A method and system for continuous wave smooth phase modulation of drilling fluids

Abstract

The application provides a drilling fluid continuous wave smooth phase modulation method and system, and the method comprises the following steps: determining a target continuous wave signal according to downhole information collected by a downhole sensor; determining a required rotation angle of a driving motor in a current carrier cycle corresponding to the downhole information according to a preset modulation rule; determining a driving motor speed change trend in the current carrier cycle corresponding to the downhole information according to a preset speed planning method; combining the modulation rule and the speed planning method to smooth the driving motor speed under the condition that the continuous wave signal phase changes according to a predetermined rule, while ensuring the continuity of the driving motor movement; planning the driving motor speed in the whole process through a pressure wave modulation equation according to the target continuous wave signal, the required rotation angle of the driving motor and the driving motor speed change trend, and then establishing the relationship between the wave phase and the rotor speed and position in the shear valve, so as to realize the driving motor control in the drilling fluid continuous wave generator.

Description

TECHNICAL FIELD

[0001] The present application relates to a drilling fluid continuous wave smooth phase modulation method and system. BACKGROUND

[0002] With the development of automatic drilling technology, people need to obtain as much downhole information as possible in real time, so that the measurement while drilling technology becomes the key to realize. At present, the measurement while drilling technology is subject to low information upload rate, which is difficult to provide effective help for on-site decision-making, so the downhole information transmission technology becomes the focus of research. In the downhole information transmission technology, the drilling fluid continuous wave transmission mode belongs to the frequency band transmission, the rate is relatively high, the anti-interference ability is relatively strong, and it has broad application prospect, so it is most widely used in the measurement while drilling technology. One of the keys to realize continuous wave information transmission is the modulation of continuous wave signal. The existing continuous wave signal modulation modes mainly include amplitude shift keying (ASK), frequency shift keying (FSK) and phase shift keying (PSK). Among them, PSK can realize higher bandwidth utilization, and the modulation is simple, which is conducive to the improvement of signal transmission rate, so it is widely used. SUMMARY

[0003] The present application relates to a drilling fluid continuous wave smooth phase modulation method and system.

[0004] In the first aspect, the present application provides a drilling fluid continuous wave smooth phase modulation method, comprising:

[0005] determining a target continuous wave signal according to downhole information collected by a downhole sensor;

[0006] determining a required rotation angle of a driving motor in a current carrier cycle corresponding to the downhole information according to a preset modulation rule;

[0007] determining a driving motor speed change trend in the current carrier cycle corresponding to the downhole information according to a preset speed planning method;

[0008] determining a driving motor speed result at each moment through the following pressure wave modulation equation according to the target continuous wave signal, the required rotation angle of the driving motor and the driving motor speed change trend:

[0009]

[0010] wherein s(t) is the target continuous wave signal value at different time, A is the continuous wave signal amplitude, n is the number of shear valve blades, is the initial rotation angle of the driving motor, and the maximum opening of the shear valve is taken as the zero position point, is the rotation speed of the driving motor at each time, is the initial phase of the continuous wave signal;

[0011] According to the rotation speed of the driving motor at each time, the rotor of the shear valve driven by the driving motor is controlled to rotate relative to the stator, and the continuous wave signal of the drilling fluid is generated.

[0012] In one or some embodiments, the method further comprises:

[0013] encoding the downhole information to obtain corresponding encoded data;

[0014] According to the preset modulation rule, the required rotation angle of the driving motor in the current carrier cycle corresponding to the encoded data is determined.

[0015] In one or some embodiments, the method further comprises:

[0016] According to the preset modulation rule, the phase difference of the continuous wave signal in the current carrier cycle corresponding to the encoded data is determined.

[0017] According to the preset modulation rule, the required rotation angle of the driving motor corresponding to the phase difference of the continuous wave signal in the current carrier cycle is determined.

[0018] In one or some embodiments, the preset modulation rule comprises a first preset modulation rule and a second preset modulation rule, the first preset modulation rule is to establish a first mapping relationship between the encoded data and the phase offset of the continuous wave signal, and the second preset modulation rule is to establish a second mapping relationship between the phase offset of the continuous wave signal and the required rotation angle of the driving motor;

[0019] The method further comprises:

[0020] According to the first mapping relationship, the phase offset of the continuous wave signal corresponding to the encoded data is determined.

[0021] According to the second mapping relationship, the required rotation angle of the driving motor corresponding to the phase offset of the continuous wave signal is determined.

[0022] In one or some embodiments, the encoded data includes current encoded data and last encoded data, and the current encoded data and the last encoded data are both binary data;

[0023] The determining of the rotation angle of the driving motor in the current carrier cycle corresponding to the encoded data according to the preset modulation rule comprises:

[0024] If the current encoded data and the last encoded data are both 0, the shift of the continuous wave signal relative to the phase of the carrier signal is 0, and the rotation angle of the driving motor is determined by the following formula:

[0025]

[0026] If the current encoded data and the last encoded data are both 1, the shift of the continuous wave signal relative to the phase of the carrier signal is π, and the rotation angle of the driving motor is determined by the following formula:

[0027]

[0028] If the current encoded data and the last encoded data are not the same, the rotation angle of the driving motor is determined by the following formula:

[0029]

[0030] Wherein, n is the number of shear valve blades, is the shift of the last continuous wave signal relative to the phase of the carrier signal, is the shift of the current continuous wave signal relative to the phase of the carrier signal.

[0031] In one or some embodiments, the encoded data includes current encoded data and last encoded data;

[0032] The determining of the rotation angle of the driving motor in the current carrier cycle corresponding to the encoded data according to the preset modulation rule comprises:

[0033] The current encoded data and the last encoded data are obtained;

[0034] The current encoded data and the last encoded data are obtained;

[0035] In one or some embodiments, the determining of the rotation angle of the driving motor in the current carrier cycle corresponding to the encoded data according to the preset modulation rule comprises:

[0036] If the current encoded data and the last encoded data are both 0, the initial rotation speed of the driving motor and the end rotation speed of the driving motor are both 0, and the rotation speed of the driving motor increases first and then decreases in the S curve.

[0037] If the current encoding data and the last encoding data are both 1, the starting rotation speed of the driving motor and the ending rotation speed of the driving motor are both not 0, and the zero rotation speed point needs to be passed, the driving motor rotation speed is first reduced to 0 by an S curve, and then reversely accelerated by an S curve after reaching the zero rotation speed point;

[0038] If the last encoding data is 0 and the current encoding data is 1, the starting rotation speed of the driving motor is 0, the ending rotation speed of the driving motor is not 0, and the driving motor is accelerated by an S curve.

[0039] If the last encoding data is 1 and the current encoding data is 0, the starting rotation speed of the driving motor is not 0, the ending rotation speed of the driving motor is 0, and the driving motor is decelerated by an S curve.

[0040] In a second aspect, an embodiment of the present application provides a drilling fluid continuous wave smooth phase modulation parameter determination device, comprising:

[0041] A target continuous wave signal determination module is configured to determine a target continuous wave signal according to downhole information collected by a downhole sensor.

[0042] A driving motor required rotation angle determination module is configured to determine a driving motor required rotation angle in a current carrier cycle corresponding to the downhole information according to a preset modulation rule.

[0043] A driving motor rotation speed change trend determination module is configured to determine a driving motor rotation speed change trend in the current carrier cycle corresponding to the downhole information according to a preset speed planning method.

[0044] A driving motor rotation speed result determination module is configured to determine a driving motor rotation speed result at each moment according to the target continuous wave signal, the driving motor required rotation angle and the driving motor rotation speed change trend through a pressure wave modulation equation.

[0045]

[0046] Wherein, s(t) is a target continuous wave signal value at different moments, A is a continuous wave signal amplitude, n is a shear valve blade number, is a driving motor initial rotation angle, and the maximum shear valve opening is taken as a zero position point, is a driving motor rotation speed at each moment, is a continuous wave signal initial phase.

[0047] In a third aspect, an embodiment of the present application provides a drilling fluid continuous wave smooth phase modulation system, comprising a continuous wave signal generator and the drilling fluid continuous wave smooth phase modulation parameter determination device as described above, wherein the continuous wave signal generator is connected with the drilling fluid continuous wave smooth phase modulation parameter determination device.

[0048] The continuous wave signal generator comprises a controller, a driving motor and a shear valve.

[0049] The controller is configured to control the rotor of the shear valve to rotate relative to the stator to generate the continuous wave signal of the drilling fluid according to the rotational speed of the driving motor at each time point.

[0050] In one or some embodiments, the shear valve comprises a stator and a rotor arranged coaxially, and the stator and the rotor have the same number of blades and the same opening angle of the valve port.

[0051] In the fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the continuous wave smooth phase modulation method of the drilling fluid.

[0052] In the fifth aspect, the embodiments of the present application provide an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the continuous wave smooth phase modulation method of the drilling fluid when executing the program.

[0053] Based on the above technical solutions, the present application has the following beneficial effects compared with the prior art:

[0054] The continuous wave smooth phase modulation method of the drilling fluid provided by the embodiments of the present application determines a target continuous wave signal according to downhole information collected by a downhole sensor; determines a required rotation angle of a driving motor in a current carrier cycle corresponding to the downhole information according to a preset modulation rule; determines a rotation speed change trend of the driving motor in the current carrier cycle corresponding to the downhole information according to a preset speed planning method; combines the preset modulation rule and the preset speed planning method to smooth the rotation speed of the driving motor under the condition of ensuring the change of the phase of the continuous wave signal according to a predetermined rule, ensures the continuity of the movement of the driving motor, and improves the smoothness of the speed of the driving motor in the oscillating shear valve type continuous wave generator; determines a rotational speed result of the driving motor at each time point through a pressure wave modulation equation according to the target continuous wave signal, the required rotation angle of the driving motor and the rotation speed change trend of the driving motor, realizes the smooth rotation of the driving motor by using the preset speed planning method, plans the rotation speed of the driving motor in the whole process through the pressure wave modulation equation, and further establishes the relationship between the waveform phase and the rotation speed and position of the rotor in the shear valve, so as to realize the control of the driving motor in the drilling fluid continuous wave generator.

[0055] The drilling fluid continuous wave smooth phase modulation method provided by the embodiment of the present application controls the rotation of the rotor of the shear valve relative to the stator driven by the motor according to the rotation speed of the motor at each moment to generate a drilling fluid continuous wave signal, realizes the change of the phase of the continuous wave signal under the condition of smooth change of the rotation speed of the motor, and solves the problem of direct jump of the signal phase when the sign phase changes during the phase modulation of the continuous wave signal. BRIEF DESCRIPTION OF DRAWINGS

[0056] One or more embodiments are illustrated by way of example in the figures that form a part of this patent document, and which do not limit the scope of embodiments, the same reference notations in the drawings designate corresponding elements, unless otherwise stated, and in which:

[0057] Figure 1 The flowchart of the drilling fluid continuous wave smooth phase modulation method provided by the embodiment of the present application is shown in the figure.

[0058] Figure 2 The mapping table of the sign and the phase of the continuous wave signal provided by the present application is shown in the figure.

[0059] Figure 3a The structure diagram of the oscillating shear valve stator provided by the embodiment of the present application is shown in the figure.

[0060] Figure 3b The structure diagram of the oscillating shear valve rotor provided by the embodiment of the present application is shown in the figure.

[0061] Figure 4 The function relationship diagram of the rotation angle-time of the motor during the operation of the motor in the present application is shown in the figure.

[0062] Figure 5 The function relationship diagram of the rotation speed-time of the rotor of the motor during the operation of the rotor in the present application is shown in the figure.

[0063] Figure 6 The continuous wave waveform diagram during the smooth modulation in the embodiment of the present application is shown in the figure.

[0064] Figure 7 The structure diagram of the drilling fluid continuous wave smooth phase modulation parameter determination device provided by the present application is shown in the figure.

[0065] Figure 8 The structure diagram of the drilling fluid continuous wave smooth phase modulation system provided by the present application is shown in the figure.

[0066] Figure 9 The structure diagram of the electronic device provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0067] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0068] It should be noted that the various features of the embodiments of the present application can be combined with each other without conflict, and all fall within the protection scope of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a manner different from the module division in the device or the order in the flowchart. Furthermore, the "first", "second", "third" and the like used in the present application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same function and effect.

[0069] In downhole information transmission technology such as downhole information transmission technology of oil drilling, the drilling fluid continuous wave transmission mode belongs to frequency band transmission, has relatively high rate, strong anti-interference ability, has broad application prospect, and is most widely applied in the while-drilling measurement technology. The drilling fluid continuous wave information transmission system is mainly divided into oscillating shear valve type and rotating valve type according to a continuous wave signal generation mode, wherein the oscillating shear valve type continuous wave information transmission system (hereinafter referred to as a continuous wave information transmission system) has the characteristics of high signal transmission rate and strong robustness, and has better application prospect. The system mainly includes a downhole sensor, a downhole waveform generation unit, a drilling fluid channel, a ground signal receiving and processing unit, wherein the core component of the downhole waveform generation unit is an oscillating shear valve type continuous wave signal generator (hereinafter referred to as a continuous wave generator), mainly including a shear valve, a driving motor, a signal modulation and control module, wherein the shear valve includes a pair of stator and rotor. When the continuous wave information transmission system works, the downhole information is measured, encoded by the downhole sensor, converted into preset number system data such as binary data and transmitted to the signal modulation and control module in the downhole waveform generation unit. The module generates modulated information according to the signal modulation mode and controls the driving motor to drive the rotor to reciprocate relative to the stator, so as to periodically block the flow path of the drilling fluid, form a certain regular drilling fluid pressure fluctuation on the upstream of the stator, the pressure fluctuation is called continuous wave, the process of converting the preset number system data such as binary data into continuous wave is called continuous wave signal modulation, then the continuous wave is transmitted to the ground through the drilling fluid channel, and the ground signal receiving and processing unit receives the continuous wave and restores it to the downhole information. As can be seen, one of the keys to realize the continuous wave information transmission is the modulation of the continuous wave signal. Based on this, the embodiment of the present application provides a drilling fluid continuous wave smooth phase modulation method, wherein the smooth indicates that the driving motor rotation angle and rotation speed curve are continuously derivable in the continuous wave signal phase change process, such as Figure 1 As shown in the figure, it comprises:

[0070] S101, determining a target continuous wave signal according to downhole information collected by a downhole sensor;

[0071] In the above step S101, the downhole information collected by the downhole sensor such as inclination angle, azimuth angle, drilling pressure and torque data is obtained, the downhole information is converted into preset number system such as binary data, so as to convert the downhole information into a string of coded symbols. The binary data is superimposed on the carrier signal to obtain the continuous wave signal phase, and the target continuous wave signal is determined.

[0072] S102, determining the required rotation angle of the driving motor in the current carrier cycle corresponding to the downhole information according to a preset modulation rule;

[0073] The step S102 is to establish the relationship between the data in the preset number system and the phase of the drilling fluid continuous wave signal according to the preset modulation rule. The phase of the drilling fluid continuous wave signal is changed by changing the required rotation angle of the driving motor according to the target continuous wave signal. The data in the preset number system, such as binary data, is divided into symbols, and a symbol-to-symbol phase mapping table is established, as shown in Figure 2 Specifically, a one-to-one correspondence between the symbol and the continuous wave signal phase offset and the rotation angle of the rotor relative to the initial position, i.e., the required rotation angle of the driving motor, is established. Thus, the required rotation angle of the driving motor can be determined according to the received coded symbol. The driving motor is rotated step by step to reach the required rotation angle of the driving motor, thereby continuously changing the phase of the continuous wave signal, and solving the problem of direct phase jump when the symbol phase changes during phase modulation.

[0074] S103, determining the driving motor speed change trend in the current carrier cycle corresponding to the downhole information according to a preset speed planning method;

[0075] In the step S103, the driving motor speed change trend is determined based on the preset number system data according to the downhole information corresponding to the preset number system data by using the preset speed planning method. Under the condition that the phase of the continuous wave signal changes according to the predetermined rule, the speed of the driving motor is smoothed, the continuity of the driving motor movement is ensured, and the stability of the driving motor speed in the oscillating shear valve type continuous wave generator is improved.

[0076] S104, determining the driving motor speed at each moment according to the target continuous wave signal, the required rotation angle of the driving motor, and the driving motor speed change trend by using the following pressure wave modulation equation:

[0077]

[0078] Wherein, s(t) is the value of the target continuous wave signal at different moments, A is the amplitude of the continuous wave signal, n is the number of shear valve blades, is the initial rotation angle of the driving motor, and the maximum opening of the oscillating shear valve is taken as the zero position point, is the speed of the driving motor at each moment, is the initial phase of the continuous wave signal;

[0079] In the step S104, the target continuous wave signal is substituted into the pressure wave modulation equation, and the driving motor speed at each moment in the carrier cycle is obtained according to the required rotation angle of the driving motor and the driving motor speed change trend, so that the driving motor rotates by the corresponding angle under the condition of smooth speed change. The driving motor speed in the whole process is planned by using the pressure wave modulation equation, and the relationship between the waveform phase and the rotor speed and position in the oscillating shear valve is established, so as to realize the control of the driving motor in the drilling fluid continuous wave generator.

[0080] S105, controlling the driving motor to drive the rotor of the shear valve to rotate relative to the stator according to the driving motor speed at each moment, to generate the continuous wave signal of the drilling fluid.

[0081] In the step S105, since the oscillating shear valve is directly driven by the driving motor, the driving motor speed is the shear valve speed, and the driving motor drives the rotor of the shear valve to rotate relative to the stator according to the driving motor speed at each moment, so that the drilling fluid pressure wave is generated above the stator according to the preset modulation rule, the preset numeral system data is modulated into the drilling fluid pressure wave, and the generated drilling fluid pressure wave is a continuous pressure wave, and the generated drilling fluid continuous wave signal is the target continuous wave signal.

[0082] The drilling fluid continuous wave smooth phase modulation method provided by the embodiment of the present application combines the modulation rule and the speed planning method to ensure the continuity of the driving motor movement and the smoothness of the driving motor speed in the oscillating shear valve type continuous wave generator under the condition that the continuous wave signal phase changes according to the predetermined conventional rule, and to improve the smoothness of the driving motor speed in the oscillating shear valve type continuous wave generator; according to the target continuous wave signal, the required rotation angle of the driving motor and the driving motor speed change trend, the driving motor speed at each moment is determined through the pressure wave modulation equation, the driving motor smooth rotation between the code symbols is realized by using the speed planning, the driving motor speed in the whole process is planned through the pressure wave modulation equation, and the relationship between the wave phase and the rotor speed and position in the shear valve is established, so as to realize the driving motor control in the drilling fluid continuous wave generator.

[0083] The drilling fluid continuous wave smooth phase modulation method provided by the embodiment of the present application comprehensively considers the physical process of the drilling fluid continuous wave generation, realizes the change of the continuous wave signal phase under the condition of the smooth change of the driving motor speed by using the phase modulation method between the code symbols, and solves the problem of the direct jump of the speed when the symbol phase changes during the phase modulation.

[0084] In one or some embodiments, the required rotation angle of the driving motor in the current carrier cycle corresponding to the downhole information is determined according to the preset modulation rule in the step S102, and specifically includes:

[0085] S1021, encoding the downhole information to obtain corresponding code data;

[0086] In the step S1021, the downhole information is encoded and converted into data of a preset numeral system to obtain corresponding code data, for example, binary data, and the downhole information can be converted into data of different numeral systems according to actual needs.

[0087] S1022. Determine the required rotation angle of the motor within the current carrier period corresponding to the encoded data according to the preset modulation rule.

[0088] In step 1022 above, the required rotation angle of the drive motor can be determined according to the encoded data corresponding to the downhole information and the preset modulation rules.

[0089] In one embodiment, step S1022 above, which involves determining the required rotation angle of the drive motor within the current carrier period corresponding to the encoded data based on the preset modulation rule, specifically includes:

[0090] S10221a. Determine the phase difference of the continuous wave signal within the current carrier period corresponding to the encoded data according to the preset modulation rule;

[0091] S10222a. According to the preset modulation rule, determine the required rotation angle of the drive motor corresponding to the phase difference of the continuous wave signal in the current carrier period.

[0092] In one embodiment, the preset modulation rule includes a first preset modulation rule and a second preset modulation rule, such as... Figure 2 As shown, the first preset modulation rule is to establish a first mapping relationship between the encoded data and the phase offset of the continuous wave signal, and the second preset modulation rule is to establish a second mapping relationship between the phase offset of the continuous wave signal and the required rotation angle of the drive motor.

[0093] The step S1022 above, which involves determining the required rotation angle of the motor within the current carrier period corresponding to the encoded data according to the preset modulation rule, specifically includes:

[0094] S10221b. Determine the phase offset of the continuous wave signal corresponding to the encoded data according to the first mapping relationship;

[0095] In step S10221b above, according to... Figure 2 The mapping table shown indicates that if the encoded data is 0, the corresponding phase offset of the continuous wave signal is 0, and if the encoded data is 1, the corresponding phase offset of the continuous wave signal is π.

[0096] S10222b: Determine the required rotation angle of the drive motor corresponding to the phase offset of the continuous wave signal according to the second mapping relationship.

[0097] In step S10222b above, according to... Figure 2 The mapping table shown indicates that if the encoded data is 0, the required rotation angle of the drive motor is 0° or 60°, and if the encoded data is 1, the required rotation angle of the drive motor is 30°.

[0098] The existing continuous wave signal modulation methods mainly include amplitude shift keying (ASK), frequency shift keying (FSK) and phase shift keying (PSK). The PSK can achieve higher bandwidth utilization, and the modulation is simple, which is conducive to the improvement of signal transmission rate, and thus is widely used. Taking the BPSK modulation as an example, the existing signal modulation method based on binary phase shift keying (BPSK) makes the phase of the continuous wave signal change at the detection point. Since the phase of the continuous wave signal is determined by the rotation angle of the rotor, if the phase of the modulated waveform is discontinuous, the rotor speed needs to change at the discontinuous point. However, due to the existence of the rotor inertia, the rotor speed is continuous. The rotor of the oscillating shear valve reciprocates relative to the stator, and needs to rotate in the opposite direction after rotating a certain angle. Therefore, the rotor speed curve has two zero points. The rotary valve is continuously rotated, and the rotary valve type signal modulation method based on continuous rotation cannot be applied to reciprocating oscillation. Therefore, the existing rotary valve type continuous wave generator signal modulation method cannot be applied to the shear valve type continuous wave signal generator. Meanwhile, if the rotor waits for the phase change of the continuous wave signal at the zero speed point to realize signal modulation, the signal transmission rate will be significantly reduced. In summary, it is of great significance to propose a method for modulating the phase of the continuous wave signal under the condition of continuous and smooth motion of the motor.

[0099] In one embodiment, in order to change the driving motor speed smoothly during the phase change of the continuous wave signal, the speed planning method is used to design the speed of the driving motor. Taking the binary phase shift keying modulation as an example, when sending binary data 0, the phase of the continuous wave signal is offset from the carrier signal by 0, at this time, the flow area of the drilling fluid in the shear valve area is maximum, and the amplitude of the continuous wave signal is minimum; when sending binary data 1, the phase of the continuous wave signal is offset from the carrier signal by π, at this time, the flow area of the drilling fluid in the shear valve area is minimum, and the amplitude of the continuous wave signal is maximum.

[0100] The encoded data includes current encoded data and last encoded data, and the current encoded data and the last encoded data are both binary data;

[0101] The step S1022 of determining the required rotation angle of the driving motor in the current carrier cycle corresponding to the encoded data according to the preset modulation rule includes:

[0102] If the current encoder data and the last encoded data are both 0, the offset of the phase of the continuous wave signal from the carrier signal is 0, and the required rotation angle of the driving motor is determined by the following formula:

[0103]

[0104] If the current encoder data and the last encoder data are both 1, the offset of the continuous wave signal relative to the phase of the carrier signal is π, and the required rotation angle of the driving motor is determined by the following formula:

[0105]

[0106] If the current encoder data and the last encoder data are not the same, the required rotation angle of the driving motor is determined by the following formula:

[0107]

[0108] Where n is the number of shear valve blades, is the offset of the last continuous wave signal relative to the phase of the carrier signal, is the offset of the current continuous wave signal relative to the phase of the carrier signal.

[0109] In the embodiment of the application, the offset of the continuous wave signal phase in the current carrier cycle and the required rotation angle of the driving motor are calculated by comparing the current encoder data, i.e., the binary data currently sent by the encoder, with the last encoder data, i.e., the binary data last sent by the encoder.

[0110] In one embodiment, the encoding data includes current encoding data and last encoding data.

[0111] The step S103 of determining the driving motor speed change trend corresponding to the downhole information in the current carrier cycle according to the preset speed planning method includes the following steps.

[0112] S1031, obtaining current encoding data and last encoding data.

[0113] In the step S1031, the binary data last sent by the encoder, i.e., the last encoding data, and the binary data currently sent by the encoder, i.e., the current encoding data, are obtained.

[0114] S1032, determining the speed change trend corresponding to the required rotation angle of the driving motor based on the current encoding data and the last encoding data according to a preset speed planning method.

[0115] In the step S1032, the driving motor speed change trend is planned according to the current encoding data and the last encoding data, so that the driving motor rotates the required rotation angle under the condition of smooth speed change. The preset speed planning method can be set according to actual needs, as long as it can make the driving motor rotate smoothly.

[0116] In one embodiment, the rotational angle of the driving motor is planned according to the required rotational angle of the driving motor, and the rotational speed of the driving motor is planned to rotate the corresponding angle under the condition of smooth speed change, for example, the rotational speed of the driving motor is planned by using an S-curve, and the planning method is as follows:

[0117] The step S1032 of determining the speed change trend corresponding to the required rotational angle of the driving motor according to the preset speed planning method based on the current encoding data and the last encoding data includes:

[0118] If the current encoding data and the last encoding data are both 0, the starting rotational speed of the driving motor and the ending rotational speed of the driving motor are both 0, and the rotational speed of the driving motor is first increased and then decreased by using an S-curve.

[0119] If the current encoding data and the last encoding data are both 1, the starting rotational speed of the driving motor and the ending rotational speed of the driving motor are both not 0, and the rotational speed of the driving motor needs to pass through a zero speed point, the rotational speed of the driving motor is first decreased to 0 by using an S-curve, and then reversely accelerated by using an S-curve after reaching the zero speed point.

[0120] If the last encoding data is 0 and the current encoding data is 1, the starting rotational speed of the driving motor is 0, the ending rotational speed of the driving motor is not 0, and the driving motor is accelerated by using an S-curve.

[0121] If the last encoding data is 1 and the current encoding data is 0, the starting rotational speed of the driving motor is not 0, the ending rotational speed of the driving motor is 0, and the driving motor is decelerated by using an S-curve.

[0122] It should be noted that the planning method is only one specific embodiment of the present application, and in other embodiments, other methods can also be used, and any method that can make the rotational speed of the driving motor change smoothly is within the protection scope of the embodiments of the present application.

[0123] As a specific embodiment, the stator and rotor structures of the oscillating shear valve provided by the embodiments of the present application are shown in Figure 3a , 3b respectively. The stator and rotor both include six uniformly distributed blades, and the projection of the rotor blade 11 on the stator at the initial moment can completely coincide with the stator blade 9. The opening angle of the stator valve port 10 and the rotor valve port 12 is both 22.5°. When the stator is installed upstream of the rotor, the stator and rotor blades have the same center, and the gap between them is 2 mm. When the projection of the rotor blade 11 on the stator completely coincides with the stator blade 9, the flow area of the drilling fluid at the oscillating shear valve is maximum, the amplitude of the pressure wave of the drilling fluid generated upstream of the stator is minimum, and the phase of the continuous wave signal is 0; when the projection of the rotor blade 11 on the stator completely blocks the stator valve port 10, the flow area of the drilling fluid at the oscillating shear valve is minimum, the amplitude of the pressure wave of the drilling fluid generated upstream of the stator is maximum, and the phase of the continuous wave signal is π.

[0124] The preset modulation rule, namely the mapping table of symbol 13, continuous wave signal phase offset 14, and rotor rotation angle 15 relative to initial position, is as follows: Figure 2 As shown. It should be noted that the continuous wave signal phase offset 14 is the phase of the continuous wave signal at the detection moment, the rotor initial position is the rotor position when the projection of rotor blade 11 on the stator completely coincides with the stator blade 9 at the moment the oscillating shear valve starts working, and the rotor rotation angle 15 relative to the initial position is the rotation angle of the rotor relative to the initial position at the detection moment. Taking binary phase shift keying (BPSK) as an example, according to the BPSK modulation rules, symbol 0 corresponds to a continuous wave signal phase offset of 0, and symbol 1 corresponds to a continuous wave signal phase offset of π. Assuming the continuous wave generator starts working with a continuous wave signal phase of 0, at this time the stator and rotor blades are axially aligned, and the drilling fluid flow area is at its maximum. When symbol 0 is sent, after the carrier cycle time ends, the stator and rotor should still keep their axes aligned to maximize the drilling fluid flow area. For the oscillating shear valve structure in the embodiment, the rotor blades rotate 0 or 60° relative to the initial position. When symbol 1 is sent, the drilling fluid pressure wave amplitude formed upstream of the stator is at its maximum, the drilling fluid flow area in the valve region is at its minimum, the rotor blades completely block the stator valve port, and the rotor blades rotate 30° relative to the initial position.

[0125] To further describe the drilling fluid continuous wave smoothing phase modulation method provided in this embodiment of the invention, this embodiment uses binary data as an example to illustrate the rotation angle of the drive motor (i.e., the shear valve), the rotor speed, and the drilling fluid continuous wave waveform during the drilling fluid continuous wave smoothing phase modulation process:

[0126] When the binary data is "0110", the change of the rotor angle of the oscillating shear valve over time is as follows: Figure 4As shown in the figure. Based on the motion characteristics of the oscillating shear valve, the rotor angle smoothly changes between 0 and 60°. We define an increase in rotor angle as forward rotation and a decrease as reverse rotation. When the transmitted binary data is 0, the rotor angle smoothly changes by 60° within the carrier period T. At this time, the projection of the rotor blades on the stator still coincides with the stator blades, the drilling fluid flow area is at its maximum, and the continuous wave signal phase remains unchanged. The rotor angle change is shown as curve 16 in the figure. Subsequently, binary data 1 is transmitted. Since the rotor has reached its maximum rotation angle, it rotates in the reverse direction according to curve 17, rotating 30° after one carrier period. At this time, the projection of the rotor blades on the stator coincides with the stator valve opening, the drilling fluid flow area is at its minimum, the continuous wave signal amplitude is at its maximum, and the signal phase shift is π. Subsequently, binary data 1 is transmitted again. Since the rotor has not returned to its initial position, it first rotates in the reverse direction, then in the forward direction, finally reaching an angle of 30°. The angle change is shown as curve 18. Then, binary data 0 is sent. The phase of the continuous wave signal needs to be offset by 0, the amplitude is the smallest, and the drilling fluid flow area is the largest. Since the rotor has not reached the maximum rotation angle, the rotor only needs to rotate 30° in the positive direction within one carrier cycle. The change in rotation angle is shown in curve 19.

[0127] When the binary data is "0110", the change in rotor speed of the oscillating shear valve over time is as follows: Figure 5 As shown in the figure, the rotor speed of the shear valve is planned using an S-curve. Initially, the continuous wave signal phase is 0. When binary data 0 is sent, the rotor needs to rotate 60° to ensure its projection on the stator coincides with the stator blades, and this rotation is in the opposite direction. After rotating 60°, the rotor speed should be 0. Therefore, the rotor speed changes according to curve 20. Then, binary data 1 is sent. Because the rotor has reached its rotation limit, it needs to reverse 30° to ensure the drilling fluid flow area is minimized. At this time, the speed change curve is shown as curve 21. Then, binary data 1 is sent again. The rotor first decelerates in the reverse direction to 0, and then accelerates in the forward direction to ensure the shear valve position remains unchanged. The speed change is shown as curve 22. Finally, binary data 0 is sent. The rotor decelerates according to curve 23, eventually reaching a position with a rotation angle of 60°.

[0128] When the binary data "0110" is sent, the continuous wave waveform of the drilling fluid is as follows: Figure 6 As shown in the figure. When data 0 is transmitted, the waveform is as shown in curve 24; when data 1 is transmitted, the waveform is as shown in curve 25; when data 1 is transmitted, the waveform is as shown in curve 26; when data 0 is transmitted, the waveform is as shown in curve 27. It can be seen from the figure that when the carrier period ends, the signal phase can reach the preset value.

[0129] Example 2

[0130] Based on the same inventive concept, embodiments of the present invention provide a device for determining the smooth phase modulation parameters of drilling fluid continuous wave, such as... Figure 7 As shown, it includes:

[0131] a target continuous wave signal determination module 201, configured to determine a target continuous wave signal according to downhole information collected by a downhole sensor;

[0132] a required rotation angle determination module 202, configured to determine a required rotation angle of a driving motor in a current carrier cycle corresponding to the downhole information according to a preset modulation rule;

[0133] a driving motor rotation speed change trend determination module 203, configured to determine a driving motor rotation speed change trend in the current carrier cycle corresponding to the downhole information according to a preset speed planning method;

[0134] a driving motor rotation speed result determination module 204, configured to determine a driving motor rotation speed result at each moment according to the target continuous wave signal, the required rotation angle of the driving motor and the driving motor rotation speed change trend through a pressure wave modulation equation as follows:

[0135]

[0136] wherein s(t) is a target continuous wave signal value at different moments, A is a continuous wave signal amplitude, n is a number of shear valve blades, is an initial rotation angle of the driving motor, and the maximum oscillation shear valve opening is taken as a zero position point, is a driving motor rotation speed at each moment, is an initial phase of the continuous wave signal.

[0137] The drilling fluid continuous wave smooth phase modulation parameter determination device provided by the embodiment of the present application determines the driving motor rotation speed in the whole process through a preset modulation rule, a preset speed planning method and a pressure wave modulation equation based on a target continuous wave signal corresponding to downhole information, and then establishes the relationship between the waveform phase and the rotor rotation speed and position of the shear valve, so as to realize the driving motor control in the drilling fluid continuous wave generator. Subsequently, the driving motor can be controlled to drive the rotor of the shear valve to rotate relative to the stator according to the determined driving motor rotation speed result at each moment, and the continuous wave is generated on the stator according to the modulation rule, the binary data is modulated into the drilling fluid continuous wave signal, and thus the target continuous wave signal is generated. The specific implementation manner can refer to the related description of the drilling fluid continuous wave smooth phase modulation method in the first embodiment, which will not be described here.

[0138] The embodiment of the present application also provides a drilling fluid continuous wave smooth phase modulation system, as shown in Figure 8 The drilling fluid continuous wave smooth phase modulation system comprises a continuous wave signal generator and a drilling fluid continuous wave smooth phase modulation parameter determination device as described above, and the continuous wave signal generator is connected with the drilling fluid continuous wave smooth phase modulation parameter determination device.

[0139] The drilling fluid continuous wave smooth phase modulation parameter determination device comprises an encoder 1 and a modulator 2.

[0140] The encoder 1 is used for determining a target continuous wave signal according to downhole information collected by a downhole sensor and transmitting the target continuous wave signal to the modulator 2.

[0141] The modulator 2 is used for determining a driving motor speed change trend in a current carrier cycle corresponding to the downhole information according to a preset speed planning method, and determining a driving motor speed result at each moment through a pressure wave modulation equation according to the target continuous wave signal, a required rotation angle of the driving motor and the driving motor speed change trend and transmitting the driving motor speed result at each moment to the controller 3.

[0142]

[0143] Wherein s(t) is a target continuous wave signal value at different moments, A is a continuous wave signal amplitude, n is a shear valve blade number, is an initial rotation angle of the driving motor, and the maximum oscillation shear valve opening is taken as a zero position point, is a driving motor speed at each moment, is a continuous wave signal initial phase;

[0144] The continuous wave signal generator comprises a controller 3, a driving motor 4 and a shear valve 5.

[0145] The controller 3 is used for controlling the driving motor 4 to drive the rotor of the shear valve 5 to rotate relative to the stator to generate a drilling fluid continuous wave signal according to the driving motor speed result at each moment determined by the modulator 2.

[0146] In one or some embodiments, the shear valve comprises coaxially arranged stators and rotors, as shown in Figure 3a and 3b The stators and the rotors have the same number of blades and the same opening angle valve ports.

[0147] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize the drilling fluid continuous wave smooth phase modulation method according to the first embodiment.

[0148] The embodiment of the present application further provides an electronic device 6, as shown in Figure 9 which comprises a memory 7, a processor 8 and a computer program stored in the memory 7 and capable of running on the processor 8, and the processor 8 realizes the drilling fluid continuous wave smooth phase modulation method according to the first embodiment when executing the program.

[0149] The device or equipment embodiments described above are merely illustrative, wherein the unit modules described as separate components can or can not be physically separated, and the components shown as module units can or can not be physical units, i.e., can be located in one place or distributed on multiple network module units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0150] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in terms of related art, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0151] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of the different aspects of the present application as described above. In order to be brief, they are not provided in detail; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for smoothing phase modulation of drilling fluid continuous waves, characterized in that, include: The target continuous wave signal is determined based on downhole information collected by downhole sensors; The required rotation angle of the drive motor within the current carrier cycle corresponding to the downhole information is determined according to the preset modulation rules. The trend of drive motor speed change within the current carrier cycle corresponding to the downhole information is determined according to a preset speed planning method. Based on the target continuous wave signal, the required rotation angle of the drive motor, and the trend of the drive motor speed change, the speed of the drive motor at each moment is determined using the following pressure wave modulation equation: in, The target continuous wave signal values ​​at different times, A The amplitude of the continuous wave signal. n This refers to the number of blades in the shear valve. The initial rotation angle of the drive motor is taken as the zero position point, with the maximum opening of the shear valve as the zero position point. To determine the speed of the drive motor at various times, The initial phase of the continuous wave signal; Based on the rotational speed of the drive motor at each moment, the drive motor is controlled to drive the rotor of the shear valve to rotate relative to the stator, thereby generating a continuous wave signal of the drilling fluid. The step of determining the required rotation angle of the drive motor within the current carrier period corresponding to the downhole information according to the preset modulation rules includes: The downhole information is encoded to obtain corresponding encoded data; According to the preset modulation rule, the required rotation angle of the drive motor within the current carrier cycle corresponding to the encoded data is determined; the preset modulation rule includes a first preset modulation rule and a second preset modulation rule, the first preset modulation rule is to establish a first mapping relationship between the encoded data and the phase offset of the continuous wave signal, and the second preset modulation rule is to establish a second mapping relationship between the phase offset of the continuous wave signal and the required rotation angle of the drive motor; The encoded data includes the current encoded data and the previous encoded data; The step of determining the trend of drive motor speed change within the current carrier cycle corresponding to the downhole information according to the preset speed planning method includes: Get the current encoded data and the previous encoded data; If the current encoded data and the previous encoded data are both 0, the starting speed and ending speed of the drive motor are both 0, and the drive motor speed increases first and then decreases according to the S-curve. If the current encoded data and the previous encoded data are both 1, the starting speed and ending speed of the drive motor are not 0, and it needs to pass through the zero speed point. The drive motor speed first decelerates to 0 with an S curve, and then accelerates in the opposite direction with an S curve after reaching the zero speed point. If the previous encoded data was 0 and the current encoded data is 1, the starting speed of the drive motor is 0, and the ending speed of the drive motor is not 0. The drive motor accelerates in an S-curve. If the previous encoded data was 1 and the current encoded data is 0, the starting speed of the drive motor is not 0, the ending speed of the drive motor is 0, and the drive motor decelerates in an S-curve motion.

2. The drilling fluid continuous wave smoothing phase modulation method according to claim 1, characterized in that, The step of determining the required rotation angle of the drive motor within the current carrier period corresponding to the encoded data according to the preset modulation rule includes: Based on the first mapping relationship, determine the phase offset of the continuous wave signal corresponding to the encoded data; Based on the second mapping relationship, the required rotation angle of the drive motor corresponding to the phase offset of the continuous wave signal is determined.

3. The drilling fluid continuous wave smoothing phase modulation method according to claim 1, characterized in that, Both the current encoded data and the previous encoded data are binary data; The step of determining the required rotation angle of the drive motor within the current carrier period corresponding to the encoded data according to the preset modulation rule includes: If both the current encoder data and the previous encoded data are 0, then the phase offset of the continuous wave signal relative to the carrier signal is 0. The required rotation angle of the drive motor is determined by the following formula: If the current encoder data and the previous encoded data are both 1, then the phase offset of the continuous wave signal relative to the carrier signal is: The required rotation angle of the drive motor is determined by the following formula: If the current encoder data is different from the previous encoded data, the required rotation angle of the drive motor is determined by the following formula: in, This refers to the number of blades in the shear valve. This represents the phase offset of the previous continuous wave signal relative to the carrier signal. This represents the phase offset of the current continuous wave signal relative to the carrier signal.

4. A device for determining the smooth phase modulation parameters of drilling fluid continuous wave, characterized in that, include: The target continuous wave signal determination module is used to determine the target continuous wave signal based on downhole information collected by downhole sensors. The module for determining the required rotation angle of the drive motor is used to determine the required rotation angle of the drive motor within the current carrier period corresponding to the downhole information according to a preset modulation rule. The step of determining the required rotation angle of the drive motor within the current carrier cycle corresponding to the downhole information according to the preset modulation rule includes: encoding the downhole information to obtain corresponding encoded data; determining the required rotation angle of the drive motor within the current carrier cycle corresponding to the encoded data according to the preset modulation rule; the preset modulation rule includes a first preset modulation rule and a second preset modulation rule, the first preset modulation rule is to establish a first mapping relationship between the encoded data and the phase offset of the continuous wave signal, and the second preset modulation rule is to establish a second mapping relationship between the phase offset of the continuous wave signal and the required rotation angle of the drive motor; the encoded data includes current encoded data and previous encoded data; The drive motor speed change trend determination module is used to determine the drive motor speed change trend within the current carrier period corresponding to the downhole information according to a preset speed planning method. The determination of the drive motor speed change trend within the current carrier period corresponding to the downhole information according to the preset speed planning method includes: acquiring current encoded data and previous encoded data; if both current and previous encoded data are 0, the drive motor's initial and final speeds are both 0, and the drive motor speed first increases and then decreases according to an S-curve; if both current and previous encoded data are 1, the drive motor's initial and final speeds are not 0, and it needs to pass through a zero-speed point, the drive motor speed first decelerates to 0 according to an S-curve, and then accelerates in the opposite direction according to an S-curve after reaching the zero-speed point; if the previous encoded data is 0 and the current encoded data is 1, the drive motor's initial speed is 0, and the drive motor's final speed is not 0, and the drive motor accelerates according to an S-curve; if the previous encoded data is 1 and the current encoded data is 0, the drive motor's initial speed is not 0, and the drive motor's final speed is 0, and the drive motor decelerates according to an S-curve. The module for determining the rotational speed of the drive motor at various moments is used to determine the rotational speed of the drive motor at various moments based on the target continuous wave signal, the required rotation angle of the drive motor, and the trend of the drive motor's rotational speed change, using the following pressure wave modulation equation: in, The target continuous wave signal values ​​at different times, A The amplitude of the continuous wave signal. n This refers to the number of blades in the shear valve. The initial rotation angle of the drive motor is taken as the zero position point, with the maximum opening of the shear valve as the zero position point. To determine the speed of the drive motor at various times, This represents the initial phase of the continuous wave signal.

5. A drilling fluid continuous wave smoothing phase modulation system, characterized in that, It includes a continuous wave signal generator and a drilling fluid continuous wave smooth phase modulation parameter determination device as described in claim 4, wherein the continuous wave signal generator is connected to the drilling fluid continuous wave smooth phase modulation parameter determination device; The continuous wave signal generator includes a controller, a drive motor, and a shear valve; The controller is used to control the drive motor to rotate the rotor of the shear valve relative to the stator based on the rotational speed of the drive motor at each moment determined by the drilling fluid continuous wave smooth phase modulation parameter determining device, thereby generating a drilling fluid continuous wave signal.

6. The drilling fluid continuous wave smoothing phase modulation system according to claim 5, characterized in that, The shear valve includes a stator and a rotor arranged coaxially, the stator and rotor having the same number of blades and valve ports with the same opening angle.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the drilling fluid continuous wave smooth phase modulation method as described in any one of claims 1-3.

8. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the drilling fluid continuous wave smooth phase modulation method as described in any one of claims 1-3.

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