Coiled tubing well-drilling robot control system capable of controlling drilling speed and bit pressure

A technology for controlling the drilling speed and drilling speed, which is applied to the automatic control system of drilling, drilling equipment, earthwork drilling and production, etc., and can solve the problems that the drilling speed and drilling pressure cannot be controlled.

Inactive Publication Date: 2019-03-26
SOUTHWEST PETROLEUM UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0014] In order to overcome the defect that the existing coiled tubing drilling robot control system cannot control the drilling speed and drilling pressure, the present invention proposes a new coiled tubing drilling robot control system with controllable drilling speed and drilling pressure. Adjustment of drilling speed and bit pressure in coiled tubing drilling

Method used

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  • Coiled tubing well-drilling robot control system capable of controlling drilling speed and bit pressure
  • Coiled tubing well-drilling robot control system capable of controlling drilling speed and bit pressure
  • Coiled tubing well-drilling robot control system capable of controlling drilling speed and bit pressure

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Experimental program
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Effect test

Embodiment 1

[0031] Embodiment 1: as figure 2As shown, the drilling robot 34 is composed of a left working joint, a right working joint and a control joint 5, wherein the left working joint is composed of a left supporting cylinder 1, a left supporting arm 2 and a left telescopic cylinder 3, and the right working joint is composed of The right telescopic cylinder 6, the right support arm 7 and the right support cylinder 9 are composed; the control system introduces the drilling fluid in the drilling robot 34 through the left liquid inlet 4 into the left support cylinder 1 and the left telescopic cylinder 3, and through the right liquid inlet 5 Introduce it into the right support cylinder 9 and right telescopic cylinder 7; the drilling fluid in the support telescopic cylinder is directly discharged to the bottom annulus 28; left filter 10, right filter 11, three-position four-way electromagnetic reversing valve A12, two-position Four-way electromagnetic directional valve A13, three-positio...

Embodiment 2

[0034] Embodiment 2: as Figure 1-2 As shown, a system for controlling drilling speed and WOB of coiled tubing drilling includes coiled tubing intelligent drilling rig 31, wellhead device 32, coiled tubing 33, drilling robot 34, drill string vibration measuring device 35, MWD36, power drilling tool 37 , drill bit 38, coiled tubing intelligent drilling rig 31 sends coiled tubing 33 to the bottom of the well through wellhead device 32, and the front end of coiled tubing is connected to drilling robot 34, drill string vibration measuring device 35, MWD36, power drilling tool 37 and drill bit 38 in sequence. The coiled tubing intelligent drilling rig 31 is equipped with a mud pump, a mud pulse signal generator and a ground control system. The drilling robot uses mud as a power source, and the ground control system can control the start and stop of the robot through the mud pulse signal generator.

[0035] The drilling robot 34 is equipped with an electric proportional overflow val...

Embodiment 3

[0037] Embodiment 3: as Figure 1-2 As shown, the method for controlling the drilling speed and the weight-on-bit of coiled tubing drilling comprises the following steps:

[0038] S1. The coiled tubing intelligent drilling rig 35 sends out mud pressure pulse waves to start the drilling robot 34;

[0039] S2, the drilling robot 34 pushes the drill string to drill forward;

[0040] S3. When the drill string is drilling forward, the drill string vibration measurement device 35 measures the drill string vibration in real time;

[0041] S4. The drilling robot 34 pushes the drill string to drill forward with the optimal drilling speed and WOB according to the drill string vibration measured by the drill string vibration measuring device 35;

[0042] S5. The drilling robot 34 stops drilling.

[0043] The step S2 specifically includes the following steps:

[0044] S21: The drilling robot 34 judges a series of factors that affect drilling, such as the depth of the formation where t...

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Abstract

The invention relates to the field of oil and gas field development, in particular to a coiled tubing well-drilling robot control system capable of controlling drilling speed and bit pressure. The coiled tubing well-drilling robot control system is characterized in that a telescopic cylinder control module of a well-drilling robot includes a differential pressure sensor, a flow sensor, an electricproportional flow valve, an electric proportional relief valve and a three-position four-way electromagnetic reversing valve, wherein the bit pressure of a drilling column is regulated by the electric proportional relief valve, and the drilling speed of the drill column is adjusted by the electric proportional flow valve. Compared with the prior art, the coiled tubing well-drilling robot controlsystem has the following advantages that the combined control of the electric proportional relief valve and the electric proportional flow valve enables the well-drilling robot to push the drill string to advance forward with the optimal drilling speed and the bit pressure, and the coiled tubing well-drilling robot control system can adapt to different formations and well depths.

Description

technical field [0001] The invention relates to the field of oil and gas field development, in particular to a coiled tubing drilling robot control system with controllable drilling speed and drilling pressure. Background technique [0002] Coiled tubing is widely used. Coiled tubing operations have the advantages of low cost, small size, and fast operation cycle. In particular, coiled tubing drilling technology has the following advantages: [0003] (1) It can safely realize underbalanced pressure drilling operations, which is beneficial to protect oil and gas layers and increase drilling speed. Coiled tubing has no joints, creating favorable conditions for realizing underbalanced pressure drilling. [0004] (2) There is no need to stop the pump to connect a single pump during the drilling process, which can realize the continuous circulation of drilling fluid, reduce the tripping time, shorten the drilling cycle, improve the tripping speed and operation safety, Avoid the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E21B44/00
CPCE21B44/00
Inventor 朱海燕刘文全刘清友赵建国王昆鹏
Owner SOUTHWEST PETROLEUM UNIV
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