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Self-adaptive tool face angle estimation method of dynamic directional rotary steering drilling tool

A rotary steerable drilling and dynamic pointing technology, applied in the field of self-adaptive tool face angle estimation and drilling tool measurement, can solve unknown and time-varying problems, and achieve the effect of reducing drilling cost, good estimation effect and improving drilling efficiency.

Pending Publication Date: 2022-06-28
CHINA UNIV OF PETROLEUM (EAST CHINA)
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Problems solved by technology

[0007] However, although the above methods take the vibration of the drilling process into account, they all assume that the system noise covariance matrix caused by the vibration is known
However, in the actual drilling process, due to the change of geological environment, the covariance matrix of the noise is usually unknown and time-varying

Method used

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  • Self-adaptive tool face angle estimation method of dynamic directional rotary steering drilling tool
  • Self-adaptive tool face angle estimation method of dynamic directional rotary steering drilling tool
  • Self-adaptive tool face angle estimation method of dynamic directional rotary steering drilling tool

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Experimental program
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Effect test

Embodiment 1

[0220] Embodiment 1: the adopted rotary steerable drilling tool system parameters are: d(k)~N d(k) (0,D(k)), D(k)=(0.2+0.0005k) 2 , v(k)~N v(k) (0,Q(k)), Q(k)=(2+0.001k) 2 I, x(0)~N x(0) (0,P(0)), P(0)=5 2 I,h=0.01s, μ R =μ Q =0.99, α=6, N=20,

[0221] The tool face angle estimation method of the present invention is used to estimate the tool face angle of the rotary steerable drilling tool system, and the estimation results refer to figure 2 . figure 2 describes the state variable x i (k), state estimate and tool face angle estimates traces of, image 3 Describes the mean mean squared error of 100 Monte Carlo simulations, where KF stands for Kalman filter with known noise covariance matrix, VBKF stands for Variational Bayes-based Kalman Filter, VBKS stands for Variational Bayes-based Kalman Filter Stiff Kalman smoother, MHE(N=20) represents a rolling time-domain estimator with a window length of N=20, VBMHE(N=5), VBMHE(N=8), VBMHE(N=10), VBMHE( N=15) and ...

Embodiment 2

[0222] Example 2: In order to further verify the feasibility of the method for estimating the tool face angle of the present invention, use such as Figure 4 A simplified model of the dynamic pointing rotary steerable drilling tool system shown is used for experiments using a vibrating platform to simulate vibration disturbances during drilling.

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Abstract

The invention relates to a self-adaptive tool face angle estimation method for a dynamic directional rotary steering drilling tool. The method comprises the specific steps that S1, a tool face angle system mathematical model is established; s2, giving parameters of a rolling time domain estimation algorithm; s3, predicting parameters of prior probability distribution of the covariance matrix; s4, updating approximate posterior probability distribution of the covariance matrix; s5, updating the approximate posterior probability distribution of the state; and S6, calculating an estimated value of the tool face angle. According to the tool face intersection estimation method, the tool face angle of the dynamic directional rotary steering drilling tool system can be effectively estimated in real time, estimation of the state and the noise covariance matrix is achieved at the same time, the drilling precision and efficiency are improved, and the drilling cost is reduced.

Description

technical field [0001] The invention belongs to the technical field of oilfield drilling, and relates to drilling tool measurement technology, in particular to an adaptive tool face angle estimation method for a dynamic pointing rotary steerable drilling tool. Background technique [0002] Oil and gas are important resources for national strategic development, and drilling technology is the key technology for oil and gas exploration and development. As one of the most advanced directional drilling technologies in the world, rotary steerable drilling technology has the advantages of high ROP, high wellbore trajectory control accuracy, good wellbore purification effect, and strong displacement extension ability, which greatly improves the oil and gas production. harvesting efficiency. Therefore, rotary steerable drilling technology plays an irreplaceable role in oil exploration and development in complex terrain. In the development process in recent decades, four types of ro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E21B47/024E21B7/04G06F17/16G06F17/18
CPCE21B47/024E21B7/04G06F17/16G06F17/18
Inventor 盛立牛艺春高明周东华
Owner CHINA UNIV OF PETROLEUM (EAST CHINA)
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