A method and device for determining the inclination rate of drilling tools

Abstract

The present application provides a method and device for determining the inclination rate of a drilling tool, wherein the method comprises: obtaining the influencing factor of the target drilling tool, and establishing a drilling tool force stiffness equation based on the influencing factor according to the contact state between the guide drilling tool assembly in the target drilling tool and the well wall; solving the stiffness equation according to the bending moment at the drill bit of the target drilling tool to obtain the undetermined coefficient and the length of the upper cutting section; calculating the output parameters according to the undetermined coefficient and the length of the upper cutting section, wherein the output parameters include at least one of the following: drill bit lateral force, drill bit rotation angle, drilling tool support reaction force, and eccentricity; substituting the output parameters into the drilling speed equation to obtain the first inclination rate; and obtaining the converted inclination rate of the target drilling tool according to the first inclination rate and the preset conversion coefficient. The above scheme solves the problem of inaccurate results of the existing inclination rate determination, and achieves the technical effect of effectively improving the accuracy of the inclination rate determination.

Description

Technical Field

[0001] The present application belongs to the technical field of data processing, and in particular, relates to a method and device for determining a drilling tool inclination rate. Background Art

[0002] At present, the prediction methods of the slope rate of the steering tool mainly include: balanced curvature method, lateral force method and trend angle method.

[0003] Among them, the "balanced curvature method" assumes that the drill bit will drill in the direction with the least energy consumption, that is, it will reach a balanced state when the potential energy is the smallest. By changing the wellbore curvature until the lateral force is reduced to zero or close to zero, the wellbore curvature value at this time is used as the inclination rate of the steerable drilling tool assembly. However, the "balanced curvature method" does not consider the effects of the drill bit cutting performance and formation anisotropy, and the zero lateral force criterion is a limit state, which is difficult to achieve in actual drilling. Therefore, the calculated inclination rate is significantly higher than the "converted inclination rate method", and the calculated value is poorly consistent with the measured value.

[0004] The "lateral force method" takes into account the influence of drill tool deformation, calculates the drill bit lateral force through bottom hole tool assembly mechanical analysis, and uses the magnitude of the lateral force to reflect the magnitude of the guide drilling tool deflection rate. However, the lateral force method mainly ignores the influence of drill bit cutting performance and formation anisotropy.

[0005] The "trend angle method" is aimed at the situation where the drill bit trajectory deviates from the wellbore axis under the drill bit load, taking into account the influence of the drilling tool stiffness, and taking the angle between the drill bit force line and the wellbore axis as the evaluation basis of the deflection rate. Although the trend angle method takes the drilling process into consideration, its calculation results are mainly for the prediction of the drill bit direction, and cannot directly reflect the size of the tool deflection rate.

[0006] Furthermore, although the lateral force and the trend angle are both positively correlated with the build rate and can indirectly characterize the build rate of the steerable tool, the quantitative relationship between these two methods and the build rate is unclear, which makes it difficult to calculate the build rate of the tool and has certain limitations in practical applications.

[0007] With regard to the problem of low accuracy of existing methods for determining the build rate, no effective solution has been proposed so far. Summary of the invention

[0008] The purpose of the present application is to provide a method and device for determining the inclination rate of a drilling tool, which can achieve accurate determination of the inclination rate.

[0009] The present application provides a method and device for determining the drilling tool inclination rate, which is implemented as follows:

[0010] A method for determining a drilling tool deflection rate, the method comprising:

[0011] Obtaining an influencing factor of a target drilling tool, wherein the influencing factor includes at least one of the following: drilling tool length, borehole apparent radius, drilling parameters, drilling tool curvature, and preset borehole curvature;

[0012] According to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall, a drilling tool force stiffness equation based on the influencing factors is established;

[0013] Solving the stiffness equation according to the bending moment at the drill bit of the target drilling tool to obtain the undetermined coefficient and the length of the upper cutting section;

[0014] According to the undetermined coefficient and the upper cutting section length, the output parameter is calculated, wherein the output parameter includes at least one of the following: drill bit lateral force, drill bit rotation angle, support reaction force of the drilling tool, and eccentricity;

[0015] Substituting the output parameters into the drilling speed equation to obtain the first inclination rate;

[0016] The converted build-up rate of the target drilling tool is obtained according to the first build-up rate and a preset conversion coefficient.

[0017] In one embodiment, according to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall, a drilling tool force stiffness equation based on the influencing factors is established, including:

[0018] According to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall, multiple types of unit matrix equations based on the influencing factors are established;

[0019] The multiple types of unit matrix equations based on the influencing factors are merged to obtain the force stiffness equation of the drilling tool;

[0020] Among them, the multiple types of unit matrix equations based on the influencing factors include: the matrix equation of the drill tool node closest to the drill bit contacting the well wall, the matrix equation of the drill tool node closest to the drill bit not contacting the well wall, the matrix equation of the drill tool end of the last span contacting the well wall, the matrix equation of the drill tool end of the last span not contacting the well wall, the matrix equation of the drill tool nodes at the ends of two spans contacting the well wall, the matrix equation of the drill tool nodes at the ends of two spans not contacting the well wall, the matrix equation of the end node of the previous span contacting the well wall and the end node of the next span not contacting the well wall, and the matrix equation of the end node of the previous span not contacting the well wall and the end node of the next span contacting the well wall.

[0021] In one embodiment, the drilling tool force stiffness equation is expressed as:

[0022]

[0023] in, Mkrepresents the unit matrix equation, 1 represents the first span drilling tool node, N represents the last span drilling tool node, k = 1 represents the well inclination plane, k = 2 represents the azimuth plane, C k,j =[C k,1,j C k,2,j C k,3,j C k,4,j C k,5,j ] T represents the unknown coefficients, and D represents the calculation result of the unit matrix equation.

[0024] In one embodiment, the output parameter is calculated according to the undetermined coefficient and the upper cutting section length, including:

[0025] The drill bit lateral force and drill bit rotation angle are calculated according to the following formula:

[0026]

[0027] The support reaction force of the drilling tool is calculated according to the following formula:

[0028] N sk,j =-EI j (24L k,j C k,1,j +6C k,2,j )+6EI j+1 C k,2,j+1

[0029] Calculate the eccentricity according to the following formula:

[0030] G k,j =[u k,j (L k,j / a)-e k ] / cosψ k,j

[0031] Among them, F b,k It represents the component of the lateral force of the drill bit on the well inclination plane and the azimuth plane, in kN, θ b,k is the component of the drill bit rotation angle on the well inclination plane and azimuth plane, in rad; W b is the drilling pressure, in kN, C k represents the unknown coefficient, k = 1 represents the well inclination plane, k = 2 represents the azimuth plane, EI represents the bending stiffness, the unit is kN·m 2 , N sk,j Indicates the support reaction force, the unit is kN, L k,j Indicates the length of each span of drilling tools, in meters, G k,j represents the eccentricity, a is the proportional coefficient of any span of the pipe string, dimensionless, and e k is the projection of the pipe string on the wellbore inclination plane and azimuth plane when the wellbore is eccentric, in m, ψ k,jIndicates the curvature of the wellbore per span of the tubing string, in rad, u k Indicates the deflection of the pipe string on the well inclination plane and azimuth plane.

[0032] In one embodiment, the drilling rate equation is expressed as:

[0033]

[0034] Among them, R b , R 1 , R 2 The drilling speed component considering the anisotropy index of the drill bit formation is expressed in m / h, D n represents the standard drilling efficiency, R represents the conversion matrix of the bottom hole-formation reference coordinate system, S represents the conversion matrix of the bottom hole-drill bit reference coordinate system, and I r1 ,I r2 Represents the anisotropy index of the formation, dimensionless, I b Indicates the anisotropy index of the drill bit, dimensionless, F b,1 Indicates the component of the drill bit lateral force on the well inclination plane, F b,2 It represents the component of the drill bit lateral force on the azimuth plane, W b is the drilling pressure, unit is kN.

[0035] In one embodiment, obtaining the converted build-up rate of the target drilling tool according to the first build-up rate and a preset conversion coefficient includes:

[0036] The converted slope rate is calculated according to the following formula:

[0037]

[0038] Among them, κ A is the converted slope, the unit is rad / 30m, λ is the conversion coefficient obtained by inversion calculation of actual drilling data, κ 1 represents the component of the first build-up rate on the well inclination plane, κ 2 Represents the component of the first build rate on the azimuth plane.

[0039] A device for determining a drilling tool inclination rate, comprising:

[0040] An acquisition module, used for acquiring an influencing factor of a target drilling tool, wherein the influencing factor comprises at least one of the following: drilling tool length, borehole apparent radius, drilling parameters, drilling tool curvature, and preset borehole curvature;

[0041] Establishing a module for establishing a drilling tool force stiffness equation based on the influencing factors according to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall;

[0042] A solution module, used for solving the stiffness equation according to the bending moment at the drill bit of the target drilling tool to obtain the undetermined coefficient and the length of the upper cutting section;

[0043] A calculation module, used for calculating output parameters according to the undetermined coefficient and the upper cutting section length, wherein the output parameters include at least one of the following: drill bit lateral force, drill bit rotation angle, support reaction force of drilling tool, and eccentricity;

[0044] A obtaining module, used for substituting the output parameter into a drilling speed equation to obtain a first inclination rate;

[0045] The determination module is used to obtain the converted inclination rate of the target drilling tool according to the first inclination rate and a preset conversion coefficient.

[0046] In one embodiment, the establishment module includes:

[0047] Establishing units for establishing multiple types of unit matrix equations based on the influencing factors according to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall;

[0048] A fusion unit is used to fuse the multiple types of unit matrix equations based on the influencing factors to obtain a force stiffness equation of the drilling tool;

[0049] Among them, the multiple types of unit matrix equations based on the influencing factors include: the matrix equation of the drill tool node closest to the drill bit contacting the well wall, the matrix equation of the drill tool node closest to the drill bit not contacting the well wall, the matrix equation of the drill tool end of the last span contacting the well wall, the matrix equation of the drill tool end of the last span not contacting the well wall, the matrix equation of the drill tool nodes at the ends of two spans contacting the well wall, the matrix equation of the drill tool nodes at the ends of two spans not contacting the well wall, the matrix equation of the end node of the previous span contacting the well wall and the end node of the next span not contacting the well wall, and the matrix equation of the end node of the previous span not contacting the well wall and the end node of the next span contacting the well wall.

[0050] An electronic device comprises a processor and a memory for storing instructions executable by the processor, wherein the steps of the above method are implemented when the processor executes the instructions.

[0051] A computer-readable storage medium stores computer instructions, which implement the steps of the above method when executed.

[0052] The method and device for determining the drilling tool inclination rate provided in the present application comprehensively consider factors such as tool structure, drilling parameters, lateral cutting ability of the drill bit, and formation properties, introduce multiple influencing factors of the target drilling tool to establish the stiffness equation of the drilling tool force, and introduce the concept of conversion coefficient to determine the inclination rate, thereby solving the problem of inaccurate results in the existing inclination rate determination and achieving the technical effect of effectively improving the accuracy of the inclination rate determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0054] Figure 1 It is a method flow chart of an embodiment of a method for determining a drilling tool inclination rate provided by the present application;

[0055] Figure 2 It is a flow chart of a method for calculating a drilling tool force model provided in the present application;

[0056] Figure 3 It is a flow chart of the method for calculating the slope rate provided by the present application;

[0057] Figure 4 This is a schematic diagram of the predicted result of the converted slope of Well A provided in this application;

[0058] Figure 5 This is a schematic diagram of the predicted results of the converted slope of Well B provided in this application;

[0059] Figure 6 It is a hardware structure block diagram of an electronic device for a method for determining a drilling tool inclination rate provided by the present application;

[0060] Figure 7 It is a schematic diagram of the module structure of an embodiment of a device for determining the drilling tool inclination rate provided in the present application. DETAILED DESCRIPTION

[0061] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0062] Figure 1It is a method flow chart of an embodiment of the method for determining the drilling tool inclination rate provided by the present application. Although the present application provides method operation steps or device structures as shown in the following embodiments or drawings, more or fewer operation steps or module units may be included in the method or device based on routine or no creative labor. In the steps or structures where there is no necessary causal relationship logically, the execution order of these steps or the module structure of the device is not limited to the execution order or module structure described in the embodiments of the present application and shown in the drawings. When the method or module structure described is applied to an actual device or terminal product, it can be connected according to the method or module structure shown in the embodiments or drawings for sequential execution or parallel execution (for example, a parallel processor or a multi-threaded processing environment, or even a distributed processing environment).

[0063] Specifically, Figure 1 As shown, the above-mentioned method for determining the drilling tool inclination rate may include the following steps:

[0064] Step 101: Obtaining an influencing factor of a target drilling tool, wherein the influencing factor includes at least one of the following: drilling tool length, borehole apparent radius, drilling parameters, drilling tool curvature, and preset borehole curvature;

[0065] That is, the possible contact points between the drill bit, the offset mechanism (or structural bend), the upper cutting section, the stabilizer, the tubular and the well wall are divided into a combination of multiple units. Through unit classification, the unit stiffness equation with constant matrix dimension is established, and the complex stress and deformation problems of the downhole tubular are modularly handled. Through the mechanical treatment method of the downhole tubular in different contact states, by judging whether the node support reaction force is consistent with the contact state of the well wall, a reasonable stress result of the steerable drilling tool assembly can be obtained, and the movement state of the tubular in the well can be simulated.

[0066] Step 102: establishing a drilling tool force stiffness equation based on the influencing factors according to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall;

[0067] Specifically, when establishing the drilling tool force stiffness equation, multiple types of unit matrix equations based on the influencing factors can be established first according to the contact state between the steering drilling tool assembly in the target drilling tool and the well wall; then, the multiple types of unit matrix equations based on the influencing factors are merged to obtain the drilling tool force stiffness equation;

[0068] Among them, the above-mentioned multiple types of unit matrix equations based on the influencing factors may include but are not limited to at least one of the following: for the first span drill tool node and the last span drill tool node, it may include: the matrix equation of the drill tool node closest to the drill bit contacting the well wall, the matrix equation of the drill tool node closest to the drill bit not contacting the well wall, the matrix equation of the last span drill tool end contacting the well wall, and the matrix equation of the last span drill tool end not contacting the well wall; for any intermediate unit, it may include: the matrix equation of the drill tool nodes at the ends of two spans contacting the well wall, the matrix equation of the drill tool nodes at the ends of two spans not contacting the well wall, the matrix equation of the end node of the previous span contacting the well wall and the end node of the next span not contacting the well wall, and the matrix equation of the end node of the previous span not contacting the well wall and the end node of the next span contacting the well wall.

[0069] Step 103: solving the stiffness equation according to the bending moment at the drill bit of the target drilling tool to obtain the undetermined coefficient and the length of the upper cutting section;

[0070] Step 104: Calculate output parameters according to the undetermined coefficients and the upper cutting section length, wherein the output parameters include at least one of the following: drill bit lateral force, drill bit rotation angle, support reaction force of the drilling tool, and eccentricity;

[0071] Step 105: Substituting the output parameter into the drilling speed equation to obtain the first inclination rate;

[0072] Step 106: Obtaining a converted build-up rate of the target drilling tool according to the first build-up rate and a preset conversion coefficient.

[0073] That is, in the above example, factors such as tool structure, drilling parameters, lateral cutting ability of the drill bit, and formation properties are comprehensively considered, and multiple influencing factors of the target drilling tool are introduced (for example: drilling tool length, borehole apparent radius, drilling parameters, drilling tool curvature, preset borehole curvature) to establish the stiffness equation of the drilling tool force, and the concept of conversion coefficient is introduced to determine the inclination rate, thereby solving the problem of inaccurate results in determining the existing inclination rate, and achieving the technical effect of effectively improving the accuracy of the determination of the inclination rate.

[0074] The above drilling tool force stiffness equation can be expressed as:

[0075]

[0076] in, Mk represents the unit matrix equation, 1 represents the first span drilling tool node, N represents the last span drilling tool node, k = 1 represents the well inclination plane, k = 2 represents the azimuth plane, C k,j =[C k,1,j C k,2,j C k,3,j C k,4,j C k,5,j ] Trepresents the unknown coefficient, and D represents the calculation result of the unit matrix equation, such as deflection, rotation, bending moment, contact force, etc.

[0077] When the output parameters are calculated according to the undetermined coefficients and the upper cutting section length, specifically:

[0078] The drill bit lateral force and drill bit rotation angle can be calculated according to the following formula:

[0079]

[0080] The support reaction force of the drilling tool can be calculated according to the following formula:

[0081] N sk,j =-EI j (24L k,j C k,1,j +6C k,2,j )+6EI j+1 C k,2,j+1

[0082] The eccentricity can be calculated according to the following formula:

[0083] G k,j =[u k,j (L k,j / a)-e k ] / cosψ k,j

[0084] Among them, F b,k It represents the component of the lateral force of the drill bit on the well inclination plane and the azimuth plane, in kN, θ b,k is the component of the drill bit rotation angle on the well inclination plane and azimuth plane, in rad; W b is the drilling pressure, in kN, C k represents the unknown coefficient, k = 1 represents the well inclination plane, k = 2 represents the azimuth plane, EI represents the bending stiffness, the unit is kN·m 2 , N sk,j Indicates the support reaction force, the unit is kN, L k,j Indicates the length of each span of drilling tools, in meters, G k,j represents the eccentricity, a is the proportional coefficient of any span of the pipe string, dimensionless, and e k is the projection of the pipe string on the wellbore inclination plane and azimuth plane when the wellbore is eccentric, in m, ψ k,j Indicates the curvature of the wellbore per span of the tubing string, in rad, u k Indicates the deflection of the pipe string on the well inclination plane and azimuth plane.

[0085] The above drilling speed equation can be expressed as:

[0086]

[0087] Among them, R b , R 1 , R 2 The drilling speed component considering the anisotropy index of the drill bit formation is expressed in m / h, D n represents the standard drilling efficiency, R represents the conversion matrix of the bottom hole-formation reference coordinate system, S represents the conversion matrix of the bottom hole-drill bit reference coordinate system, and I r1 ,I r2 Represents the anisotropy index of the formation, dimensionless, I b Indicates the anisotropy index of the drill bit, dimensionless, F b,1 Indicates the component of the drill bit lateral force on the well inclination plane, F b,2 It represents the component of the drill bit lateral force on the azimuth plane, W b is the drilling pressure, unit is kN.

[0088] In order to achieve accurate calculation of the build-up rate, in this example, the concept of conversion coefficient is introduced. Specifically, the converted build-up rate of the target drilling tool can be obtained according to the first build-up rate and the preset conversion coefficient according to the following formula:

[0089] The converted slope rate is calculated according to the following formula:

[0090]

[0091] Among them, κ A is the converted slope, the unit is rad / 30m, λ is the conversion coefficient obtained by inversion calculation of actual drilling data, κ 1 represents the component of the first build-up rate on the well inclination plane, κ 2 Represents the component of the first build rate on the azimuth plane.

[0092] The above method is described below in conjunction with a specific embodiment. However, it should be noted that this specific embodiment is only for better illustrating the present application and does not constitute an improper limitation on the present application.

[0093] In view of the low accuracy of the existing methods for determining the build rate, in this case, considering the comprehensive influence of factors such as tool structure, drilling parameters, lateral cutting ability of the drill bit, and formation properties, a reduced build rate prediction method based on the zero lateral drilling speed criterion and a reduced coefficient inversion method were proposed, and a set of program algorithms were established to guide the design of steerable drilling tool structure, calculate the build rate of steerable drilling tools, optimize the steerable drilling tool combination and drilling parameters, so as to obtain accurate build rate prediction results.

[0094] Specifically, a mechanical model of the steerable drilling tool assembly was established, and the data such as drilling tool length, borehole apparent radius, drilling parameters, drilling tool curvature, and preset borehole curvature were transmitted to the program as input. According to the contact state (point contact) between the steerable drilling tool assembly and the wellbore, 8 types of unit matrix equations for drilling tool force analysis were formed. The deformation and force problems of each type of unit can be written in the form of unit matrix equation M·C=D, as follows:

[0095] Among them, the first span drilling tool node and the Nth span drilling tool node can be divided into four cases:

[0096] 1) The drilling tool node closest to the drill bit contacts the well wall:

[0097]

[0098] 2) The drilling tool node closest to the drill bit does not touch the well wall:

[0099]

[0100] 3) The end of the drilling tool of the Nth span contacts the well wall:

[0101]

[0102] 4) The end of the drilling tool in the Nth span does not touch the well wall:

[0103]

[0104] The intermediate arbitrary unit can be divided into the following four cases:

[0105] 1) The drilling tool nodes at the two span ends contact the wellbore wall:

[0106]

[0107] 2) The drilling tool nodes at the two span ends do not touch the well wall:

[0108]

[0109] 3) The end node of the previous span touches the well wall, and the end node of the next span does not touch the well wall:

[0110]

[0111] 4) The end node of the previous span does not touch the well wall, and the end node of the next span touches the well wall:

[0112]

[0113] Where k = 1 represents the well inclination plane, k = 2 represents the azimuth plane, j is the dimensionless drilling tool span number, EI j Represents the corresponding bending stiffness in kN·m2 ; F j is the axial force, in kN; q k，j u is the component of each span of the pipe string reprojected to the well inclination plane and azimuth plane, in kN / m; k is the deflection of the pipe string in the well inclination plane and azimuth plane, in m; L k,j Indicates the length of each span of drilling tools, in meters; L k,N+1 Indicates the length of the upper cut segment, in m; It is the projection value of the azimuth on the well inclination plane and the azimuth plane, in rad; F p is the pushing force, the unit is kN, β is the well inclination angle at the drill bit, rad.

[0114] According to the above equations 1) to 8), the above 8 types of unit stiffness equations can be integrated into:

[0115]

[0116] Among them, C k,j =[C k,1,j C k,2,j C k,3,j C k,4,j C k,5,j ] T represents the undetermined coefficient.

[0117] In the process of data analysis, it can be assumed that the lower boundary of the steerable tool is hinged (i.e., the bending moment at the drill bit is 0), and the upper boundary of the tool lies on the bottom of the wellbore (the length of the upper cutting section L) under the influence of gravity. k,N+1 (to be determined).

[0118] Considering that the number of unknowns in the above equation 9) is one more than the number of equations, for this problem, the drill bit bending moment can be used as the judgment condition for the solution, and the bisection method can be used to iteratively calculate so that the bending moment M(LT) at the drill bit → 0, and the unknown coefficient C can be solved. k,j and the length of the upper cutting section L k,N+1 , thereby realizing modular processing of mechanical models and improving computational efficiency and stability.

[0119] Through the above calculation results, the calculation formula of the drill bit lateral force and rotation angle can be obtained as follows:

[0120]

[0121] Among them, F b,k is the component of the drill bit lateral force on the well inclination plane and azimuth plane, in kN, θ b,k is the component of the drill bit rotation angle on the well inclination plane and azimuth plane, in rad; W b is the drilling pressure, unit is kN.

[0122] The reaction force N of the wellbore wall on the drilling tool at each node sk，j The calculation formula can be expressed as:

[0123] N sk,j =-EI j (24L k,j C k,1,j +6C k,2,j )+6EI j+1 C k,2,j+1 (11)

[0124] The calculation formula of eccentricity can be expressed as:

[0125] G k,j =[u k,j (L k,j / a)-e k ] / cosψ k,j (12)

[0126] Where a is the proportional coefficient of any span of the pipe string, dimensionless; e k is the projection of the pipe string on the well inclination plane and azimuth plane when the wellbore is eccentric, in m; ψ k,j It indicates the curvature of the wellbore per span of the tubing string, in rad.

[0127] That is, the specific algorithm of the drilling tool force model can be as follows Figure 2 As shown in FIG. 1 , the method includes: taking the length of each span pipe string, borehole apparent radius, drilling parameters, bending stiffness and borehole curvature as input parameters, solving the matrix to obtain boundary conditions, continuity conditions and residual equations, thereby forming unit matrix equations for eight cases, and performing a dichotomy based on the bit bending moment to obtain the unknown coefficient C. k,j and the upper cutting length L k,N+1 Furthermore, the support reaction force, eccentricity, drill side force and drill rotation angle can be obtained based on the preset calculation formula.

[0128] Furthermore, the converted slope rate can be determined by the converted slope rate calculation model. Considering the difference between the actual drilling direction of the drill bit and the mechanical model, Figure 2 Drill side force F in the output parameters b (K L ), the drill bit angle and the corresponding drill bit-formation related parameters are substituted into the drilling speed equation, as follows:

[0129]

[0130] Among them, R b , R 1 , R 2D is the drilling speed component considering the anisotropy index of the drill bit formation, in m / h; n represents the standard drilling efficiency; R represents the conversion matrix of the bottom hole-formation reference coordinate system; S represents the conversion matrix of the bottom hole-drill bit reference coordinate system; I r1 ,I r2 Represents the anisotropy index of the formation, dimensionless; I b It represents the anisotropy index of the drill bit and is dimensionless.

[0131] Considering the close relationship between the actual wellbore trajectory and the anisotropy of the drill bit and the anisotropy of the formation, in this case, based on the three-dimensional wellbore trajectory prediction model, a reduced slope prediction method based on the zero lateral drilling rate criterion was proposed, and the following nonlinear equation was established:

[0132] R k (κ k )→0 (14)

[0133] Among them, κ k It represents the component of the wellbore curvature on the wellbore inclination plane and azimuth plane, and the unit is rad / 30m. This equation needs to use the bisection method to roughly select the solution space (the range of index slope), and then use the Newton iteration method to perform a fine search to the final solution.

[0134] Based on the calculation results of the slope rate on the two planes, the conversion coefficient can be introduced to obtain the calculation model of the reduced slope rate:

[0135]

[0136] Among them, κ A is the converted slope, the unit is rad / 30m; λ is the conversion coefficient, which can be obtained by inversion calculation of actual drilling data.

[0137] When implementing, you can Figure 3 As shown, the output slope rate K L The output parameters in the mechanical model (upper tangent point length, drill bit lateral force, drill bit rotation angle, reaction force per span, and eccentricity per span) are updated, and the conversion coefficient is set to ultimately achieve the prediction of the slope rate.

[0138] In the above example, the prediction of the converted build-up rate comprehensively considers the influence of tool structure, drilling parameters, drill bit-formation interaction, lateral drilling speed, etc., so that the tool build-up rate can be directly characterized, achieving high-precision build-up rate prediction. Figure 4 and Figure 5 As shown, the prediction results of Well A and Well B based on the prediction method of the converted slope rate in this example are very accurate.

[0139] Specifically, the processing method based on the mechanics of the steerable drilling tool can handle the stress and deformation of the steerable tool under different contact states. The offset mechanism in the rotary steerable tool and the structural bend angle in the conventional steerable tool can be reasonably embedded into the continuous conditions as unit nodes. Combined with the residual equation and boundary conditions, a matrix equation of the drilling tool stress and deformation with constant dimension is formed, which can effectively handle the nonlinear relationship between the length of the upper cutting section and the bending moment of the drill bit, and improve the calculation efficiency of the model and the stability of the program algorithm. The processing method based on the calculation model of the reduced slope rate can bring the calculation results of the matrix equation and the drill bit-formation related parameters into the drilling speed equation based on the mechanics processing method of the steerable drilling tool, and simulate the drilling direction and drilling speed distribution of the drill bit in the formation; based on the zero lateral drilling speed criterion, the limit slope rate of the steerable tool is obtained; combined with the measurement results of the actual slope rate, the conversion coefficient is introduced to obtain the calculation model processing method of the reduced slope rate.

[0140] The method embodiments provided in the above embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on an electronic device as an example, Figure 6 This is a hardware structure block diagram of an electronic device for determining a drilling tool inclination rate provided by the present application. Figure 6 As shown, the electronic device 10 may include one or more (only one is shown in the figure) processors 02 (the processor 02 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 04 for storing data, and a transmission module 06 for communication functions. It can be understood by those skilled in the art that Figure 6 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 6 More or fewer components as shown, or with Figure 6 Different configurations are shown.

[0141] The memory 04 can be used to store software programs and modules of application software, such as program instructions / modules corresponding to the method for determining the drilling tool inclination rate in the embodiment of the present application. The processor 02 executes various functional applications and data processing by running the software programs and modules stored in the memory 04, that is, the method for determining the drilling tool inclination rate of the above-mentioned application is realized. The memory 04 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 04 may further include a memory remotely arranged relative to the processor 02, and these remote memories may be connected to the electronic device 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0142] The transmission module 06 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the electronic device 10. In one example, the transmission module 06 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission module 06 can be a radio frequency (Radio Frequency, RF) module, which is used to communicate with the Internet wirelessly.

[0143] At the software level, the above devices can be Figure 7 As shown, this may include:

[0144] The acquisition module 701 is used to acquire the influencing factors of the target drilling tool, wherein the influencing factors include at least one of the following: drilling tool length, borehole apparent radius, drilling parameters, drilling tool curvature, and preset borehole curvature;

[0145] Establishing module 702, for establishing a drilling tool force stiffness equation based on the influencing factors according to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall;

[0146] A solution module 703 is used to solve the stiffness equation according to the bending moment at the drill bit of the target drilling tool to obtain the undetermined coefficient and the length of the upper cutting section;

[0147] A calculation module 704 is used to calculate output parameters according to the undetermined coefficient and the upper cutting section length, wherein the output parameters include at least one of the following: drill bit lateral force, drill bit rotation angle, support reaction force of the drilling tool, and eccentricity;

[0148] The obtaining module 705 is used to substitute the output parameter into the drilling speed equation to obtain the first inclination rate;

[0149] The determination module 706 is used to obtain the converted build-up rate of the target drilling tool according to the first build-up rate and a preset conversion coefficient.

[0150] In one embodiment, the establishment module 702 may include: an establishment unit, which is used to establish multiple types of unit matrix equations based on the influencing factors according to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall; a fusion unit, which is used to fuse the multiple types of unit matrix equations based on the influencing factors to obtain the drilling tool force stiffness equation; wherein the multiple types of unit matrix equations based on the influencing factors may include but are not limited to at least one of the following: a matrix equation for the drilling tool node closest to the drill bit to contact the well wall, a matrix equation for the drilling tool node closest to the drill bit not to contact the well wall, a matrix equation for the drilling tool end of the last span to contact the well wall, a matrix equation for the drilling tool end of the last span not to contact the well wall, a matrix equation for the drilling tool nodes at the ends of two spans to contact the well wall, a matrix equation for the drilling tool nodes at the ends of two spans not to contact the well wall, a matrix equation for the end nodes of the previous span to contact the well wall and the end nodes of the next span not to contact the well wall, and a matrix equation for the end nodes of the previous span to contact the well wall and the end nodes of the next span to contact the well wall.

[0151] In one embodiment, the above drilling tool force stiffness equation can be expressed as:

[0152]

[0153] in, Mk represents the unit matrix equation, 1 represents the first span drilling tool node, N represents the last span drilling tool node, k = 1 represents the well inclination plane, k = 2 represents the azimuth plane, C k,j =[C k,1,j C k,2,j C k,3,j C k,4,j C k,5,j ] T represents the unknown coefficients, and D represents the calculation result of the unit matrix equation.

[0154] In one embodiment, calculating the output parameter according to the undetermined coefficient and the upper cutting section length may include:

[0155] The drill bit lateral force and drill bit rotation angle are calculated according to the following formula:

[0156]

[0157] The support reaction force of the drilling tool is calculated according to the following formula:

[0158] N sk,j =-EI j (24L k,j C k,1,j +6C k,2,j )+6EI j+1 C k,2,j+1

[0159] Calculate the eccentricity according to the following formula:

[0160] G k,j =[u k,j (L k,j / a)-e k ] / cosψ k,j

[0161] Among them, F b,k It represents the component of the lateral force of the drill bit on the well inclination plane and the azimuth plane, in kN, θ b,k is the component of the drill bit rotation angle on the well inclination plane and azimuth plane, in rad; W b is the drilling pressure, in kN, C k represents the unknown coefficient, k = 1 represents the well inclination plane, k = 2 represents the azimuth plane, EI represents the bending stiffness, the unit is kN·m 2 , N sk,j Indicates the support reaction force, the unit is kN, L k,j Indicates the length of each span of drilling tools, in meters, G k,j represents the eccentricity, a is the proportional coefficient of any span of the pipe string, dimensionless, and e k is the projection of the pipe string on the wellbore inclination plane and azimuth plane when the wellbore is eccentric, in m, ψ k,j Indicates the curvature of the wellbore per span of the tubing string, in rad, u k Indicates the deflection of the pipe string on the well inclination plane and azimuth plane.

[0162] In one embodiment, the above drilling speed equation can be expressed as:

[0163]

[0164] Among them, R b , R 1 , R 2 The drilling speed component considering the anisotropy index of the drill bit formation is expressed in m / h, D n represents the standard drilling efficiency, R represents the conversion matrix of the bottom hole-formation reference coordinate system, S represents the conversion matrix of the bottom hole-drill bit reference coordinate system, and I r1 ,I r2 Represents the anisotropy index of the formation, dimensionless, I b Indicates the anisotropy index of the drill bit, dimensionless, F b,1 Indicates the component of the drill bit lateral force on the well inclination plane, F b,2 It represents the component of the drill bit lateral force on the azimuth plane, W b is the drilling pressure, unit is kN.

[0165] In one embodiment, obtaining the converted build-up rate of the target drilling tool according to the first build-up rate and a preset conversion coefficient may include:

[0166] The converted slope rate is calculated according to the following formula:

[0167]

[0168] Among them, κ A is the converted slope, the unit is rad / 30m, λ is the conversion coefficient obtained by inversion calculation of actual drilling data, κ 1 represents the component of the first build-up rate on the well inclination plane, κ 2 Represents the component of the first build rate on the azimuth plane.

[0169] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the hardware + program embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0170] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0171] Although the present application provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in the order of the method shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0172] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a vehicle-mounted human-computer interaction device, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0173] Although the present specification embodiment provides the method operation steps as described in the embodiment or flow chart, more or less operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiment is only one way in the order of execution of many steps, and does not represent a unique execution order. When the device or terminal product in practice is executed, it can be executed in sequence or in parallel (such as a parallel processor or a multi-threaded processing environment, or even a distributed data processing environment) according to the method shown in the embodiment or the accompanying drawings. The term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, product or equipment including a series of elements not only includes those elements, but also includes other elements not clearly listed, or also includes elements inherent to such process, method, product or equipment. In the absence of more restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or equipment including the elements.

[0174] For the convenience of description, the above devices are described in various modules according to their functions. Of course, when implementing the embodiments of this specification, the functions of each module can be implemented in the same or more software and / or hardware, or the module implementing the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0175] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0176] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0177] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0178] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0179] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0180] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0181] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0182] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, the embodiments of this specification may take the form of complete hardware embodiments, complete software embodiments or embodiments combining software and hardware. Moreover, the embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0183] The present specification embodiments may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present specification embodiments may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0184] Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. In the description of this specification, the description of the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of this specification. In this specification, the schematic representation of the above terms does not necessarily target the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, in the absence of contradiction, a person skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0185] The above is only an example of the embodiment of the present specification and is not intended to limit the embodiment of the present specification. For those skilled in the art, the embodiment of the present specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiment of the present specification shall be included in the scope of the claims of the embodiment of the present specification.

Claims

1. A method for determining a drilling tool deflection rate, characterized in that: The method comprises: Obtaining an influencing factor of a target drilling tool, wherein the influencing factor includes at least one of the following: drilling tool length, borehole apparent radius, drilling parameters, drilling tool curvature, and preset borehole curvature; According to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall, a drilling tool force stiffness equation based on the influencing factors is established; Solving the stiffness equation according to the bending moment at the drill bit of the target drilling tool to obtain the undetermined coefficient and the length of the upper cutting section; According to the undetermined coefficient and the upper cutting section length, the output parameter is calculated, wherein the output parameter includes at least one of the following: drill bit lateral force, drill bit rotation angle, support reaction force of the drilling tool, and eccentricity; Substituting the output parameters into the drilling speed equation to obtain the first inclination rate; Obtaining a converted build-up rate of the target drilling tool according to the first build-up rate and a preset conversion coefficient; According to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall, a drilling tool force stiffness equation based on the influencing factors is established, including: According to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall, multiple types of unit matrix equations based on the influencing factors are established; The multiple types of unit matrix equations based on the influencing factors are merged to obtain the force stiffness equation of the drilling tool; Among them, the multiple types of unit matrix equations based on the influencing factors include at least one of the following: the matrix equation of the drill tool node closest to the drill bit touching the well wall, the matrix equation of the drill tool node closest to the drill bit not touching the well wall, the matrix equation of the drill tool end of the last span touching the well wall, the matrix equation of the drill tool end of the last span not touching the well wall, the matrix equation of the drill tool nodes at the ends of two spans contacting the well wall, the matrix equation of the drill tool nodes at the ends of two spans not contacting the well wall, the matrix equation of the end node of the previous span contacting the well wall and the end node of the next span not contacting the well wall, and the matrix equation of the end node of the previous span not contacting the well wall and the end node of the next span contacting the well wall.

2. The method according to claim 1, characterized in that The drilling tool force stiffness equation is expressed as: Among them, M k represents the unit matrix equation, 1 represents the first span drilling tool node, N represents the last span drilling tool node, k = 1 represents the well inclination plane, k = 2 represents the azimuth plane, C k,j =[C k,1,j C k,2,j C k,3,j C k,4,j C k,5,j ] T represents the unknown coefficients, and D represents the calculation result of the unit matrix equation.

3. The method according to claim 2, characterized in that According to the undetermined coefficient and the upper cutting section length, the output parameters are calculated, including: The drill bit lateral force and drill bit rotation angle are calculated according to the following formula: The support reaction force of the drilling tool is calculated according to the following formula: N sk,j =-HE j (24L k,j C k,1,j +6C k,2,j )+6EI j+1 C k,2,j+1 Calculate the eccentricity according to the following formula: G k,j J[u k,j (L k,j / a)-e k ] / cosψ k,j Among them, F b,k It represents the component of the lateral force of the drill bit on the well inclination plane and the azimuth plane, in kN, θ b,k is the component of the drill bit rotation angle on the well inclination plane and azimuth plane, in rad; W b is the drilling pressure, in kN, C k represents the undetermined coefficient, EI represents the bending stiffness, the unit is kN·m 2 , N sk,j Indicates the support reaction force, the unit is kN, L k,j Indicates the length of each span of drilling tools, in meters, G k,j represents the eccentricity, a is the proportional coefficient of any span of the pipe string, dimensionless, and e k is the projection of the pipe string on the wellbore inclination plane and azimuth plane when the wellbore is eccentric, in m, ψ k,j Indicates the curvature of the wellbore per span of the tubing string, in rad, u k Indicates the deflection of the pipe string on the well inclination plane and azimuth plane.

4. The method according to claim 1, characterized in that: The drilling speed equation is expressed as: Among them, R b , R1, R2 are the drilling speed components considering the anisotropy index of the drill bit formation, in m / h, D n represents the standard drilling efficiency, R represents the conversion matrix of the bottom hole-formation reference coordinate system, S represents the conversion matrix of the bottom hole-drill bit reference coordinate system, and I r1 ,I r2 Represents the anisotropy index of the formation, dimensionless, I b Indicates the anisotropy index of the drill bit, dimensionless, F b,1 Indicates the component of the drill bit lateral force on the well inclination plane, F b,2 It represents the component of the drill bit lateral force on the azimuth plane, W b is the drilling pressure, unit is kN.

5. The method according to claim 1, characterized in that According to the first build-up rate and a preset conversion coefficient, a converted build-up rate of the target drilling tool is obtained, including: The converted slope rate is calculated according to the following formula: Among them, κ A is the converted build-up rate, the unit is rad / 30m, λ is the conversion coefficient obtained by inversion calculation of actual drilling data, κ1 represents the component of the first build-up rate on the well inclination plane, and κ2 represents the component of the first build-up rate on the azimuth plane.

6. A device for determining the drilling tool inclination rate, characterized in that: include: An acquisition module, used for acquiring an influencing factor of a target drilling tool, wherein the influencing factor comprises at least one of the following: drilling tool length, borehole apparent radius, drilling parameters, drilling tool curvature, and preset borehole curvature; Establishing a module for establishing a drilling tool force stiffness equation based on the influencing factors according to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall; A solution module, used for solving the stiffness equation according to the bending moment at the drill bit of the target drilling tool to obtain the undetermined coefficient and the length of the upper cutting section; A calculation module, used for calculating output parameters according to the undetermined coefficient and the upper cutting section length, wherein the output parameters include at least one of the following: drill bit lateral force, drill bit rotation angle, support reaction force of drilling tool, and eccentricity; A obtaining module, used for substituting the output parameter into a drilling speed equation to obtain a first inclination rate; A determination module, configured to obtain a converted build-up rate of the target drilling tool according to the first build-up rate and a preset conversion coefficient; Wherein, the establishment module includes: Establishing units for establishing multiple types of unit matrix equations based on the influencing factors according to the contact state between the steerable drilling tool assembly in the target drilling tool and the well wall; A fusion unit is used to fuse the multiple types of unit matrix equations based on the influencing factors to obtain a drilling tool force stiffness equation; Among them, the multiple types of unit matrix equations based on the influencing factors include at least one of the following: the matrix equation of the drill tool node closest to the drill bit touching the well wall, the matrix equation of the drill tool node closest to the drill bit not touching the well wall, the matrix equation of the drill tool end of the last span touching the well wall, the matrix equation of the drill tool end of the last span not touching the well wall, the matrix equation of the drill tool nodes at the ends of two spans contacting the well wall, the matrix equation of the drill tool nodes at the ends of two spans not contacting the well wall, the matrix equation of the end node of the previous span contacting the well wall and the end node of the next span not contacting the well wall, and the matrix equation of the end node of the previous span not contacting the well wall and the end node of the next span contacting the well wall.

7. An electronic device, comprising a processor and a memory for storing processor-executable instructions, wherein the processor implements the steps of the method according to any one of claims 1 to 5 when executing the instructions.

8. A computer-readable storage medium having computer instructions stored thereon, wherein the instructions, when executed, implement the steps of the method according to any one of claims 1 to 5.

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