Push type guide drilling tool well drilling control method and device and electronic equipment

Abstract

The invention provides a well drilling control method and device for a push type guide drilling tool and electronic equipment. The method comprises the steps that a build-up rate error value between a build-up rate actual value and a build-up rate design value of a current drilling section is calculated; under the condition that the well deviation constraint condition and the orientation constraint condition are both met, the well drilling task of the next well drilling section is continuously executed by keeping the build-up rate unchanged; under the condition that at least one of the well deviation constraint condition and the orientation constraint condition is not met, the build-up rate increment value is calculated according to the build-up rate error value, the build-up rate actual value and the build-up rate design value of the current drilling section; and calculating the target build-up rate of the next drilling section, wherein the target build-up rate is the sum of the build-up rate actual value and the build-up rate increment value of the current drilling section. According to the scheme, the actual well drilling track can be controlled to smoothly, stably and accurately reach the well drilling target without adopting a complex mechanical model. According to the control method, the required calculation amount is relatively small, so that the decision-making efficiency is relatively high, namely, the efficiency of determining the decision-making rate decision value is relatively high.

Description

Technical Field

[0001] The present application relates to the field of drilling technology, and in particular to a method, device and electronic equipment for controlling drilling of a push-type steerable drilling tool. Background Art

[0002] In drilling technology, a push-type rotary steerable system (RSS) is a method of achieving directional drilling by using a deflection mechanism to push against the well wall.

[0003] Specifically, a deflection mechanism is set near the drill bit of the push-type RSS. The pushing force of the deflection mechanism on the well wall is controlled during the drilling process. The movement trend of the drill bit in the inclination and azimuth directions is predicted based on the pushing force and a complex mechanical model. The directional well engineer and driller then adjust the pushing force of the deflection mechanism on the well wall based on the prediction results and their own experience.

[0004] However, this control method relies on complex mechanical models and the experience of directional well engineers and drillers. The control effect is easily affected by many factors, resulting in unstable and unreliable control effects. Summary of the invention

[0005] This specification provides a push-type steerable drilling tool drilling control method, device and electronic equipment to solve the problem that the control effect of the existing control method is unstable and unreliable.

[0006] In order to solve the above technical problems, the first aspect of the present specification provides a push-type steerable drilling tool drilling control method, including: obtaining the actual value of the inclination rate and the designed value of the inclination rate of the current drilling section, and calculating the inclination rate error value of the current drilling section; judging whether the inclination rate error value of the current drilling section meets the predetermined well inclination constraint conditions and azimuth constraint conditions; when the well inclination constraint conditions and the azimuth constraint conditions are met, keeping the inclination rate unchanged and continuing to perform the drilling task of the next drilling section; when at least one of the well inclination constraint conditions and the azimuth constraint conditions is not met, calculating the inclination rate increment value according to the inclination rate error value, the actual value of the inclination rate and the designed value of the inclination rate of the current drilling section; calculating the target inclination rate of the next drilling section, the target inclination rate is the sum of the actual value of the inclination rate and the inclination rate increment value of the current drilling section; and using the target inclination rate to perform the drilling task of the next drilling section.

[0007] In some embodiments, the build rate increment value is calculated according to the build rate error value, the build rate actual value, and the build rate design value of the current drilling section, including: calculating the build rate increment value according to the following formula:

[0008]

[0009] Where i represents the current drilling segment, i+1 represents the next drilling segment of the current drilling segment, and K ek (i) represents the inclination rate error value of the current drilling section, K dk (i) represents the design value of the inclination rate of the current drilling section, K rk (i) represents the actual value of the build-up rate of the current drilling section, ε is the gain coefficient, k=1 represents the well inclination plane, and k=2 represents the azimuth plane.

[0010] In some embodiments, the well inclination constraint condition is: the absolute value of the well inclination error value of the current drilling section is less than or equal to a first predetermined value, and the ratio of the distance deviation of the current drilling section to the distance deviation of the previous drilling section is less than or equal to a second predetermined value; wherein the distance deviation of the current drilling section refers to the minimum distance between the current drilling section and the designed trajectory; the distance deviation of the previous drilling section refers to the minimum distance between the previous drilling section and the designed trajectory.

[0011] In some embodiments, the azimuth constraint condition is: the product of the azimuth deviation coefficient between the current drilling section and the previous drilling section and the azimuth error value of the current drilling section is less than 0; wherein the azimuth deviation coefficient is calculated based on the azimuth increment in the north direction and the azimuth increment in the east direction of the current drilling section relative to the previous drilling section, as well as the actual north and east directions of the current drilling section measuring point and the actual north and east directions of the previous drilling section measuring point.

[0012] The second aspect of the present specification provides a push-type directional drilling tool drilling control method, including: obtaining the actual value of the inclination rate and the design value of the inclination rate of the previous drilling section, and calculating the inclination rate error value of the current drilling section; calculating the first product of the actual value of the inclination rate of the previous drilling section and the design value of the inclination rate; calculating the second product of the inclination rate error value of the previous drilling section and the actual value of the inclination rate; if the first product and the second product are both greater than 0, determining the first radial angle of the deviation value between the inclination rate decision value and the design value of the inclination rate of the previous drilling section on the azimuth plane; otherwise, rotating the first radial angle 180° as the second radial angle; determining the push force decision value of the current drilling section according to the first radial angle or the second radial angle, the push force decision value of the current drilling section is used to control the deflection mechanism to push against the well wall with the push force decision value to adjust the drilling direction when executing the drilling task of the current drilling section.

[0013] In some embodiments, the pushing force decision value of the current drilling section is determined based on the first radial angle or the second radial angle, including: when the inclination rate of the previous drilling section meets the predetermined constraints, the pushing force decision value of the current drilling section is determined to be obtained by changing the pushing azimuth on the basis of the pushing force decision value of the previous drilling section, and the adjustment range of the pushing azimuth is the first radial angle or the second radial angle; when the inclination rate of the previous drilling section does not meet the predetermined constraints, the pushing force decision value of the current drilling section is determined to be obtained by changing the pushing azimuth and the pushing force on the basis of the pushing force decision value of the previous drilling section, and the adjustment range of the pushing azimuth is the first radial angle or the second radial angle, and the adjustment range of the pushing force is determined based on the pushing force decision value of the previous drilling section, the design value of the inclination rate, and the actual value of the inclination rate.

[0014] According to a third aspect of the present specification, there is provided a push-type steerable drilling tool drilling control device, comprising: a first acquisition unit, used to acquire an actual value of a buildup rate and a designed value of a buildup rate of a current drilling section, and calculate an error value of a buildup rate of the current drilling section; a judgment unit, used to judge whether the error value of a buildup rate of the current drilling section meets a predetermined well inclination constraint condition and an azimuth constraint condition; a first execution unit, used to, when both the well inclination constraint condition and the azimuth constraint condition are met, keep the buildup rate unchanged and continue to perform the drilling task of the next drilling section; a first calculation unit, used to, when at least one of the well inclination constraint condition and the azimuth constraint condition is not met, calculate an incremental value of the buildup rate according to the error value of the buildup rate, the actual value of the buildup rate and the designed value of the buildup rate of the current drilling section; a second calculation unit, used to calculate a target buildup rate of the next drilling section, the target buildup rate being the sum of the actual value of the buildup rate and the incremental value of the buildup rate of the current drilling section; and a second execution unit, used to perform the drilling task of the next drilling section using the target buildup rate.

[0015] In some embodiments, the first calculation unit calculates the build rate increment value according to the following formula:

[0016]

[0017] Where i represents the current drilling segment, i+1 represents the next drilling segment of the current drilling segment, and K ek (i) represents the inclination rate error value of the current drilling section, K dk (i) represents the design value of the inclination rate of the current drilling section, K rk (i) represents the actual value of the build-up rate of the current drilling section, ε is the gain coefficient, k=1 represents the well inclination plane, and k=2 represents the azimuth plane.

[0018] In some embodiments, the well inclination constraint condition is: the absolute value of the well inclination error value of the current drilling section is less than or equal to a first predetermined value, and the ratio of the distance deviation of the current drilling section to the distance deviation of the previous drilling section is less than or equal to a second predetermined value; wherein the distance deviation of the current drilling section refers to the minimum distance between the current drilling section and the designed trajectory; the distance deviation of the previous drilling section refers to the minimum distance between the previous drilling section and the designed trajectory.

[0019] In some embodiments, the azimuth constraint condition is: the product of the azimuth deviation coefficient between the current drilling section and the previous drilling section and the azimuth error value of the current drilling section is less than 0; wherein the azimuth deviation coefficient is calculated based on the azimuth increment in the north direction and the azimuth increment in the east direction of the current drilling section relative to the previous drilling section, as well as the actual north and east directions of the current drilling section measuring point and the actual north and east directions of the previous drilling section measuring point.

[0020] The fourth aspect of the present specification provides a push-type steerable drilling tool drilling control device, comprising: a second acquisition unit, used to acquire the actual value of the build-up rate of the previous drilling section and the designed value of the build-up rate, and calculate the error value of the build-up rate of the current drilling section; a third calculation unit, used to calculate the first product of the actual value of the build-up rate of the previous drilling section and the designed value of the build-up rate; a fourth calculation unit, used to calculate the second product of the error value of the build-up rate of the previous drilling section and the actual value of the build-up rate; a first determination unit, used to determine the previous drilling section if the first product and the second product are both greater than 0. a first radial angle on the azimuth plane of a deviation value between a decision value of the inclination rate of the drilling section and a design value of the inclination rate; a second determining unit, used to rotate the first radial angle by 180° as a second radial angle if the first product and the second product are not both greater than 0; a third determining unit, used to determine a push force decision value of the current drilling section according to the first radial angle or the second radial angle, the push force decision value of the current drilling section being used to control a deflection mechanism to push against a well wall with the push force decision value to adjust the drilling direction when executing the drilling task of the current drilling section.

[0021] In some embodiments, the third determination unit includes: a first determination subunit, which is used to determine that the pushing force decision value of the current drilling segment is obtained by changing the pushing azimuth on the basis of the pushing force decision value of the previous drilling segment when the inclination rate of the previous drilling segment meets the predetermined constraints, and the adjustment range of the pushing azimuth is the first radial angle or the second radial angle; a second determination subunit, which is used to determine that the pushing force decision value of the current drilling segment is obtained by changing the pushing azimuth and the pushing force on the basis of the pushing force decision value of the previous drilling segment when the inclination rate of the previous drilling segment does not meet the predetermined constraints, and the adjustment range of the pushing azimuth is the first radial angle or the second radial angle, and the adjustment range of the pushing force is determined based on the pushing force decision value of the previous drilling segment, the inclination rate design value, and the actual inclination rate value.

[0022] The fifth aspect of this specification provides an electronic device, comprising: a memory and a processor, the processor and the memory are communicatively connected to each other, the memory stores computer instructions, and the processor implements the push-type steerable drilling tool drilling control method described in any one of the first aspect or the second aspect by executing the computer instructions.

[0023] A sixth aspect of the present specification provides a computer program product, comprising a computer program, which, when executed by a processor, implements the push-type steerable drilling tool drilling control method described in any one of the first aspect or the second aspect.

[0024] The push-to-pull guide drilling tool drilling control method provided in this specification determines the inclination rate of the next drilling section according to the well inclination constraint condition, the azimuth constraint condition, the actual value of the inclination rate of the current drilling section, and the design value of the inclination rate, and can control the actual drilling trajectory to reach the drilling target smoothly, stably and accurately without using a complex mechanical model. The control method requires a small amount of calculation, so that the decision efficiency is high, that is, the efficiency of determining the decision value of the inclination rate is high.

[0025] The push-pull type steerable drilling tool drilling control method provided in this specification determines the inclination rate of the current drilling section according to the well inclination constraint condition and the actual value of the inclination rate of the previous drilling section and the designed value of the inclination rate, and can control the actual drilling trajectory to reach the drilling target smoothly, stably and accurately without using a complex mechanical model. The control method requires less calculation, so the decision efficiency is higher, that is, the efficiency of determining the push-pull force decision value is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0027] Figure 1 A schematic diagram of a push-type steerable drilling tool drilling control method provided in this specification;

[0028] Figure 2 is a schematic diagram of the push force control strategy;

[0029] Figure 3 Another schematic diagram of the push-to-pull steerable drilling tool drilling control method provided in this specification;

[0030] Figure 4A schematic diagram of the application effect of the push-to-pull type steerable drilling tool drilling control method provided in this specification in the inclination increasing section;

[0031] Figure 5 A schematic diagram of the application effect of the push-to-pull type steerable drilling tool drilling control method provided in this specification in the descending section;

[0032] Figure 6 A schematic diagram of the application effect of the push-to-pull type steerable drilling tool drilling control method provided in this specification in the stable inclination section;

[0033] Figure 7 A schematic diagram of a push-type steerable drilling tool drilling control device provided in this specification;

[0034] Figure 8 Another schematic diagram of a push-to-pull steerable drilling tool drilling control device provided in this specification;

[0035] Fig. 9 A schematic diagram of the structure of an electronic device provided in this specification is shown. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0037] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0038] This specification provides a push-type steerable drilling tool drilling control method, such as Figure 1 As shown, the following steps are included:

[0039] S110: Obtaining the actual value of the build-up rate and the designed value of the build-up rate of the current drilling section, and calculating the build-up rate error value of the current drilling section.

[0040] During the drilling process, drilling can be done section by section. After each section is drilled, the deviation between the actual drilling trajectory and the designed trajectory is checked, and the drilling direction is adjusted in time according to the deviation.

[0041] In some embodiments, a drilling section can be the length of a casing. The process of casing drilling is to use casing instead of drill pipe to apply torque and drilling pressure to the drill bit to realize the process of drill bit rotation and drilling. The entire drilling process no longer needs to use drill pipe, drill collar, etc. The drill bit can be cast and fished using wire rope, and the drill bit can be raised and lowered in the casing, that is, the drill bit and drilling tools can be replaced without lifting the drill, which reduces accidents such as tripping and drilling, blowout, and stuck drill, improves drilling safety, and reduces drilling costs.

[0042] In other embodiments, a drilling section may also have a length determined artificially, and the lengths of the drilling sections may be the same or different.

[0043] The "current drilling section" in this application refers to a drilling section in which the drilling task has been completed most recently.

[0044] The actual value of the build-up rate refers to the measured value of the drill bit's build-up rate after the drilling task of the current drilling section is completed.

[0045] The design value of the inclination rate refers to the inclination rate corresponding to the drilling depth of the current drilling section on the drilling trajectory designed before the drilling task of the target plot begins. For example, if the current drilling section is at a depth of 1000 meters on the actual drilling trajectory, then the design value of the inclination rate is the inclination rate at a depth of 1000 meters on the designed drilling trajectory.

[0046] S120: Determine whether the build-up rate error value of the current drilling section meets the predetermined well inclination constraint condition and azimuth constraint condition.

[0047] The actual drilling trajectory is affected by many factors. When designing the drilling trajectory, some factors may not be taken into account, or the considered influencing factors may be handled in an unreasonable way, resulting in deviations between the actual drilling trajectory and the design. This is a common situation. However, no matter how the deviation occurs, the drilling task should complete the most basic goal, that is, drilling from the designed starting point to the designed target point. The actual drilling trajectory may not follow the designed trajectory between the starting point and the target point, but the actual trajectory needs to pass through the target point.

[0048] In order to ensure that between the starting point and the target point, even if the actual drilling trajectory does not follow the designed trajectory, the actual trajectory can eventually pass through the target point, the build-up rate error value in the actual drilling trajectory should satisfy the well inclination constraint conditions and the azimuth constraint conditions.

[0049] In some embodiments, the well deviation constraint condition includes: the absolute value of the well deviation error value of the current drilling section is less than or equal to a first predetermined value, and the ratio of the distance deviation of the current drilling section to the distance deviation of the previous drilling section is less than a second predetermined value.

[0050] The distance deviation of the current drilling section refers to the minimum distance between the current drilling section and the designed trajectory.

[0051] The distance deviation of the previous drilling section refers to the minimum distance between the previous drilling section and the designed trajectory.

[0052] The first predetermined value may be 0.5° / 30m, or other values. The second predetermined value may be 1, which indicates that the well deviation error is gradually decreasing during the actual drilling process.

[0053] For example, using K ek (i) represents the inclination rate error value of the current drilling section, K dk (i) represents the design value of the inclination rate of the current drilling section, K rk (i) represents the actual value of the build-up rate in the current drilling section, then K ek (i) = K dk (i)-K rk (i), where k = 1 represents the well inclination plane and k = 2 represents the azimuth plane.

[0054] The well deviation constraint condition is: C1:|K e1 (i)|≤0.5,P(i)<1, where K e1 (i) represents the well deviation error value of the current drilling section, P(i) = d min (i) / d min (i-1), d min (i) represents the minimum distance between the current drilling section and the designed trajectory, d min (i-1) represents the minimum distance between the previous drilling section and the designed trajectory.

[0055] In some embodiments, the azimuth constraint condition includes: the product of the azimuth deviation coefficient between the current drilling section and the previous drilling section and the azimuth error value of the current drilling section is less than 0. The azimuth deviation coefficient is calculated based on the azimuth increment in the due north direction and the azimuth increment in the due east direction of the current drilling section relative to the previous drilling section, and the due north and due east directions of the actual measuring points of the current drilling section, and the due north and due east directions of the actual measuring points of the previous drilling section.

[0056] For example, the orientation constraint is: C2:λ(i)·K e2 (i)<0, where K e2 (i) represents the azimuth error value of the current drilling section, ΔN d (i) ΔE d(i) represents the azimuth increment in the due north direction and the azimuth increment in the due east direction of the current drilling section relative to the previous drilling section, respectively, in m; Nr(i) and Er(i) represent the actual due north direction and due east direction of the measuring point of the current drilling section in the actual trajectory, respectively, in m; Nd(i-1) and Ed(i-1) represent the due north direction and due east direction of the measuring point of the previous drilling section in the designed trajectory, respectively, in m.

[0057] If the above-mentioned azimuth constraint condition C2 is less than 0, it means that the trajectory drilling trend is biased towards the design value and no correction is required. This condition is corrected and updated in real time and is a judgment mechanism.

[0058] S130: When the well inclination constraint condition and the azimuth constraint condition are both met, the build-up rate is kept unchanged and the drilling task of the next drilling section is continued.

[0059] If the well inclination constraint conditions and azimuth constraint conditions are met, it means that the current drilling direction is gradually approaching the designed trajectory. Therefore, the actual value of the inclination rate of the current drilling section can be used to perform the drilling task of the next drilling section.

[0060] S140: When at least one of the well inclination constraint condition and the azimuth constraint condition is not met, the build rate increment value is calculated according to the build rate error value of the current drilling section, the build rate actual value, and the build rate design value.

[0061] If at least one of the well inclination constraint condition and the azimuth constraint condition is not met, it means that the current drilling direction is gradually deviating from the designed trajectory. Therefore, the drilling parameters should be adjusted at this time.

[0062] The build-up rate increment value refers to the well inclination amplitude or azimuth that should be adjusted based on the current build-up rate.

[0063] The build rate increment value may be the product of a predetermined coefficient and a build rate error value.

[0064] In some embodiments, S140 may calculate the build rate increment value according to the following formula:

[0065]

[0066] Where i represents the current drilling segment, i+1 represents the next drilling segment of the current drilling segment, and K ek (i) represents the inclination rate error value of the current drilling section, K dk (i) represents the design value of the inclination rate of the current drilling section, K rk (i) represents the actual value of the build-up rate of the current drilling section, ε is the gain coefficient, k=1 represents the well inclination plane, and k=2 represents the azimuth plane.

[0067] According to research findings, the formula Calculating the build-up rate increment value and executing the drilling task of the next drilling section based on the build-up rate increment value can make the actual trajectory approach the designed trajectory more quickly, thereby improving the actual drilling efficiency.

[0068] S150: Calculate the target build-up rate of the next drilling section, where the target build-up rate is the sum of the actual build-up rate value and the build-up rate increment value of the current drilling section.

[0069] For example,

[0070] Among them, k = 1 represents the well inclination plane, k = 2 represents the azimuth plane; K sk (i+1) represents the decision value of the build-up rate of the next drilling section, K rk (i) represents the actual value of the build-up rate of the current drilling section, ρ k (i+1) represents the incremental value of the buildup rate of the next drilling section relative to the actual value of the buildup rate of the current drilling section.

[0071] The build rate decision value refers to the build rate value determined before the drilling task of a drilling section is executed in the actual drilling process and used to achieve the drilling task of this section. The build rate decision value may be different from the build rate design value. When the current drilling section is consistent with the design trajectory, the build rate decision value of the next drilling section is approximately equal to the design value.

[0072] S160: Execute the drilling task of the next drilling section using the target build-up rate.

[0073] The push-type steerable drilling tool drilling control method provided in this specification is

[0074] Generally, the designed trajectory cannot fully meet the actual drilling situation. The conventional push force is determined based on the trajectory deviation between the current well section and the designed well section (i.e., the build-up rate error), which usually easily leads to a heavy burden on the steering tool when performing the drilling task. To this end, the inventors used the component of the build-up rate error in the well inclination plane - the well inclination change rate error K e1 is the real axis (R e ), the component of the slope error in the azimuth plane - the azimuth change rate error K e2 is the imaginary axis (I m ), observe the angle interval where the slope error is located, and adjust the push-to-pull direction according to the drilling trend of the actual trajectory and the slope adjustment plan, such as Figure 2As shown in the figure, the red curve indicates that the drilling trend deviates from the design track (the black curve indicates the design track); the blue curve and the green curve indicate two situations where the drilling trend deviates from the design track. Taking the red curve as an example, if the design value is greater than 0, the true value is greater than 0, and the error between the design value and the true value is greater than 0, it means that the trend of the current drilling slope rate is consistent with the design slope rate, but the true value is smaller, that is, it deviates from the design track. The same is true for the blue curve and the green curve.

[0075] For any designed well section, there is an actual build-up rate K rk (i) and design value K dk The inventors found that if the actual value is consistent with the design value and the positive and negative shapes of the error value are consistent, it means that the estimated drilling trend is consistent with the design value. At this time, the azimuth is the argument value of the build-up rate error (such as Figure 2 Otherwise, by adjusting the force and orientation of the guide block of the rotary guide drilling tool, the push-to-pull orientation needs to be rotated 180° clockwise on the basis of the original angle (as shown in the red line in the figure); otherwise, by adjusting the force and orientation of the guide block of the rotary guide drilling tool, the push-to-pull orientation needs to be rotated 180° clockwise on the basis of the original angle (as shown in the red line in the figure); Figure 2 The blue and green lines in the figure are shown in Figure 2), and the formula is as follows:

[0076]

[0077] Where ξ(i) = K rk (i) K dk (i), ζ(i)=K ek (i) K rk (i). Arg represents the amplitude operation; ω s (i+1) is the decision result of the push direction, in rad; K dk (i) represents the design value of the inclination rate of the current drilling section, K sk (i) represents the decision value of the inclination rate in the current drilling section.

[0078] Based on the research, this specification also provides a push-type steerable drilling tool drilling control method, such as Figure 3 As shown, the following steps are included:

[0079] S210: Obtaining the actual value of the build-up rate and the designed value of the build-up rate of the previous drilling section, and calculating the build-up rate error value of the current drilling section.

[0080] This step can be understood by referring to the above S110.

[0081] S220: Calculate the first product of the actual value of the build-up rate of the previous drilling section and the designed value of the build-up rate.

[0082] S230: Calculate the second product of the build-up rate error value of the previous drilling section and the build-up rate actual value.

[0083] S240: If the first product and the second product are both greater than 0, a first argument of a deviation between a decision value of the build-up rate of a previous drilling section and a design value of the build-up rate on an azimuth plane is determined.

[0084] S250: Otherwise, the first angle is rotated 180° to obtain the second angle.

[0085] S260: Determine a pushing force decision value of the current drilling section according to the first radial angle or the second radial angle, wherein the pushing force decision value of the current drilling section is used to control the deflection mechanism to push against the well wall to adjust the drilling direction when performing the drilling task of the current drilling section.

[0086] In some embodiments, S260 includes S261 and S262 as follows.

[0087] S261: When the inclination rate of the previous drilling section meets the predetermined constraint conditions, determine that the pushing force decision value of the current drilling section is obtained by changing the pushing azimuth angle based on the pushing force decision value of the previous drilling section, and the adjustment range of the pushing azimuth angle is the first radial angle or the second radial angle.

[0088] S262: When the inclination rate of the previous drilling section does not meet the predetermined constraint conditions, the pushing force decision value of the current drilling section is determined to be obtained by changing the pushing azimuth and the pushing force on the basis of the pushing force decision value of the previous drilling section, the adjustment range of the pushing azimuth is the first radial angle or the second radial angle, and the adjustment range of the pushing force is determined based on the pushing force decision value of the previous drilling section, the inclination rate design value, and the actual inclination rate value.

[0089] The predetermined constraint conditions may include: the absolute value of the well deviation error value of the previous drilling section is less than or equal to a first predetermined value, and the minimum distance between the previous drilling section and the designed trajectory is less than or equal to a third predetermined value.

[0090] In some embodiments, the pushing force decision value including the pushing force and the pushing direction can be expressed by the following formula:

[0091]

[0092] Where, f(i) = C·f(i-1)·K dk (i-1) / K rk (i-1), C is the slope conversion coefficient; F ps (i) is the decision value of the pushing force in the current drilling section, F ps (i-1) is the decision value of the push force in the previous drilling section, K rk (i-1) is the actual value of the inclination rate of the previous drilling section, K ek (i-1) is the inclination rate error value of the previous drilling section, K dk(i-1) is the design value of the inclination rate of the previous drilling section, K sk (i-1) is the decision value of the inclination rate of the previous drilling section, and d(i-1) is the minimum distance between the previous drilling section and the designed trajectory.

[0093] In order to demonstrate the technical effects that can be achieved by the above-mentioned push-to-pull steerable drilling tool control method, the inventors evaluated the control effects of the algorithm in actual applications and its robustness performance in the face of changes in the designed well sections according to the conditions of different well sections. At the same time, the system output of the algorithm under different build-up rate deviations was also verified to examine its stability and reliability in actual applications. The verification results are as follows: Figure 4 , Figure 5 , Figure 6 As shown, the blue, red and yellow curves represent the trajectories processed by the push-to-pull steerable drilling tool drilling control method provided in this specification when the initial states are 6° / 30m, 9° / 30m and 12° / 30m, respectively, assuming that there is a large deviation. Figure 4 , Figure 5 , Figure 6 It can be seen that the push-to-pull steerable drilling tool drilling control method can make the trajectory tend to the designed track when used in the increasing inclination section, decreasing inclination section, and stabilizing inclination section, and has a good control effect.

[0094] The push-to-pull guide drilling tool drilling control method provided in this specification determines the inclination rate of the next drilling section according to the well inclination constraint condition, the azimuth constraint condition, the actual value of the inclination rate of the current drilling section, and the design value of the inclination rate, and can control the actual drilling trajectory to reach the drilling target smoothly, stably and accurately without using a complex mechanical model. The control method requires a small amount of calculation, so that the decision efficiency is high, that is, the efficiency of determining the decision value of the inclination rate is high.

[0095] The push-pull type steerable drilling tool drilling control method provided in this specification determines the inclination rate of the current drilling section according to the well inclination constraint condition and the actual value of the inclination rate of the previous drilling section and the design value of the inclination rate, and can control the actual drilling trajectory to reach the drilling target smoothly, stably and accurately without using a complex mechanical model. The control method requires less calculation, so the decision efficiency is higher, that is, the efficiency of determining the push-pull force decision value is higher.

[0096] This solution can autonomously make decisions and adjustments based on real-time data, reducing the need for human intervention and improving the autonomy and response speed of the system; it can better cope with external interference or emergencies faced by the system and improve the stability and reliability of the system; during the drilling process, the push force and push direction are optimized in real time according to the trajectory deviation, which improves the initiative and intelligence of the control system, enabling it to make decisions faster, adjust the control amount more accurately, and optimize the wellbore trajectory.

[0097] Taking into account the smoothness of the wellbore trajectory and the ability to automatically adjust the pushing force, a precise search method was adopted. Combined with external interference factors, the decision conditions and correction coefficients of the pushing force were proposed to improve the reliability and calculation efficiency of the pushing force control.

[0098] This specification also provides a push-type guide drilling tool drilling control device, which can be used to achieve Figure 1 The push-type steerable drilling tool drilling control method shown in FIG. Figure 7 As shown, the device includes a first acquisition unit 11, a judgment unit 12, a first execution unit 13, a first calculation unit 14, a second calculation unit 15 and a second execution unit 16.

[0099] The first acquisition unit 11 is used to acquire the actual value of the build-up rate of the current drilling section and the designed value of the build-up rate, and calculate the error value of the build-up rate of the current drilling section.

[0100] The judging unit 12 is used to judge whether the build-up rate error value of the current drilling section meets the predetermined well inclination constraint condition and azimuth constraint condition.

[0101] The first execution unit 13 is used to keep the build-up rate unchanged and continue to execute the drilling task of the next drilling section when both the well inclination constraint condition and the azimuth constraint condition are met.

[0102] The first calculation unit 14 is used for calculating the build rate increment value according to the build rate error value, the build rate actual value and the build rate design value of the current drilling section when at least one of the well deviation constraint condition and the azimuth constraint condition is not met.

[0103] The second calculation unit 15 is used to calculate the target build-up rate of the next drilling section, where the target build-up rate is the sum of the actual build-up rate value and the build-up rate increment value of the current drilling section.

[0104] The second execution unit 16 is used to execute the drilling task of the next drilling section by adopting the target build-up rate.

[0105] In some embodiments, the first calculation unit calculates the build rate increment value according to the following formula:

[0106]

[0107] Where i represents the current drilling segment, i+1 represents the next drilling segment of the current drilling segment, and K ek (i) represents the inclination rate error value of the current drilling section, K dk (i) represents the design value of the inclination rate of the current drilling section, K rk (i) represents the actual value of the build-up rate of the current drilling section, ε is the gain coefficient, k=1 represents the well inclination plane, and k=2 represents the azimuth plane.

[0108] In some embodiments, the well inclination constraint condition is: the absolute value of the well inclination error value of the current drilling section is less than or equal to a first predetermined value, and the ratio of the distance deviation of the current drilling section to the distance deviation of the previous drilling section is less than or equal to a second predetermined value; wherein the distance deviation of the current drilling section refers to the minimum distance between the current drilling section and the designed trajectory; the distance deviation of the previous drilling section refers to the minimum distance between the previous drilling section and the designed trajectory.

[0109] In some embodiments, the azimuth constraint condition is: the product of the azimuth deviation coefficient between the current drilling section and the previous drilling section and the azimuth error value of the current drilling section is less than 0; wherein the azimuth deviation coefficient is calculated based on the azimuth increment in the north direction and the azimuth increment in the east direction of the current drilling section relative to the previous drilling section, as well as the actual north and east directions of the current drilling section measuring point and the actual north and east directions of the previous drilling section measuring point.

[0110] This specification also provides a push-type guide drilling tool drilling control device, which can be used to achieve Figure 3 The push-type steerable drilling tool drilling control method shown in FIG. Figure 8 As shown, the device includes a second acquisition unit 21 , a third calculation unit 22 , a fourth calculation unit 23 , a first determination unit 24 , a second determination unit 25 and a third determination unit 26 .

[0111] The second acquisition unit 21 is used to acquire the actual value of the build-up rate and the designed value of the build-up rate of the previous drilling section, and calculate the build-up rate error value of the current drilling section.

[0112] The third calculation unit 22 is used to calculate a first product of an actual value of the build-up rate of the previous drilling section and a designed value of the build-up rate.

[0113] The fourth calculation unit 23 is used to calculate the second product of the build-up rate error value and the actual value of the build-up rate of the previous drilling section.

[0114] The first determining unit 24 is used to determine a first argument of a deviation value between a decision value of the build-up rate of a previous drilling section and a design value of the build-up rate on an azimuth plane if both the first product and the second product are greater than 0.

[0115] The second determining unit 25 is configured to rotate the first argument by 180° as the second argument if the first product and the second product are not both greater than 0.

[0116] The third determination unit 26 is used to determine the pushing force decision value of the current drilling section according to the first radial angle or the second radial angle, and the pushing force decision value of the current drilling section is used to control the deflection mechanism to push against the well wall with the pushing force decision value to adjust the drilling direction when performing the drilling task of the current drilling section.

[0117] In some embodiments, the third determining unit includes a first determining subunit and a second determining subunit.

[0118] The first determination subunit is used to determine that the pushing force decision value of the current drilling section is obtained by changing the pushing azimuth angle based on the pushing force decision value of the previous drilling section when the inclination rate of the previous drilling section meets the predetermined constraint conditions, and the adjustment range of the pushing azimuth angle is the first radial angle or the second radial angle.

[0119] The second determination subunit is used to determine that the pushing force decision value of the current drilling section is obtained by changing the pushing azimuth and the pushing force on the basis of the pushing force decision value of the previous drilling section when the inclination rate of the previous drilling section does not meet the predetermined constraints, the adjustment range of the pushing azimuth is the first radial angle or the second radial angle, and the adjustment range of the pushing force is determined based on the pushing force decision value of the previous drilling section, the inclination rate design value, and the actual inclination rate value.

[0120] The description and functions of the above-mentioned devices can be understood by referring to the contents of the corresponding push-type steerable drilling tool drilling control method section, and will not be repeated here.

[0121] The embodiment of the present invention further provides an electronic device, such as Fig. 9 As shown, the electronic device may include a processor 901 and a memory 902, wherein the processor 901 and the memory 902 may be connected via a bus or other means. Fig. 9 The example of connecting through bus is taken in the following.

[0122] The processor 901 may be a central processing unit (CPU). The processor 901 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0123] The memory 902 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the push-to-pull steerable drilling tool drilling control method in an embodiment of the present invention (for example, Figure 7The first acquisition unit 11, the judgment unit 12, the first execution unit 13, the first calculation unit 14, the second calculation unit 15 and the second execution unit 16 shown, or Figure 8 The processor 901 executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory 902, that is, the push-to-pull steerable drilling tool drilling control method in the above method embodiment.

[0124] The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created by the processor 901, etc. In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 902 may optionally include a memory remotely arranged relative to the processor 901, and these remote memories may be connected to the processor 901 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0125] The one or more modules are stored in the memory 902, and when executed by the processor 901, the following is performed: Figure 1 The push-type steerable drilling tool drilling control method in the illustrated embodiment.

[0126] The specific details of the above electronic device can be understood by referring to the corresponding descriptions and effects in the method embodiment, and will not be repeated here.

[0127] The present specification also provides a computer storage medium, wherein the computer storage medium stores computer program instructions, and when the computer program instructions are executed, the steps of the above-mentioned push-type steerable drilling tool drilling control method are implemented.

[0128] The present specification also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the above-mentioned push-type steerable drilling tool drilling control method are implemented.

[0129] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0130] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0131] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions.

[0132] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0133] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute certain parts of the methods of each implementation method of the present application.

[0134] The present application can be used in many general or special computer system environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0135] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0136] Although the present application has been described through embodiments, those skilled in the art will appreciate that there are many modifications and variations to the present application without departing from the spirit of the present application, and it is intended that the appended claims include these modifications and variations without departing from the spirit of the present application.

Claims

1. A method for controlling drilling with a push-type steerable drilling tool, characterized in that: include: Obtain the actual value of the inclination rate of the current drilling section, the designed value of the inclination rate, and calculate the inclination rate error value of the current drilling section; Determine whether the build-up rate error value of the current drilling section meets the pre-determined well inclination constraint conditions and azimuth constraint conditions; When the well inclination constraint condition and the azimuth constraint condition are both met, the build-up rate is kept unchanged and the drilling task of the next drilling section is continued; When at least one of the well inclination constraint condition and the azimuth constraint condition is not met, the build rate increment value is calculated according to the build rate error value, the build rate actual value and the build rate design value of the current drilling section; Calculate the target build rate of the next drilling section, where the target build rate is the sum of the actual build rate value and the build rate increment value of the current drilling section; The target build-up rate is used to perform the drilling task of the next drilling section.

2. The method according to claim 1, characterized in that: The build-up rate increment value is calculated based on the build-up rate error value, the actual build-up rate value, and the design build-up rate value of the current drilling section, including: The incremental value of the build rate is calculated according to the following formula: Where i represents the current drilling segment, i+1 represents the next drilling segment of the current drilling segment, and K ek (i) represents the inclination rate error value of the current drilling section, K dk (i) represents the design value of the inclination rate of the current drilling section, K rk (i) represents the actual value of the build-up rate of the current drilling section, ε is the gain coefficient, k=1 represents the well inclination plane, and k=2 represents the azimuth plane.

3. The method according to claim 1, characterized in that The well deviation constraint condition is: the absolute value of the well deviation error value of the current drilling section is less than or equal to the first predetermined value, and the ratio of the distance deviation of the current drilling section to the distance deviation of the previous drilling section is less than or equal to the second predetermined value; The distance deviation of the current drilling section refers to the minimum distance between the current drilling section and the designed trajectory; the distance deviation of the previous drilling section refers to the minimum distance between the previous drilling section and the designed trajectory.

4. The method according to claim 1, characterized in that: The azimuth constraint condition is: the product of the azimuth deviation coefficient between the current drilling section and the previous drilling section and the azimuth error value of the current drilling section is less than 0; Among them, the azimuth deviation coefficient is calculated based on the azimuth increment in the due north direction and the azimuth increment in the due east direction of the current drilling section relative to the previous drilling section, as well as the actual due north and due east directions of the current drilling section measuring point and the actual due north and due east directions of the previous drilling section measuring point.

5. A method for controlling drilling with a push-type steerable drilling tool, characterized in that: include: Obtain the actual value of the inclination rate and the designed value of the inclination rate of the previous drilling section, and calculate the inclination rate error value of the current drilling section; Calculate the first product of the actual value of the build-up rate of the previous drilling section and the designed value of the build-up rate; Calculate the second product of the build-up rate error value of the previous drilling section and the actual value of the build-up rate; If the first product and the second product are both greater than 0, then the first argument of the deviation between the decision value of the build-up rate of the previous drilling section and the design value of the build-up rate on the azimuth plane is determined; Otherwise, the first angle is rotated 180° to obtain the second angle. A pushing force decision value of the current drilling section is determined according to the first radial angle or the second radial angle, and the pushing force decision value of the current drilling section is used to control the deflection mechanism to push against the well wall with the pushing force decision value to adjust the drilling direction when performing the drilling task of the current drilling section.

6. The method according to claim 5, characterized in that Determining a push force decision value of a current drilling section according to the first argument angle or the second argument angle includes: When the build-up rate of the previous drilling section meets the predetermined constraint condition, determining the pushing force decision value of the current drilling section is obtained by changing the pushing azimuth angle based on the pushing force decision value of the previous drilling section, and the adjustment range of the pushing azimuth angle is the first radial angle or the second radial angle; When the inclination rate of the previous drilling section does not meet the predetermined constraints, the pushing force decision value of the current drilling section is determined by changing the pushing azimuth and the pushing force on the basis of the pushing force decision value of the previous drilling section, the adjustment range of the pushing azimuth is the first radial angle or the second radial angle, and the adjustment range of the pushing force is determined based on the pushing force decision value of the previous drilling section, the inclination rate design value, and the actual inclination rate value.

7. A push-type steerable drilling tool drilling control device, characterized in that: include: The first acquisition unit is used to acquire the actual value of the inclination rate of the current drilling section and the designed value of the inclination rate, and calculate the inclination rate error value of the current drilling section; A judgment unit, used to judge whether the build-up rate error value of the current drilling section meets the predetermined well inclination constraint condition and azimuth constraint condition; A first execution unit is used to keep the inclination rate unchanged and continue to execute the drilling task of the next drilling section when both the well inclination constraint condition and the azimuth constraint condition are met; A first calculation unit is used to calculate the build rate increment value according to the build rate error value, the build rate actual value, and the build rate design value of the current drilling section when at least one of the well deviation constraint condition and the azimuth constraint condition is not met; A second calculation unit is used to calculate a target build-up rate for a next drilling section, where the target build-up rate is the sum of an actual build-up rate value and a build-up rate increment value for a current drilling section; The second execution unit is used to execute the drilling task of the next drilling section by adopting the target build-up rate.

8. A push-type steerable drilling tool drilling control device, characterized in that: include: The second acquisition unit is used to obtain the actual value of the inclination rate of the previous drilling section and the designed value of the inclination rate, and calculate the inclination rate error value of the current drilling section; A third calculation unit is used to calculate a first product of an actual value of the build-up rate of a previous drilling section and a designed value of the build-up rate; A fourth calculation unit, used for calculating a second product of a build-up rate error value and an actual value of the build-up rate of a previous drilling section; A first determining unit is used to determine a first argument of a deviation value between a decision value of a build-up rate and a design value of a build-up rate of a previous drilling section on an azimuth plane if both the first product and the second product are greater than 0; A second determining unit, configured to rotate the first argument by 180° as a second argument if the first product and the second product are not both greater than 0; The third determination unit is used to determine the pushing force decision value of the current drilling section according to the first radial angle or the second radial angle, and the pushing force decision value of the current drilling section is used to control the deflection mechanism to push against the well wall to adjust the drilling direction when performing the drilling task of the current drilling section.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the processor and the memory are communicatively connected to each other, the memory stores computer instructions, and the processor implements the push-type steerable drilling tool drilling control method according to any one of claims 1 to 6 by executing the computer instructions.

10. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the push-type steerable drilling tool drilling control method according to any one of claims 1 to 6.

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