Multi-sensor fusion downhole drilling tool rotating speed control method and application

Abstract

The invention provides a multi-sensor fusion downhole drilling tool rotating speed control method and application. The rotating speed control method comprises the steps that rotating speed measurement is conducted, specifically, the rotating speed of an internal control system is obtained through a gyroscope and a vibration sensor, and the rotating speed of an external drill collar is obtained through a magnetoresistive sensor and the vibration sensor; rotating speed control: when the internal control system is static in space, the gyroscope acquires rotating speed data of the internal system, and the vibration sensor acquires vibration data; processing the vibration data by using a Butterworth high-pass filter, extracting rotation speed fluctuation, and performing torque compensation on internal system rotation speed data acquired by the gyroscope according to the rotation speed fluctuation to obtain a real-time rotation speed of an internal control system; when the internal control system rotates along with a certain rotating speed difference or the internal control system is switched between a static mode and a rotating along mode to do variable motion, the relative rotating speed of the real-time rotating speed of the internal control system and the real-time rotating speed of the external drill collar is measured, the rotating speed of the internal control system is adjusted through a gyroscope, and the relative rotating speed is measured multiple times till the expected effect is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling engineering, and in particular to a multi-sensor fusion downhole drilling tool speed control method and application. Background Art

[0002] Under current drilling technology conditions, the status of downhole drilling tools is usually collected and described using multiple sensors. However, the rotation speed of downhole drilling tools is generally controlled and measured by gyroscopes, and the use of a single sensor usually has certain limitations. For example, when using a gyroscope to measure the rotation speed, when affected by vibration, the rotation speed data often produces a large measurement error. Therefore, when the downhole drilling tool is running at a high speed, the output value of the gyroscope cannot be used directly, and the gyroscope can only be installed in a position as close to the center of the rotation axis as possible, and it is impossible to measure a circular rotating body.

[0003] With the development of technology, the application of new drilling tool rotary steering system makes the control of downhole tools more complicated. Some rotary steering tools need to use the control system as a separate rotatable system and separate it from the external drill collar. At this time, the rotation speed of the external drill collar cannot be directly measured by the gyroscope. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-sensor fusion downhole drill tool speed control method and application, which measures and describes the downhole drill tool state through multi-sensor fusion measurement and calculation correction, realizes specific functions in specific scenarios, and ensures measurement accuracy and stability as much as possible on the basis of realizing the functions, thereby expanding the scope of use of the measurement system.

[0005] The embodiment of the present invention is achieved as follows:

[0006] A multi-sensor fusion downhole drilling tool speed control method, the speed control method comprising:

[0007] Speed ​​measurement, using gyroscopes and vibration sensors to obtain the speed of the internal control system, and using magnetoresistive sensors and vibration sensors to obtain the speed of the external drill collar;

[0008] Speed ​​control,

[0009] When the external drill collar rotates at a certain speed and the internal control system is stationary in space, the gyroscope obtains the internal system speed data and the vibration sensor obtains the vibration data; the Butterworth high-pass filter is used to process the vibration data and extract the speed fluctuation, and the torque compensation is performed on the internal system speed data obtained by the gyroscope according to the speed fluctuation to obtain the real-time speed of the internal control system. The gyroscope controls the speed of the internal control system according to the real-time speed of the internal control system;

[0010] When the external drill collar rotates at a certain speed and the internal control system follows the rotation with a certain speed difference or the internal control system switches between the stationary and following modes to perform variable speed movements, the relative speed between the real-time speed of the internal control system and the real-time speed of the external drill collar is measured to determine the expected speed after acceleration or deceleration, and the speed of the internal control system is adjusted by the gyroscope. When the internal control system reaches the expected speed, the relative speed is measured again. If the relative speed is within the expected window, the speed of the internal control system is maintained. If it deviates from the expected window, the adjustment steps are repeated until the expected effect is achieved.

[0011] In a preferred embodiment of the present invention, the method for obtaining the real-time rotation speed of the external drill collar comprises:

[0012] A magnetic field generating device is arranged on the external drill collar, and the magnetic field generating device applies a local magnetic field; a MEMS two-axis magnetoresistive sensor is arranged on the internal control system within the local magnetic field range to obtain initial data of the rotation speed of the external drill collar;

[0013] A low-pass filter is used to pre-process the external drill collar speed and filter out high-frequency interference to obtain the external drill collar speed data;

[0014] A vibration sensor is used to obtain vibration data, and a Butterworth high-pass filter is used to process the vibration data and extract the speed fluctuation. The torque compensation is performed on the speed data of the external drill collar according to the speed fluctuation to obtain the real-time speed of the external drill collar.

[0015] An application of a multi-sensor fusion downhole drill tool speed control method, using any of the above speed control methods, for axial drilling and deflection drilling of the drill tool in directional well drilling.

[0016] In a preferred embodiment of the present invention, during the axial drilling and deflection drilling processes of the above-mentioned drilling tool, a fully rotating rib push-type external drill collar is used. The fully rotating rib push-type external drill collar includes a guide device, a lower disc valve and an upper disc valve arranged in sequence, and ribs are arranged on the ring side of the guide device. The lower disc valve and the upper disc valve are arranged at the center of one end of the guide device through a control shaft; a first window is arranged on the upper disc valve, and three second windows distributed in a circular array are arranged on the lower disc valve, and the shape of the first window and the second window are both 90° fan rings, and the radius of the fan ring is the same.

[0017] In a preferred embodiment of the present invention, when the drill bit is deflected for drilling, the internal control system is in a stationary state, the upper plate valve rotates unidirectionally with the control shaft, and the mud applies pressure to the ribs through the first window and the second window, controlling the ribs to extend and press against the well wall to achieve drilling in the opposite direction.

[0018] In a preferred embodiment of the present invention, when the drill bit is drilling axially, the rotation speed of the upper disc valve is consistent with the rotation speed of the internal control system, and the rotation speed of the lower disc valve and the guide device is consistent with the rotation speed of the external drill collar; when the drill collar rotates to the first window of the upper disc valve, the drilling fluid flows, and the ribs are extended at this time to perform reverse deflection; when the upper disc valve and the lower disc valve move relative to each other at a certain speed difference, the first window will evenly rotate to the three second windows of the lower disc valve, and the three connected ribs are extended in turn to maintain axial drilling; when no drilling fluid enters, the ribs automatically retract and do not contact the well wall.

[0019] An application of a multi-sensor fusion downhole drill tool speed control method, using any of the above-mentioned speed control methods, is used for deflection building, deflection stabilization and switching between the two in directional well drilling.

[0020] In a preferred embodiment of the present invention, when the drilling process is in the inclination mode, the external drill shank rotates at a certain speed, and the spatial static gyroscope of the internal control system adjusts the speed of the internal control system to zero, and turns to the inclination angle position; the local magnetic field and geomagnetic field signals received by the magnetoresistive sensor in the internal control system are the superposition of sine waves and DC components, the DC component is removed and noise is reduced, the period of the sine wave is calculated, and after each period, the internal and external parts rotate one circle relative to each other, and the relative speed at this time is calculated. The relative speed at this time is the absolute speed of the drill shank.

[0021] In a preferred embodiment of the present invention, when the drilling process switches from the inclination building mode to the stable inclination mode, the external drill collar rotates at a certain speed, and the internal control system switches between the static and rotation modes to perform variable speed movements. The target relative speed is first determined according to the hardness of the formation, and the drill collar speed in the inclination building mode is used as a reference value to calculate the expected speed of the internal control system. The gyroscope is used to measure and control the internal system to reach the target speed, and the relative speed is calculated again and adjusted.

[0022] When the drilling process is in the steady-inclination mode, the external drill collar rotates at a certain speed, and the internal control system follows the rotation at a certain speed difference, keeping the relative speed of the two basically unchanged. At this time, the signal received by the magnetic resistance sensor of the internal control system is a sinusoidal superposition signal of the geomagnetic field and the local magnetic field. The signal frequency formed by the local magnetic field is relatively low, and the frequency of the geomagnetic field signal is relatively high. The output signal is passed through a low-pass filter to filter out the geomagnetic signal, and then the relative speed is calculated based on the signal period.

[0023] The beneficial effects of the embodiments of the present invention are as follows: the present invention obtains the corrected internal control system rotational speed through the measurement data of the gyroscope and the vibration sensor, obtains the external drill collar rotational speed through the magnetoresistive sensor and the vibration sensor, thereby realizing the control and analysis of the downhole rotational speed of the drilling tool, and in the process of rotational speed control, realizes specific functions in specific scenarios, and ensures the measurement accuracy and stability on the basis of realizing the functions, so as to expand the scope of use of the measurement system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a flow chart of a multi-sensor fusion downhole drilling tool speed control method according to an embodiment of the present invention;

[0026] Figure 2 and Figure 3 A schematic diagram of a multi-sensor assembly structure according to an embodiment of the present invention;

[0027] Figure 4 A schematic diagram of a drilling tool structure for axial drilling and deflection drilling of a drilling tool according to a second embodiment of the present invention

[0028] Figure 5 This is a diagram of a multi-sensor fusion downhole drilling tool speed control system according to the fourth embodiment of the present invention.

[0029] Icons: 1- gyroscope; 2- vibration sensor; 3- magnetoresistive sensor; 4- external magnetic ring; 5- permanent magnet; 6- local magnetic field;

[0030] 201-guide device; 202-lower disc valve; 203-upper disc valve; 204-wing rib; 205-control shaft; 206-first window; 207-second window;

[0031] 100-speed measurement unit; 200-speed control unit. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0036] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0037] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0038] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0039] First embodiment

[0040] Based on the existing sensors, this embodiment reasonably arranges the use scenarios of different sensors and integrates multiple sensors, which can improve the measurement accuracy as much as possible to obtain a higher-precision speed control method and expand more application scenarios.

[0041] See also Figure 1 , a multi-sensor fusion downhole drilling tool speed control method, the speed control method comprising:

[0042] S1: Rotational speed measurement. The rotational speed of downhole drilling tools is generally measured and controlled by a gyroscope 1. However, when the gyroscope 1 is used to measure the rotational speed, due to the influence of vibration and the like, a large measurement error often occurs, and the gyroscope cannot measure the rotational speed of a circular rotating body. Based on this, the present embodiment obtains the rotational speed of the internal control system through the combined data of the gyroscope 1 and the vibration sensor 2, and obtains the rotational speed of the external drill collar through the combined data of the magnetoresistive sensor 3 and the vibration sensor 2; therefore, the present embodiment installs a sensor combination, uses different sensor data to measure the rotational speed in different situations, and corrects the rotational speed to eliminate vibration interference, thereby ensuring the measurement accuracy and stability of the rotational speed.

[0043] For details, see Figure 2 and 3 In this embodiment, a new sensor combination installation is redesigned, and the gyroscope 1, the magnetoresistive sensor 3, and the vibration sensor 2 are all installed in the internal control system. The gyroscope 1 is located between the magnetoresistive sensor 3 and the vibration sensor 2. The gyroscope 1 is located on the central axis and is used to obtain the rotation speed of the internal control system. The vibration sensor 2 is used to obtain the torsional vibration of the drill tool, and the magnetoresistive sensor 3 is used to obtain the rotation speed of the external drill collar. At the same time, an external magnetic ring 4 is arranged at the corresponding position of the magnetoresistive sensor 3. The permanent magnet 5 of the external magnetic ring 4 generates a local magnetic field 6 which is detected by the magnetoresistive sensor 3 to obtain a voltage differential signal, thereby eliminating the geomagnetic guidance error.

[0044] S2: Speed ​​control. In this embodiment, the speed control is based on speed measurement. The internal control system and the external drill collar use different speed control methods in different modes.

[0045] ① When the external drill collar rotates at a certain speed and the internal control system is stationary in space, the gyroscope 1 obtains the internal system speed data and the vibration sensor 2 obtains the vibration data; the Butterworth high-pass filter is used to process the vibration data and extract the speed fluctuation, and the internal system speed data obtained by the gyroscope 1 is subjected to torque compensation according to the speed fluctuation to obtain the real-time speed of the internal control system. The gyroscope 1 controls the speed of the internal control system according to the real-time speed of the internal control system;

[0046] ② When the external drill collar rotates at a certain speed, the internal control system rotates with a certain speed difference.

[0047] ③ When the external drill collar rotates at a certain speed and the internal control system switches between stationary and follow-up modes to perform variable speed movements.

[0048] In modes ② and ③, the relative speed between the real-time speed of the internal control system and the real-time speed of the external drill collar is calculated to determine the expected speed after acceleration or deceleration. The speed of the internal control system is adjusted by gyroscope 1. When the internal control system reaches the expected speed, the relative speed is measured again. If the relative speed is within the expected window, the speed of the internal control system is maintained. If it deviates from the expected window, the adjustment steps are repeated until the expected effect is achieved.

[0049] The method for obtaining the real-time rotation speed of the external drill collar specifically adopts the following steps:

[0050] By setting a magnetic field generating device on the external drill collar, the magnetic field generating device applies a local magnetic field 6; setting a MEMS two-axis magnetoresistive sensor 3 on the internal control system within the range of the local magnetic field 6, the direction of the MEMS two-axis magnetoresistive sensor 3 cutting the local magnetic field 6 and the geomagnetic field changes periodically, so that the resistance value of the MEMS two-axis magnetoresistive sensor 3 changes periodically, and then the voltage of the MEMS two-axis magnetoresistive sensor 3 changes periodically, generating a periodically changing voltage differential signal, thereby obtaining the initial data of the external drill collar speed. Compared with the traditional magnetoresistive sensor 3 cutting the geomagnetic field to obtain the external drill collar speed, it can correct the problem that accurate positioning cannot be performed when the geomagnetic field is disturbed, and can also be used to eliminate the trajectory accumulation error of the drilling measurement system during long-distance drilling. Therefore, the external drill collar speed obtained by the method in this embodiment is more accurate.

[0051] Even with the addition of the permanent magnet 5, the initial data of the external drill collar rotation speed still has errors. This embodiment also makes two corrections to the initial data to further improve the data accuracy.

[0052] Correction measure 1: Use a low-pass filter to pre-process the external drill collar speed, filter out high-frequency interference, and further eliminate geomagnetic signal interference to obtain external drill collar speed data.

[0053] Correction measure 2: Use vibration sensor 2 to obtain vibration data, use Butterworth high-pass filter to process the vibration data and extract the speed fluctuation, perform torque compensation on the external drill collar speed data according to the speed fluctuation, and obtain the real-time speed of the external drill collar. The speed measurement and calculation of the corrected signal again will reduce most of the external errors.

[0054] This embodiment obtains the corrected internal control system rotation speed through the measurement data of the gyroscope 1 and the vibration sensor 2, and obtains the external drill collar rotation speed through the magnetoresistive sensor 3 and the vibration sensor 2, so as to realize the control and analysis of the downhole rotation speed of the drilling tool. In the process of speed control, specific functions are realized in specific scenarios, and the measurement accuracy and stability are guaranteed on the basis of realizing the functions, so as to expand the scope of use of the measurement system.

[0055] Second embodiment

[0056] An application of a multi-sensor fusion downhole drill tool speed control method adopts the speed control method disclosed in the first embodiment and is used for axial drilling and deflection drilling of the drill tool in directional well drilling.

[0057] This embodiment is mainly applied to the internal separation drilling tool, which is suitable for directional well drilling. That is, during the drilling process, the external drill collar is always in a rotating state, and the internal control system adjusts its own rotation speed to achieve axial drilling and deflection drilling of the entire drilling tool, thereby realizing the directional function.

[0058] In this embodiment, a fully rotating rib push-type external drill collar is used during axial drilling and deflection drilling of the drill tool, see Figure 4 . The fully rotating rib push-type drill collar includes a guide device 201, a lower disc valve 202 and an upper disc valve 203 which are arranged in sequence. Among them, a rib 204 is arranged on the ring side of the guide device 201, and the rib 204 can be adaptively extended or retracted from the guide device 201 according to the situation of mud entering. The lower disc valve 202 and the upper disc valve 203 are connected by a control shaft 205 and are arranged at the center of one end of the guide device 201; a first window 206 is arranged on the upper disc valve 203, and three second windows 207 distributed in a circular array are arranged on the lower disc valve 202, and the second windows 207 are respectively connected to the three ribs 204, and the shapes of the first window 206 and the second window 207 are both 90° fan rings, and the radius of the fan rings of the upper disc valve 203 and the lower disc valve 202 are the same.

[0059] When the drill bit is deflected for drilling, the internal control system is in a stationary state, the upper valve 203 rotates unidirectionally with the control shaft 205, and the mud exerts pressure on the rib 204 through the first window 206 and the second window 207, controlling the rib 204 to extend and press against the well wall to achieve reverse drilling.

[0060] That is, when the upper rotary disc valve rotates in one direction with the control shaft 205, the mud passes through the first window 206 of the upper disc valve 203 and then through the second window 207 of the lower disc valve 202 to act on the rib 204 through pressure, and the rib 204 is pushed against the well wall, which will then generate a force acting on the well wall, and the direction of the force determines the position of the high-pressure hole. When the drill bit rotates one circle, the upper and lower disc valves 202 will communicate once, and when they communicate, the telescopic rib 204 of the actuator will extend, otherwise it will be retracted. At this time, the upper disc valve 203 and the lower disc valve 202 are connected, and the hydraulic thrust acts in the same direction. The rib 204 in this direction extends and presses against the well wall, thereby achieving reverse drilling.

[0061] When axial stable drilling is required, the internal control system needs to keep synchronous rotation with the drill collar, and there are certain requirements for the relative speed between the two. If the relative speed is too high, the rib 204 will extend frequently, and the reliability of the actuator will be greatly reduced, causing mechanical damage. If the relative speed is too low, the synthetic tangential force on the drill collar is not zero, deviation or even spiral drilling will occur, which may lead to frequent deflection drilling mode of the internal mechanism.

[0062] When the drill bit is drilling axially, the rotation speed of the upper disc valve 203 is consistent with the rotation speed of the internal control system, and the rotation speed of the lower disc valve 202 and the guide device 201 is consistent with the external drill collar; when the drill collar rotates to the first window 206 of the upper disc valve 203, the drilling fluid flows, and the ribs 204 are extended to perform reverse deflection; when the upper disc valve 203 and the lower disc valve 202 move relative to each other at a certain speed difference, the first window 206 will evenly rotate to the three second windows 207 of the lower disc valve 202, and the three connected ribs 204 will be extended in turn to maintain axial drilling; when no drilling fluid enters, the ribs 204 automatically retract and are not in contact with the well wall.

[0063] Therefore, the second embodiment can complete the speed control of the internal control system and the external drill collar on the basis of the first embodiment, and switch the axial drilling mode and the deflection drilling mode by adjusting the rotation speeds of the two.

[0064] Third embodiment

[0065] An application of a multi-sensor fusion downhole drilling tool speed control method adopts the speed control method in the first embodiment and is used for deflection building, deflection stabilization and switching between the two in directional well drilling.

[0066] When the drilling process is in the deflection mode, the external drill collar rotates at a certain speed, and the internal control system is stationary in space. The gyroscope 1 is adjusted to adjust the speed of the internal control system to zero, and it is turned to the deflection angle position; the local magnetic field 6 and the geomagnetic field signal received by the magnetic resistance sensor 3 in the internal control system are the superposition of the sine wave and the DC component. The DC component is removed and noise is reduced. The period of the sine wave is calculated. After each period, the internal and external parts rotate one circle relative to each other, and the relative speed at this time is calculated. The relative speed at this time is the absolute speed of the drill collar.

[0067] When the drilling process switches from the deflection-building mode to the steady-deflection mode, the external drill collar rotates at a certain speed, and the internal control system switches between the stationary and rotation modes to perform variable speed movements. First, the target relative speed (10rpm / 20rpm) is determined according to the hardness of the formation, and the drill collar speed in the deflection-building mode is used as the reference value to calculate the expected speed of the internal control system. The gyroscope 1 is used to measure and control the internal system to reach the target speed, and the relative speed is calculated again and adjusted.

[0068] When the drilling process is in the steady-inclination mode, the external drill collar rotates at a certain speed, and the internal control system follows the rotation at a certain speed difference, keeping the relative speed of the two basically unchanged. At this time, the signal received by the magnetic resistance sensor 3 of the internal control system is a sinusoidal wave superposition signal of the geomagnetic field and the local magnetic field 6. The signal frequency formed by the local magnetic field 6 is relatively low, and the geomagnetic field signal frequency is relatively high. The output signal is passed through a low-pass filter to filter out the geomagnetic signal, and then the relative speed is calculated based on the signal period. By using the speed control method in the first embodiment, the vibration interference is eliminated when the drilling depth increases, so that the measured data is more real and effective, which has important practical significance for the development of drilling work.

[0069] Fourth embodiment

[0070] See also Figure 5 , a multi-sensor fusion downhole drilling tool speed control system, the speed control system includes:

[0071] The rotation speed measuring unit 100 is configured to: obtain the rotation speed of the internal control system through the gyroscope 1 and the vibration sensor 2, and obtain the rotation speed of the external drill collar through the magnetoresistive sensor 3 and the vibration sensor 2;

[0072] The speed control unit 200 is configured as follows:

[0073] When the external drill collar rotates at a certain speed and the internal control system is stationary in space, the gyroscope 1 obtains the internal system speed data and the vibration sensor 2 obtains the vibration data; a Butterworth high-pass filter is used to process the vibration data and extract the speed fluctuation, and torque compensation is performed on the internal system speed data obtained by the gyroscope 1 according to the speed fluctuation to obtain the real-time speed of the internal control system, and the gyroscope 1 controls the speed of the internal control system according to the real-time speed of the internal control system;

[0074] When the external drill collar rotates at a certain speed and the internal control system follows the rotation with a certain speed difference or the internal control system switches between the stationary and following modes to perform variable speed movements, the relative speed between the real-time speed of the internal control system and the real-time speed of the external drill collar is measured to determine the expected speed after acceleration or deceleration, and the speed of the internal control system is adjusted by the gyroscope 1. When the internal control system reaches the expected speed, the relative speed is measured again. If the relative speed is within the expected window, the speed of the internal control system is maintained. If it deviates from the expected window, the adjustment steps are repeated until the expected effect is achieved.

[0075] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0076] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or it can be an electrical, mechanical or other form of connection.

[0077] The units described as separate components may or may not be physically separated. As a unit, it can be appreciated by those skilled in the art that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0078] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0079] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a grid device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0080] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-sensor fusion downhole drilling tool speed control method, characterized in that: The speed control method comprises: Speed ​​measurement, using gyroscopes and vibration sensors to obtain the speed of the internal control system, and using magnetoresistive sensors and vibration sensors to obtain the speed of the external drill collar; Speed ​​control, When the external drill collar rotates at a certain speed and the internal control system space is stationary, the gyroscope obtains the internal system speed data and the vibration sensor obtains the vibration data; a Butterworth high-pass filter is used to process the vibration data and extract the speed fluctuation, and torque compensation is performed on the internal system speed data obtained by the gyroscope according to the speed fluctuation to obtain the real-time speed of the internal control system, and the gyroscope controls the speed of the internal control system according to the real-time speed of the internal control system; When the external drill collar rotates at a certain speed and the internal control system follows the rotation with a certain speed difference or the internal control system switches between stationary and following modes to perform variable speed movements, the relative speed between the real-time speed of the internal control system and the real-time speed of the external drill collar is measured to determine the expected speed after acceleration or deceleration, and the speed of the internal control system is adjusted by the gyroscope. When the internal control system reaches the expected speed, the relative speed is measured again. If the relative speed is within the expected window, the speed of the internal control system is maintained. If it deviates from the expected window, the adjustment steps are repeated until the expected effect is achieved.

2. The multi-sensor fusion downhole drilling tool speed control method according to claim 1, characterized in that: The method for obtaining the real-time rotation speed of the external drill collar includes: A magnetic field generating device is arranged on the external drill collar, and the magnetic field generating device applies a local magnetic field; a MEMS two-axis magnetoresistive sensor is arranged on the internal control system within the local magnetic field range to obtain initial data of the rotation speed of the external drill collar; A low-pass filter is used to pre-process the external drill collar rotation speed to filter out high-frequency interference, so as to obtain external drill collar rotation speed data; A vibration sensor is used to acquire vibration data, a Butterworth high-pass filter is used to process the vibration data and extract rotational speed fluctuations, torque compensation is performed on the external drill collar rotational speed data according to the rotational speed fluctuations, and the real-time rotational speed of the external drill collar is obtained.

3. An application of a multi-sensor fusion downhole drilling tool speed control method, characterized in that: The rotation speed control method of claim 1 or 2 is used for axial drilling and deflection drilling of drilling tools in directional well drilling.

4. The application of the multi-sensor fusion downhole drilling tool speed control method according to claim 3 is characterized in that: During the axial drilling and deflection drilling of the drilling tool, a fully rotating rib-pushing external drill collar is used. The fully rotating rib-pushing external drill collar includes a guide device, a lower disc valve and an upper disc valve which are arranged in sequence. The ring side of the guide device is provided with ribs. The lower disc valve and the upper disc valve are arranged at the center of one end of the guide device through a control shaft. A first window is provided on the upper disc valve, and three second windows distributed in a circular array are provided on the lower disc valve. The first window and the second window are both in the shape of a 90° fan ring, and the radius of the fan ring is the same.

5. The application of the multi-sensor fusion downhole drilling tool speed control method according to claim 4 is characterized in that: When the drill bit is deflected for drilling, the internal control system is in a stationary state, the upper plate valve rotates unidirectionally with the control shaft, and the mud exerts pressure on the rib through the first window and the second window, controlling the rib to extend and press against the well wall to achieve reverse drilling.

6. The application of the multi-sensor fusion downhole drilling tool speed control method according to claim 4 is characterized in that: When the drill bit is drilling axially, the rotation speed of the upper disc valve is consistent with the rotation speed of the internal control system, and the rotation speed of the lower disc valve and the guide device is consistent with the external drill collar; when the drill collar rotates to the first window of the upper disc valve, the drilling fluid flows, and the ribs are extended at this time to perform reverse deflection; when the upper disc valve and the lower disc valve move relative to each other at a certain speed difference, the first window will evenly rotate to the three second windows of the lower disc valve, and the three connected ribs are extended in turn to maintain axial drilling; when no drilling fluid enters, the ribs automatically retract and do not contact the well wall.

7. An application of a multi-sensor fusion downhole drilling tool speed control method, characterized in that: The rotation speed control method of claim 1 or 2 is used for deflection building, deflection stabilization and switching between the two in directional well drilling.

8. The application of the multi-sensor fusion downhole drilling tool speed control method according to claim 7, characterized in that: When the drilling process is in the inclination mode, the external drill collar rotates at a certain speed, and the spatial static gyroscope of the internal control system adjusts the speed of the internal control system to zero and turns to the inclination angle position; the local magnetic field and geomagnetic field signals received by the magnetoresistive sensor in the internal control system are the superposition of sine waves and DC components. The DC component is removed and noise is reduced, and the period of the sine wave is calculated. After each period, the internal and external parts rotate one circle relative to each other, and the relative speed at this time is calculated. The relative speed at this time is the absolute speed of the drill collar.

9. The application of the multi-sensor fusion downhole drilling tool speed control method according to claim 7, characterized in that: When the drilling process switches from the inclination building mode to the stable inclination mode, the external drill collar rotates at a certain speed, and the internal control system switches between the static and rotation modes to perform variable speed movements. The target relative speed is first determined according to the hardness of the formation, and the drill collar speed in the inclination building mode is used as the reference value to calculate the expected speed of the internal control system. The gyroscope is used to measure and control the internal system to reach the target speed, and the relative speed is calculated again and adjusted.

10. The application of the multi-sensor fusion downhole drilling tool speed control method according to claim 7, characterized in that: When the drilling process is in the steady-inclination mode, the external drill collar rotates at a certain speed, and the internal control system follows the rotation at a certain speed difference, keeping the relative speed of the two basically unchanged. At this time, the signal received by the magnetic resistance sensor of the internal control system is a sinusoidal superposition signal of the geomagnetic field and the local magnetic field. The signal frequency formed by the local magnetic field is relatively low, and the frequency of the geomagnetic field signal is relatively high. The output signal is passed through a low-pass filter to filter out the geomagnetic signal, and then the relative speed is calculated based on the signal period.

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