Full rotation steering drilling control system and method

Abstract

The application provides a full-rotation steering drilling control system and method, wherein a drill bit is connected with a drill collar, a central control platform and a switch valve are arranged in the drill collar, a push piston is arranged on the inner wall of the drill collar, one end of the switch valve is connected with the central control platform, the other end of the switch valve is communicated with the push piston, the central control platform can rotate with the drill collar or rotate freely relative to the drill collar, the central control platform can drive one end of the switch valve to rotate relative to the other end of the switch valve, so that the switch valve is alternately opened or closed. The attitude acquisition and measurement device and the control system are installed on the central control platform, the relative static non-rotating drilling tool is removed, the measurement control system is separated from the push execution unit, the wing rib push is controlled by using the drilling fluid shunting mode, the number of dynamic seals and movable parts is reduced, the system reliability is improved, the cost is reduced, the communication and power supply problems between the relative rotating drilling tools are solved, the later maintenance is convenient, and the application is safe and reliable and convenient for popularization and application.

Description

Technical Field

[0001] This invention relates to the field of oil and gas drilling technology, specifically to a fully rotary steerable drilling control system and method. Background Technology

[0002] Currently, rotary steering systems are widely used in the oil drilling field, especially in the development and exploration of shale oil and gas. The application of rotary steering systems can significantly accelerate drilling speed, improve drilling safety, and reduce drilling costs. Therefore, major oil companies and research institutions in China have all undertaken the research and development of rotary steering systems.

[0003] Currently, most rotary steering systems use a combination of static attitude measurement and rotating steering tool. This involves installing well inclination and tool face measurement sensors on a relatively stationary short section. Based on the well inclination design in the drilling trajectory, the control system calculates the direction and magnitude of the force that the steering mechanism pushes against the well wall. This design requires solving the signal communication and power supply problems between the rotating drilling tool and the relatively stationary drilling tool. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a fully rotary steerable drilling control system and method. The system adopts a fully rotary drill string structure, installs the attitude acquisition sensor and control system on the central control platform, eliminates the relatively stationary non-rotating drill string, and solves the communication and power supply problems between relatively rotating drill strings.

[0005] To solve the above-mentioned technical problems, the technical solution proposed by this invention is as follows:

[0006] A fully rotary steerable drilling control system includes a drill bit, drill collars, a central control platform, a switching valve, and a push piston. The drill bit is connected to the drill collars. The central control platform and the switching valve are arranged inside the drill collars. The push piston is arranged on the inner wall of the drill collars. One end of the switching valve is connected to the central control platform, and the other end of the switching valve is connected to the push piston. The central control platform can rotate with the drill collars or rotate freely relative to the drill collars. The central control platform can drive one end of the switching valve to rotate relative to the other end of the switching valve, thereby causing the switching valve to open or close alternately.

[0007] According to the fully rotary steerable drilling control system of the present invention, the central control platform and the switching valve are installed inside the drill collar, and the push piston is installed on the drill collar and rotates together with the drill collar. The attitude acquisition and measurement device and the control system are installed on the central control platform, eliminating the relatively stationary non-rotating drill string. Its measurement and control system is separated from the push execution unit. The push of the wing rib is controlled by the drilling fluid diversion method, which reduces the number of dynamic seals and moving parts, improves the system reliability, reduces the cost, solves the communication and power supply problems between relatively rotating drill strings in the prior art, and is convenient for later maintenance, safe and reliable, and easy to promote and apply.

[0008] The above technical solution can be further improved as described below.

[0009] In a preferred embodiment of the fully rotary steerable drilling control system according to the present invention, a pressure-resistant cylinder is provided at the center of the drill collar, a central control platform is located inside the pressure-resistant cylinder, a bearing is provided between the pressure-resistant cylinder and the drill collar, a locking mechanism is provided on the bearing, and the locking mechanism is electrically connected to the central control platform. When the locking mechanism is locked, the pressure-resistant cylinder and the central control platform rotate together with the drill collar. When the locking mechanism is released, the pressure-resistant cylinder and the central control platform rotate freely relative to the drill collar.

[0010] Specifically, the pressure-resistant cylinder is located at the center of the drill collar, coaxial with the drill collar, and fixed inside the drill collar by two bearings, one above the other. The bearings have a locking mechanism. The pressure-resistant cylinder can rotate with the drill collar or rotate freely relative to it. The locking mechanism of the bearings is controlled by the control unit. When the pressure-resistant cylinder needs to rotate with the drill collar, the control unit controls the locking mechanism to lock the bearings. At this time, there is no relative rotation between the pressure-resistant cylinder and the drill collar; the pressure-resistant cylinder and the drill collar rotate together in the same direction and at the same speed. When the pressure-resistant cylinder needs to rotate freely relative to the drill collar, the control unit controls the locking mechanism to release, at which point the pressure-resistant cylinder rotates freely relative to the drill collar.

[0011] Specifically, in a preferred embodiment, the central control platform includes a power supply unit, a control unit, a motor drive unit, and a servo motor connected in sequence. The output shaft of the servo motor is connected to the switching valve. The power supply unit is equipped with a drilling fluid flow qualitative monitoring device, which transmits the monitored changes in drilling fluid flow at the ground to the control unit. The control unit decodes the data to obtain ground commands. The control unit is also used to calculate the spatial attitude information and rotation speed information of the central control platform, calculate the orientation information of the switching valve, and transmit it to the motor drive unit. The motor drive unit drives the servo motor to rotate according to the orientation information of the switching valve.

[0012] Specifically, inside the pressure-resistant cylinder, from top to bottom, a power supply unit, a control unit, a motor drive unit, and a servo motor are installed sequentially. The power supply unit can be a generator, battery, or other device that can provide electrical energy, supplying power to various units in the central control platform. The power supply unit is equipped with a drilling fluid flow qualitative monitoring device, which can monitor the flow rate of drilling fluid outside the pressure-resistant cylinder and inside the drill collar. When the surface changes the flow rate of the drilling fluid, the power supply unit transmits the monitored changes in flow rate to the control unit, which decodes the commands from the surface.

[0013] Specifically, in a preferred embodiment, the control unit is equipped with a fluxgate, an acceleration sensor, a gyroscope sensor, and a temperature sensor. The control unit collects the measurement data from the fluxgate, acceleration sensor, gyroscope sensor, and temperature sensor to calculate the spatial attitude and rotational speed information of the central control platform.

[0014] Obviously, using the aforementioned sensors as attitude acquisition and measurement devices for data acquisition is not only convenient for deployment but also ensures the accuracy of the measurement data. Specifically, the control unit compares the ground commands with the spatial attitude information of the central control platform and, in conjunction with the central control platform's rotation speed information, calculates the orientation information of the switching valve. The control unit then transmits the orientation information of the switching valve to the motor drive unit to generate a servo motor drive signal.

[0015] Specifically, in a preferred embodiment, the switching valve includes an upper valve and a lower valve. The upper valve has an upper valve channel, and the lower valve has at least two evenly distributed lower valve channels along the circumferential direction. Each lower valve channel is connected to a push piston. The upper valve and the lower valve are close together and can rotate relative to each other. The upper valve and the lower valve have the same outer diameter and are coaxial. The upper valve is connected to the output shaft of the servo motor and rotates with it. The lower valve rotates together with the drill collar and the push piston. When the upper valve and the lower valve rotate relative to each other, the upper valve channel and the lower valve channel are alternately connected and disconnected.

[0016] Specifically, the switching valve includes an upper valve and a lower valve. The upper valve has one upper valve passage, and the lower valve has three lower valve passages. The three lower valve passages on the lower valve are evenly distributed along the circumference, and each lower valve passage corresponds to a push piston, meaning each lower valve passage is connected to a push piston. The upper and lower valves are in contact with each other, have the same outer diameter, and are coaxial. The upper and lower valves can rotate relative to each other. The upper valve rotates with the output shaft of the servo motor, and the lower valve rotates together with the drill collar and the push piston. The upper valve passages and lower valve passages are positioned correspondingly. When the upper and lower valves rotate relative to each other, the upper valve passages and lower valve passages alternately connect and disconnect, thereby realizing the opening and closing of the switching valve.

[0017] Specifically, in a preferred embodiment, the output shaft of the servo motor is provided with an indexing plate, the indexing plate rotates together with the output shaft of the servo motor, and the 0 position of the indexing plate is aligned with the upper valve channel.

[0018] The motor drive unit generates a PWM (Pulse Width Modulation) control signal based on the information provided by the control unit, drives the servo motor, and controls the output shaft of the servo motor to rotate. The upper valve of the switching valve is fixedly connected to the output shaft of the servo motor and rotates together with the output shaft of the servo motor. The output shaft of the servo motor has an indexing plate, which rotates together with the output shaft of the servo motor, and the 0 position of the indexing plate is aligned with the upper valve channel of the upper valve of the switching valve.

[0019] Specifically, in a preferred embodiment, the power supply unit includes a generator, and the power supply unit is equipped with a motor rotor speed measurement module to determine the change in drilling fluid flow rate by measuring the change in motor rotor speed.

[0020] The power supply unit uses a generator, which can ensure a continuous and stable supply of power to each unit in the hollow platform.

[0021] The second aspect of the present invention provides a fully rotary directional drilling control method, implemented using the system described above, characterized by comprising the following steps: S01, after the control unit receives a ground orientation command; S02, reading the indexing information on the servo motor and determining whether the azimuth of the indexing 0 position is the same as the target azimuth of the ground orientation command; S03, if the azimuth of the indexing 0 position is different from the target azimuth received by the control unit, the control unit sends control information to the motor drive unit, causing the motor drive unit to drive the servo motor to rotate, while the control unit monitors the azimuth of the indexing 0 position in real time until the indexing 0 position rotates to the target azimuth; S04, the control unit reads... The data from the gyroscope sensor is used to calculate the rotational speed of the drill collar. Simultaneously, a command is sent to the motor drive unit to rotate the output shaft of the servo motor. The rotation direction of the servo motor is opposite to that of the drill collar, and the rotational speed is the same as that of the drill collar. At this time, the upper valve channel remains stationary relative to the ground in a preset position and does not rotate. The lower valve rotates with the drill collar, and the upper and lower valve channels alternately connect and disconnect. The switching valve alternately opens and closes in a preset position. When the switching valve is open, a preset proportion of drilling fluid flows through the upper valve channel and the lower valve channel connected to the upper valve channel to the corresponding push piston, causing the push piston to push against the well wall, thereby enabling the drill bit to drill in the set direction.

[0022] Obviously, by adopting the control system described above to implement the full-rotation steerable drilling control method of the present invention, the communication and power supply problems between relatively rotating drilling tools can be solved very well.

[0023] The above technical solution can be further improved as described below.

[0024] In a preferred embodiment of the full-rotation steerable drilling control method of the present invention, the method further includes the following steps: S05, the control unit monitors the azimuth of the indexing plate 0 position in real time. When the azimuth of the indexing plate 0 position changes within the preset error range of the target azimuth, the control unit controls the output shaft of the servo motor to rotate through the motor drive unit based on the data from the gyroscope sensor. The rotation direction is opposite to the rotation direction of the drill collar, and the rotation speed is the same as the rotation speed of the drill collar, thereby controlling the upper valve channel to change within the preset error range of the target azimuth. When the azimuth of the indexing plate 0 position exceeds the preset error range of the target azimuth, the control unit controls the output shaft of the servo motor to rotate at a preset speed through the motor drive unit. The rotation direction is the same as the rotation direction of the drill collar, until the azimuth of the indexing plate 0 position is the same as the target azimuth.

[0025] Through precise control and adjustment within the aforementioned error range, the accuracy of drill bit orientation and positioning can be greatly ensured.

[0026] Furthermore, in a preferred embodiment, the fully rotary steerable drilling control method of the present invention further includes the following steps: S06, when the control unit receives a normal non-directional drilling command from the ground, the control unit controls the output shaft of the servo motor to rotate at a preset speed through the motor drive unit, the rotation direction being the same as the rotation direction of the drill collar, and controls the switch valve to close; after the switch valve is closed, the control unit sends a command to the motor drive unit to control the output shaft of the servo motor to not rotate, at this time the output shaft of the servo motor, the upper valve, and the lower valve rotate together with the drill collar, the switch valve is in a normally closed state, the push piston no longer pushes against the well wall, thereby realizing normal drilling of the drill bit.

[0027] Clearly, the above-mentioned specific control methods can greatly ensure the stability and reliability of the drill bit's normal drilling.

[0028] Compared with the prior art, the advantages of this invention are: the attitude acquisition and measurement device and control system are installed on the central control platform, the relatively stationary non-rotating drill bit is removed, the measurement and control system is separated from the push execution unit, the wing push is controlled by the drilling fluid diversion method, the number of dynamic seals and moving parts is reduced, the system reliability is improved, the cost is reduced, the communication and power supply problems between relatively rotating drill bits in the prior art are solved, the later maintenance is convenient, safe and reliable, and easy to promote and apply. Attached Figure Description

[0029] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.

[0030] Figure 1 The schematic diagram illustrates the overall framework structure of the fully rotary steerable drilling control system according to an embodiment of the present invention;

[0031] Figure 2 The schematic diagram shows the overall cross-sectional structure of the switching valve according to an embodiment of the present invention;

[0032] Figure 3 The schematic diagram illustrates the overall structure of the upper valve according to an embodiment of the present invention;

[0033] Figure 4 The schematic diagram shows a top view of the lower valve structure according to an embodiment of the present invention;

[0034] Figure 5 The schematic diagram illustrates a portion of the flow of the fully rotary steerable drilling control method according to an embodiment of the present invention;

[0035] Figure 6 The illustration shows a portion of the flow of the fully rotary steerable drilling control method according to an embodiment of the present invention.

[0036] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not drawn to scale. Detailed Implementation

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments, but this does not limit the scope of protection of the present invention.

[0038] Figure 1 The schematic diagram shows the overall framework structure of the fully rotary steerable drilling control system of Embodiment 1 of the present invention. Figure 2 The schematic diagram shows the overall cross-sectional structure of the switching valve 200 of Embodiment 1 of the present invention. Figure 3 The schematic diagram shows the overall structure of the upper valve 210 of Embodiment 1 of the present invention. Figure 4 The schematic diagram shows a top view of the lower valve 220 of Embodiment 1 of the present invention. Figure 5 The diagram illustrates a portion of the flow of the fully rotary steerable drilling control method of Embodiment 2 of the present invention. Figure 6 The diagram illustrates a portion of the flow of the fully rotary steerable drilling control method of Embodiment 2 of the present invention.

[0039] Example 1

[0040] like Figure 1 As shown, in the fully rotary steerable drilling control system of this embodiment, the central control platform 100, the switching valve 200, and the bearing 500 are installed inside the drill collar 410, and the push piston 300 is installed on the drill collar 410. There are a total of 3 push pistons 300, and the push pistons 300 rotate together with the drill collar 410.

[0041] Specifically, in this embodiment, such as Figure 1 As shown, the power supply unit 110, control unit 120, motor drive unit 130, and servo motor 140 are installed inside the pressure-resistant cylinder 420. The pressure-resistant cylinder 420 is located at the center of the drill collar 410, coaxial with the drill collar 410, and is fixed inside the drill collar 410 by two upper and lower bearings 500. The bearings 500 have a locking mechanism (not shown in the figure). The pressure-resistant cylinder 420 can rotate with the drill collar 410 or rotate freely relative to the drill collar 410. The locking mechanism of bearing 500 is controlled by control unit 120. When the pressure-resistant cylinder 420 needs to rotate with the drill collar 410, control unit 120 controls the locking mechanism to lock bearing 500. At this time, there is no relative rotation between the pressure-resistant cylinder 420 and the drill collar 410. The pressure-resistant cylinder 420 and the drill collar 410 rotate together, and their rotation directions and speeds are the same. When the pressure-resistant cylinder 420 needs to rotate freely relative to the drill collar 410, control unit 120 controls the locking mechanism to loosen. At this time, the pressure-resistant cylinder 420 rotates freely relative to the drill collar 410.

[0042] like Figure 1As shown, inside the pressure-resistant cylinder 420, from top to bottom, a power supply unit 110, a control unit 120, a motor drive unit 130, and a servo motor 140 are installed sequentially. The power supply unit 110 can be a generator, battery, or other device that can provide electrical energy, supplying power to the various units in the central control platform 100. The power supply unit 110 is equipped with a drilling fluid flow qualitative monitoring device, which can monitor the flow rate changes of the drilling fluid 600 outside the pressure-resistant cylinder 420 and inside the drill collar 410. For example, when the power supply unit 110 is a generator, it includes a motor rotor speed measurement module, which determines the flow rate of the drilling fluid 600 by measuring changes in the motor rotor speed. When the surface changes the flow rate of the drilling fluid 600, the power supply unit 110 transmits the monitored changes to the control unit 120, which decodes the data to obtain the surface command.

[0043] The control unit 120 is equipped with a fluxgate magnetometer, an accelerometer, a gyroscope sensor, and a temperature sensor. The control unit 120 collects data measured by these sensors and calculates the spatial attitude and rotational speed information of the central control platform 100. The control unit 120 compares ground commands with the spatial attitude information of the central control platform 100 and, combined with the rotational speed information, calculates the orientation information of the switching valve 200. The control unit 120 transmits the orientation information of the switching valve 200 to the motor drive unit 130 to generate a drive signal for the servo motor 140.

[0044] like Figure 2 As shown, the motor drive unit 130 generates a PWM (Pulse Width Modulation) control signal based on the information provided by the control unit 120, driving the servo motor 140 and controlling the rotation of the output shaft of the servo motor 140. The upper valve 210 of the switching valve 200 is fixedly connected to the output shaft of the servo motor 140 and rotates together with the output shaft of the servo motor 140. The output shaft of the servo motor 140 has an indexing plate, which rotates together with the output shaft of the servo motor 140, and the 0 position of the indexing plate is aligned with the upper valve channel 2101 of the upper valve 210 of the switching valve 200.

[0045] like Figures 2 to 4As shown, the switching valve 200 includes an upper valve 210 and a lower valve 220. The upper valve 210 has one upper valve passage 2101, and the lower valve 220 has three lower valve passages 2201. The three lower valve passages 2201 on the lower valve 220 are evenly distributed along the circumference, and each lower valve passage 2201 corresponds to a push piston 300, that is, each lower valve passage 2201 is connected to a push piston 300. The upper valve 210 and the lower valve 220 are in contact with each other, have the same outer diameter, and are coaxial. The upper valve 210 and the lower valve 220 can rotate relative to each other. The upper valve 210 rotates with the output shaft of the servo motor 140, and the lower valve 220 rotates together with the drill collar 410 and the push piston 300. The upper valve channel 2101 and the lower valve channel 2201 are positioned opposite each other. When the upper valve 210 and the lower valve 220 rotate relative to each other, the upper valve channel 2101 and the lower valve channel 2201 alternately connect and disconnect, thereby realizing the opening and closing of the switch valve 200.

[0046] Example 2

[0047] like Figure 1 and Figure 5 As shown in the figure, the specific control process of the fully rotary steerable drilling control method of this invention is as follows:

[0048] When the control unit 120 receives the ground orientation command, the control unit 120 reads the indexing information on the servo motor 140 and determines the orientation of the 0 position of the indexing plate. If the orientation of the 0 position of the indexing plate is different from the target orientation received by the control unit 120, the control unit 120 sends information to the motor drive unit 130 to drive the output shaft of the servo motor 140 to rotate. At the same time, the control unit 120 monitors the orientation of the 0 position of the indexing plate in real time. When the 0 position of the indexing plate rotates to the target orientation;

[0049] The control unit 120 reads the data from the gyroscope sensor and calculates the rotational speed of the drill collar 410. At the same time, it sends a command to the motor drive unit 130 to make the output shaft of the servo motor 140 rotate in the opposite direction to the rotational direction of the drill collar 410, and at the same speed as the drill collar 410.

[0050] At this time, the upper valve passage 2101 of the upper valve 210 of the switch valve 200 remains stationary in a preset position. The upper valve 210 does not rotate relative to the ground, while the lower valve 220 rotates with the drill collar 410. The upper valve passage 2101 and the lower valve passage 2201 alternately connect and disconnect, and the switch valve 200 alternately opens and closes in this preset position. When the switch valve 200 is open, a preset proportion of drilling fluid 600 flows through the upper valve passage 2101 of the upper valve 210 and the lower valve passage 2201 of the lower valve 220 connected to the upper valve passage 2101 to the corresponding push piston 300, causing the push piston 300 to push against the well wall, thereby enabling the drill bit 400 to drill in the set direction.

[0051] The control unit 120 monitors the orientation of the indexing plate at position 0 in real time. The orientation of the indexing plate at position 0 has a preset allowable error range, such as ±5°. When the orientation of the indexing plate at position 0 changes within the target orientation range of ±5°, the control unit 120, based on data from the gyroscope sensor, drives the servo motor 140 via the motor drive unit 130 to rotate its output shaft. The rotation direction is opposite to the rotation direction of the drill collar 410, but the rotation speed is the same as that of the drill collar 410, thus causing the upper valve channel 2101 of the upper valve 210 to change within the target orientation range of ±5°. When the orientation of the indexing plate at position 0 exceeds the target orientation range of ±5°, the control unit 120 drives the servo motor 140 via the motor drive unit 130 to rotate its output shaft at a preset speed, in the same direction as the drill collar 410, until the orientation of the indexing plate at position 0 of the servo motor 140 matches the target orientation.

[0052] like Figure 6 As shown, when the control unit 120 receives a normal drilling command from the ground (non-directional drilling), the control unit 120 causes the output shaft of the servo motor 140 to rotate at a preset speed via the motor drive unit 130. The rotation direction is the same as the rotation direction of the drill collar 410, causing the switch valve 200 to close, i.e., the upper valve channel 2101 and the lower valve channel 2201 are not connected. After the switch valve 200 is closed, the control unit 120 sends a command to the motor drive unit 130 to stop the output shaft of the servo motor 140 from rotating. At this time, the output shaft of the servo motor 140, the upper valve 210 of the switch valve 200, and the lower valve 220 of the switch valve 200 rotate simultaneously with the drill collar 410. The switch valve 200 is in a normally closed state, and the push piston 300 no longer pushes against the well wall, thereby enabling the drill bit 400 to drill normally.

[0053] As can be seen from the above embodiments, the fully rotary steerable drilling control system and method of the present invention installs the attitude acquisition and measurement device and control system on the central control platform, removes the relatively stationary non-rotating drill bit, separates its measurement and control system from the push execution unit, and uses the drilling fluid diversion method to control the wing push, reducing the number of dynamic seals and moving parts, improving system reliability, reducing costs, solving the communication and power supply problems between relatively rotating drill bits in the prior art, making later maintenance convenient, safe and reliable, and easy to promote and apply.

[0054] Although the invention has been described with reference to preferred embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner as long as there is no structural conflict. The invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A fully rotary steerable drilling control method, employing a fully rotary steerable drilling control system, characterized in that, The fully rotary steerable drilling control system includes a drill bit, drill collar, central control platform, switching valves, and push pistons; wherein, The drill bit is connected to the drill collar, the central control platform and the switching valve are arranged inside the drill collar, the push piston is arranged on the inner wall of the drill collar, one end of the switching valve is connected to the central control platform, and the other end of the switching valve is connected to the push piston. The central control platform can rotate with the drill collar or rotate freely relative to the drill collar. The central control platform can drive one end of the switching valve to rotate relative to the other end of the switching valve, thereby causing the switching valve to open or close alternately. The drill collar is equipped with a pressure-resistant cylinder at its center, and the central control platform is located inside the pressure-resistant cylinder; A bearing is provided between the pressure-resistant cylinder and the drill collar, and a locking mechanism is provided on the bearing. The locking mechanism is electrically connected to the central control platform. When the locking mechanism is locked, the pressure-resistant cylinder rotates together with the drill collar along with the central control platform. When the locking mechanism is released, the pressure-resistant cylinder rotates freely relative to the drill collar along with the central control platform. The central control platform includes a power supply unit, a control unit, a motor drive unit, and a servo motor, which are connected in sequence; wherein... The output shaft of the servo motor is connected to the switching valve; The switching valve includes an upper valve and a lower valve; wherein... The upper valve is provided with an upper valve channel, and the lower valve is provided with at least two evenly distributed lower valve channels along the circumferential direction, each of the lower valve channels being connected to a push piston; The upper valve and the lower valve are attached together and can rotate relative to each other. The upper valve and the lower valve have the same outer diameter and are coaxial. The upper valve is connected to the output shaft of the servo motor and rotates with it. The lower valve rotates together with the drill collar and the push piston. When the upper valve and the lower valve rotate relative to each other, the upper valve channel and the lower valve channel alternately connect and disconnect. The output shaft of the servo motor is provided with an indexing plate, which rotates together with the output shaft of the servo motor, and the 0 position of the indexing plate is aligned with the upper valve channel; The fully rotary steerable drilling control method includes the following steps: S01. After the control unit receives the ground orientation command; S02. Read the indexing information on the servo motor and determine whether the orientation of the 0th position of the indexing plate is the same as the target orientation of the ground orientation command. S03. If the orientation of the 0th position of the indexing plate is different from the target orientation received by the control unit, the control unit sends control information to the motor drive unit to drive the servo motor to rotate. At the same time, the control unit monitors the orientation of the 0th position of the indexing plate in real time until the 0th position of the indexing plate rotates to the target orientation. S04. The control unit calculates the rotational speed of the drill collar and sends a command to the motor drive unit to make the output shaft of the servo motor rotate in the opposite direction to the rotational direction of the drill collar, and at the same speed as the rotational speed of the drill collar. At this time, the upper valve channel remains stationary in the preset position and does not rotate relative to the ground, while the lower valve rotates with the drill collar. The upper valve channel and the lower valve channel alternately connect and disconnect, and the switch valve alternately opens and closes in the preset position. When the switch valve is opened, the preset proportion of drilling fluid flows through the upper valve channel and the lower valve channel connected to the upper valve channel to the corresponding push piston, causing the push piston to push against the well wall, thereby enabling the drill bit to drill in the set direction. S05. The control unit monitors the orientation of the 0 position of the indexing plate in real time. When the orientation of the 0 position of the indexing plate changes within the preset error range of the target orientation, the control unit controls the output shaft of the servo motor to rotate through the motor drive unit based on the data of the gyroscope sensor. The rotation direction is opposite to the rotation direction of the drill collar, and the rotation speed is the same as the rotation speed of the drill collar, thereby controlling the upper valve channel to change within the preset error range of the target orientation. When the orientation of the 0 position of the indexing plate exceeds the preset error range of the target orientation, the control unit controls the output shaft of the servo motor to rotate at a preset speed through the motor drive unit. The rotation direction is the same as the rotation direction of the drill collar until the orientation of the 0 position of the indexing plate is the same as the target orientation.

2. The fully rotary steerable drilling control method according to claim 1, characterized in that, The power supply unit is equipped with a drilling fluid flow qualitative monitoring device, which is used to transmit the monitored changes in drilling fluid flow on the ground to the control unit, and the control unit decodes the data to obtain the ground command. The control unit is also used to calculate the spatial attitude information and rotation speed information of the central control platform, calculate the orientation information of the switching valve and transmit it to the motor drive unit, and the motor drive unit drives the servo motor to rotate according to the orientation information of the switching valve.

3. The fully rotary steerable drilling control method according to claim 2, characterized in that, The control unit is equipped with a fluxgate, an accelerometer, a gyroscope sensor, and a temperature sensor. The control unit collects the measurement data from the fluxgate, the accelerometer, the gyroscope sensor, and the temperature sensor to calculate the spatial attitude and rotational speed information of the central control platform.

4. The fully rotary steerable drilling control method according to claim 2, characterized in that, The power supply unit includes a generator and is equipped with a motor rotor speed measurement module, which determines the change in drilling fluid flow rate by measuring the change in the motor rotor speed.

5. The fully rotary steerable drilling control method according to claim 1, characterized in that, It also includes the following steps: S06. When the control unit receives a normal non-directional drilling command from the ground, the control unit controls the output shaft of the servo motor to rotate at a preset speed through the motor drive unit. The rotation direction is the same as the rotation direction of the drill collar, and the control switch valve is closed. After the switch valve is closed, the control unit sends a command to the motor drive unit to control the output shaft of the servo motor to not rotate. At this time, the output shaft of the servo motor, the upper valve, and the lower valve rotate together with the drill collar. The switch valve is in the normally closed state, and the push piston no longer pushes against the well wall, thereby enabling the drill bit to drill normally.

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