Guiding control device and method for rotary steerable and drilling-while-drilling systems

Abstract

This invention discloses a steering control device and method for rotary steerable and drilling-while-drilling systems, comprising: a steering control module, which is used to acquire real-time raw characteristic data about the module itself, calculate the real-time operating state based on the raw characteristic data, and transmit the real-time operating state to the surface via a MWD sub; and to receive steering control commands from the surface via the MWD sub and convert the steering control commands into rib control instructions for controlling the pushing and retraction of specified ribs; and a steering execution module, which is used to respond to the rib control instructions to complete the steering. This invention improves the performance and robustness of the entire rotary steerable system.

Description

Technical Field

[0001] This invention relates to the field of guidance control technology, and in particular to a guidance control device and method for rotary guidance and drilling while drilling systems. Background Technology

[0002] Rotary steerable drilling technology, as a high-end instrument in drilling systems, is a crucial high-end drill bit steering technology urgently needed for development and a currently popular research topic. It has become a focus of attention for various oil service companies. This technology represents the highest level of drilling and logging technology in the world today. Due to its numerous advantages, including low friction and torque, excellent wellbore cleaning effect, smooth and easily controllable trajectory, strong displacement extension capability, and applicability to challenging oil wells and special reservoirs, it is considered a technological revolution in directional drilling. Especially in my country, with its vast land area and huge resource demand, the successful development of rotary steerable drilling technology has enormous application prospects in both offshore and onshore oil and gas markets.

[0003] The rotary steerable system comprises a surface monitoring system, a two-way communication system, measurement while drilling (MWD), and a steering and control unit. The steering and control unit is the core of the rotary steerable system, incorporating knowledge from multiple disciplines including petroleum, electrical engineering, and mechanics. It directly influences the drill bit's drilling direction and attitude. Rotary steerable technology offers advantages such as high target hit rate and high build-up rate, strong wellbore trajectory control with simultaneous sliding and rotation, smooth wellbore, significantly reduced drill string friction and torque, and high drilling capacity. It also boasts a high degree of interdisciplinary integration and technological sophistication.

[0004] Rotary steering technology has become a bottleneck technology in my country's drilling technology field. As the core technology of rotary steering, the main control circuit of the rotary steering module carries the transmission of information commands, automatic steering control algorithms, data acquisition and other technologies. The performance and quality of this technology directly determine the direction and magnitude of the hydraulic thrust, and can complete the conversion of ground commands and command control in a timely manner.

[0005] The existing rotary guide technology suffers from inaccurate guidance and is prone to loss of control, making it imperative to optimize and solve the problem of the guide control unit. Summary of the Invention

[0006] The purpose of this invention is to provide a set of directional control schemes for drilling technology and rotary steering, so as to meet the needs of rotary steering and free steering control and lay the foundation for more precise downhole control.

[0007] To address the aforementioned technical problems, this invention provides a steering control device for a rotary steering and drilling-while-drilling system, comprising: a steering control module, which is used to acquire raw characteristic data about the module itself in real time, calculate the real-time operating status based on the raw characteristic data, and transmit the real-time operating status to the ground via a MWD sub, and receive steering control commands from the ground via the MWD sub, and convert the steering control commands into rib control instructions for controlling the pushing and retraction of specified ribs; and a steering execution module, which is used to respond to the rib control instructions to complete the steering.

[0008] Preferably, the guidance control device further includes: the single bus module, the first end of which is connected to the guidance control module via a first type of bus, and the second end of the single bus module is connected to the MWD sub-section via a second type of bus. The single bus module is used to transmit the received guidance control command to the guidance control module after communication conversion processing, and to transmit the real-time working status to the MWD sub-section after communication conversion processing.

[0009] Preferably, the MWD sub is used to transmit an electrical signal containing guidance control command information to the single-bus module via the second type of bus; the single-bus module is further used to extract the guidance control command from the electrical signal and obtain a power signal for continuously supplying power to the guidance control module.

[0010] Preferably, the single-bus module includes: a first type of bus communication unit, which is used to receive the real-time operating status and transmit it to the encoding unit, and to transmit the decoded guidance control command to the guidance control module; an encoding unit, which is connected to the first type of bus communication unit, is used to perform communication conversion processing on the real-time operating status, thereby transmitting the processed real-time operating status to a second type of bus communication unit; a decoding unit, which is connected to the second type of bus communication unit, is used to sequentially perform preprocessing, instruction parsing processing and communication conversion processing on the power signal, including noise reduction, filtering, waveform conversion, waveform phase-locking, and waveform inversion processing, thereby separating the guidance control command and outputting the power signal; and a second type of bus communication unit, which is used to receive the power signal from the MWD sub and transmit it to the decoding unit, and to transmit the encoded real-time operating status to the MWD sub.

[0011] Preferably, the first type of bus is a 485 bus, and the second type of bus is a single bus.

[0012] Preferably, the guidance control module is implemented using an MSC1210 series chip. The guidance control module includes: a near-bit measurement unit, which is used to collect the device's own acceleration data in real time and calculate the real-time operating status based on the acceleration data; the real-time operating status includes well inclination, azimuth, and tool face angle; a main control unit, which is connected to the near-bit measurement unit via a first-type bus, for receiving the real-time operating status transmitted from the near-bit measurement unit in real time and transmitting the real-time operating status to a storage unit; and a storage unit, which is connected to the main control unit via a first-type bus, for storing the real-time operating status.

[0013] Preferably, the near-drill bit measurement unit includes an acceleration sensor, which is a quartz perturbation accelerometer. The guidance control module further includes: a power supply unit, which converts the obtained power signal into a voltage power supply to power each unit in the guidance control module; and a clock unit, which provides a synchronization clock signal to the main control unit, which is implemented using an 11.0592MHz high-temperature crystal oscillator.

[0014] Preferably, the guiding execution module includes: a hydraulic drive circuit, which drives the output shaft of a designated wing rib motor to rotate to a designated position angle according to the wing rib control command; multiple wing rib motors connected to the hydraulic drive circuit, which cause the wing ribs at the corresponding positions to push against the well wall when rotated to the designated position; and multiple wing ribs, which are used to retract after being pushed against the well wall by the wing rib motors at a specific position angle and then receiving the reaction force from the well wall.

[0015] Preferably, the guidance control command is generated through the following steps: 1. Constructing a simulation platform for the guidance actuator under high-temperature conditions; 2. Simulating the maximum pushing force output by each downhole hydraulic motor and the attitude of each rib according to the target guidance requirements and the real-time working state; 3. Comparing the maximum pushing force output by each downhole hydraulic motor and the attitude of each rib with the corresponding parameters in the target guidance requirements to determine the deviation between the resultant force vector output by the current rib combination and the theoretical resultant force vector corresponding to the target guidance requirements; 4. Generating the guidance control command to control each rib to reach the target attitude based on the deviation.

[0016] On the other hand, a steering control method for a rotary steering and drilling while drilling system is provided. The steering control method is implemented according to the steering control device described above. The steering control method includes: real-time acquisition of raw characteristic data about the module itself, and calculation of the real-time operating state based on the raw characteristic data, thereby transmitting the real-time operating state to the ground through the MWD sub; receiving steering control commands from the ground through the MWD sub, and converting the steering control commands into rib control instructions for controlling the push and retraction of specified ribs; and responding to the rib control instructions to complete the steering.

[0017] Compared with the prior art, one or more embodiments of the above solutions may have the following advantages or beneficial effects:

[0018] This invention proposes a steering control device and method for rotary steering and drilling while drilling systems. The device and method include a steering control module and a steering execution module. The steering control module mainly includes a ROM memory, a clock circuit, a main control circuit, near-bit measurement, and a power supply circuit. This module completes data acquisition, command conversion, and information transmission and reception tasks. The steering execution module mainly includes a hydraulic drive module, a motor, and ribs. This part mainly executes steering commands and can freely extend and retract the ribs downhole to obtain a stable pushing force. In addition, this invention also relies on auxiliary mechanisms: a single-bus module and a MWD sub-section, to realize the entire closed-loop control function, thus forming the entire rotary steering system. This invention can make the rotary steering system more optimized and reasonable, with high accuracy in measuring downhole positions and fast rib response, playing a very important role in improving the performance and robustness of the entire rotary steering system.

[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims, and drawings. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is a schematic diagram of the overall structure of the guidance control device for rotary steering and drilling while drilling systems according to an embodiment of this application.

[0022] Figure 2 This is a schematic diagram of the control principle of a steering control device for a rotary steering and drilling while drilling system according to an embodiment of this application.

[0023] Figure 3 This is a schematic diagram of the steps of a steering control method for a rotary steering and drilling-while-drilling system according to an embodiment of this application. Detailed Implementation

[0024] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples, so that the process of how the present invention uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly. It should be noted that, as long as there is no conflict, the various embodiments and features in the various embodiments of the present invention can be combined with each other, and the resulting technical solutions are all within the protection scope of the present invention.

[0025] Furthermore, the steps illustrated in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than that shown here.

[0026] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments. Unless the context clearly indicates otherwise, the singular forms “a” and “an” as used herein are also intended to include the plural. It should also be understood that the terms “comprising” and / or “including” as used herein specify the presence of the stated features, integers, steps, operations, units, and / or components, without excluding the presence or addition of one or more other features, integers, steps, operations, units, components, and / or combinations thereof.

[0027] Rotary steerable drilling technology, as a high-end instrument in drilling systems, is a crucial high-end drill bit steering technology urgently needed for development and a currently popular research topic. It has become a focus of attention for various oil service companies. This technology represents the highest level of drilling and logging technology in the world today. Due to its numerous advantages, including low friction and torque, excellent wellbore cleaning effect, smooth and easily controllable trajectory, strong displacement extension capability, and applicability to challenging oil wells and special reservoirs, it is considered a technological revolution in directional drilling. Especially in my country, with its vast land area and huge resource demand, the successful development of rotary steerable drilling technology has enormous application prospects in both offshore and onshore oil and gas markets.

[0028] The rotary steerable system comprises a surface monitoring system, a two-way communication system, measurement while drilling (MWD), and a steering and control unit. The steering and control unit is the core of the rotary steerable system, incorporating knowledge from multiple disciplines including petroleum, electrical engineering, and mechanics. It directly influences the drill bit's drilling direction and attitude. Rotary steerable technology offers advantages such as high target hit rate and high build-up rate, strong wellbore trajectory control with simultaneous sliding and rotation, smooth wellbore, significantly reduced drill string friction and torque, and high drilling capacity. It also boasts a high degree of interdisciplinary integration and technological sophistication.

[0029] Rotary steering technology has become a bottleneck technology in my country's drilling technology field. As the core technology of rotary steering, the main control circuit of the rotary steering module carries the transmission of information commands, automatic steering control algorithms, data acquisition and other technologies. The performance and quality of this technology directly determine the direction and magnitude of the hydraulic thrust, and can complete the conversion of ground commands and command control in a timely manner.

[0030] The existing rotary guide technology suffers from inaccurate guidance and is prone to loss of control, making it imperative to optimize and solve the problem of the guide control unit.

[0031] Therefore, to solve the above-mentioned technical problems, this application proposes a steering control device and method for rotary steerable drilling and drilling while drilling systems. This device and method completes data acquisition, command conversion, and information transmission and reception through a steering control module, and executes steering commands through a steering execution module, thereby allowing the wing ribs to be freely extended and retracted downhole.

[0032] This patent primarily protects two parts: the guidance control module and the guidance execution module. The guidance control module mainly includes a ROM memory, clock circuit, main control circuit, near-bit measurement, power supply circuit, etc., which complete data acquisition, command conversion, and transmission / reception. The guidance execution module mainly protects the hydraulic drive module, motor, and ribs. This part mainly executes guidance commands and can freely extend and retract the ribs downhole to obtain stable thrust. Thus, this invention achieves the free extension and retraction of the guide ribs, effectively realizing the research on guidance control technology for drilling systems.

[0033] Figure 1 This is a schematic diagram of the overall structure of a steering control device for a rotary steering and drilling-while-drilling system according to an embodiment of this application. Figure 1 As shown, the guidance control device according to this embodiment of the invention includes a guidance control module 10 and a guidance execution module 20. The guidance control module 10 and the guidance execution module 20 are connected via a first-type bus.

[0034] In one embodiment, the guidance control module 10 of the present invention is first used to collect raw feature data about the module 10 itself in real time, and calculate the real-time working status based on the current raw feature data, thereby transmitting the real-time working status (information) to the ground through the MWD short section.

[0035] Furthermore, the guidance control module 10 is also used to receive guidance control commands from the ground via the MWD short section and convert the current guidance control commands into rib control instructions for controlling the push-in and retraction of the designated (position) ribs. At this time, the guidance execution module 20 is mainly used to respond to the current rib control instructions to complete the current guidance task.

[0036] Thus, the guidance control task described in this embodiment of the invention continuously feeds back its own working status to the MWD section, obtains guidance control commands from the MWD section, and completes response execution, thereby realizing the entire guidance closed-loop control.

[0037] Figure 2 This is a schematic diagram illustrating the control principle of a steering control device for a rotary steering and drilling-while-drilling system according to an embodiment of this application. The following is in conjunction with... Figure 1 and Figure 2 The specific structure of the guidance control device described in the embodiments of the present invention will be explained.

[0038] The guiding control device described in this embodiment of the invention further includes: a single-bus module 30. For example... Figure 2 As shown, the first end of the single bus module 30 is connected to the guide control module 10 via the first type bus 40, and the second end of the single bus module 30 is connected to the MWD stub via the second type bus 50.

[0039] The single-bus module 30 is used to perform communication conversion processing on the guidance control commands received (in real time) from the MWD sub-section, and then transmit the converted guidance control commands to the guidance control module 10. In addition, the single-bus module 30 is also used to perform communication conversion processing on the real-time operating status received from the guidance control module 10, and then transmit the converted real-time operating status to the MWD sub-section.

[0040] In one embodiment, the MWD sub-section is used to transmit an electrical signal containing guidance control command information to the single-bus module 30 via the second type bus 50. At this time, the single-bus module 30 is also used to extract the real-time guidance control command from the electrical signal received from the MWD sub-section, and at the same time, obtain a power signal for continuously supplying power to the guidance control module 10.

[0041] More specifically, the single-bus module 30 includes: a first type of bus communication unit 31, an encoding unit 32, a decoding unit 33, and a second type of bus communication unit 34. The encoding unit 32 is connected to both the first type of bus communication unit 31 and the second type of bus communication unit 34 simultaneously. Similarly, the decoding unit 33 is also connected to both the first type of bus communication unit 31 and the second type of bus communication unit 34 simultaneously.

[0042] During the process of feeding back the working status information of the guidance control device from downhole to the surface, the first type of bus communication unit 31 is used to receive the real-time working status sent from the guidance control module 10 and transmit the real-time working status to the encoding unit 32; then, the encoding unit 32 is used to perform communication conversion processing on the real-time working status, thereby transmitting the real-time working status after communication conversion processing to the second type of bus communication unit 34; the second type of bus communication unit 34 is used to transmit the real-time working status processed by the encoding unit 32 to the MWD sub, thereby the MWD sub transmits the real-time working status information to the surface.

[0043] In this way, the ground equipment can simulate and calculate the downhole guidance task based on the real-time operating status information fed back by the guidance control device and the information fed back by other sub-sections, thereby generating real-time guidance control commands. Furthermore, after receiving the guidance control command, the MWD sub-section writes the guidance control command into the electrical signal used to power the guidance control device, and then uses power line carrier communication technology to transmit the electrical signal containing the guidance control command information to the single-bus module 30 via the second type bus 50.

[0044] In this embodiment of the invention, the second type of bus 50 is a single bus.

[0045] In addition, during the process of feeding back guidance control commands from the surface to the downhole, firstly, the second type bus communication unit 34 is used to receive the power signal from the MWD sub and transmit the power signal to the decoding unit 33.

[0046] Subsequently, the decoding unit 33 performs preprocessing, instruction parsing, and communication conversion processing on the currently received power signal, including noise reduction, filtering, waveform conversion, waveform phase-locking, and waveform inversion, thereby separating the actual transmitted guidance control command and simultaneously obtaining and outputting the power signal. Specifically, the instruction parsing processing described in this embodiment mainly refers to using power line carrier technology to extract the actual guidance control command carried in the power signal, thereby simultaneously outputting the extracted guidance control command and the power signal; the communication conversion processing in the decoding unit 33 mainly involves performing communication conversion processing on the guidance control command to convert it from a single-bus communication level signal to a first-type bus communication level signal.

[0047] In this embodiment of the invention, the first type of bus 40 is a 485 bus. In one embodiment, the communication conversion processing in the decoding unit 33 is implemented using a MAX487ESA chip, specifically used to convert the TTL level that satisfies the single bus requirement into a 485 level signal or a 422 level signal that satisfies the first type of bus requirement.

[0048] Next, the first type of bus communication unit 31 is used to transmit the guidance control command processed by the decoding unit 33 to the guidance control module 10, so that the guidance control module 10 converts the guidance control command into rib control instructions.

[0049] In this way, the single bus module 30 realizes bidirectional communication between the guide control module 10 and the MWD short section, which have two different communication bus types.

[0050] In summary, the single-bus module 30 primarily transmits electrical energy and data signals, powering the guidance control module 10 and transmitting command signals. It achieves simultaneous transmission of electrical energy and signals using only a single wire. Furthermore, the main control circuit of the guidance control module 10 outputs a 485 bus port for transmission. On one hand, the single-bus module 30 converts 485 bus communication into single-bus encoded transmission; on the other hand, it receives single-bus transmitted information and decodes it, further converting it back into 485 bus communication. The single-bus decoding module 30 employs a five-stage filtering technique (specifically, noise reduction, filtering, waveform conversion, waveform phase-locked loop, waveform inversion, etc.), significantly improving the signal-to-noise ratio under high-temperature and high-vibration conditions downhole.

[0051] Furthermore, the guidance control module 10 described in this embodiment of the invention includes: a near-bit measurement unit 11, a main control unit 12, and a storage unit 13. The main control unit 12 is connected to the near-bit measurement unit 11 via a first type bus 40. The storage unit 13 is connected to the main control unit 12 via the first type bus 40.

[0052] The near-bit measurement unit 11 is used to acquire the acceleration data of the directional control device itself in real time, and calculate the real-time working status (information) based on the acceleration data. In this embodiment of the invention, the real-time working status includes, but is not limited to: well inclination, azimuth, and tool face angle.

[0053] In one embodiment, the near-bit measurement unit 11 includes an accelerometer. The accelerometer is a quartz perturbation accelerometer. Accelerometers primarily measure the linear acceleration of the object being measured. This invention selects a quartz perturbation accelerometer to perform real-time data acquisition. This type of accelerometer features high scale factor stability and bias stability, and is small in size, low in power consumption, and highly accurate in measurement. Therefore, the quartz perturbation accelerometer has significant advantages in near-bit measurement units for gravitational acceleration.

[0054] The main control unit 12 is used to receive the real-time operating status transmitted from the near-drill bit measurement unit 11 and transmit the real-time operating status to the storage unit 13. The storage unit 13 is used to store the real-time operating status (information) transmitted from the main control unit 12.

[0055] In one embodiment, storage unit 13 includes a ROM memory. The ROM memory is implemented using an AT24C256 chip, which is a serial electrically erasable programmable read-only memory with an 8-pin dual-row through-hole package. It features a compact structure and large storage capacity, making it particularly suitable for storing acquired data with high data storage requirements.

[0056] In this way, the near-bit measurement unit 11 continuously collects its own acceleration sensor data, calculates the well inclination and azimuth through algorithms, and transmits it to the main control unit (main control circuit board) via the 485 bus port. The main control unit receives the data and stores it in the ROM memory.

[0057] In addition, the main control unit 12 described in this embodiment of the invention is connected to the single bus module 30 via a first type bus 40. The main control unit 12 is also used to transmit the real-time operating status received from the near-drill bit measurement unit 11 to the single bus module 30, so that the single bus module 30 can encode and process the data before transmitting it to the ground via the MWD sub.

[0058] Furthermore, the main control unit 12 described in this embodiment of the invention is also used to receive the decoded guidance control command transmitted from the single-bus module 30, and convert the guidance control command into wing control instructions for actually controlling the push and retraction of the specified wing ribs. During the instruction conversion process, the main control unit 12 is used to automatically calculate the expected pressure value to be provided to each eccentric wing rib according to the real-time working status and in combination with the guidance control command from the ground, and then convert the expected pressure value of each wing rib into the corresponding drive control signal of the hydraulic motor to form a hydraulic drive control signal for controlling each wing rib to reach the corresponding target attitude (including the corresponding drive control signal for each wing rib to be adjusted to the target attitude). Thus, by using the hydraulic drive control signal to enable the hydraulic drive circuit in the guidance execution module 20 to control the speed of each wing rib motor, the task of distributing output force to each wing rib is realized, and the pressure of the eccentric wing rib is controlled.

[0059] Refer again Figure 1 and Figure 2 The guidance control module 10 described in this embodiment of the invention further includes a power supply unit 14 and a clock unit 15.

[0060] The power supply unit 14 (power supply circuit) is used to convert the power signal (e.g., 41V) obtained from the single bus module 30 into a voltage power supply (e.g., 5V) to power the various units in the guidance control module 10. The power supply circuit 14 realizes the conversion of 41V voltage to 5V voltage, thereby powering the near-drill bit measurement unit 11, the main control unit 12, the storage unit 13, and the clock unit 14 in the guidance control module 10.

[0061] The clock unit 15 (clock circuit) is used to provide a synchronous clock signal (such as a clk signal) to the master control unit 14. In one embodiment, the clock unit 15 is implemented using an 11.0592MHz high-temperature crystal oscillator.

[0062] In one embodiment, the guidance control module 10 is implemented using the MSC1210 series chip. This chip is a high-performance 8051 core system-level ADC chip, equipped with a 24-bit high-precision A / D converter, and a highly integrated and accurate measurement system.

[0063] Furthermore, such as Figure 2 As shown, the guiding execution module 20 includes a hydraulic drive circuit, multiple rib motors, and multiple ribs. The guiding execution module 20 is used to control the pushing and pulling of the drill bit. The multiple rib motors are connected to the hydraulic drive circuit.

[0064] In this embodiment of the invention, the wing rib motor is implemented using a miniature DC brushless motor, and the hydraulic drive circuit includes components such as a multi-channel hydraulic mechanism, a hydraulic pump corresponding to each hydraulic mechanism, a throttle valve (forming a throttle valve group) corresponding to each hydraulic mechanism, a temperature sensor, and a pressure sensor.

[0065] The hydraulic drive circuit drives the output shaft of a designated rib motor to rotate to a designated position angle according to the rib control commands transmitted in real time from the guide control module 10. The rib motor can drive the ribs at different positions to perform pushing and retracting actions by rotating to different position angles. Furthermore, the rib motor causes the ribs at the corresponding positions to push against the well wall when rotated to a designated position. Each rib, after being pushed against the well wall by the rib motor at a specific position angle, retracts after receiving the reaction force from the well wall.

[0066] In this embodiment of the invention, the guiding execution module 20 adopts a direct thrust adjustment scheme, that is, the speed of each servo motor is directly adjusted by the hydraulic drive circuit, so that each wing rib motor transfers the thrust to each wing rib, completing the thrust adjustment execution task, while simplifying the entire execution module 20. In the actual control process, a PID feedback controller is set in each hydraulic mechanism in the hydraulic drive circuit. After being amplified, the current control signal used to control each wing rib to reach the target attitude is transmitted to the corresponding wing rib motor, thereby realizing the adjustment and control of the thrust pressure.

[0067] In practical applications, when the rib motor rotates to the designated direction, the rib at the corresponding angle extends and pushes against the well wall, so that the drill bit is subjected to lateral pushing force, thereby achieving guidance; when the rib deviates from the designated direction, it retracts under the action of the well wall.

[0068] In one embodiment, the guidance control commands issued by the ground equipment are generated through the following steps:

[0069] First, a simulation platform for the guiding actuator under high-temperature conditions was built. Based on the target guiding requirements (including the target pose and the target pushing pressure on each rib) and the real-time working status transmitted from downhole, the maximum thrust output of each downhole hydraulic motor and the actual posture of each rib were simulated. Before building the simulation platform, this embodiment of the invention also used ground equipment to analyze the suitable control method and component parameters of the guiding actuator module 20 according to the simulation analysis software AMESim; high-temperature tests were conducted to screen each component, and special seals were used for dynamic seals and tested for verification. It was verified that the maximum thrust of the hydraulic drive circuit is greater than 3 tons, and the single-path piston stroke is greater than 13 mm.

[0070] In addition, in the simulation platform of the guide actuator, the spatial layout of the ribs is used to perform subdivision calculations in the quadrants, thereby improving the calculation accuracy. This ensures that the maximum output force of each rib is not less than 80% of the maximum output force of each hydraulic unit in the hydraulic drive circuit, and that the magnitude error of the force after rib force decomposition is less than 0.5%, and the direction error of the force after rib force decomposition is less than 0.5%.

[0071] Then, the maximum thrust output of each downhole hydraulic motor and the attitude of each rib are compared with the corresponding parameters in the target guidance requirements to determine the deviation between the resultant force vector output by the current rib assembly and the theoretical resultant force vector corresponding to the target guidance requirements. Finally, based on the current deviation, guidance control commands are generated to control each rib to achieve the target attitude.

[0072] Ground equipment needs to comprehensively consider maximizing the thrust output of each rib and ensuring the arbitrary reachability of the output angle to determine the appropriate maximum usable offset resultant force vector (i.e., the resultant force vector that needs adjustment). When the simulated actual resultant force vector deviates from the target set value, a guidance control command is issued, and the main control circuit adjusts the thrust pressure of each rib through the hydraulic drive circuit and the motors of each rib.

[0073] In this way, during the drilling process, the MWD sub continuously sends various measured downhole parameters to the surface monitoring system. When the surface monitoring system analyzes the data and determines that the current drilling and trajectory parameters should be corrected and intervened, it sends a guidance control command to the downhole guidance control module 10 through the downlink device. After receiving the surface command, the guidance control module 10 automatically distributes and controls the guidance force.

[0074] Based on the aforementioned guidance control device, this embodiment of the invention also provides a guidance control method for rotary steerable and drilling-while-drilling systems. This guidance control method is implemented according to the guidance control device described above.

[0075] Figure 3 This is a schematic diagram illustrating the steps of a steering control method for a rotary steering and drilling-while-drilling system according to an embodiment of this application. Figure 3 As shown, the guidance control method described in this embodiment of the invention includes the following steps:

[0076] Step S301: Collect raw characteristic data of the guidance control module itself in real time, calculate the real-time working status based on the raw characteristic data, and then transmit the real-time working status to the ground through the MWD short section;

[0077] Step S302: Receive guidance control commands from the ground through the MWD sub-nozzle and convert the current guidance control commands into rib control instructions for controlling the push-in and retraction of the specified ribs;

[0078] Step S303: Respond to the rib control command to complete the guidance.

[0079] This invention discloses a steering control device and method for rotary steering and drilling while drilling systems. The device and method include a steering control module and a steering execution module. The steering control module mainly includes a ROM memory, a clock circuit, a main control circuit, near-bit measurement, and a power supply circuit. This module performs data acquisition, command conversion, and information transmission and reception. The steering execution module mainly includes a hydraulic drive module, a motor, and ribs. This part mainly executes steering commands and can freely extend and retract the ribs downhole to obtain a stable pushing force. In addition, this invention also relies on auxiliary mechanisms: a single-bus module and a MWD sub-section, to achieve the entire closed-loop control function, thus forming the entire rotary steering system. This invention can optimize and rationalize the rotary steering system, providing high accuracy in downhole positioning and fast rib response, playing a very important role in improving the performance and robustness of the entire rotary steering system.

[0080] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0081] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0082] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0083] It should be understood that the embodiments disclosed herein are not limited to the specific structures, processing steps, or materials disclosed herein, but should be extended to equivalent substitutions of these features as understood by those skilled in the art. It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.

[0084] The phrase "an embodiment" or "an embodiment" used in this specification means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Therefore, the phrase "an embodiment" or "an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0085] While the embodiments disclosed in this invention are as described above, the content is merely for the purpose of facilitating understanding of the invention and is not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and changes in form and detail of the implementation without departing from the spirit and scope disclosed herein; however, the scope of patent protection of this invention shall still be determined by the scope defined in the appended claims.

Claims

1. A steering control device for rotary steering and drilling while drilling systems, characterized in that, include: The guidance control module is used to collect raw characteristic data about the module itself in real time, calculate the real-time working status based on the raw characteristic data, and transmit the real-time working status to the ground through the MWD short section, and receive guidance control commands from the ground through the MWD short section, and convert the guidance control commands into rib control instructions for controlling the push and retraction of specified ribs. A guidance execution module, which responds to the rib control commands to complete the guidance; A single-bus module has its first end connected to the guidance control module via a first-type bus, and its second end connected to the MWD sub-section via a second-type bus. The single-bus module is used to transmit received guidance control commands to the guidance control module after communication conversion processing, and to transmit the real-time operating status to the MWD sub-section after communication conversion processing. The MWD short section is used to transmit an electrical signal containing guidance control command information to the single-bus module via the second type of bus, so that the single-bus module can extract the guidance control command from the electrical signal and obtain a power signal for continuously supplying power to the guidance control module. The single-bus module includes: The first type of bus communication unit is used to receive the real-time working status and transmit it to the encoding unit, and to transmit the decoded guidance control command to the guidance control module. The first type of bus is a 485 bus. An encoding unit, which is connected to the first type of bus communication unit, is used to perform communication conversion processing on the real-time working state, thereby transmitting the processed real-time working state to the second type of bus communication unit. The decoding unit, which is connected to the second type of bus communication unit, is used to use power line carrier communication technology to sequentially perform preprocessing, instruction parsing and communication conversion processing on the power signal, including noise reduction, filtering, waveform conversion, waveform phase-locking and waveform inversion processing, thereby separating the guiding control command and outputting the power signal. The second type of bus communication unit is used to receive the power signal from the MWD sub-section and transmit it to the decoding unit, as well as to transmit the encoded real-time operating status to the MWD sub-section. The second type of bus is a single-bus system. The guidance control module is implemented using a chip, and includes: The near-drill bit measurement unit is equipped with an acceleration sensor for real-time acquisition of the device's own acceleration data and for calculating the real-time operating status based on the acceleration data. The main control unit is connected to the near-bit measurement unit via a first type of bus and is used to receive and store the real-time operating status transmitted from the near-bit measurement unit.

2. The guiding control device according to claim 1, characterized in that, The guidance control module is implemented using the MSC1210 series chip, and the guidance control module further includes: The storage unit, which is connected to the main control unit via a first type of bus, is used to store the real-time working status, which includes well inclination, azimuth, and tool face angle.

3. The guiding control device according to claim 2, characterized in that, The near-drill bit measurement unit includes an acceleration sensor, which is a quartz perturbation accelerometer. The guidance control module further includes: A power supply unit is used to convert the obtained power signal into a voltage power supply to power the various units in the guidance control module. A clock unit is used to provide a synchronous clock signal to the main control unit. The clock unit is implemented using an 11.0592MHz high-temperature crystal oscillator.

4. The guiding control device according to any one of claims 1 to 3, characterized in that, The guided execution module includes: A hydraulic drive circuit is used to drive the output shaft of a designated wing rib motor to rotate to a designated position angle according to the wing rib control command. Multiple rib motors connected to the hydraulic drive circuit are used to cause the ribs at the corresponding positions to push against the well wall when rotated to a designated position; Multiple ribs are used to push against the well wall by the rib motor at a specific position angle, and then retract after obtaining the reaction force from the well wall.

5. The guiding control device according to claim 4, characterized in that, The guidance control command is generated through the following steps: A simulation platform for guiding actuators under high-temperature conditions was built. Based on the target guidance requirements and the real-time working status, the maximum pushing force output by each downhole hydraulic motor and the attitude of each rib were simulated. The maximum pushing force output by each downhole hydraulic motor and the attitude of each rib are compared with the corresponding parameters in the target guidance requirement to determine the deviation between the resultant force vector output by the current rib combination and the theoretical resultant force vector corresponding to the target guidance requirement. Based on the deviation, the guiding control command is generated to control each rib to achieve the target attitude.

6. A steering control method for rotary steerable and drilling-while-drilling systems, characterized in that, The guidance control method is implemented according to the guidance control device as described in any one of claims 1 to 5, wherein the guidance control method includes: The module collects raw characteristic data about itself in real time, calculates the real-time working status based on the raw characteristic data, and then transmits the real-time working status to the ground through the MWD short section; The MWD sub-section receives guidance control commands from the ground and converts these commands into rib control instructions for controlling the push-in and retraction of designated ribs. Responding to the rib control commands to complete the guidance.

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