Tool face angle adjustment correction system and method

Abstract

The present application relates to a kind of tool face angle adjustment correction system and method, belong to automatic control technical field.The system includes correction parameter solution module, adjustment effect evaluation module and adjustment step calculation module;The adjustment step calculation module is according to formation condition, real-time adjustment matching degree and reference step, real-time solution current tool face angle adjustment step, decompose the angle to be adjusted, realize automatic step and accurate adjustment.This application in the process of solving correction coefficient, on the one hand, use the maximum and minimum of fuzzy processing, on the other hand, the maximum probability numerical interval is further divided into multiple subintervals, and the arithmetic mean of each subinterval is calculated, and the arithmetic mean is used for subsequent calculation.This application uses the number of each interval pressure value as weighting coefficient, in line with the basic law that the more the occurrence frequency, the greater the influence on weighted mean, and the algorithm as a whole has strong engineering practicability.

Description

Technical Field

[0001] This invention belongs to the field of automatic control technology and relates to a tool face angle adjustment and correction system and method. Background Technology

[0002] Directional boreholes in coal mines are typically quite deep, often hundreds or even thousands of meters. Due to the depth and length of the drill rod, the borehole wall generates significant and uneven frictional resistance. Furthermore, the drill rod itself is in a bent state within the directional borehole, resulting in elastic torsional deformation. This elastic deformation means that the rotation of the power head is often not transmitted one-to-one to the bottom-mounted motor at the foremost end of the drill rod when adjusting the tool face angle, causing a significant difference between the tool face angle adjustment degree and the power head rotation degree. Without addressing the problem of "distorted" tool face angle transmission caused by torsional deformation, even if accurate inclination and azimuth angles can be measured using a measuring probe and the current tool face angle calculated, accurate tool face angle adjustment cannot be achieved.

[0003] Currently, directional drilling rigs are generally operated manually. While the measurement system can calculate the tool face angle, it cannot determine the relationship between changes in the tool face angle and the rotation of the power head during adjustment. In practice, the effectiveness of the angle adjustment is generally judged by observing the change in the borehole trajectory after drilling a certain distance, and then the tool face angle is adjusted again to guide the borehole trajectory in the desired direction. The general methods for releasing and compensating for drill rod torsional deformation in directional drilling are as follows:

[0004] (1) The drilling rig completes the current drill rod drilling, the drill bit is at the foremost end of the bottom of the hole, and the drilling rig stops advancing;

[0005] (2) The drilling rig drives all the drilling tools to retract a certain distance, generally not exceeding the length of a drill pipe;

[0006] (3) The drilling rig drives all the drilling tools to move back and forth. Generally, the bottom hole motor does not rotate, releasing the torsional deformation of the drill rod. When it is believed that the torsional deformation has little impact on the tool face angle adjustment, the reciprocating motion is stopped.

[0007] (4) Adjust the tool face angle to the required value, push the drill bit to the very front of the bottom of the hole, and add a new drill rod to continue drilling.

[0008] (5) While drilling, observe the trajectory. If a large deviation occurs, repeat the above process.

[0009] This process of manual judgment and adjustment based on experience requires repeated trial and error, resulting in low accuracy and efficiency, which seriously affects the overall drilling efficiency and makes it difficult to meet the development needs of automated directional drilling rigs. Summary of the Invention

[0010] In view of this, the object of the present invention is to provide a tool face angle adjustment and correction system and method to solve the following problems:

[0011] (1) The problem of "distortion" in tool face angle transmission caused by torsional deformation of drill pipe;

[0012] (2) The lack of basis for correcting drill pipe torsional deformation;

[0013] (3) The deformation compensation operation and evaluation rely entirely on human experience;

[0014] (4) The problem of lack of automated tool face angle correction methods for automated directional drilling rigs and drilling robots.

[0015] To achieve the above objectives, the present invention provides the following technical solution:

[0016] A tool face angle adjustment and correction system, the system includes a correction parameter calculation module, an adjustment effect evaluation module, and an adjustment step size calculation module;

[0017] The correction parameter calculation module calculates the correction parameters based on the preset drill pipe parameters;

[0018] The correction parameters include drill pipe retraction distance, drill pipe reciprocating distance, and drill pipe reciprocating speed;

[0019] The adjustment effect evaluation module calculates the adjustment matching degree based on the correction parameters, and selects the parameters to be optimized based on the evaluation effect;

[0020] The adjustment step length calculation module calculates the current tool face angle adjustment step length in real time based on formation conditions, real-time adjustment matching degree, and reference step length, decomposes the angle to be adjusted, and realizes automatic step-by-step and accurate adjustment.

[0021] Optionally, the drill rod retraction distance is: the maximum distance the entire drill bit needs to retract from the bottom of the hole to the outside of the hole when the torsional deformation of the drill rod needs to be released before a single tool face angle adjustment;

[0022] The reciprocating distance of the drill pipe is: when it is necessary to release the torsional deformation of the drill pipe, within the specified retraction distance range, the drill bit needs to reciprocate forward or backward multiple times to release the torsional deformation, and the distance of a single forward or backward movement is repeated.

[0023] The reciprocating speed of the drill pipe is the speed at which the drill string reciprocates when it is necessary to release the torsional deformation of the drill pipe.

[0024] Optionally, the drilling tool includes a combination of drill rod, bottom hole motor, and drill bit.

[0025] Optionally, the method for calculating the backoff distance is as follows:

[0026] 1) Trial implementation and basic data collection

[0027] During normal drilling, the following parameters are collected or calculated: the normal drilling feed pressure p collected by the control system. z The total number of feed pressure samples is n z The feed pressure sampling time interval is Δt, and the maximum feed pressure is p. zmax The minimum value is p zmin The arithmetic mean is The standard deviation is σ z ;

[0028] Trial advance: Before a single tool face angle adjustment, when it is necessary to release the torsional deformation of the drill rod, the drilling rig drives the drill string to retreat a distance equal to the length of one drill rod, and then feeds it forward again to the bottom of the hole; during the trial advance, the following parameters are collected or calculated: the feed pressure p collected by the control system during the trial advance. s The total number of feed pressure samples is n s The feed pressure sampling time interval is Δt, and the maximum feed pressure is p. smax The minimum value is p smin The arithmetic mean is The standard deviation is σ s ;

[0029] 2) Fuzzy processing of pressure extreme values

[0030] Based on the geological conditions at the drilling site, a proportional threshold for the pressure fluctuation range is set for the normal drilling feed pressure p. z The threshold δ z ∈[0,1];

[0031] When p z =p zmax ±δ z p zmax At that time, it was generally believed that p z =p zmax ;

[0032] When p z =p zmin ±δ z p zmin At that time, it was generally believed that p z =p zmin ;

[0033] Similarly, for the test propulsion feed pressure p s There is a threshold δ s ∈[0,1];

[0034] When p s =p smax ±δ s p smax At that time, it was generally believed that p s =p smax ;

[0035] When p s =p smin ±δ s p smin At that time, it was generally believed that p s =p smin ;

[0036] Meanwhile, assuming the maximum normal drilling feed pressure p after the above fuzzy processing zmax The quantity is m z1 Minimum value p zmin The quantity is m z2 ; Test push the maximum feed pressure p smax The quantity is m s1 Minimum value p smin The quantity is m s2 ;

[0037] 3) Solve for the weighted average of the feed pressure

[0038] Based on the principle of normal distribution, to reduce the very few parameters caused by abnormal influences and improve calculation efficiency, the normal drilling feed pressure value range is as follows: The values ​​within this interval, as well as the maximum and minimum values ​​obtained in the previous step, are called effective values. The pressure values ​​outside this interval are extremely low probability events and are not used in the pressure weighted average calculation.

[0039] This interval is calculated using the arithmetic mean With standard deviation σ z The relationship is divided into 6 sub-intervals. The number of pressure values ​​mzi in each sub-interval is counted, i = 3, 4, ... 8, and the arithmetic mean of all pressure values ​​in each sub-interval is calculated. This mean is called the second mean;

[0040] The weighted average of real-time normal drilling feed pressure is calculated as follows:

[0041]

[0042]

[0043] Similarly, the weighted average of the feed pressure is:

[0044]

[0045]

[0046] 4) Constructing correction coefficients

[0047] The correction coefficient is constructed using the weighted average of normal drilling feed pressure and the weighted average of trial propulsion feed pressure.

[0048]

[0049] when That is, k x1 When the value is ≥1, the borehole is in a severe working condition, requiring drilling to be stopped and emergency retrieval to avoid losing the drill bit. This is no longer a normal directional drilling condition. That is, k x1 ∈(-1, 1);

[0050] 5) Solve for the backoff distance in intervals

[0051] Based on the definition of the correction factor (3), the range of values ​​for the correction factor, and combined with engineering practice experience, the following derivation is made:

[0052] ① When k x1 ∈(-1, 0), that is At that time, it was believed that the resistance inside the hole during the trial drilling was small, less than the resistance inside the hole during normal drilling, that is, the working conditions inside the hole were good. The retraction distance was increased to leave more room for subsequent reciprocating movement and improve the efficiency of releasing the torsional deformation of the drill rod.

[0053] ②When k x1 ∈[0,1), that is At that time, it was believed that the resistance inside the hole during the trial drilling was large, which was greater than the resistance inside the hole during normal drilling, that is, there was a certain risk of hole collapse inside the hole. At this time, repeated hole washing measures were taken, the drilling rig drove all the drilling tools to move back and forth, and the bottom hole motor rotated to drive the drill bit to rotate.

[0054] Based on the above analysis of the operating conditions, the formula for calculating the retraction distance is as follows:

[0055]

[0056] In the above formula, L J As the reference distance, and L j =k J L ZG L ZG k is the length of a single drill pipe used for drilling. J ∈(0,1] is the working condition coefficient, which is determined by the geological conditions and the drilling technology adapted to the geological conditions, and is obtained from test boreholes or historical experience;

[0057] Comparing equations (4-1), (4-2), and (3), the meanings of equations (4-1) and (4-2) are as follows:

[0058] When k x1 ∈(-1, 0), that is When using equation (4-1), calculate L. B , The larger |k x1 The smaller | is L B The smaller the value, the better the working conditions inside the hole. B To prepare for the reciprocating movement process, the distance to be retracted is to be determined.

[0059] When k x1 ∈[0,1), that is When using equation (4-2), calculate L. B , The larger k is x1 The larger L is B The smaller the value, the greater the risk of hole collapse within the hole. B Let k be the hole washing distance. Repeated hole washing makes k x1 ∈(-1, 0) At this time, it is ready to enter the reciprocating movement process;

[0060] Within the two intervals, L B All follow k x1 The value decreases as it increases, which conforms to the definition of the correction coefficient (3) and the actual working conditions.

[0061] Optionally, the method for calculating the reciprocating travel distance is as follows:

[0062] Based on different trial drilling conditions, construct the reciprocating travel distance L. f The calculation formula is as follows:

[0063] L f =k f L B Equation (5-1)

[0064] L f =L B -ΔL f Equation (5-2)

[0065] In the above formula, k f ΔL is the reciprocating movement coefficient, and ΔL is the variable coefficient; f To allow for the bottom hole distance, which is the distance between the drill bit and the bottom of the hole when the drill bit reaches its foremost position;

[0066] Depending on the success or failure of the trial drilling operation, either equation (5-1) or equation (5-2) is selected to calculate the reciprocating distance in real time; simultaneously, combined with the algorithm for solving the retraction distance in intervals, it is known that only when k x1 ∈(-1, 0), that is At that time, L B To determine the retraction distance, proceed to the reciprocating movement process; for k x1 The range of values ​​is further divided into k x1 ∈(-1, k) a ]∪(k a ,0), where ka Let k be the reciprocating partition coefficient. x1 The range of values ​​is divided into two segments: (-1, k) a ] represents good working conditions, (k a ,0) represents a poor but safe working condition; k a This is a priori assignment coefficient, the value of which is determined based on the prior drilling parameters according to the geological conditions during construction.

[0067] L f The calculation formula and calculation method are as follows:

[0068] 1) When k x1 ∈(-1, k) a When selecting

[0069] L f =k f L B Equation (5-1)

[0070] The calculation method is as follows:

[0071] ① The k setting is based on the drillability of the rock strata in the construction roadway obtained from the geological exploration and preliminary drilling stages. f initial value k f0 , and k f ∈(0,1); Simultaneously, a weighted average of the test feed pressure for assessing the drillability of the rock strata in the construction roadway is set. Stable range maximum upper deviation and maximum lower deviation

[0072] ②If the weighted average value of the test propulsion feed pressure calculated by equation (2) during the test propulsion process Always in a stable range Inside, then keep k f =k f0 ;

[0073] ③If Continue to decrease and exceed the maximum lower deviation Then select the k corresponding to a higher level of rock strata drillability. f value k f1 That is, increase k f Value, let k f =k f1 (k f1 >k f0 );

[0074] ④If Continues to increase and exceeds the maximum upper deviation Then select the k corresponding to a lower level of rock stratum drillability. f value k f-1That is, reduce k f Value, let k f =k f-1 (k f-1 <k f0 );

[0075] 2) When k x1 ∈(k a When , 0), select

[0076] L f =L B -ΔL f Equation (5-2)

[0077] The calculation method is as follows:

[0078] ① Set ΔL based on the drillability of the rock strata in the construction roadway obtained from the geological exploration and preliminary drilling stages. f initial value ΔL f0 ;

[0079] ② If we try to advance the weighted average of the feed pressure If it remains unchanged or decreases, then keep ΔL. f =ΔL f0 ;

[0080] ③ If we try to advance the weighted average of the feed pressure Increase and exceed the maximum upper deviation Then, the ΔL corresponding to the lower level of rock strata drillability is selected. f Value ΔL f-1 That is, increase ΔL f Value, let ΔL f =ΔL f-1 (ΔL f0 <ΔL f-1 ).

[0081] Optionally, the reciprocating speed is calculated as follows:

[0082] 1) When the reciprocating distance is calculated according to formula (5-1), the reciprocating speed

[0083] v f =min(k) vf v z v max Equation (6-1)

[0084] In the formula, k vf It is the speed adjustment coefficient, and v z The average feed rate v during normal drilling max This is the maximum allowable value set by the system when drilling in the current formation.

[0085] 2) When the reciprocating distance is calculated according to formula (5-2), the reciprocating speed

[0086]

[0087] As shown in equation (6-1), when calculating the reciprocating distance according to equation (5-1), if the working conditions are good, the normal drilling speed or even the maximum drilling speed should be selected for reciprocating movement to improve the efficiency of releasing the torsional deformation of the drill rod.

[0088] From equation (6-2), it is known that when calculating the reciprocating travel distance according to equation (5-2), the working condition difference and the reserved ΔL f The larger the value, the worse the working conditions, then v f The smaller the value, the better it meets the operating conditions.

[0089] Optionally, in the adjustment effect evaluation module, the effect of torsional deformation release is represented by the adjustment matching degree, which is the retraction distance L. B reciprocating distance L f reciprocating speed v f and n, the number of back-and-forth movements f function;

[0090] The matching degree function is constructed as follows:

[0091]

[0092] In the above formula, Δθ T This represents the change in tool face angle; Δθ D k represents the change in the angle of the drilling rig's power head. M To adjust the matching degree; L B L is the backtracking distance. ZG L is the length of a single drill pipe used for drilling. f v represents the distance traveled back and forth. f v is the reciprocating speed; z n is the average feed rate during normal drilling. f n represents the number of back-and-forth movements. P The maximum number of permissible reciprocating movements preset for the control system;

[0093] a, b, c, and d are priority coefficients, set according to the drillability of the rock strata, representing L. B L f v f n f The priority of; where a∈(0, a max ],b∈(0,b max ], c∈(0, c max ],d∈(0,d max ], and d max ≤c max=b max ≤a max And a+b+c+d=1;

[0094] From equation (7), we know that k M ∈[0,1]; Set the adjustment qualification index k MQ For k M The interval is divided into k. M ∈[0, k MQ )∪[k MQ ,1];

[0095] When k M <k MQ If the adjustment effect is not satisfactory, L needs to be increased. B L f v f n f , making k M The adjustment priorities are arranged according to the magnitude of the priority coefficient, i.e., from highest to lowest priority L. B →L f and v f →n f When k M ≥k MQ When the adjustment is deemed effective, the existing L should be maintained. B L f v f n f ;

[0096] Adjust L B L f v f n f When, formula (7) only provides a basis for judgment, the adjustment should still be carried out according to the calculation formula of each parameter mentioned above, and the correlation coefficient in the formula should be adjusted to increase the parameter value.

[0097] Optionally, in the adjustment step calculation module, the step size of the tool face angle adjustment for the j-th time (j = 1, 2, 3...) is set to δ. j Its calculation formula is

[0098] δ j =k tj |θ tj -θ cj |=k tj Δθ tj Equation (8)

[0099] In the formula, k tj It is the step size coefficient, k tj ∈[0,1]; θ tj This is the target value for adjusting the current tool face angle; θcj This is the current value of the tool face angle; Δθ tj It is the theoretical adjustment value of the tool face angle;

[0100] When k M ≥k MQ Sometimes,

[0101] k tj =μk a Equation (9-1)

[0102] When k M <k MQ In such cases, manual intervention is required to select cyclic optimization parameters or perform adjustments; if cyclic optimization parameters are selected, then the k parameter from the previous section is followed. M <k MQ Adjust L according to the situation. B L f v f n f Until k M ≥k MQ If you choose to perform adjustment, then there are

[0103] k tj =μk b Equation (9-2)

[0104] In equations (9-1) and (9-2), μ is the step size correction coefficient, μ∈[0,1]; k a and k b These are the qualified reference coefficient and the unqualified reference coefficient, with different values ​​preset according to the drillability of the rock strata. Preferably, k... b ≤0.5k a ;

[0105] The adjustment step size calculation process is as follows:

[0106] (1) According to k M The value of k is chosen by calculating it using either equation (9-1) or equation (9-2). tj ;

[0107] (2) Assume that k is adjusted for the first time. M ≥k MQ Then, for the first adjustment step size in equation (9-1), take μ = 1, then δ1 = k t1 Δθ t1 =μk a Δθ t1 And drive the power head to rotate according to the δ1 value, so that the drill pipe rotates;

[0108] (3) During the j-th adjustment, j = 2, 3, ..., recalculate k. M And compare it with k MQThe size, choose the step size coefficient k tj Substitute the formula into equation (9) to calculate δ. j ;

[0109] (3)

[0110] 3.1) If k M If the value of μ is increased, the value of μ from the previous adjustment will remain unchanged;

[0111] 3.2) If k M If the decrease exceeds x%, then increase the value of μ by y%, that is, let μ = μ(1 + y%), and substitute the new value of μ into equation (9-1) or equation (9-2) to recalculate k. tj x and y are both system preset values, corresponding to the drillability of rock formations;

[0112] (4) Until Δθ tj ≤δ P Then stop adjusting, δ P Allowable error for tool face angle adjustment;

[0113] The tool face angle adjustment and correction method based on the system includes the following steps:

[0114] S0: Initial state; Before drilling, drillability and various preset coefficients are set according to the geological information of the drilling site; the directional drilling rig completes the drilling of the current drill rod and pauses drilling; during the drilling of the previous drill rod, the drilling rig control system collects the real-time feed pressure p of normal drilling. z And the total number of feed pressure samples is n z The feed pressure sampling time interval is Δt, and the maximum value of the collected feed pressure is p. zmax The minimum value is p zmin The system solves for the arithmetic average of the normal drilling feed pressure as follows: The standard deviation is σ z ;

[0115] S01: Trial advance; the drilling rig drives the drill string to retreat a distance equal to the length of one drill rod, and then advances it forward again to the bottom of the hole; during this process, the drilling rig control system collects the real-time trial advance feed pressure p. s The total number of feed pressure samples is n s The feed pressure sampling time interval is Δt, and the maximum value of the collected feed pressure is p. smax The minimum value is p smin The system solved for the arithmetic mean of the test propulsion feed pressure as follows: The standard deviation is σ s ;

[0116] S02: Fuzzy processing of extreme values ​​of feed pressure; for the normal drilling feed pressure p collected in S0 z When pz =p zmax ±δzp zmax At that time, it was generally believed that p z =p zmax When p z =p zmin ±δ z p zmin At that time, it was generally believed that p z =p zmin ; where δ z δ is the threshold value for the pressure fluctuation ratio. z ∈[0, 1]; similarly, for the trial push feed pressure p s There is a proportional threshold δ s ∈[0, 1], when p s =p smax ±δ s p smax At that time, it was generally believed that p s =p smax When p s =p smin ±δ s p smin At that time, it was generally believed that p s =p smin Simultaneously, the control system statistically analyzes the maximum normal drilling feed pressure p after fuzzy processing. zmax The quantity is m z1 Minimum value p zmin The quantity is m z2 ; Test push the maximum feed pressure p smax The quantity is m s1 Minimum value p smin The quantity is ms2;

[0117] S03: Calculate the weighted average of the feed pressure; take... and p within the interval z and p s The maximum and minimum values ​​obtained in S02 are the effective values ​​of the normal drilling feed pressure and the trial feed pressure, respectively. Using the effective values, the weighted average value of the normal drilling feed pressure is calculated according to equations (1) and (2). Weighted average of normal drilling feed pressure

[0118] S04: Calculate the correction factor; use equation (3) to solve for the correction factor k. x1 ;

[0119] S05: Calculate the backtrack distance

[0120] S05A: When k x1When ∈(-1, 0), use equation (4-1) to calculate the backoff distance L. B ;

[0121] S05B: When k x1 When ∈[0,1), use equation (4-2) to calculate the backoff distance L. B ;

[0122] S06: Calculate the reciprocating distance

[0123] S06A: When k x1 ∈(-1, k) a When [the distance L is reached], use equation (5-1) to calculate the reciprocating distance L. f ;

[0124] S06B: When k x1 ∈(k a When , use equation (5-2) to calculate the reciprocating distance L. f ;

[0125] S07: Calculate the reciprocating speed

[0126] S07A: After calculating the reciprocating distance using formula (5-1), calculate the reciprocating speed using formula (6-1);

[0127] S07B: After calculating the reciprocating distance using formula (5-2), calculate the reciprocating speed using formula (6-2);

[0128] S08: Reciprocating movement n f The drill pipe torsional deformation was released during the second release;

[0129] S09: Calculate the adjustment matching degree using formula (7);

[0130] S10: Assess the fit and adjust the compensation motion parameters;

[0131] S10A: When k M <k MQ If the adjustment effect is not satisfactory, L needs to be increased. B L f v f n f , making k M The adjustment priorities are arranged according to the magnitude of the priority coefficient, i.e., from highest to lowest priority L. B →L f v f →n f ;

[0132] S10B: When k M ≥k MQ When the adjustment effect is satisfactory, maintain L.B L f v f n f constant;

[0133] S11: Calculate the step size coefficient;

[0134] S11A: When k M ≥k MQ When using equation (9-1), the step size coefficient k is calculated. tj ;

[0135] S11B: When k M <k MQ At this time, manual intervention is required to select cyclic optimization parameters or perform adjustment; if cyclic optimization parameters are selected, return to S10A; if adjustment is selected, use equation (9-2) to calculate the step size coefficient k. tj ;

[0136] S12: Perform adjustment; change the step size coefficient k obtained in S11. tj Substitute into equation (8), and take the step size correction coefficient as μ = 1, to calculate the first adjustment value δ. j This value drives the power head to rotate, thereby driving the drill pipe to rotate and achieving one adjustment of the tool face angle.

[0137] S13: Cyclic adjustment; the relationship between the theoretical adjustment value of the tool face angle and the system's allowable error is used to determine whether the target value of the tool face angle adjustment has been reached, i.e., whether the Δθ is satisfied. tj ≤δ P If so, that is, △θ tj ≤δ P If the change is positive, then stop adjusting; otherwise, use the current tool face angle change value Δθ measured and recorded by the system. T and the change in the angle of the drilling rig's power head Δθ D Return to S09 and repeat the S09~S13 cycle adjustment.

[0138] The beneficial effects of this invention are as follows: This application adopts a correction parameter calculation module, an adjustment effect evaluation module, and an adjustment step length calculation module, as well as an algorithm in which the three modules work together, to realize the automatic calculation of tool face angle compensation related parameters, the automatic evaluation of adjustment effect, and the automatic dynamic adjustment of adjustment step length. This changes the tool face angle compensation method that relies on manual experience and manual operation, and lays a key technical foundation for the development of automated directional drilling technology and equipment.

[0139] In solving for the correction coefficient, this application utilizes both the maximum and minimum values ​​obtained through fuzzy processing, and further divides the range of highly probable values ​​into multiple sub-ranges, calculating the arithmetic mean of each sub-range. This arithmetic mean is then used for subsequent calculations. This approach not only represents the basic probability and trend of pressure changes but also reduces computational load and improves efficiency. Furthermore, this application uses the frequency of pressure values ​​in each range as a weighting coefficient, adhering to the fundamental principle that the more frequent the occurrence, the greater the impact on the weighted mean. Overall, the algorithm possesses strong engineering practicality.

[0140] The calculation of each parameter was divided into intervals according to the advantages and disadvantages of the working conditions, so that the calculation results are more in line with the actual needs of the project and also help to improve the calculation efficiency.

[0141] In the calculation of parameters such as reciprocating distance, reciprocating speed, and step size coefficient, the correlation coefficients are dynamically adjusted or iterated to better reflect actual working conditions and meet engineering application requirements.

[0142] The evaluation results of the adjustment effect serve as the basis for dynamic adjustment of the step size and are also fed back to the previous basic parameter calculation stage, forming an adjustment closed loop guided by engineering effect, which helps to improve the accuracy and efficiency of adjustment.

[0143] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0144] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0145] Figure 1 This is a system composition diagram of the present invention. Detailed Implementation

[0146] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0147] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0148] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0149] 1. System Composition

[0150] like Figure 1 As shown, a tool face angle adjustment control system includes a correction parameter calculation module, an adjustment effect evaluation module, and an adjustment step size calculation module.

[0151] The correction parameter calculation module is used to calculate parameters related to the release and correction of drill pipe torsional deformation, such as retraction distance, reciprocating movement distance, and reciprocating movement speed. The adjustment effect evaluation module evaluates the current tool face angle adjustment effect in real time by calculating the adjustment matching degree, and selects parameters that need further optimization based on the evaluation effect. The adjustment step length calculation module calculates the currently suitable tool face angle adjustment step length in real time based on formation conditions, real-time adjustment matching degree, and reference step length, decomposes the proposed adjustment angle, and realizes automatic step-by-step and accurate adjustment.

[0152] 2. Module Functions and Main Algorithms

[0153] 2.1 Correction Parameter Calculation Module

[0154] (1) Parameter definition

[0155] The correction parameter calculation module is used to calculate the torsional deformation compensation motion parameters of the tool face angle, such as the retraction distance, reciprocating movement distance, and reciprocating movement speed.

[0156] In this application, the retraction distance is defined as the maximum distance that the entire drilling tool (a combination of drill rod, bottom hole motor, and drill bit) needs to retract from the bottom of the hole to the outside of the hole before the drill rod torsion deformation needs to be released before a single tool face angle adjustment.

[0157] Definition of reciprocating travel distance: When it is necessary to release the torsional deformation of the drill pipe, the drill bit needs to move forward or backward multiple times within a specified retraction distance range to release the torsional deformation. The distance of each repeated single forward or backward movement is called the "reciprocating travel distance".

[0158] Definition of reciprocating traverse speed: The speed at which the drill string reciprocates when the torsional deformation of the drill pipe needs to be released is called "reciprocating traverse speed".

[0159] (2) Method for calculating backtracking distance

[0160] 1) Trial implementation and basic data collection

[0161] During normal drilling, the following parameters are collected or calculated: the normal drilling feed pressure p collected by the control system. z The total number of feed pressure samples is n z The feed pressure sampling time interval is Δt, and the maximum feed pressure is p. zmax The minimum value is p zmin The arithmetic mean is The standard deviation is σ z .

[0162] Before a single tool face angle adjustment, to release the torsional deformation of the drill pipe, the drilling rig drives the drill string back a distance equal to the length of one drill pipe, and then feeds it forward again to the bottom of the hole. This process is called trial advance. During the trial advance, the following parameters are collected or calculated: the trial advance feed pressure p collected by the control system. s The total number of feed pressure samples is n s The feed pressure sampling time interval is Δt, and the maximum feed pressure is p. smax The minimum value is p smin The arithmetic mean is The standard deviation is σ s .

[0163] 2) Fuzzy processing of pressure extreme values

[0164] Based on the geological conditions at the drilling site, a proportional threshold for the pressure fluctuation range is set for the normal drilling feed pressure p. z The threshold δ z ∈[0,1].

[0165] When p z =p zmax ±δ z p zmax At that time, it was generally believed that p z =p zmax ;

[0166] When p z =p zmin ±δ z pzmin At that time, it was generally believed that p z =p zmin .

[0167] Similarly, for the test propulsion feed pressure p s There is a threshold δ s ∈[0,1].

[0168] When p s =p smax ±δ s p smax At that time, it was generally believed that p s =p smax ;

[0169] When p s =p smin ±δ s p smin At that time, it was generally believed that p s =p smin .

[0170] Meanwhile, assuming the maximum normal drilling feed pressure p after the above fuzzy processing zmax The quantity is m z1 Minimum value p zmin The quantity is m z2 ; Test push the maximum feed pressure p smax The quantity is m s1 Minimum value p smin The quantity is m s2 .

[0171] 3) Solve for the weighted average of the feed pressure

[0172] Based on the principle of normal distribution, to further reduce the very few parameters caused by abnormal influences and improve calculation efficiency, the normal drilling feed pressure value range is as follows: The values ​​within this interval, as well as the maximum and minimum values ​​obtained in the previous step, are called effective values. The pressure values ​​outside this interval are extremely low probability events and are not used in the pressure weighted average calculation.

[0173] This interval is calculated using the arithmetic mean With standard deviation σ z The relationship is divided into 6 sub-intervals, and the number of pressure values ​​m in each sub-interval is counted. zi (i = 3, 4, ..., 8), and calculate the arithmetic mean of all pressure values ​​within each sub-interval. This mean is called the quadratic mean. The division of sub-intervals, the statistical analysis of the number of pressure values ​​in each sub-interval, and the calculation results of the quadratic mean are shown in Table 1.

[0174] Table 1

[0175]

[0176] The weighted average of real-time normal drilling feed pressure can be calculated from the data in Table 1.

[0177]

[0178]

[0179] Similarly, the weighted average of the feed pressure can be obtained.

[0180]

[0181]

[0182] 4) Constructing correction coefficients

[0183] The correction coefficient is constructed using the weighted average of normal drilling feed pressure and the weighted average of trial propulsion feed pressure.

[0184]

[0185] Combining equation (3) with engineering practice experience, it can be deduced that when That is, k x1 When the value is ≥1, the working conditions inside the hole are relatively severe, requiring special measures such as stopping drilling and emergency extraction to avoid losing the drill bit. This is no longer considered a normal directional drilling condition. Therefore, in the working conditions addressed in this application, That is, k x1 ∈(-1, 1).

[0186] 5) Solve for the backoff distance in intervals

[0187] Based on the definition of the correction factor (Equation (3)), the range of values ​​for the correction factor, and combined with engineering practice experience, the following derivation can be made:

[0188] ① When k x1 ∈(-1, 0), that is At that time, it was believed that the resistance inside the hole during the trial drilling was relatively small—less than the resistance inside the hole during normal drilling, which meant that the working conditions inside the hole were better and the hole was less likely to collapse. Therefore, the retraction distance could be appropriately increased to leave more room for subsequent reciprocating movements, thereby improving the efficiency of releasing the torsional deformation of the drill rod.

[0189] ②When k x1 ∈[0,1), that is If the hole resistance during the trial drilling is considered to be large—greater than the hole resistance during normal drilling—there is a certain risk of hole collapse. In this case, repeated hole washing measures should be taken (the drilling rig drives all the drilling tools to move back and forth, and the bottom hole motor rotates to drive the drill bit to rotate).

[0190] Based on the above analysis of the operating conditions, the formula for calculating the retraction distance is as follows:

[0191]

[0192] In the above formula, L J As the reference distance, and L J =k j L ZG L ZG k is the length of a single drill pipe used for drilling. J ∈(0,1] is the working condition coefficient, which is determined by geological conditions and drilling technology adapted to geological conditions, and can be obtained from test drilling or historical experience.

[0193] Comparing equations (4-1), (4-2), and (3), the meanings of equations (4-1) and (4-2) are as follows:

[0194] When k x1 ∈(-1, 0), that is When using equation (4-1), calculate L. B , The larger |k x1 The smaller | is L B The smaller the value, the better the working conditions inside the hole. B To determine the retraction distance, preparations can be made to proceed with the reciprocating movement process;

[0195] When k x1 ∈[0,1), that is When using equation (4-2), calculate L. B , The larger k is x1 The larger L is B The smaller the value, the greater the risk of hole collapse within the hole. B To achieve the required hole washing distance, repeated hole washing is necessary to ensure k. x1 ∈(-1, 0) Only then can we prepare to proceed with the reciprocating movement process.

[0196] Within the two intervals, L B All follow k x1 The value decreases as it increases, which is consistent with the definition of the correction coefficient (Equation (3)) and the actual working conditions.

[0197] (3) Method for calculating reciprocating distance

[0198] Based on different trial drilling conditions, construct the reciprocating travel distance L. f The calculation formula is as follows:

[0199] L f =k f L BEquation (5-1)

[0200] L f =L B -ΔL f Equation (5-2)

[0201] In the above formula, k f ΔL is the reciprocating movement coefficient, and ΔL is the variable coefficient; f To allow for the bottom hole distance, which is the distance between the drill bit and the bottom hole when the drill bit reaches its foremost position.

[0202] Depending on the success or failure of the trial drilling operation, either equation (5-1) or equation (5-2) is selected to calculate the reciprocating distance in real time. Simultaneously, combining the algorithm for solving the retraction distance in intervals, it can be seen that only when k... x1 ∈(-1, 0), that is At that time, L B Only after the retraction distance is determined can the reciprocating movement process begin. For k... x1 The range of values ​​is further divided into k x1 ∈(-1, k) a ]∪(k a ,0), where k a Let k be the reciprocating partition coefficient. x1 The range of values ​​is divided into two segments: (-1, k) a ] represents a better working condition, (k a 0) represents a poor but relatively safe operating condition. k a This is the a priori assignment coefficient, whose value is determined based on the a priori drilling parameters according to the geological conditions during construction.

[0203] L f The calculation formula and calculation method are as follows:

[0204] 1) When k x1 ∈(-1, k) a When selecting

[0205] L f =k f L B Equation (5-1)

[0206] The calculation method is as follows:

[0207] ① The k setting is based on the drillability of the rock strata in the construction roadway obtained from the geological exploration and preliminary drilling stages. f initial value k f0 , and k f ∈(0,1). Simultaneously, a weighted average of the test feed pressure for assessing the drillability of the rock strata in the construction roadway is set. Stable range maximum upper deviation and maximum lower deviation

[0208] ②If the weighted average value of the test propulsion feed pressure calculated by equation (2) during the test propulsion process Always in a stable range Inside, then keep k f =k f0 ;

[0209] ③If Continue to decrease and exceed the maximum lower deviation Then select the k corresponding to a higher level of rock strata drillability. f value k f1 That is, increase k f Value, let k f =k f1 (k f1 >k f0 );

[0210] ④If Continues to increase and exceeds the maximum upper deviation Then select the k corresponding to a lower level of rock stratum drillability. f value k f-1 That is, reduce k f Value, let k f =k f-1 (k f-1 <k f0 ).

[0211] 2) When k x1 ∈(k a When , 0), select

[0212] L f =L B -ΔL f Equation (5-2)

[0213] The calculation method is as follows:

[0214] ① Set ΔL based on the drillability of the rock strata in the construction roadway obtained from the geological exploration and preliminary drilling stages. f initial value ΔL f0 ;

[0215] ② If we try to advance the weighted average of the feed pressure If it remains unchanged or decreases, then keep ΔL. f =ΔL f0 ;

[0216] ③ If we try to advance the weighted average of the feed pressure Increase and exceed the maximum upper deviation Then, the ΔL corresponding to the lower level of rock strata drillability is selected. f Value ΔL f-1That is, increase ΔL f Value, let ΔL f =ΔL f-1 (ΔL f0 <ΔL f-1 ).

[0217] (4) Calculation method for reciprocating speed

[0218] 1) When the reciprocating distance is calculated according to formula (5-1), the reciprocating speed

[0219] v f =min(k) vf v z v max Equation (6-1)

[0220] In the formula, k vf It is the speed adjustment coefficient, and v z The average feed rate v during normal drilling max This is the maximum allowable value set by the system when drilling in the current formation.

[0221] 2) When the reciprocating distance is calculated according to formula (5-2), the reciprocating speed

[0222]

[0223] As can be seen from equation (6-1), when the reciprocating movement distance is calculated according to equation (5-1), the working conditions are good. Therefore, selecting the normal drilling speed or even the maximum drilling speed for reciprocating movement can effectively improve the efficiency of releasing the torsional deformation of the drill rod.

[0224] As can be seen from equation (6-2), when calculating the reciprocating travel distance according to equation (5-2), the working conditions are poor, and the reserved ΔL f The larger the value, the worse the working conditions, then v f The smaller the value, the better it meets the operating conditions.

[0225] 2.2 Regulation Effect Evaluation Module

[0226] The effect of torsional deformation release is represented by the adjustment matching degree, which is the retraction distance L. B reciprocating distance L f reciprocating speed v f and n, the number of back-and-forth movements f function.

[0227] The matching degree function is constructed as follows:

[0228]

[0229] In the above formula, Δθ TThis represents the change in tool face angle; Δθ D k represents the change in the angle of the drilling rig's power head. M To adjust the matching degree; L B L is the backtracking distance. ZG L is the length of a single drill pipe used for drilling. f v represents the distance traveled back and forth. f v is the reciprocating speed; z n is the average feed rate during normal drilling. f n represents the number of back-and-forth movements. P The maximum number of reciprocating movements preset for the control system.

[0230] a, b, c, and d are priority coefficients, set according to the drillability of the rock strata, representing L. B L f v f n f The priority of . Where a∈(0, a max ],b∈(0,b max ], c∈(0, c max ],d∈(0,d max ], and d max ≤c max =b max ≤a max And a+b+c+d=1.

[0231] From equation (7), we can see that k M ∈[0, 1]. Set the adjustment qualification index k. MQ For k M The interval is divided into k. M ∈[0, k MQ )∪[k MQ ,1).

[0232] When k M <k MQ If the adjustment effect is not satisfactory, L needs to be increased. B L f v f n f , making k M The adjustment priorities are arranged according to the magnitude of the priority coefficient, i.e., from highest to lowest priority L. B →L f and v f →n f When k M ≥k MQ When the adjustment is deemed effective, the existing L can be maintained. B L f v f nf .

[0233] Adjust L B L f v f n f When, formula (7) only provides a basis for judgment, the adjustment should still be carried out according to the calculation formula of each parameter mentioned above, and the correlation coefficient in the formula should be adjusted to increase the parameter value.

[0234] 2.3 Adjustment Step Calculation Module

[0235] Assume the step size of the tool face angle adjustment in the j-th iteration (j = 1, 2, 3...) is δ. j Its calculation formula is

[0236] δ j =k tj |θ tj -θ cj |=k tj Δθ tj Equation (8)

[0237] In the formula, k tj It is the step size coefficient, k tj ∈[0,1]; θ tj This is the target value for adjusting the current tool face angle; θ cj This is the current value of the tool face angle; Δθ tj It is the theoretical adjustment value of the tool face angle.

[0238] When k M ≥k MQ Sometimes,

[0239] k tj =μk a Equation (9-1)

[0240] When k M <k MQ In such cases, manual intervention is possible, allowing for the selection of loop optimization parameters or the execution of adjustments. If loop optimization parameters are selected, then the k parameter from the previous section will be applied. M <k MQ Adjust L according to the situation. B L f v f n f Until k M ≥k MQ If you choose to perform adjustment, then...

[0241] k tj =μk b Equation (9-2)

[0242] In equations (9-1) and (9-2), μ is the step size correction coefficient, μ∈[0,1]; k a and k b These are the qualified reference coefficient and the unqualified reference coefficient, with different values ​​preset according to the drillability of the rock strata. Preferably, k... b ≤0.5k a .

[0243] The adjustment step size calculation process is as follows:

[0244] (1) According to k M The value of k is chosen by calculating it using either equation (9-1) or equation (9-2). tj ;

[0245] (2) Assume that k is adjusted for the first time. M ≥k MQ Then, for the first adjustment step size in equation (9-1), take μ = 1, then δ1 = k t1 Δθ t1 =μk a Δθ t1 And drive the power head to rotate according to the δ1 value, so that the drill pipe rotates;

[0246] (3) During the j-th adjustment (j = 2, 3, ...), k is recalculated. M And compare it with k MQ The size, choose the step size coefficient k tj Substitute the formula into equation (9) to calculate δ. j ;

[0247] In this step,

[0248] 3.1) If k M If the value of μ is increased, the value of μ from the previous adjustment will remain unchanged;

[0249] 3.2) If k M If the decrease exceeds x%, then increase the value of μ by y%, that is, let μ = μ(1 + y%), and substitute the new value of μ into equation (9-1) or equation (9-2) to recalculate k. tj x and y are system preset values, mainly corresponding to the drillability of rock formations.

[0250] (4) Until Δθ tj ≤δ P Then stop adjusting, δ P Allowable error for tool face angle adjustment.

[0251] 2.3 Full Process Steps

[0252] S0: Initial state. Before drilling, the drillability and various preset coefficients are set according to the geological information of the drilling site; the directional drilling rig completes the drilling of the current drill rod and pauses drilling; during the drilling of the previous drill rod, the drilling rig control system collects the real-time feed pressure p of normal drilling. z And the total number of feed pressure samples is n z The feed pressure sampling time interval is Δt, and the maximum value of the collected feed pressure is p. zmax The minimum value is p zmin The system solves for the arithmetic average of the normal drilling feed pressure as follows: The standard deviation is σ z .

[0253] S01: Trial Advance. The drilling rig drives the drill string to retreat a distance equal to the length of one drill rod, and then advances it forward again to the bottom of the hole. During this process, the drilling rig control system collects the real-time trial advance feed pressure p. s The total number of feed pressure samples is n s The feed pressure sampling time interval is Δt, and the maximum value of the collected feed pressure is p. smax The minimum value is p smin The system solved for the arithmetic mean of the test propulsion feed pressure as follows: The standard deviation is σ s .

[0254] S02: Fuzzy processing of extreme values ​​of feed pressure. For the normal drilling feed pressure p collected in S0... z When p z =p zmax ±δ z p zmax At that time, it was generally believed that p z =p zmax When p z =p zmin ±δ z p zmin At that time, it was generally believed that p z =p zmin Among them, δ z δ is the threshold value for the pressure fluctuation ratio. z ∈[0, 1]. Similarly, for the trial push feed pressure p s There is a proportional threshold δ s ∈[0, 1], when p s =p smax ±δ s p smax At that time, it was generally believed that p s =p smax When p s =p smin ±δ s p smin At that time, it was generally believed that ps =p smin Simultaneously, the control system statistically analyzes the maximum normal drilling feed pressure p after fuzzy processing. zmax The quantity is m z1 Minimum value p zmin The quantity is m z2 ; Test push the maximum feed pressure p smax The quantity is m s1 Minimum value p smin The quantity is m s2 .

[0255] S03: Calculate the weighted average of the feed pressure. (Take...) and p within the interval z and p s The values ​​obtained in S02, as well as the maximum and minimum values, are the effective values ​​of the normal drilling feed pressure and the trial feed pressure, respectively. Using the effective values, the weighted average value of the normal drilling feed pressure is calculated according to equations (1), (2), and Table 1. Weighted average of normal drilling feed pressure

[0256] S04: Calculate the correction factor. Solve for the correction factor k using equation (3). x1 .

[0257] S05: Calculate the backtrack distance

[0258] S05A: When k x1 When ∈(-1, 0), use equation (4-1) to calculate the backoff distance L. B .

[0259] S05B: When k x1 When ∈[0,1), use equation (4-2) to calculate the backoff distance L. B .

[0260] S06: Calculate the reciprocating distance

[0261] S06A: When k x1 ∈(-1, k) a When [the distance L is reached], use equation (5-1) to calculate the reciprocating distance L. f .

[0262] S06B: When k x1 ∈(k a When , use equation (5-2) to calculate the reciprocating distance L. f .

[0263] S07: Calculate the reciprocating speed

[0264] S07A: After calculating the reciprocating distance using formula (5-1), calculate the reciprocating speed using formula (6-1).

[0265] S07B: After calculating the reciprocating distance using formula (5-2), calculate the reciprocating speed using formula (6-2).

[0266] S08: Reciprocating movement n f The drill pipe was released to twist and deform.

[0267] S09: Use formula (7) to calculate the adjustment matching degree.

[0268] S10: Assess fit and adjust compensatory motion parameters

[0269] S10A: When k M <k MQ If the adjustment effect is not satisfactory, L needs to be increased. B L f v f n f , making k M The adjustment priorities are arranged according to the magnitude of the priority coefficient, i.e., from highest to lowest priority L. B →L f v f →n f .

[0270] S10B: When k M ≥k MQ When the adjustment effect is satisfactory, L can be maintained. B L f v f n f constant.

[0271] S11: Calculate step size coefficient

[0272] S11A: When k M ≥k MQ When using equation (9-1), the step size coefficient k is calculated. tj .

[0273] S11B: When k M <k MQ At this time, manual intervention is possible to select the cyclic optimization parameters or perform adjustment. If the cyclic optimization parameters are selected, return to S10A. If adjustment is selected, the step size coefficient k is calculated using equation (9-2). tj .

[0274] S12: Perform adjustment. The step size coefficient k obtained in S11 is... tj Substitute into equation (8), and take the step size correction coefficient as μ = 1, to calculate the first adjustment value δ. jThis value drives the power head to rotate, thereby driving the drill pipe to rotate and achieving one adjustment of the tool face angle.

[0275] S13: Cyclic Adjustment. The relationship between the theoretical adjustment value of the tool face angle and the system's allowable error is used to determine whether the target adjustment value of the tool face angle has been reached, i.e., whether the Δθ is satisfied. tj ≤δ P If (i.e., △θ) tj ≤δ P If not, stop adjusting; otherwise, use the current tool face angle change value Δθ measured and recorded by the system. T and the change in the angle of the drilling rig's power head Δθ D Return to S09 and repeat the S09~S13 cycle adjustment.

[0276] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A tool face angle adjustment and correction system, characterized in that: The system includes a correction parameter calculation module, an adjustment effect evaluation module, and an adjustment step size calculation module; The correction parameter calculation module calculates the correction parameters based on the preset drill pipe parameters; The correction parameters include drill string retraction distance, drill string reciprocating distance, and drill string reciprocating speed; the drill string retraction distance is the maximum distance the entire drill string retracts from the bottom of the hole to the outside of the hole when the torsional deformation of the drill rod needs to be released before a single tool face angle adjustment. The reciprocating distance of the drill bit is: when releasing the torsional deformation of the drill rod, within the set retraction distance range, the drill bit moves forward or backward multiple times to release the torsional deformation, and the distance of each repeated single forward or backward movement is: The reciprocating speed of the drill bit is: the reciprocating speed of the drill bit when the drill rod is released from torsional deformation; The adjustment effect evaluation module calculates the adjustment matching degree based on the correction parameters and selects the parameters to be optimized based on the evaluation effect. In the adjustment effect evaluation module, the effect of torsional deformation release is represented by the adjustment matching degree, which is the retraction distance. L B reciprocating distance L f reciprocating speed v f and the number of back-and-forth movements n f function; The matching degree adjustment function is constructed as follows: Equation (7) In the above formula, Δ θ T This represents the change in tool face angle. Δ θ D This represents the change in the angle of the drilling rig's power head. k M To adjust the matching degree; L B This is the backtracking distance; L ZG The length of a single drill pipe used for drilling; L f The distance traveled back and forth; v f The reciprocating speed; v z This represents the average feed rate during normal drilling. n f This represents the number of back-and-forth movements. n P The maximum number of permissible reciprocating movements preset for the control system; a , b , c , d Priority coefficient ， Based on the drillability of the rock strata, it indicates L B , L f , v f , n f Priority; among which a ∈(0, a max ], b ∈(0, b max ], c ∈(0, c max ] , d ∈(0, d max ],and d max ≤ c max = b max ≤ a max ,and a + b + c + d =1; From equation (7), we know that k M ∈[0,1]; Set the adjustment qualification index k MQ right k M Divide the intervals, that is k M ∈[0, k MQ )∪[ k MQ ,1]; when k M < k MQ If the adjustment effect is not satisfactory, the adjustment needs to be increased. L B , L f , v f , n f ,make k M The priorities for increasing and adjusting are arranged according to the magnitude of the priority coefficient, that is, from highest to lowest priority. L B → L f and v f → n f ;when k M ≥ k MQ When the adjustment is deemed effective, the existing status should be maintained. L B , L f , v f , n f ; adjust L B , L f , v f , n f At that time, formula (7) only provides a basis for judgment. The adjustment should still be carried out according to the calculation formula of each parameter mentioned above. Adjust the correlation coefficient in the formula to increase the parameter value. The adjustment step length calculation module calculates the current tool face angle adjustment step length in real time based on formation conditions, real-time adjustment matching degree, and reference step length, decomposes the angle to be adjusted, and realizes automatic step-by-step and accurate adjustment.

2. The tool face angle adjustment and correction system according to claim 1, characterized in that: The drilling tool includes a combination of drill rod, bottom hole motor and drill bit.

3. The tool face angle adjustment and correction system according to claim 1, characterized in that: The method for calculating the back-off distance is as follows: 1) Trial implementation and basic data collection Parameters acquired during drilling: Normal drilling feed pressure collected by the control system. p z The total number of feed pressure samples is n z The feed pressure sampling time interval is Δ t The maximum feed pressure is p zmax The minimum value is p zmin The arithmetic mean is The standard deviation is σ z ; Trial advance: Before a single tool face angle adjustment, when releasing the torsional deformation of the drill pipe, the drilling rig drives the drill string to retreat a distance equal to the length of one drill pipe, and then advances it forward again to the bottom of the hole; during the trial advance, the following parameters are acquired: the trial advance feed pressure collected by the control system. p s The total number of feed pressure samples is n s The feed pressure sampling time interval is Δ t The maximum feed pressure is p smax The minimum value is p smin The arithmetic mean is The standard deviation is σ s ; 2) Fuzzy processing of pressure extreme values Based on the geological conditions at the drilling site, a proportional threshold for the pressure fluctuation range is set for the normal drilling feed pressure. p z threshold δ z ∈[0,1]; when p z = p zmax ± δ z p zmax At that time, it was believed p z = p zmax ; when p z = p zmin ± δ z p zmin At that time, it was believed p z = p zmin ; For the test propulsion feed pressure p s threshold δ s ∈[0,1]; when p s = p smax ± δ s p smax At that time, it was believed p s = p smax ; when p s = p smin ± δ s p smin At that time, it was believed p s = p smin ; Meanwhile, let the maximum normal drilling feed pressure after the above fuzzy processing be assumed. p zmax Quantity is m z1 Minimum value p zmin Quantity is m z2 ; Trial push for maximum feed pressure p smax Quantity is m s1 Minimum value p smin Quantity is m s2 ; 3) Solve for the weighted average of the feed pressure The normal drilling feed pressure value range is as follows: The values ​​within this interval, as well as the maximum and minimum values ​​obtained in the previous step, are called effective values. The pressure values ​​outside this interval are extremely low probability events and are not used in the pressure weighted average calculation. This interval is calculated using the arithmetic mean with standard deviation σ z The relationship was divided into 6 sub-intervals, and the number of pressure values ​​in each sub-interval was counted. m zi , i =3, 4, ..., 8, and calculate the arithmetic mean of all pressure values ​​within each sub-interval. This mean is called the quadratic mean; The weighted average of real-time normal drilling feed pressure is calculated as follows: Equation (1) The weighted average of the feed pressure during the trial propulsion is: Equation (2) 4) Constructing correction coefficients The correction coefficients are constructed using the weighted average of normal drilling feed pressure and the weighted average of trial drilling feed pressure: Equation (3) when ,Right now k x1 When the value is ≥1, the borehole is in a severe working condition. Drilling should be stopped and the borehole urgently pulled out to avoid losing the drill bit. This is not a normal directional drilling condition. ,Right now ; 5) Solve for the backoff distance in intervals Based on the definition of the correction factor (3), the range of values ​​for the correction factor, and combined with engineering practice experience, an analysis of the working condition interval is conducted: ①When ,Right now When the test drilling is underway, the resistance inside the hole is small, which is less than the resistance inside the hole during normal drilling. This means that the working conditions inside the hole are good. Increasing the retraction distance leaves more room for subsequent reciprocating movements and improves the efficiency of releasing the torsional deformation of the drill rod. ②When ,Right now When the test drilling is underway, the resistance inside the hole is high, which is greater than the resistance inside the hole during normal drilling. This means that there is a risk of hole collapse inside the hole. At this time, repeated hole washing measures are taken. The drilling rig drives all the drilling tools to move back and forth, and the bottom hole motor rotates to drive the drill bit to rotate. Based on the above analysis of the operating conditions, the formula for calculating the retraction distance is as follows: In the above formula, L J As the reference distance, and L J = k J L ZG ,in L ZG The length of a single drill pipe used for drilling. k J ∈(0,1] is the working condition coefficient, which is determined by geological conditions and drilling technology adapted to geological conditions, and is obtained from test boreholes or historical experience; Comparing equations (4-1), (4-2), and (3), the meanings of equations (4-1) and (4-2) are as follows: when ,Right now When, use formula (4-1) to calculate L B , The larger, The smaller, the better L B The smaller the value, the better the working conditions inside the hole. L B To prepare for the reciprocating movement process, the distance to be retracted is to be determined. when ,Right now When, use formula (4-2) to calculate L B , The larger, k x1 The larger, the better L B The smaller the value, the greater the risk of hole collapse. L B The distance between the holes is determined by repeated washing. Right now At this time, it is ready to enter the reciprocating movement process; Within the two intervals, L B All with k x1 The value decreases as it increases, which conforms to the definition of the correction coefficient (3) and the actual working conditions.

4. The tool face angle adjustment and correction system according to claim 3, characterized in that: The method for calculating the reciprocating travel distance is as follows: Based on different trial drilling conditions, construct the reciprocating travel distance. L f The calculation formula is as follows: L f = k f L B Equation (5-1) L f = L B -Δ L f Equation (5-2) In the above formula, k f Δ is the reciprocating movement coefficient, and Δ is a variable coefficient; L f To allow for the bottom hole distance, which is the distance between the drill bit and the bottom of the hole when the drill bit reaches its foremost position; Depending on the success or failure of the trial drilling operation, either equation (5-1) or equation (5-2) is selected to calculate the reciprocating distance in real time; simultaneously, combined with the algorithm for solving the retraction distance in intervals, it is known that only when... ,Right now hour, L B To retract the distance, proceed to the reciprocating movement process; for k x1 The range of values ​​is further divided into ,in k a The reciprocating partition coefficient is used to determine the reciprocating partition coefficient. k x1 The range of values ​​is divided into two segments: (-1, ... k a ] represents good working conditions, ( k a ,0) represents a poor but safe working condition; k a This is a priori assignment coefficient, the value of which is determined based on the prior drilling parameters according to the geological conditions during construction. L f The calculation formula and calculation method are as follows: 1) When When, choose L f = k f L B Equation (5-1) The calculation method is as follows: ① The drilling capability of the construction tunnel strata is set based on the geological exploration and preliminary drilling stages. k f initial value k f0 ,and k f ∈(0,1); Simultaneously, a weighted average of the test feed pressure for assessing the drillability of the rock strata in the construction roadway is set. Stable range ( ), maximum upper deviation and maximum lower deviation ; ②If the weighted average value of the feed pressure of the test propulsion calculated by equation (2) during the test propulsion process Always in a stable range ( Within ) then maintain k f = k f0 ; ③If Continue to decrease and exceed the maximum lower deviation Then, choose the next higher level of drillability corresponding to the rock strata. k f value k f1 That is, increase k f Value, let k f = k f1 ( k f1 > k f0 ); ④If Continues to increase and exceeds the maximum upper deviation Then choose the rock stratum with the lower level of drillability. k f value k f-1 That is, reduce k f Value, let k f = k f-1 ( k f-1 < k f0 ); 2) When When, choose L f = L B -Δ L f Equation (5-2) The calculation method is as follows: ① Based on the drillability of the rock strata in the construction roadway obtained during the geological exploration and preliminary drilling stages, Δ is set. L f initial value Δ L f0 ; ②If we try to push the weighted average of the feed pressure If it remains unchanged or decreases, then keep Δ. L f =Δ L f0 ; ③ If we try to advance the weighted average of the feed pressure Increase and exceed the maximum upper deviation Then, the drillability Δ corresponding to the lower level of rock strata is selected. L f value Δ L f-1 That is, increase Δ L f Value, let Δ L f =Δ L f-1 Δ L f0 <Δ L f-1 .

5. The tool face angle adjustment and correction system according to claim 4, characterized in that: The method for calculating the reciprocating speed is as follows: 1) When the reciprocating distance is calculated according to formula (5-1), the reciprocating speed v f =min( k vf v z , v max Equation (6-1) In the formula, k vf It is the speed adjustment coefficient, and ; v z This represents the average feed rate during normal drilling. v max This is the maximum allowable value set by the system when drilling in the current formation. 2) When the reciprocating distance is calculated according to formula (5-2), the reciprocating speed Equation (6-2) As shown in equation (6-1), when calculating the reciprocating distance according to equation (5-1), if the working conditions are good, the normal drilling speed or even the maximum drilling speed should be selected for reciprocating movement to improve the efficiency of releasing the torsional deformation of the drill rod. From equation (6-2), we know that when calculating the reciprocating travel distance according to equation (5-2), the working condition difference and the reserved Δ L f The larger the value, the worse the working conditions. v f The smaller the value, the better it meets the operating conditions.

6. The tool face angle adjustment and correction system according to claim 1, characterized in that: In the adjustment step size calculation module, let the first step be... j The step size for adjusting the face angle of the secondary tool is δ j , j =1,2,3…, the calculation formula is: Equation (8) In the formula, k tj It is the step size coefficient. k tj ∈[0,1]; θ tj This is the current target value for tool face angle adjustment; θ cj This is the current value of the tool face angle; △ θ tj It is the theoretical adjustment value of the tool face angle; when k M ≥ k MQ Sometimes, k tj = μk a Equation (9-1) when k M < k MQ In such cases, manual intervention is required to select cyclic optimization parameters or perform adjustments; if cyclic optimization parameters are selected, then follow the steps outlined in the previous section. k M < k MQ Situation, adjustment L B , L f , v f , n f until k M ≥ k MQ If you choose to perform adjustment, then there are k tj = μk b Equation (9-2) In equations (9-1) and (9-2), μ It is the step size correction factor. μ ∈[0,1]; k a and k b These are the qualified reference coefficient and the unqualified reference coefficient, with different values ​​preset according to the drillability of the rock strata. k b ≤0.5 k a ; The adjustment step size calculation process is as follows: (1) According to k M The value can be selected using either equation (9-1) or equation (9-2) for calculation. k tj ; (2) Assuming the first adjustment k M ≥ k MQ Then, select the first adjustment step size of equation (9-1) and take... μ =1, then , and according to δ A value 1 drives the power head to rotate, thereby causing the drill pipe to rotate; (3) No. j During the second adjustment j =2,3……, recalculate k M And compare it with k MQ Size, select step size factor k tj Substitute the formula into equation (9) to calculate. δ j ; (3) 3.1) If k M If it increases, the previous adjustment will be maintained. μ The value remains unchanged; 3.2) If k M Reduced by more x %, then increase μ value y %, that is to say μ = μ (1+ y %), will the new μ Substitute the value into equation (9-1) or equation (9-2) and recalculate. k tj ; x and y These are all system preset values, corresponding to the drillability of the rock strata; (4) Until △ θ tj ≤ δ P Then stop adjusting. δ P Allowable error for tool face angle adjustment.

7. A tool face angle adjustment and correction method based on the system according to any one of claims 1 to 6, characterized in that: The method includes the following steps: S0: Initial state; Before drilling, drillability and various preset coefficients are set according to the geological information of the drilling site; the directional drilling rig completes the drilling of the current drill rod and pauses drilling; during the drilling of the previous drill rod, the drilling rig control system collects the real-time feed pressure of normal drilling. p z And the total number of feed pressure samples is n z The feed pressure sampling time interval is Δ t The maximum value of the collected feed pressure is p zmax The minimum value is p zmin The system solves for the arithmetic average of the normal drilling feed pressure as follows: Standard deviation is σ z ; S01: Trial Advance; the drilling rig drives the drill string to retreat a distance equal to the length of one drill rod, and then advances it forward again to the bottom of the hole; during this process, the drilling rig control system collects real-time trial advance feed pressure data. p s The total number of feed pressure samples is n s The feed pressure sampling time interval is Δ t The maximum value of the collected feed pressure is p smax The minimum value is p smin The system solved for the arithmetic mean of the test propulsion feed pressure as follows: Standard deviation is σ s ; S02: Fuzzy processing of extreme values ​​of feed pressure; for normal drilling feed pressure collected in S0 p z ,when p z = p zmax ± δ z p zmax At that time, they all believed p z = p zmax ;when p z = p zmin ± δ z p zmin At that time, they all believed p z = p zmin ;in, δ z The threshold for the proportion of pressure fluctuation. δ z ∈[0,1]; similarly, for the trial push feed pressure p s There is a proportional threshold. δ s ∈[0,1], when p s = p smax ± δ s p smax At that time, they all believed p s = p smax ;when p s = p smin ± δ s p smin At that time, they all believed p s = p smin Simultaneously, the control system statistically analyzes the maximum normal drilling feed pressure after fuzzy processing. p zmax Quantity is m z1 Minimum value p zmin Quantity is m z2 ; Trial push for maximum feed pressure p smax Quantity is m s1 Minimum value p smin Quantity is m s2 ; S03: Calculate the weighted average of the feed pressure; take... and within the range p z and p s The maximum and minimum values ​​obtained in S02 are the effective values ​​of the normal drilling feed pressure and the trial drilling feed pressure, respectively; using the effective values, the weighted average value of the normal drilling feed pressure is calculated according to equations (1) and (2). Weighted average of normal drilling feed pressure ; S04: Calculate the correction factor; solve for the correction factor using equation (3). k x1 ; S05: Calculate the backtrack distance S05A: When When using equation (4-1), calculate the retraction distance. L B ; S05B: When When using equation (4-2), calculate the retraction distance. L B ; S06: Calculate the reciprocating distance S06A: When When using equation (5-1), calculate the reciprocating distance. L f ; S06B: When When using formula (5-2), calculate the reciprocating distance. L f ; S07: Calculate the reciprocating speed S07A: After calculating the reciprocating distance using formula (5-1), calculate the reciprocating speed using formula (6-1); S07B: After calculating the reciprocating distance using formula (5-2), calculate the reciprocating speed using formula (6-2); S08: Reciprocating movement n f The drill pipe torsional deformation was released during the second release; S09: Calculate the adjustment matching degree using formula (7); S10: Assess the fit and adjust the compensating motion parameters; S10A: When k M < k MQ If the adjustment effect is not satisfactory, the adjustment needs to be increased. L B , L f , v f , n f ,make k M The priorities for increasing and adjusting are arranged according to the magnitude of the priority coefficient, that is, from highest to lowest priority. L B → L f , v f → n f ; S10B: When k M ≥ k MQ When the adjustment effect is satisfactory, it should be maintained. L B , L f , v f , n f constant; S11: Calculate the step size coefficient; S11A: When k M ≥ k MQ When using equation (9-1), calculate the step size coefficient. k tj ; S11B: When k M < k MQ At this time, manual intervention is required to select cyclic optimization parameters or perform adjustment; if cyclic optimization parameters are selected, return to S10A; if adjustment is selected, use equation (9-2) to calculate the step size coefficient. k tj ; S12: Perform adjustment; convert the step size coefficient obtained in S11. k tj Substitute into equation (8) and take the step size correction coefficient. μ =1, calculate the first adjustment value. δ j And drive the power head to rotate according to this value, thereby driving the drill pipe to rotate, realizing one adjustment of the tool face angle; S13: Cyclic adjustment; the relationship between the theoretical adjustment value of the tool face angle and the system's allowable error is used to determine whether the target value of the tool face angle adjustment has been reached, i.e., whether the Δ is satisfied. θ tj ≤ δ P If so, then △ θ tj ≤ δ P If the change is positive, then stop adjusting; otherwise, use the current tool face angle change value Δ measured and recorded by the system. θ T and the change value Δ of the drilling rig power head angle θ D Return to S09 and re-execute the S09~S13 cycle adjustment.

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