Control method, device and equipment of drill pipe, and readable storage medium

Abstract

The application discloses a kind of control method, device, equipment and readable storage medium of drill pipe, the application is integrated in driver preset soft torque control algorithm and mathematical model, compared with the scheme of existing external soft torque control device, the application need not consider the problem of soft torque control and driver adaptation, to ensure the universality of the control method of drill pipe in the application.The preset soft torque algorithm built-in in driver will be compensated according to the built-in mathematical model to motor control algorithm, and the motor control instruction is obtained.The motor control instruction will be used to control motor, and the motor drives drill pipe.It can be understood that, since the motor control instruction is obtained in the case where preset soft torque control algorithm is added to compensate torque, the motor that drives drill pipe based on the motor control instruction can make the torque fluctuation of drill pipe tend to be stable, thereby inhibiting stick-slip phenomenon, reducing operation cost and risk.

Description

Technical Field

[0001] This application relates to the field of drilling technology, and in particular to a method, apparatus, equipment and readable storage medium for controlling drill pipe. Background Technology

[0002] In actual drilling operations, the drilling process is often accompanied by disturbances due to various factors such as seawater, underground rock formations, and drilling equipment. Furthermore, the downhole structure is highly variable and the environment complex, resulting in varying friction conditions between drill pipes, between drill pipes and the formation, and between drill pipes and the wellbore, thus causing vibrations. Ultimately, the drill pipe in the well will experience a "viscous-slipping-viscous" vibration state, known as stick-slip, a movement pattern between complete adhesive contact and sliding contact. The occurrence of stick-slip significantly impacts actual operating costs and risks. While some solutions exist to address stick-slip during drilling, most have additional drawbacks and are therefore insufficient to meet actual drilling requirements. Summary of the Invention

[0003] The main purpose of this application is to provide a drill pipe control method, which aims to solve the technical problem that most existing solutions for dealing with stick-slip phenomena have additional defects and are difficult to meet the actual drilling needs.

[0004] To achieve the above objectives, this application provides a drill pipe control method, wherein the drill pipe driver integrates a preset soft torque control algorithm and a mathematical model of the drill pipe, and the method includes:

[0005] Upon receiving a drilling command, the first drill pipe state parameter is obtained through the mathematical model. The first drill pipe state parameter is used to characterize the state of the drill pipe.

[0006] Based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm, the motor control algorithm is compensated to obtain the motor control command;

[0007] The motor is controlled based on the motor control command to drive the motor used to drive the drill rod, thereby controlling the drill rod.

[0008] Optionally, the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm to obtain the motor control command includes:

[0009] The first drill pipe state parameters are input into the preset soft torque control algorithm to obtain the current loop control command and speed loop control command of the motor control algorithm;

[0010] The first drill pipe state parameters, the drilling command, the current loop control command, and the speed loop control command are input into the motor control algorithm to obtain the motor control command.

[0011] Optionally, the actuator is further configured with an observation model of the drill pipe, the observation model being used to predict the state of the drill pipe, and the method further includes:

[0012] Based on the observation model, the state parameters of the second drill pipe are obtained;

[0013] The control loop of the drill pipe is modified by the second drill pipe state parameters, wherein the control loop includes the mathematical model, the preset soft torque control algorithm, and the motor control algorithm.

[0014] Optionally, the step of obtaining the second drill pipe state parameters based on the observation model includes:

[0015] Obtain the actual state parameters of the motor and the actual state parameters of the drill rod;

[0016] The actual state parameters of the motor and the actual state parameters of the drill pipe are input into the observation model to obtain the second drill pipe state parameters.

[0017] Optionally, the control loop is used to generate the motor control command, and the step of correcting the control loop of the drill pipe using the second drill pipe state parameters includes:

[0018] Based on the second drill pipe state parameters, the motor control command is compensated and corrected to constrain the torque fluctuation of the drill pipe.

[0019] Optionally, the mathematical model includes a drill pipe dynamics model and a drill pipe friction model, and the step of correcting the control loop of the drill pipe using the second drill pipe state parameters further includes:

[0020] The drill pipe dynamics model and the drill pipe friction model in the mathematical model are modified by the second drill pipe state parameters, so that the first drill pipe state parameters and the second drill pipe state parameters are close to being consistent.

[0021] Optionally, before the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm to obtain the motor control command, the method includes:

[0022] Based on the first drill pipe state parameters or the second drill pipe state parameters, determine whether the drill pipe has a tendency to enter a stick-slip phenomenon;

[0023] If there is a tendency to enter a stick-slip phenomenon, then the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters and the preset soft torque control algorithm is executed to obtain the motor control command;

[0024] If there is no tendency to enter a stick-slip phenomenon, then based on the drilling command, the first drill pipe state parameters, and the motor control algorithm, the motor control command is generated, and the step of controlling the motor used to drive the drill pipe based on the motor control command is executed to control the drill pipe.

[0025] Optionally, before the step of obtaining the first drill pipe state parameter through the mathematical model, wherein the first drill pipe state parameter is used to characterize the state of the drill pipe, the method includes:

[0026] Receive drill pipe attribute parameters, motor attribute parameters, and working environment attribute parameters;

[0027] The mathematical model is obtained by inputting the drill pipe attribute parameters, the motor attribute parameters, and the working environment attribute parameters into a preset mathematical model framework.

[0028] To achieve the above objectives, this application also provides a drill pipe control device, wherein the drill pipe driver integrates a preset soft torque control algorithm and a mathematical model of the drill pipe, and the drill pipe control device includes:

[0029] The estimation module is used to receive drilling commands and obtain first drill pipe state parameters through the mathematical model. The first drill pipe state parameters are used to characterize the state of the drill pipe.

[0030] The compensation module is used to compensate the motor control algorithm based on the drilling command, the first drill pipe state parameters and the preset soft torque control algorithm to obtain the motor control command;

[0031] The control module is used to control the motor used to drive the drill rod based on the motor control command, so as to control the drill rod.

[0032] To achieve the above objectives, this application also provides a drill pipe control device, which includes: a memory, a processor, and a drill pipe control program stored in the memory and executable on the processor. When the drill pipe control program is executed by the processor, it implements the steps of the drill pipe control method described above.

[0033] To achieve the above objectives, this application also provides a readable storage medium storing a drill pipe control program, which, when executed by a processor, implements the steps of the drill pipe control method described above.

[0034] This application proposes a drill pipe control method, apparatus, device, and readable storage medium. In this embodiment, the drill pipe driver integrates a preset soft torque control algorithm and a mathematical model of the drill pipe. The drill pipe control method includes: receiving a drilling command; obtaining a first drill pipe state parameter through the mathematical model, the first drill pipe state parameter being used to characterize the state of the drill pipe; compensating a motor control algorithm based on the drilling command, the first drill pipe state parameter, and the preset soft torque control algorithm to obtain a motor control command; and controlling a motor used to drive the drill pipe based on the motor control command to control the drill pipe. That is, on the one hand, this embodiment integrates a preset soft torque control algorithm and a mathematical model into the driver. Compared to the existing EPST system with an external soft torque control device, this application does not need to consider the compatibility issue between the soft torque control device and the driver, thus ensuring the universality of the drill pipe control method in this application. On the other hand, the preset soft torque algorithm built into the driver performs torque compensation on the motor control algorithm based on the built-in mathematical model to obtain a motor control command. The motor control command is then used to control the motor, which in turn drives the drill pipe. Understandably, since the motor control command is obtained by adding a preset soft torque control algorithm to compensate for the torque, controlling the motor that drives the drill pipe based on the motor control command can make the torque fluctuation of the drill pipe more stable, thereby suppressing stick-slip phenomenon and reducing operating costs and risks. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application;

[0036] Figure 2 This is a flowchart illustrating the first embodiment of the drill pipe control method of this application;

[0037] Figure 3 This is a schematic diagram of the drill pipe control system in the drill pipe control method of this application;

[0038] Figure 4 This is a flowchart illustrating the second embodiment of the drill pipe control method of this application;

[0039] Figure 5 This is a detailed framework diagram of the rod control system in the drill rod control method of this application;

[0040] Figure 6 This is a schematic diagram of the soft torque control framework in the drill pipe control method of this application;

[0041] Figure 7 This is a schematic diagram of the modeling method for the drill pipe control in this application;

[0042] Figure 8This is a flowchart illustrating the third embodiment of the drill pipe control method of this application;

[0043] Figure 9 This is a schematic diagram of the drill pipe control device in the drill pipe control method of this application.

[0044] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0046] like Figure 1 As shown, Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application.

[0047] The device in the embodiments of this application can be a servo structure, or it can be an electronic terminal device such as a driver, smartphone, tablet computer, or portable computer.

[0048] like Figure 1 As shown, the device may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0049] Optionally, the device may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, a WiFi module, and so on. Sensors may include light sensors, motion sensors, and other sensors. Specifically, light sensors may include ambient light sensors and proximity sensors. The ambient light sensor can adjust the display brightness according to the ambient light level, while the proximity sensor can turn off the display and / or backlight when the mobile terminal is moved to the ear. As a type of motion sensor, a gravity accelerometer can detect the magnitude of acceleration in various directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity, and can be used for applications that identify the mobile terminal's posture (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition functions (such as pedometers, taps), etc. Of course, the mobile terminal may also be equipped with other sensors such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors, which will not be elaborated here.

[0050] Those skilled in the art will understand that Figure 1 The device structure shown does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0051] like Figure 1 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a drill pipe control program.

[0052] exist Figure 1 In the device shown, network interface 1004 is mainly used to connect to the backend server and communicate data with it; user interface 1003 is mainly used to connect to the client (user terminal) and communicate data with it; while processor 1001 can be used to call the drill pipe control program stored in memory 1005. The drill pipe driver integrates a preset soft torque control algorithm and the mathematical model of the drill pipe, and performs the following operations:

[0053] Upon receiving a drilling command, the first drill pipe state parameter is obtained through the mathematical model. The first drill pipe state parameter is used to characterize the state of the drill pipe.

[0054] Based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm, the motor control algorithm is compensated to obtain the motor control command;

[0055] The motor is controlled based on the motor control command to drive the motor used to drive the drill rod, thereby controlling the drill rod.

[0056] Furthermore, the processor 1001 can call the drill rod control program stored in the memory 1005 and also perform the following operations:

[0057] The step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm to obtain the motor control command includes:

[0058] The first drill pipe state parameters are input into the preset soft torque control algorithm to obtain the current loop control command and speed loop control command of the motor control algorithm;

[0059] The first drill pipe state parameters, the drilling command, the current loop control command, and the speed loop control command are input into the motor control algorithm to obtain the motor control command.

[0060] Furthermore, the processor 1001 can call the drill rod control program stored in the memory 1005 and also perform the following operations:

[0061] The driver is also configured with an observation model of the drill pipe, the observation model being used to predict the state of the drill pipe, and the method further includes:

[0062] Based on the observation model, the state parameters of the second drill pipe are obtained;

[0063] The control loop of the drill pipe is modified by the second drill pipe state parameters, wherein the control loop includes the mathematical model, the preset soft torque control algorithm, and the motor control algorithm.

[0064] Furthermore, the processor 1001 can call the drill rod control program stored in the memory 1005 and also perform the following operations:

[0065] The steps for obtaining the second drill pipe state parameters based on the observation model include:

[0066] Obtain the actual state parameters of the motor and the actual state parameters of the drill rod;

[0067] The actual state parameters of the motor and the actual state parameters of the drill pipe are input into the observation model to obtain the second drill pipe state parameters.

[0068] Furthermore, the processor 1001 can call the drill rod control program stored in the memory 1005 and also perform the following operations:

[0069] The control loop is used to generate the motor control command, and the step of correcting the control loop of the drill pipe using the second drill pipe state parameters includes:

[0070] Based on the second drill pipe state parameters, the motor control command is compensated and corrected to constrain the torque fluctuation of the drill pipe.

[0071] Furthermore, the processor 1001 can call the drill rod control program stored in the memory 1005 and also perform the following operations:

[0072] The mathematical model includes a drill pipe dynamics model and a drill pipe friction model. The step of correcting the control loop of the drill pipe using the second drill pipe state parameters further includes:

[0073] The drill pipe dynamics model and the drill pipe friction model in the mathematical model are modified by the second drill pipe state parameters, so that the first drill pipe state parameters and the second drill pipe state parameters are close to being consistent.

[0074] Furthermore, the processor 1001 can call the drill rod control program stored in the memory 1005 and also perform the following operations:

[0075] Before the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm to obtain the motor control command, the method includes:

[0076] Based on the first drill pipe state parameters or the second drill pipe state parameters, determine whether the drill pipe has a tendency to enter a stick-slip phenomenon;

[0077] If there is a tendency to enter a stick-slip phenomenon, then the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters and the preset soft torque control algorithm is executed to obtain the motor control command;

[0078] If there is no tendency to enter a stick-slip phenomenon, then based on the drilling command, the first drill pipe state parameters, and the motor control algorithm, the motor control command is generated, and the step of controlling the motor used to drive the drill pipe based on the motor control command is executed to control the drill pipe.

[0079] Furthermore, the processor 1001 can call the drill rod control program stored in the memory 1005 and also perform the following operations:

[0080] Before the step of obtaining the first drill pipe state parameters through the mathematical model, wherein the first drill pipe state parameters are used to characterize the state of the drill pipe, the method includes:

[0081] Receive drill pipe attribute parameters, motor attribute parameters, and working environment attribute parameters;

[0082] The mathematical model is obtained by inputting the drill pipe attribute parameters, the motor attribute parameters, and the working environment attribute parameters into a preset mathematical model framework.

[0083] It should be noted that in the oil exploration and drilling industry, drilling equipment typically consists of a winch, overhead crane, derrick, top drive, drill pipe, and drill bit. The top drive drilling system (TDS) is connected to the traveling block and provides downhole rotational power. It is connected to a frequency converter and controlled in real-time by the driller's cabin via a PLC (Programmable Logic Controller). The bottom-weighted drill pipe, drill collars, drill bit, and other components are collectively referred to as the bottom-hole assembly (BHA), which is the drill pipe in this application. During normal operation, the top drive drilling system provides rotational power to the drill pipe downhole. During drilling, due to the influence of the underground working environment and the drilling equipment itself, the drill pipe may experience stick-slip. Stick-slip is mainly manifested in the torque diagram, with an increase in torque. In severe cases, it can lead to stalling, a sawtooth-shaped torque change, and rapid vibration of the drill pipe rotation speed at the bottom of the well. The main hazards include: diamond bit chipping during cutting; a reduction in drilling speed of approximately 25%; drill pipe derailment and falling to the bottom of the well; stalling of the downhole motor and top drive; failure of drilling instruments; and drill pipe fatigue failure, all of which increase operating costs and risks. When stick-slip occurs, some conventional solutions include: (1) increasing the torque speed; (2) if increasing the speed is ineffective, reducing the drilling pressure; and (3) in cases of severe stick-slip, stopping drilling and lifting the drill pipe to release energy. However, this method is time-consuming in actual operation and may also have drawbacks or defects such as drill bit damage and instrument failure. In addition to the aforementioned conventional defects, there are also solutions to the stick-slip phenomenon through soft torque control methods, such as EP's EPST (Electro Project Soft Torque) system. In this EPST system, in addition to the PLC and driver, an external soft torque control device and an ST touch screen are also required. When this system is used, the soft torque controller needs to communicate and adapt with the driver, and the operation needs to be performed separately on the ST touch screen. This results in fewer usage scenarios, greater application limitations, complex and unreliable system construction, and inconvenient operation and maintenance.

[0084] To address the aforementioned problems, this application provides a drill pipe control scheme to resolve the existing deficiencies.

[0085] Reference Figure 2 In a first embodiment of the drill pipe control method of this application, the drill pipe driver integrates a preset soft torque control algorithm and a mathematical model of the drill pipe, and the method includes:

[0086] Step S10: Receive drilling command, obtain first drill pipe state parameters through the mathematical model, the first drill pipe state parameters are used to characterize the state of the drill pipe;

[0087] It should be noted that in practical applications, the drill pipe driver is used to control the drill pipe's rotational speed or torque. For example, the driver can drive the drill pipe to rotate via a top drive that is paired with the drill pipe. Under normal circumstances, the driver has a built-in motor control algorithm, such as a speed feedback motor vector control algorithm or a sensorless motor vector control algorithm. The specific motor control algorithm can be set or selected by technicians according to actual needs. Furthermore, the drill pipe driver also integrates a preset soft torque control algorithm and a mathematical model of the drill pipe to handle stick-slip conditions. It is understandable that, because the preset soft torque control algorithm and mathematical model are integrated into the driver, compared to the external soft torque control device in the EPST system described above, this application effectively simplifies the control system topology, avoids communication and misoperation problems, and improves the stability and versatility of the control system. In addition, see [reference needed]. Figure 3 This is a schematic diagram of the drill pipe control system framework in this application. The diagram mainly includes a host computer, a driver, and a top drive. The host computer includes an interactive interface and a controller. The mathematical model, motor control algorithm, and preset soft torque control algorithm are integrated into the driver. The top drive includes a motor + gearbox combination, a drill pipe assembly structure (i.e., the drill pipe in this embodiment), and sensors (such as a motor encoder and a drill pipe stress sensor). In this embodiment, the preset soft torque control algorithm can be set or selected by those skilled in the art. For example, a torque negative feedback vibration reduction control algorithm, where the rotational speed is reduced when the drill pipe torque is greater than a torque threshold (e.g., average torque), and increased when the drill pipe torque is less than the torque threshold. The magnitude of the speed adjustment is proportional to the difference between the drill pipe torque and the torque threshold. Through this torque negative feedback, the absorption of torsional vibration energy by the drill pipe during rotation can be changed, thereby avoiding stick-slip phenomena.

[0088] For example, upon receiving a drilling command, the driver can control the motor driving the drill pipe to rotate based on the drilling command. The drilling command may include speed or torque, etc. Under normal circumstances, the motor control algorithm in the driver can control the motor driving the drill pipe to rotate according to the drilling command, so that the speed or torque of the drill pipe matches the speed or torque in the drilling command. In practical applications, upon receiving a drilling command, the mathematical model in the driver first estimates the state of the drill pipe to obtain the first drill pipe state parameters. It is understood that, under normal circumstances, the working environment of the drill pipe is hundreds or thousands of meters underground; therefore, the actual state of the drill pipe cannot be accurately known. Therefore, the state of the drill pipe is estimated through a mathematical model. This mathematical model may include models related to dynamics, kinematics, frictional loads, etc. The mathematical model of the drill pipe can be set by technicians according to the specific drill pipe equipment or motor equipment used. Furthermore, the mathematical model structure in this embodiment can also refer to existing mathematical models, so it will not be elaborated further here. The mathematical model can estimate the state of the downhole drill pipe by analyzing the state of the surface equipment. For example, by inputting the operating parameters of the surface motor equipment into the mathematical model, the model will output the state of the downhole drill pipe, namely the first drill pipe state parameters. These parameters can include drill pipe deformation and torque, among other things. Based on the difference between the first drill pipe state parameters and the drill pipe control target in the drilling command, the motor control algorithm in the driver can control the motor according to this difference.

[0089] In addition, the aforementioned drilling commands can be sent by the user to the driver via a host computer. For example, the host computer can be configured with an interactive interface, through which the user inputs drilling commands. The host computer can be an industrial control computer or a PLC, which communicates with the driver via a bus.

[0090] Step S20: Based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm, the motor control algorithm is compensated to obtain the motor control command;

[0091] It is understood that this embodiment primarily addresses the drill pipe stick-slip scenario. Therefore, a preset soft torque control algorithm is added to the motor control algorithm to jointly control the motor. The preset soft torque control algorithm compensates for the torque of the motor control algorithm based on the drill pipe's state. Based on the drilling command and with compensation from the preset soft torque control algorithm, a motor control command is obtained. For example, when stick-slip exists, the drill pipe's torque curve exhibits sawtooth-like fluctuations. The preset soft torque control algorithm can output a compensation control command based on the first drill pipe state parameters. Under the compensation effect of this command, a motor control command is obtained, which controls the motor, making the torque curve of the drill pipe driven by the motor approach stability, thus suppressing stick-slip.

[0092] In one feasible implementation, the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm to obtain the motor control command includes:

[0093] Step S21: Input the first drill pipe state parameters into the preset soft torque control algorithm to obtain the current loop control command and speed loop control command of the motor control algorithm;

[0094] Step S22: Input the first drill pipe state parameters, the drilling command, the current loop control command, and the speed loop control command into the motor control algorithm to obtain the motor control command.

[0095] It should be noted that the preset soft torque control algorithm can be implemented by optimizing the control loop commands, or by adding an additional controller to adjust the torque and speed. Alternatively, technical personnel can select an existing soft torque control algorithm implementation.

[0096] For example, the first drill pipe state parameters are input into the preset torque control algorithm to obtain the current loop control command and speed loop control command of the motor control algorithm. Then, the first drill pipe state parameters, drilling command, current loop control command, and speed loop control command are input into the motor control algorithm. The current loop control command and speed loop control command perform torque compensation on the result generated by the motor control algorithm based on the first drill pipe state parameters and drill pipe command to obtain the motor control command. At this time, when the motor is controlled based on the motor control command, the result of the motor driving the drill pipe is to suppress the torque of the drill pipe, so as to reduce the torque fluctuation of the drill pipe and achieve the purpose of suppressing stick-slip phenomenon.

[0097] Step S30: Control the motor used to drive the drill rod based on the motor control command to control the drill rod.

[0098] For example, motor control commands can be input to the top drive, which executes the commands to rotate the motor driving the drill pipe, thereby controlling the drill pipe. It is understood that, due to the addition of a preset soft torque control algorithm, when controlling the motor driving the drill pipe based on the motor control commands, the torque fluctuations of the drill pipe will tend to stabilize, thus suppressing stick-slip phenomena, effectively improving the lifespan of the drill pipe, and without affecting its operation.

[0099] In this embodiment, the drill pipe driver integrates a preset soft torque control algorithm and a mathematical model of the drill pipe. The drill pipe control method includes: receiving a drilling command; obtaining a first drill pipe state parameter through the mathematical model, the first drill pipe state parameter being used to characterize the state of the drill pipe; compensating the motor control algorithm based on the drilling command, the first drill pipe state parameter, and the preset soft torque control algorithm to obtain a motor control command; and controlling the motor used to drive the drill pipe based on the motor control command to control the drill pipe. That is, on the one hand, this embodiment integrates a preset soft torque control algorithm and a mathematical model into the driver. Compared to the existing EPST system with an external soft torque control device, this application does not need to consider the compatibility issue between the soft torque control device and the driver, thus ensuring the universality of the drill pipe control method in this application. On the other hand, the preset soft torque algorithm built into the driver performs torque compensation on the motor control algorithm based on the built-in mathematical model to obtain a motor control command. The motor control command is then used to control the motor, which in turn drives the drill pipe. Understandably, since the motor control command is obtained by adding a preset soft torque control algorithm to compensate for the torque, controlling the motor that drives the drill pipe based on the motor control command can make the torque fluctuation of the drill pipe more stable, thereby suppressing stick-slip phenomenon and reducing operating costs and risks.

[0100] Reference Figure 4 Based on the first embodiment of the drill pipe control method of this application, a second embodiment of this application is proposed. Contents identical or similar to those in the above embodiments can be referred to the above description and will not be repeated hereafter. The driver is also configured with a drill pipe observation model, which is used to predict the state of the drill pipe. The drill pipe control method further includes:

[0101] Step S100: Based on the observation model, obtain the second drill pipe state parameters;

[0102] Step S200: The control loop of the drill pipe is modified by the second drill pipe state parameters, wherein the control loop includes the mathematical model, the preset soft torque control algorithm, and the motor control algorithm.

[0103] It should be noted that, in this embodiment, in addition to the mathematical model of the drill pipe, the driver is also equipped with an observation model of the drill pipe. The observation model has a similar function to the mathematical model, both of which are used to determine the state of the drill pipe.

[0104] For example, the state of the drill pipe is predicted using an observation model to obtain the second drill pipe state parameters. The observation model can predict the second drill pipe state based on collected partial drill pipe force parameters and motor operating conditions. It should be noted that in practical applications, it is impossible to collect all the force parameters of the drill pipe; therefore, it is necessary to obtain the various force conditions of the drill pipe, i.e., the second drill pipe state, through prediction. It can be understood that the first and second drill pipe states are the same drill pipe states obtained using different methods. Ideally, the first and second drill pipe states should be consistent. Therefore, the obtained second drill pipe state can be used to correct the drill pipe control loop. The control loop includes a mathematical model, a preset soft torque control algorithm, and a motor control algorithm. Therefore, correcting the control loop also corrects the process of generating motor control commands based on the mathematical model, the preset soft torque control algorithm, and the motor control algorithm. It is understandable that, in this embodiment, when suppressing soft torque, a second drill pipe state parameter is added on the basis of the first drill pipe parameter to modify the process of generating motor control commands, which can make the soft torque control of the drill pipe more precise, thereby achieving a better stick-slip suppression effect.

[0105] Reference Figure 5 This is a detailed framework diagram of the drill pipe control system of this application. Users can input drilling commands and equipment parameters required to construct the mathematical model of the drill pipe through a human-machine interface on a host computer. The mathematical model of the drill pipe may include a drill pipe dynamics model, a drill pipe kinematics model, and a drill pipe friction model. The mathematical model of the drill pipe can estimate the first drill pipe state parameters. Based on the first drill pipe state parameters and the drilling commands, a preset soft torque control algorithm and a motor control algorithm can be used to obtain motor control commands. Furthermore, the actual equipment data output by the drill pipe stress sensor and the motor encoder can be output to the drill pipe observation model. By predicting the state of the drill pipe through the observation model, a second state parameter is obtained, which can compensate for the torque control algorithm. In addition, the results from the drill pipe stress sensor and the motor encoder can be used to correct the drill pipe mathematical model.

[0106] Reference Figure 6 This is a schematic diagram of the framework for applying for soft torque control. Based on the output of the drill pipe dynamics mathematical model in the drill pipe mathematical model, the motor control algorithm and the soft torque algorithm can obtain the first objective. Furthermore, based on the output of the drill pipe dynamics mathematical model and the drill pipe strain feedback from the top drive, the output of the drill pipe observation model is compensated. The compensated output of the drill pipe observation model is then used to compensate for the first objective based on the soft torque compensation algorithm. Drill pipe speed / position feedback will be used to correct the drill pipe friction model and compensate for the second objective, respectively. The first objective can be the target current in the current loop, and the second objective can be the target speed in the speed loop.

[0107] In one feasible implementation, the step of obtaining the second drill pipe state parameters based on the observation model includes:

[0108] Step S110: Obtain the actual state parameters of the motor and the actual state parameters of the drill rod;

[0109] Step S120: Input the actual state parameters of the motor and the actual state parameters of the drill rod into the observation model to obtain the second drill rod state parameters.

[0110] For example, in this embodiment, the motor driving the drill pipe is equipped with a motor encoder. The motor encoder is used to collect the motor's operating parameters, i.e., the motor's actual state parameters, such as motor current, motor torque, and motor speed. Simultaneously, a stress sensor is also installed on the drill pipe to collect the drill pipe's strain force, which is also the drill pipe's actual state parameter. The motor's actual state parameters and the drill pipe's actual state parameters are then input into an observation model to predict the drill pipe's state, resulting in second drill pipe state parameters. These second drill pipe state parameters may include the drill pipe's actual rotational speed, actual torque, strain distribution, and drill pipe life estimation, etc.

[0111] In addition, the second drill pipe status parameters and the first drill pipe status parameters obtained above can be output through the interactive interface of the host computer, thereby displaying the actual status of the drill pipe to the user.

[0112] In one feasible implementation, the control loop is used to generate the motor control command, and the step of correcting the control loop of the drill pipe using the second drill pipe state parameters includes:

[0113] Step S210: Based on the second drill pipe state parameters, compensate and correct the motor control command to constrain the torque fluctuation of the drill pipe.

[0114] The obtained second drill pipe state will then be used to compensate for the motor control command. For example, the second drill pipe state parameters are input into a preset soft torque compensation algorithm to obtain a compensation value. The compensation value is then superimposed on the motor control command to complete the compensation of the motor control command. The purpose of compensating for the motor control command is to constrain the torque fluctuation of the drill pipe. For example, if the torque of the drill pipe in the second drill pipe state exhibits a sawtooth-like fluctuation, the compensation value is used to improve the trough area in the torque wave, thereby achieving adaptive control of the stick-slip phenomenon.

[0115] In one feasible implementation, the mathematical model includes a drill pipe dynamics model and a drill pipe friction model, and the step of correcting the control loop of the drill pipe using the second drill pipe state parameters further includes:

[0116] Step S220: The drill pipe dynamics model and the drill pipe friction model in the mathematical model are modified by the second drill pipe state parameters, so that the first drill pipe state parameters and the second drill pipe state parameters are close to being consistent.

[0117] For example, the mathematical model in this embodiment may include a drill pipe dynamics model and a drill pipe friction model, etc. Therefore, ideally, the first drill pipe state parameters and the second drill pipe state parameters are nearly identical. The second drill pipe state parameters are obtained based on the actual motor state parameters and the actual drill pipe state parameters, which are real-time acquisition results, meaning the actual state parameters are accurate. Therefore, the second drill pipe state parameters can serve as a guide for correcting the drill pipe dynamics model and the drill pipe friction model in the mathematical model, respectively, so that the output of the mathematical model including these two models (the first drill pipe state parameters) approaches the second drill pipe state parameters. For example, the correction can be achieved by adjusting some parameters in the mathematical model, and the specific parameters to be adjusted can be set by technicians according to the situation. It is understandable that since the actual state parameters of the motor and the drill pipe are acquired in real time, the actual state parameters of the motor and the drill pipe are accurate. The mathematical model can be corrected by obtaining the second drill pipe state parameter based on the actual state parameters of the motor and the drill pipe, so that the estimation result of the mathematical model is more accurate. When the drill pipe state estimation is accurate, the suppression effect of the soft torque control algorithm on stick-slip phenomenon can be further improved.

[0118] For example, refer to Figure 7 The diagram below illustrates the modeling process in this embodiment. The parameters input by the host computer, such as motor inertia and drill bit inertia, are used to construct the drill pipe mathematical model. The actual collected motor parameters (voltage, current, and position, etc.) and drill pipe parameters (drill pipe strain) are used as inputs to the drill pipe observation model. The output of the drill pipe observation model can be used to correct the mathematical model (drill pipe friction model and drill pipe dynamics model) and to predict the downhole conditions, including the actual drill pipe rotation speed, actual drill pipe torque, drill pipe strain distribution, and drill pipe life.

[0119] In one feasible implementation, before the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm to obtain the motor control command, the method includes:

[0120] Step S01: Based on the first drill pipe state parameters or the second drill pipe state parameters, determine whether the drill pipe has a tendency to enter a stick-slip phenomenon;

[0121] Step S02: If there is a tendency to enter the stick-slip phenomenon, then the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters and the preset soft torque control algorithm to obtain the motor control command is executed.

[0122] Step S03: If there is no tendency to enter a stick-slip phenomenon, then based on the drilling command, the first drill pipe state parameters and the motor control algorithm, generate the motor control command, and execute the step of controlling the motor used to drive the drill pipe based on the motor control command to control the drill pipe.

[0123] It should be noted that in practical applications, the soft torque control algorithm is actually used to suppress stick-slip. Therefore, under normal circumstances, the soft torque control algorithm can be disabled.

[0124] For example, both the first and second drill pipe state parameters can reflect the state of the drill pipe. Ideally, the first and second drill pipe state parameters should be consistent. Since both parameters include at least the drill pipe torque, it can be determined whether the drill pipe is trending towards stick-slip. For instance, the fluctuation of the drill pipe torque can be obtained from the first or second drill pipe state parameters. This fluctuation can include both amplitude and frequency. Comparing this fluctuation with preset torque fluctuation conditions—for example, a preset amplitude threshold or a preset frequency threshold—determines that the preset torque fluctuation conditions are met and that the drill pipe is trending towards stick-slip. The step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm to obtain the motor control command can then suppress stick-slip. Conversely, if it is determined that the drill pipe does not tend to enter a stick-slip state, a motor control command is generated using the drilling command, the first drill pipe state parameters, and the motor control algorithm. The step of controlling the motor used to drive the drill pipe based on the motor control command is then executed. The generation of the motor control command can be referred to the first embodiment described above, and will not be repeated here.

[0125] Reference Figure 8 Based on the first and second embodiments of the drill pipe control method of this application, a third embodiment of this application is proposed. Contents in this embodiment that are the same as or similar to those in the above embodiments can be referred to the above description and will not be repeated hereafter. Before the step of obtaining the first drill pipe state parameters through the mathematical model, whereby the first drill pipe state parameters are used to characterize the state of the drill pipe, the method includes:

[0126] Step S11: Receive drill pipe attribute parameters, motor attribute parameters, and working environment attribute parameters;

[0127] Step S12: Input the drill pipe attribute parameters, the motor attribute parameters, and the working environment attribute parameters into the preset mathematical model framework to obtain the mathematical model.

[0128] It should be noted that the above-described EPST system method only applies to drill pipe types that exist in the drill pipe parameter library of the EPST system. For drill pipes that do not exist in the drill pipe parameter library, the EPST system cannot be applied, thus further resulting in poor versatility of the EPST system. To address this issue, in this embodiment, different mathematical models for different drill pipes can be generated, thereby enabling the drill pipe method of this application to be applied to different drill pipes.

[0129] For example, through the interactive interface of the host computer, the user can input the parameters of the currently used equipment, such as drill pipe attribute parameters, motor attribute parameters, and working environment attribute parameters. For instance, drill pipe attribute parameters may include drill bit inertia, drill bit stiffness, and damping; motor attribute parameters may include motor inertia and other relevant motor parameters; and working environment attribute parameters may include estimated friction coefficient and boundary layer thickness. The driver then receives the drill pipe attribute parameters, motor attribute parameters, and working environment attribute parameters sent by the host computer and inputs them into a preset mathematical model framework to obtain the mathematical model of the current drill pipe. Since, in this embodiment, the mathematical model of the drill pipe can be generated in real time based on the input equipment parameters, it does not limit the type of drill pipe, thereby enhancing the versatility of the drill pipe control method in this embodiment.

[0130] In addition, refer to Figure 9 This application also proposes a drill pipe control device 100, wherein the drill pipe driver integrates a preset soft torque control algorithm and a mathematical model of the drill pipe, and the drill pipe control device 100 includes:

[0131] Estimation module 10 is used to receive drilling commands and obtain first drill pipe state parameters through the mathematical model. The first drill pipe state parameters are used to characterize the state of the drill pipe.

[0132] The compensation module 20 is used to compensate the motor control algorithm based on the drilling command, the first drill pipe state parameters and the preset soft torque control algorithm to obtain the motor control command;

[0133] The control module 30 is used to control the motor used to drive the drill rod based on the motor control command, so as to control the drill rod.

[0134] Optionally, the compensation module 20 is further configured to:

[0135] The first drill pipe state parameters are input into the preset soft torque control algorithm to obtain the current loop control command and speed loop control command of the motor control algorithm;

[0136] The first drill pipe state parameters, the drilling command, the current loop control command, and the speed loop control command are input into the motor control algorithm to obtain the motor control command.

[0137] Optionally, the actuator is further configured with a drill pipe observation model for predicting the state of the drill pipe, and the drill pipe control device 100 further includes a correction module 40, which is used for:

[0138] Based on the observation model, the state parameters of the second drill pipe are obtained;

[0139] The control loop of the drill pipe is modified by the second drill pipe state parameters, wherein the control loop includes the mathematical model, the preset soft torque control algorithm, and the motor control algorithm.

[0140] Optionally, the correction module 40 is further configured to:

[0141] Obtain the actual state parameters of the motor and the actual state parameters of the drill rod;

[0142] The actual state parameters of the motor and the actual state parameters of the drill pipe are input into the observation model to obtain the second drill pipe state parameters.

[0143] Optionally, the control loop is used to generate the motor control command, and the correction module 40 is further used to:

[0144] Based on the second drill pipe state parameters, the motor control command is compensated and corrected to constrain the torque fluctuation of the drill pipe.

[0145] Optionally, the mathematical model includes a drill pipe dynamics model and a drill pipe friction model, and the correction module 40 is further used for:

[0146] The drill pipe dynamics model and the drill pipe friction model in the mathematical model are modified by the second drill pipe state parameters, so that the first drill pipe state parameters and the second drill pipe state parameters are close to being consistent.

[0147] Optionally, the drill pipe control device 100 further includes a determining module 50, the determining module 50 being used for:

[0148] Based on the first drill pipe state parameters or the second drill pipe state parameters, determine whether the drill pipe has a tendency to enter a stick-slip phenomenon;

[0149] If there is a tendency to enter a stick-slip phenomenon, then the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters and the preset soft torque control algorithm is executed to obtain the motor control command;

[0150] If there is no tendency to enter a stick-slip phenomenon, then based on the drilling command, the first drill pipe state parameters, and the motor control algorithm, the motor control command is generated, and the step of controlling the motor used to drive the drill pipe based on the motor control command is executed to control the drill pipe.

[0151] Optionally, the drill pipe control device 100 further includes a construction module 60, which is used for:

[0152] Receive drill pipe attribute parameters, motor attribute parameters, and working environment attribute parameters;

[0153] The mathematical model is obtained by inputting the drill pipe attribute parameters, the motor attribute parameters, and the working environment attribute parameters into a preset mathematical model framework.

[0154] The drill pipe control device provided in this application employs the drill pipe control method described in the above embodiments, aiming to solve the technical problem that most existing solutions for dealing with stick-slip phenomena have additional defects and are difficult to meet actual drilling needs. Compared with the prior art, the beneficial effects of the drill pipe control device provided in this application are the same as those of the drill pipe control method provided in the above embodiments, and other technical features in the drill pipe control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0155] Furthermore, this application also proposes a drill pipe control device, which includes a memory, a processor, and a drill pipe control program stored in the memory and executable on the processor. When the drill pipe control program is executed by the processor, it implements the steps of the drill pipe control method described above.

[0156] The specific implementation of the drill pipe control device of this application is basically the same as the embodiments of the drill pipe control method described above, and will not be repeated here.

[0157] Furthermore, embodiments of this application also propose a readable storage medium storing a drill pipe control program, which, when executed by a processor, implements the steps of the drill pipe control method described above.

[0158] The specific implementation method of the medium in this application is basically the same as the various embodiments of the above-mentioned drill pipe control method, and will not be repeated here.

[0159] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0160] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0161] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0162] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for controlling drill pipe, characterized in that, The drill pipe driver integrates a preset soft torque control algorithm and a mathematical model of the drill pipe, and the method includes: Upon receiving a drilling command, the first drill pipe state parameter is obtained through the mathematical model. The first drill pipe state parameter is used to characterize the state of the drill pipe. Based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm, the motor control algorithm is compensated to obtain the motor control command; The motor is controlled based on the motor control command to drive the drill rod, thereby controlling the drill rod; The driver is also configured with an observation model of the drill pipe, the observation model being used to predict the state of the drill pipe, and the method further includes: Based on the observation model, the state parameters of the second drill pipe are obtained; The control loop of the drill pipe is corrected by the second drill pipe state parameters, wherein the control loop includes the mathematical model, the preset soft torque control algorithm, and the motor control algorithm; The steps for obtaining the second drill pipe state parameters based on the observation model include: Obtain the actual state parameters of the motor and the actual state parameters of the drill rod; The actual state parameters of the motor and the actual state parameters of the drill pipe are input into the observation model to obtain the second drill pipe state parameters.

2. The drill pipe control method as described in claim 1, characterized in that, The step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm to obtain the motor control command includes: The first drill pipe state parameters are input into the preset soft torque control algorithm to obtain the current loop control command and speed loop control command of the motor control algorithm; The first drill pipe state parameters, the drilling command, the current loop control command, and the speed loop control command are input into the motor control algorithm to obtain the motor control command.

3. The drill pipe control method as described in claim 1, characterized in that, The control loop is used to generate the motor control command, and the step of correcting the control loop of the drill pipe using the second drill pipe state parameters includes: Based on the second drill pipe state parameters, the motor control command is compensated and corrected to constrain the torque fluctuation of the drill pipe.

4. The drill pipe control method as described in claim 1, characterized in that, The mathematical model includes a drill pipe dynamics model and a drill pipe friction model. The step of correcting the control loop of the drill pipe using the second drill pipe state parameters further includes: The drill pipe dynamics model and the drill pipe friction model in the mathematical model are modified by the second drill pipe state parameters, so that the first drill pipe state parameters and the second drill pipe state parameters are close to being consistent.

5. The drill pipe control method as described in claim 1, characterized in that, Before the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters, and the preset soft torque control algorithm to obtain the motor control command, the method includes: Based on the first drill pipe state parameters or the second drill pipe state parameters, determine whether the drill pipe has a tendency to enter a stick-slip phenomenon; If there is a tendency to enter a stick-slip phenomenon, then the step of compensating the motor control algorithm based on the drilling command, the first drill pipe state parameters and the preset soft torque control algorithm is executed to obtain the motor control command; If there is no tendency to enter a stick-slip phenomenon, then based on the drilling command, the first drill pipe state parameters, and the motor control algorithm, the motor control command is generated, and the step of controlling the motor used to drive the drill pipe based on the motor control command is executed to control the drill pipe.

6. The drill pipe control method according to any one of claims 1 to 5, characterized in that, Before the step of obtaining the first drill pipe state parameters through the mathematical model, whereby the first drill pipe state parameters are used to characterize the state of the drill pipe, the method includes: Receive drill pipe attribute parameters, motor attribute parameters, and working environment attribute parameters; The mathematical model is obtained by inputting the drill pipe attribute parameters, the motor attribute parameters, and the working environment attribute parameters into a preset mathematical model framework.

7. A control device for a drill pipe, characterized in that, The drill pipe driver integrates a preset soft torque control algorithm and a mathematical model of the drill pipe. The driver is also equipped with an observation model of the drill pipe, which is used to predict the state of the drill pipe. The control device for the drill pipe includes: The estimation module is used to receive drilling commands and obtain first drill pipe state parameters through the mathematical model. The first drill pipe state parameters are used to characterize the state of the drill pipe. The compensation module is used to compensate the motor control algorithm based on the drilling command, the first drill pipe state parameters and the preset soft torque control algorithm to obtain the motor control command; A control module is used to control the motor used to drive the drill rod based on the motor control command, so as to control the drill rod; The correction module is used to obtain the second drill pipe state parameters based on the observation model; The correction module is further configured to correct the control loop of the drill pipe using the second drill pipe state parameters, wherein the control loop includes the mathematical model, the preset soft torque control algorithm, and the motor control algorithm; The correction module is also used to obtain the actual state parameters of the motor and the actual state parameters of the drill rod. The correction module is also used to input the actual state parameters of the motor and the actual state parameters of the drill pipe into the observation model to obtain the second drill pipe state parameters.

8. A control device for drill pipe, characterized in that, The drill pipe control device includes: a memory, a processor, and a drill pipe control program stored in the memory and executable on the processor. When the drill pipe control program is executed by the processor, it implements the steps of the drill pipe control method as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a drill pipe control program, which, when executed by a processor, implements the steps of the drill pipe control method as described in any one of claims 1 to 6.

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