A semi-physical testing system for the curvature control method of rotary steerable tools

Abstract

The present invention discloses a semi-physical test system for a curvature control method of a rotary steering tool, comprising: a host computer, a real-time simulator and a real main control computing unit; a virtual inclination probe module and a tool guidance characteristic module are implanted in the real-time simulator, and a curvature control method module is implanted in the real main control computing unit. The present application obtains tool guidance parameters according to the well inclination azimuth curvature difference through the curvature control method module, obtains the current well inclination azimuth parameter according to the tool guidance parameter through the tool guidance characteristic module, and obtains the current virtual sensor signal according to the current well inclination azimuth parameter through the virtual inclination probe module, thereby avoiding the high cost and low efficiency problems of full physical testing and the low confidence problem of full digital testing, and improving the accuracy of the control method test without reducing the test integrity.

Description

Technical Field

[0001] The invention relates to the technical field of rotary guide tool testing systems, and in particular to a semi-physical testing system for a rotary guide tool curvature control method. Background Art

[0002] The rotary steerable drilling system is an advanced directional drilling equipment in the field of oil and gas exploration and development. During the drilling process, whether it is manual control or automatic control, the steering parameters need to be continuously adjusted according to the current drilling status. Therefore, the accuracy of the adjustment process and method depends on the drilling curvature control method. When researchers develop different control methods and algorithms, they need to repeatedly test and verify their accuracy, so it is necessary to study the test system of the control method.

[0003] In the prior art, the patent publication number CN115142791A, "Automatic curvature control method and system of rotary steering system, computer equipment", indirectly determines the well depth data by pre-setting the mechanical drilling speed on the ground, solving the problem that the current rotary steering drilling tool cannot accurately sense its current well depth.

[0004] The above-mentioned prior art only proposes a control method, but does not study the test system of the control method, and lacks a system for testing the curvature control method of the rotary guide tool. At present, the control method is generally tested using full-physical tools or full-digital simulations, but full-physical testing is costly and inefficient, and full-digital testing has low confidence. Summary of the invention

[0005] The present invention provides a semi-physical testing system for a rotary guide tool curvature control method, which is used to solve the problems in the prior art that there is no relatively reliable system for testing the rotary guide tool curvature control method, the full physical test has high cost and low efficiency, and the full digital test has low confidence.

[0006] On the one hand, the present invention provides a semi-physical testing system for a rotary steering tool curvature control method, comprising: a host computer, a real-time simulation machine and a real main control computing unit; the real-time simulation machine is implanted with a virtual inclinometer probe module and a tool guidance characteristic module, and the real main control computing unit is implanted with a curvature control method module.

[0007] The host computer is used to input initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters.

[0008] The curvature control method module is used to obtain tool steering parameters according to the well inclination azimuth curvature difference.

[0009] The tool steering characteristic module is used to obtain the current well inclination azimuth parameter according to the drilling process parameter, the tool geometric parameter, the tool type, the current drilling depth and the tool steering parameter.

[0010] The virtual inclination probe module is used to obtain the current virtual sensor signal according to the current well inclination azimuth parameter.

[0011] The curvature control method module, the tool steering characteristic module and the virtual inclination probe module are also used to update the tool steering parameters, the current well inclination azimuth parameters and the current virtual sensor signal in real time respectively.

[0012] In a possible implementation, the host computer is used to send initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters to the curvature control method module, and send drilling process parameters, tool geometry parameters and tool type to the tool guidance characteristic module.

[0013] The curvature control method module is used to calculate the well inclination azimuth curvature difference according to the initial well inclination azimuth curvature parameter and the target well inclination azimuth curvature parameter, and obtain the tool steering parameter according to the well inclination azimuth curvature difference.

[0014] The tool steering characteristic module also inputs the current drilling depth, and is used to obtain the current well inclination azimuth parameters according to the drilling process parameters, the tool geometric parameters, the tool type, the tool steering parameters and the current drilling depth.

[0015] The virtual inclination probe module is used to obtain the current virtual sensor signal according to the current well inclination azimuth parameter.

[0016] The curvature control method module is also used to obtain a current well inclination azimuth curvature parameter according to the current virtual sensor signal, and to update the initial well inclination azimuth curvature parameter with the current well inclination azimuth curvature parameter.

[0017] The curvature control method module is also used to update the tool steering parameters in real time according to the new well inclination azimuth curvature difference.

[0018] The tool steering characteristic module is also used to update the current well inclination azimuth parameter according to the new tool steering parameter.

[0019] The virtual inclination probe module is also used to update the current virtual sensor signal according to the new current well inclination azimuth parameter.

[0020] In a possible implementation, the host computer is also used to send target drilling trajectory parameters to the curvature control method module; the target drilling trajectory parameters include an initial well inclination azimuth curvature parameter and several target well inclination azimuth curvature parameters to be tested, wherein the first target well inclination azimuth curvature parameter to be tested is the target well inclination azimuth curvature parameter.

[0021] The curvature control method module is also used to: when the current drilling depth reaches the preset drilling depth, update the initial well inclination azimuth curvature parameter with the current well inclination azimuth curvature parameter, and update the target well inclination azimuth curvature parameter with the next target well inclination azimuth curvature parameter to be measured.

[0022] In a possible implementation, the current drilling depth is obtained by multiplying the simulation time by the drilling speed and the well inclination azimuth parameter during the drilling process.

[0023] In a possible implementation, the curvature control method module includes: a vertical drilling control submodule, a stabilization of inclination and azimuth control submodule, a stabilization of inclination and torsional azimuth control submodule, and a curvature control submodule.

[0024] The vertical drilling control submodule is provided with a vertical drilling control method to be tested.

[0025] The inclination and azimuth stabilization control submodule is provided with an inclination and azimuth stabilization control method to be tested.

[0026] The stabilization tilt, torsion and azimuth control submodule is provided with a stabilization tilt, torsion and azimuth control method to be tested.

[0027] The curvature control submodule is provided with a curvature control method to be measured.

[0028] The curvature control method module is also used to select a corresponding control method according to the well inclination azimuth curvature difference, and obtain a tool steering parameter according to the control method and the well inclination azimuth curvature difference.

[0029] In a possible implementation, the virtual inclinometer probe module is provided with an inverse correction text.

[0030] The virtual inclination probe module is also used to obtain a current virtual sensor signal close to the actual inclination probe output according to the current well inclination azimuth parameter and the inverse correction text.

[0031] In a possible implementation, the host computer is also used to collect the tool steering parameters and the current well inclination azimuth parameters, generate curve graphs of various parameters according to simulation time, and generate virtual drilling trajectory curve graphs and ideal trajectory curve graphs.

[0032] The semi-physical testing system of the curvature control method of a rotary guide tool in the present invention has the following advantages:

[0033] The curvature control method module is used to obtain tool guidance parameters according to the well inclination azimuth curvature difference, the tool guidance characteristic module is used to obtain the current well inclination azimuth parameters according to the tool guidance parameters, and the virtual inclination probe module is used to obtain the current virtual sensor signal according to the current well inclination azimuth parameters, thereby avoiding the high cost and low efficiency of full physical testing and the low confidence problem of full digital testing, and improving the accuracy of control method testing without reducing the test integrity.

[0034] By testing the control method on a group of initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters, the test effect of a single control method is improved.

[0035] By testing the control method on several groups of initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters, the test effect of combining different control methods is improved.

[0036] By setting the inverse correction text for the virtual inclinometer probe tube module, the simulation authenticity of the virtual inclinometer probe tube module is improved, thereby improving the test accuracy of the control method.

[0037] By generating curve graphs of various parameters according to simulation time, and generating curve graphs of virtual drilling trajectory and ideal trajectory, the observability of the control method test results is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of a module of a semi-physical testing system for a rotary guide tool curvature control method provided by an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of data input and output of a curvature control method module provided in an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of data input and output of a tool-oriented feature module provided in an embodiment of the present invention;

[0042] Figure 4 A schematic diagram of data input and output of a virtual inclinometer probe module provided in an embodiment of the present invention;

[0043] Figure 5A schematic diagram of the operation of a semi-physical testing system for a rotary guide tool curvature control method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Embodiment 1:

[0046] like Figure 1 As shown, an embodiment of the present invention provides a semi-physical testing system for a rotary steering tool curvature control method, comprising: a host computer, a real-time simulation machine and a real main control computing unit; the real-time simulation machine is implanted with a virtual inclinometer probe module and a tool guidance characteristic module, and the real main control computing unit is implanted with a curvature control method module.

[0047] The host computer is used to input initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters.

[0048] The curvature control method module is used to obtain tool steering parameters according to the well inclination azimuth curvature difference.

[0049] The tool steering characteristic module is used to obtain the current well inclination azimuth parameter according to the drilling process parameter, the tool geometric parameter, the tool type, the current drilling depth and the tool steering parameter.

[0050] The virtual inclination probe module is used to obtain the current virtual sensor signal according to the current well inclination azimuth parameter.

[0051] The curvature control method module, the tool steering characteristic module and the virtual inclination probe module are also used to update the tool steering parameters, the current well inclination azimuth parameters and the current virtual sensor signal in real time respectively.

[0052] Specifically, in this embodiment, the host computer is communicatively connected with the real-time simulation machine and the real master control computing unit, and the real-time simulation machine is electrically connected with the real master control computing unit.

[0053] like Figures 2 to 5 As shown, exemplarily, the host computer is used to send initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters to the curvature control method module, and send drilling process parameters, tool geometry parameters and tool type to the tool guidance characteristic module.

[0054] The curvature control method module is used to calculate the well inclination azimuth curvature difference according to the initial well inclination azimuth curvature parameter and the target well inclination azimuth curvature parameter, and obtain the tool steering parameter according to the well inclination azimuth curvature difference.

[0055] The tool steering characteristic module also inputs the current drilling depth, and is used to obtain the current well inclination azimuth parameters according to the drilling process parameters, the tool geometric parameters, the tool type, the tool steering parameters and the current drilling depth.

[0056] The virtual inclination probe module is used to obtain the current virtual sensor signal according to the current well inclination azimuth parameter.

[0057] The curvature control method module is also used to obtain a current well inclination azimuth curvature parameter according to the current virtual sensor signal, and to update the initial well inclination azimuth curvature parameter with the current well inclination azimuth curvature parameter.

[0058] The curvature control method module is also used to update the tool steering parameters in real time according to the new well inclination azimuth curvature difference.

[0059] The tool steering characteristic module is also used to update the current well inclination azimuth parameter according to the new tool steering parameter.

[0060] The virtual inclination probe module is also used to update the current virtual sensor signal according to the new current well inclination azimuth parameter.

[0061] Specifically, the initial well inclination azimuth curvature parameters include: initial well inclination angle, initial azimuth angle and initial curvature. The target well inclination azimuth curvature parameters include: target well inclination angle, target azimuth angle and target curvature.

[0062] The drilling process parameters include: drilling pressure (kN), drilling speed (m / h) and rotation speed (rpm). In this embodiment, the drilling pressure is 20000 kN, the drilling speed is 10 m / h, and the rotation speed is 60 rpm.

[0063] Tool geometry parameters include: the length (m) and Young's modulus (N / m) of the rotary steering tool guide head and part of the drill pipe 2 ), Sectional moment of inertia (m 4 ), tool inner and outer diameters (cm), drill bit anisotropy, elastic coefficient of flexible short joint (Nm / rad). The length of the guide head of the rotary guide tool and part of the drill pipe (m) includes: the tool length between the drill bit and the universal joint, the tool length from the universal joint to the lower stabilizer, the tool length between the upper stabilizer and the universal joint, the tool length between the upper stabilizer and the flexible joint, and the length of the next section of the drill string. In this embodiment, Young's modulus (N / m 2 ) is 1.1×10 11N / m 2 The moment of inertia of the section can be calculated based on the inner and outer diameters of the drill bit.

[0064] The tool types include: pointing rotary steering system and push-to-pull rotary steering system. The pointing rotary steering system realizes the steering function by adjusting the direction of the drill bit. The steering parameters are the tool face angle (0-360°) and the steering rate (the ratio of the steering mode to the drilling cycle, 0-100%) to realize the steering function. The push-to-pull rotary steering system relies on the hydraulic module to push against the well wall to realize the steering function. The steering parameters are the tool face angle (0-360°) and the steering strength (the ratio of the current steering force to the maximum steering force, 0-100%). Among them, the tool face angle determines the steering direction of the next step of the drilling tool, and the steering rate or steering strength determines the steering degree of the next step of the drilling tool.

[0065] When the tool type is a pointing rotary steerable system, the tool steering parameters include: tool face angle and steering rate; when the tool type is a push-type rotary steerable system, the tool steering parameters include: tool face angle and steering strength.

[0066] The current well inclination azimuth parameters include: the current well inclination angle, the current azimuth angle and the current rotation speed. In this embodiment, the input range of the well inclination angle is 0-180°, the input range of the azimuth angle is 0-360°, and the input range of the rotation speed is 0-360rpm. According to the basic principle of attitude measurement, if the attitude angle is known, the theoretical output value of each attitude sensor can be calculated. The virtual inclination probe module of the present invention outputs the current virtual sensor signal according to the input current well inclination angle, current azimuth angle and current rotation speed.

[0067] The current virtual sensor signals include: a virtual accelerometer three-axis output signal, which is an analog current signal; a virtual fluxgate three-axis output signal and a virtual gyroscope output signal, which are analog voltage signals.

[0068] In this embodiment, the operation process of the semi-physical test system of the curvature control method of the rotary steering tool is as follows: the host computer sends the initial well inclination azimuth curvature parameters and the target well inclination azimuth curvature parameters to the curvature control method module, and sends the drilling process parameters, tool geometric parameters and tool type to the tool steering characteristic module; the curvature control method module calculates the well inclination azimuth curvature difference, and obtains the tool steering parameters according to the well inclination azimuth curvature difference; the tool steering characteristic module obtains the current well inclination azimuth parameters according to the drilling process parameters, tool geometric parameters, tool type, tool steering parameters and current drilling depth; the virtual inclination probe module obtains the current virtual sensor signal according to the current well inclination azimuth parameters.

[0069] The curvature control method module also obtains the current well inclination azimuth curvature parameter according to the current virtual sensor signal, and updates the initial well inclination azimuth curvature parameter with the current well inclination azimuth curvature parameter; the curvature control method module also updates the tool guidance parameter according to the new initial well inclination azimuth curvature parameter; the tool guidance characteristic module also updates the current well inclination azimuth parameter according to the new tool guidance parameter; the virtual inclination probe module also updates the current virtual sensor signal according to the new current well inclination azimuth parameter. Until the current drilling depth reaches the preset drilling depth.

[0070] In this embodiment, the accuracy of the control method to be tested can be verified by counting the current well inclination azimuth curvature parameter and the target well inclination azimuth curvature parameter. The smaller the tolerance of the series formed by the current well inclination azimuth curvature parameter and the target well inclination azimuth curvature parameter, the better the control effect of the control method to be tested.

[0071] In other possible embodiments, other methods may be used to verify the accuracy of the control method to be tested.

[0072] Embodiment 2:

[0073] Exemplarily, the host computer is also used to send target drilling trajectory parameters to the curvature control method module; the target drilling trajectory parameters include an initial well inclination azimuth curvature parameter and several target well inclination azimuth curvature parameters to be tested, wherein the first target well inclination azimuth curvature parameter to be tested is the target well inclination azimuth curvature parameter.

[0074] The curvature control method module is also used to: when the current drilling depth reaches the preset drilling depth, update the initial well inclination azimuth curvature parameter with the current well inclination azimuth curvature parameter, and update the target well inclination azimuth curvature parameter with the next target well inclination azimuth curvature parameter to be measured.

[0075] Specifically, in this embodiment, the operation process of the semi-physical test system of the rotary steering tool curvature control method is different from that of Example 1 in that the initial well inclination azimuth curvature parameters and the target well inclination azimuth curvature parameters sent by the upper computer in Example 1 are changed into target drilling trajectory parameters, and the target drilling trajectory parameters include an initial well inclination azimuth curvature parameter and several target well inclination azimuth curvature parameters to be tested; when the current drilling depth reaches the preset drilling depth, the initial well inclination azimuth curvature parameters are updated with the current well inclination azimuth curvature parameters, and the target well inclination azimuth curvature parameters are updated with the next target well inclination azimuth curvature parameters to be tested.

[0076] That is to say, in Example 1, a control method test is performed on a set of initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters, that is, a control method is tested separately to highlight the test effect of a single control method.

[0077] Embodiment 2 tests the control method of several groups of initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters, that is, performs an overall test on the combination of different control methods, highlighting the test effect of combining different control methods.

[0078] Exemplarily, the current drilling depth is obtained by multiplying the simulation time by the drilling speed and the well inclination azimuth parameter during the drilling process.

[0079] Exemplarily, the curvature control method module includes: a vertical drilling control submodule, a stabilization of inclination and azimuth control submodule, a stabilization of inclination and torsional azimuth control submodule and a curvature control submodule.

[0080] The vertical drilling control submodule is provided with a vertical drilling control method to be tested.

[0081] The inclination and azimuth stabilization control submodule is provided with an inclination and azimuth stabilization control method to be tested.

[0082] The stabilization tilt, torsion and azimuth control submodule is provided with a stabilization tilt, torsion and azimuth control method to be tested.

[0083] The curvature control submodule is provided with a curvature control method to be measured.

[0084] The curvature control method module is also used to select a corresponding control method according to the well inclination azimuth curvature difference, and obtain a tool steering parameter according to the control method and the well inclination azimuth curvature difference.

[0085] Specifically, the vertical drilling control method to be tested is a pre-set control method to be tested for the vertical drilling mode. When the initial well inclination angle, initial curvature, target well inclination angle and target curvature are all 0, it is in the vertical drilling mode.

[0086] The stable inclination and azimuth control method to be tested is a pre-set control method to be tested for the stable inclination and azimuth mode. When the initial well inclination angle, the initial azimuth angle, the target well inclination angle, and the target azimuth angle are all not 0, and the initial curvature and the target curvature are both 0, it is in the stable inclination and azimuth mode.

[0087] The tilt-stabilizing and twisting azimuth control method to be tested is a preset control method to be tested for the tilt-stabilizing and twisting azimuth mode. When the initial curvature and the target curvature are not 0 and are equal, it is in the tilt-stabilizing and twisting azimuth mode, including tilt-building, tilt-lowering and twisting azimuth.

[0088] The curvature control method to be tested is a control method to be tested that is preset for the curvature control mode. When any one of the initial curvature and the target curvature is not 0 or both are not 0 and are not equal, it is in the curvature control mode.

[0089] Embodiment 3:

[0090] Exemplarily, the virtual inclinometer probe module is provided with an inverse correction text.

[0091] The virtual inclination probe module is also used to obtain a current virtual sensor signal close to the actual inclination probe output according to the current well inclination azimuth parameter and the inverse correction text.

[0092] Specifically, the inverse correction text is added in reverse to the correction text of the real inclinometer probe. The real inclinometer probe will be calibrated and corrected with the correction text before use, and the correction text of each probe is different. In order to more realistically simulate the output characteristics of different real inclinometer probes, this embodiment sets the inverse correction text in the virtual inclinometer probe module, so that the output characteristics of the virtual inclinometer probe module are closer to the real inclinometer probe that needs to be simulated, thereby improving the simulation authenticity.

[0093] Exemplarily, the host computer is also used to collect the tool steering parameters and the current well inclination azimuth parameters, generate curve graphs of various parameters according to simulation time, and generate virtual drilling trajectory curve graphs and ideal trajectory curve graphs.

[0094] In this embodiment, the accuracy of the control method to be tested is verified by generating a virtual drilling trajectory curve graph and an ideal trajectory curve graph and comparing the degree of deviation of the virtual drilling trajectory curve from the ideal trajectory curve. The smaller the degree of deviation, the better the accuracy of the control method to be tested.

[0095] The embodiment of the present invention obtains tool steering parameters according to the well inclination azimuth curvature difference through the curvature control method module, obtains current well inclination azimuth parameters according to the tool steering parameters through the tool steering characteristic module, and obtains current virtual sensor signals according to the current well inclination azimuth parameters through the virtual inclination probe module, thereby avoiding the high cost and low efficiency problems of full physical testing and the low confidence problem of full digital testing, and improving the accuracy of control method testing without reducing the test integrity.

[0096] By testing the control method on a group of initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters, the test effect of a single control method is improved.

[0097] By testing the control method on several groups of initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters, the test effect of combining different control methods is improved.

[0098] By setting the inverse correction text for the virtual inclinometer probe tube module, the simulation authenticity of the virtual inclinometer probe tube module is improved, thereby improving the test accuracy of the control method.

[0099] By generating curve graphs of various parameters according to simulation time, and generating curve graphs of virtual drilling trajectory and ideal trajectory, the observability of the control method test results is improved.

[0100] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0101] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A semi-physical testing system for a curvature control method of a rotary guide tool, characterized in that: include: A host computer, a real-time simulator and a real master control computing unit; the real-time simulator is implanted with a virtual inclinometer probe module and a tool guidance characteristic module, and the real master control computing unit is implanted with a curvature control method module; The host computer is used to input initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters; The curvature control method module is used to obtain tool steering parameters according to the well inclination azimuth curvature difference; The tool steering characteristic module is used to obtain the current well inclination azimuth parameter according to the drilling process parameter, the tool geometric parameter, the tool type, the current drilling depth and the tool steering parameter; The virtual inclination probe module is used to obtain the current virtual sensor signal according to the current well inclination azimuth parameter; The curvature control method module, the tool steering characteristic module and the virtual inclination probe module are also used to update the tool steering parameters, the current well inclination azimuth parameters and the current virtual sensor signal in real time respectively; The host computer is used to send initial well inclination azimuth curvature parameters and target well inclination azimuth curvature parameters to the curvature control method module, and send drilling process parameters, tool geometric parameters and tool type to the tool guidance characteristic module; The curvature control method module is used to calculate the well inclination azimuth curvature difference according to the initial well inclination azimuth curvature parameter and the target well inclination azimuth curvature parameter, and obtain the tool steering parameter according to the well inclination azimuth curvature difference; The tool steering characteristic module also inputs the current drilling depth, and the tool steering characteristic module is used to obtain the current well inclination azimuth parameter according to the drilling process parameter, the tool geometric parameter, the tool type, the tool steering parameter and the current drilling depth; The virtual inclination probe module is used to obtain the current virtual sensor signal according to the current well inclination azimuth parameter; The curvature control method module is also used to obtain the current well deviation azimuth curvature parameter according to the current virtual sensor signal, and update the initial well deviation azimuth curvature parameter with the current well deviation azimuth curvature parameter; The curvature control method module is also used to update the tool steering parameters in real time according to the new well deviation azimuth curvature difference; The tool steering characteristic module is also used to update the current well deviation azimuth parameter according to the new tool steering parameter; The virtual inclination probe module is also used to update the current virtual sensor signal according to the new current well inclination azimuth parameter; The host computer is also used to send target drilling trajectory parameters to the curvature control method module; the target drilling trajectory parameters include an initial well inclination azimuth curvature parameter and a plurality of target well inclination azimuth curvature parameters to be measured, wherein the first target well inclination azimuth curvature parameter to be measured is the target well inclination azimuth curvature parameter; The curvature control method module is also used to: when the current drilling depth reaches the preset drilling depth, update the initial well inclination azimuth curvature parameter with the current well inclination azimuth curvature parameter, and update the target well inclination azimuth curvature parameter with the next target well inclination azimuth curvature parameter to be measured.

2. A semi-physical testing system for a rotary guide tool curvature control method according to claim 1, characterized in that: The current drilling depth is obtained by multiplying the simulation time by the drilling speed and the well inclination azimuth parameters during the drilling process.

3. A semi-physical testing system for a rotary guide tool curvature control method according to claim 1, characterized in that: The curvature control method module includes: a vertical drilling control submodule, a stabilization of inclination and azimuth control submodule, a stabilization of inclination and torsion control submodule and a curvature control submodule; The vertical drilling control submodule is provided with a vertical drilling control method to be tested; The inclination and azimuth stabilization control submodule is provided with an inclination and azimuth stabilization control method to be tested; The stabilization tilt, torsion and azimuth control submodule is provided with a stabilization tilt, torsion and azimuth control method to be tested; The curvature control submodule is provided with a curvature control method to be tested; The curvature control method module is also used to select a corresponding control method according to the well inclination azimuth curvature difference, and obtain a tool steering parameter according to the control method and the well inclination azimuth curvature difference.

4. A semi-physical testing system for a rotary guide tool curvature control method according to claim 1, characterized in that: The virtual inclinometer probe module is provided with an inverse correction text; The virtual inclination probe module is also used to obtain a current virtual sensor signal close to the actual inclination probe output according to the current well inclination azimuth parameter and the inverse correction text.

5. The semi-physical testing system of the curvature control method of a rotary guide tool according to claim 1, characterized in that: The host computer is also used to collect the tool steering parameters and the current well inclination azimuth parameters, generate curve graphs of various parameters according to simulation time, and generate virtual drilling trajectory curve graphs and ideal trajectory curve graphs.

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