A self-correcting closed-loop control method for drilling tool face angle

A closed-loop control and drilling tool technology, which is applied to the automatic control system of drilling, directional drilling, drilling equipment, etc., to achieve the effect of simplifying the prediction equation and avoiding excessive output

Active Publication Date: 2021-08-31
北京四利通控制技术股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a self-correcting closed-loop control method for drilling tool face angle, thereby solving the aforementioned problems in the prior art

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  • A self-correcting closed-loop control method for drilling tool face angle
  • A self-correcting closed-loop control method for drilling tool face angle
  • A self-correcting closed-loop control method for drilling tool face angle

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Embodiment 1

[0048] Embodiment 1, a drilling tool face angle self-correcting closed-loop control method, comprising steps:

[0049] S1) collect input data and output data, the input data is the motor speed, and the output data is the tool face angle collected in real time;

[0050] S2) establish CARMA model according to input data and described output data; CARMA model is A, B and C are unit lag operators z -1 A time-invariant polynomial with constant coefficients, z -d Indicates pure time delay, d indicates lag, A=1+a 1 z -1 +…+a na z -na , na is the output order, B=b 1 z -1 +…+b nb z -nb , b 0 ≠0, nb is the order of input, C=c 0 +c 1 z -1 +…+c nc z -nc , nc is the order of the noise, ξ(t) is the white noise sequence of the standard normal distribution.

[0051] S3) Convert the CARMA model to a least squares structure: is the observation vector, θ is the identification parameter vector; including steps:

[0052] S31) Convert the CARMA model into a difference equation...

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Abstract

The invention relates to the field of drilling and production machinery, and discloses a drilling tool face angle self-correcting closed-loop control method, comprising: S1) collecting input data and output data; S2) establishing a CARMA model according to the input data and output data; S3) converting the CARMA model Convert to the least squares structure: set the gain matrix L(t) and covariance matrix P(t), perform parameter estimation, and obtain identification parameters that meet the requirements; Control to get the desired tool face angle. The present invention adopts the CARMA model to solve the problem of variable uncertainty and model form uncertainty in establishing the mathematical model of the drilling tool system; and through the recursive least square method, online parameter dynamic adjustment is introduced, and the C / A equation is introduced, which can predict Equation simplification; real-time monitoring and automatic control of the tool face during sliding drilling.

Description

technical field [0001] The invention relates to the field of drilling and production machinery, in particular to a self-correcting closed-loop control method for the face angle of a drilling tool. Background technique [0002] In the process of directional well drilling, to ensure that the drilled well trajectory is close to the designed well trajectory, on-site engineering and technical personnel need to have rich experience. In the sliding mode, the drill string must first be lifted from the bottom of the hole and stop rotating, and then the directional driller can make the direction of the downhole motor elbow point to the direction required by the wellbore trajectory design by swinging the tool face. Swiveling the toolface needs to consider the torque of the drill bit, the reaction torque of the drill string and the friction between the drill string and the well wall, so the driller should slowly rotate the drill string on the surface, and then refer to the change of the...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): E21B7/04E21B44/00
CPCE21B7/04E21B44/00
Inventor缑柏弘宋倩李学清来建强
Owner北京四利通控制技术股份有限公司