers and the first and second switches and the second functional transducer, pulse generator, counter and multiplying unit, a torque modeling unit consisting of a functional converter and an adder, a hook weight calculating unit consisting of an adder, an emergency setting unit consisting of a voltage generator, through a switch connected to the source power supply, interface node · and a simulation modeling node, consisting of a multiplying unit, the output of which is connected to a stepper cell through a voltage-to-frequency converter to the drive connected to the first input of the junction node, a selsyn whose shaft is kinematically connected to the motor shaft, · the windings of the selsyn are connected to the second, third and fourth inputs of the pairing node, respectively, and the inputs of the first, second and third differentiating units of the node modeling the dynamics of the automatic control system connected, respectively, with the first, second and third outputs of the gateway, the output of the first differentiating unit through the first and second dividers, the voltage of the modeling node, t The circulation system is connected respectively to the opening contacts of the first and second switches. This node, the moving contact of the second switch is connected to the first input of the adder of its node, the voltage divider of the well depth setting node. Connected to the disconnecting contact of the switch of its node, the moving contact of which is connected to the first inputs of the functional converter and the torque modeling node and the fifth input. interface node, the first, second and third outputs of the voltage generator of the emergency task node are connected respectively to the first input to the adder of the modeling node I torque, the second input of the adder node modeling the circulation system and the second input of the adder node calculate the weight on the grunt the outputs of these adders are connected respectively to the sixth, the seventh and eighth inputs of the interface, the output of the third differentiating unit is connected to the ninth input. for the interface node, the second input of the sum of the torque modeling node, the third input of the second hook weight calculator node and the first inputs of the first functional converter of the mechanical speed calculation node and the first functional converter of the bit simulation of the weapon armature, output of the first functional converter of the node calculating the mechanical speed is connected to the first input of the fourth functional converter of its node, the output of which is through the first divider the voltage of this node is connected to the disconnecting contact of the first switch of its node, the movable contact of which is connected to the first input of the multiplying unit of the penetration simulation node through the second voltage divider and the second switch of the node; the output of the pulse generator of the bit wear simulation node is connected to the first input of the multiplying block of its node, the second input of which is connected to the output of the first functional converter of this node, the output of the multiplying block of the node is modulated the formation of bit wear through the second functional converter of its node is connected to the second input of the multiplying unit of the penetration simulation node; the output of the second differentiating block of the dynamics simulation system of the automatic control system is connected to the second input of the functional converter of the torque modeling node and the eleventh and twelfth the inputs of which are connected respectively to the output of the first differentiating unit and to the movable contact ne the second switch of the automatic control system dynamics modeling node, characterized in that, in order to expand the functionality of the device by simulating the turbine drilling process, a third switch is inserted into the mechanical speed calculation node, a switch is inserted into the torque modeling node, and a turbodrill modeling node is inserted into the device, consisting of a voltage divider, switch, first and second adders, two electric motors and controlled dividers I, the output first controlled voltage divider connected to the first input of the first adder, a second input coupled to an output of the first differentiator sis23 dynamics simulation unit block 760130 ‘24 automatic regulation themes, the output of the first adder is connected to the winding of the first electric motor, the shaft of which is kinematically connected with the sliders of the first and second controlled voltage dividers, the input of the second controlled voltage divider is connected to the movable contact of the switch, the disconnecting contact of which is connected to the movable contact of the first switch and with the first disconnecting contact of the mechanical speed calculation node connected to the second input of the second function the third input of which is connected to the first closing contact of the switch of this node; the output of the first differentiating unit of the dynamic control system modeling node is connected via the second break contact of the mechanical speed calculation node to the second inputs of the first functional converter of its node and the first functional the converter of the knot. modeling the wear of the bit’s armament; the second contact is the switch contact of the calculator node Lenia ROP connected to the thirteenth entrance of the gateway and with. the output of the third controlled voltage divider of the modeling site of the turbodrill whose input is connected to the output of the divider is * The voltage of its node, the output of the second controlled voltage divider is connected to the input of the fourth controlled voltage divider, the output of which is connected to the fourteenth input. The interface node and the first input of the second adder of its node, the second and third inputs of which. connected respectively with the fourth output of the voltage generator and the output of the third differentiating unit, 15 The output of the second adder of the turbodrill simulation node is connected to the windings of the second electric motor, the shaft of which is kinematically connected with the sliders of the third and. fourth controlled voltage dividers.