A method and device for designing a wellbore trajectory for real drilling correction

Abstract

The present invention discloses a method and device for designing a real drilling correction wellbore trajectory. The method comprises: obtaining current bottom hole parameters and original design trajectory data, selecting a number of chasing points from the original design trajectory, and using a pre-established wellbore trajectory model and a chasing model according to the current bottom hole parameters and the original design trajectory data, and adopting a multi-objective optimization method to determine a feasible set of correction trajectories that make the preset real drilling correction trajectory constraint parameters meet the preset requirements; the wellbore trajectory model is a correction trajectory model from the current bottom hole point to the chasing point; the chasing model includes a model that determines the correction trajectory parameters according to the trajectory segment where the chasing point is located on the original design trajectory with the maximum wellbore curvature of the original design trajectory and the preset maximum chasing length as constraints; the correction trajectory that makes the preset optimal solution conditions hold true is determined from the feasible set to obtain the optimal correction trajectory. It is possible to quickly find a reasonable correction trajectory, and quickly and accurately correct the real drilling trajectory that deviates from the design trajectory.

Description

Technical Field

[0001] The invention relates to the technical field of drilling construction, and in particular to a method and a device for designing a wellbore trajectory for actual drilling and deviation correction. Background Art

[0002] In actual drilling, when the actual drilling trajectory deviates from the originally designed trajectory, it is necessary to redesign a new wellbore trajectory so that the subsequent drilling trajectory follows the new wellbore trajectory.

[0003] In the office environment of the drilling design center, the wellbore trajectory design software can be used to complete the design of a new wellbore trajectory through human-computer interaction. It is usually necessary to comprehensively consider factors such as the degree of bottom hole deviation, the design of the target center coordinates and the target circle radius, the difficulty and process of drilling construction, and geological requirements. The wellbore trajectory designed in this way is called the trajectory to be drilled.

[0004] At the construction site, the design method of the new borehole trajectory is somewhat different from this. It also takes into account the difficulty of drilling construction and the requirements of technology and geology, but strives to correct the subsequent actual drilling trajectory to the original design trajectory as soon as possible. The borehole trajectory designed for this purpose is called the correction trajectory to distinguish it from the trajectory to be drilled. It can be designed on-site by directional well engineers or independently in the drilling rig automatic control system.

[0005] The on-site design method of the correction track is to first try to design a wellbore track with a length of about 30m based on the deviation data of the current well bottom, such as the well inclination deviation, azimuth deviation, up and down deviation, left and right deviation, etc., with the purpose of reducing the deviation, and then drill this column; repeat the above steps until the deviation is reduced to within the allowable range of the project.

[0006] In the drilling rig automatic control system, drilling is usually carried out under the control of the core program of the drilling rig automatic control system. When the actual drilling trajectory deviates from the originally designed wellbore trajectory, a correction trajectory design is also required. However, it is not necessary to design it column by column as the directional well engineer does on-site. With the participation of computer programs, a correction trajectory with a final deviation of 0 can be directly designed. Since the drilling rig automatic control system is automatically operated, there can be no human participation in the design process. The correction trajectory design is completed completely automatically, so this design method is called the correction trajectory autonomous design method.

[0007] The design of the trajectory to be drilled can be completed using conventional wellbore trajectory design methods; there is currently no publicly published literature on the design of the correction trajectory, whether it is designed on-site or independently designed. How to design a suitable correction trajectory is an issue that requires further in-depth research. Summary of the invention

[0008] In view of the above problems, the present invention is proposed to provide a method and device for designing a wellbore trajectory for actual drilling correction, which overcomes the above problems or at least partially solves the above problems.

[0009] The embodiment of the present invention provides a method for designing a wellbore trajectory for real drilling correction, comprising:

[0010] Obtain current bottom hole parameters and original designed trajectory data;

[0011] Select several chasing points from the original design trajectory, and according to the current bottom hole parameters and the original design trajectory data, use the pre-established wellbore trajectory model and the chasing model, and adopt a multi-objective optimization method to determine a feasible set of correction trajectories that make the preset actual drilling correction trajectory constraint parameters meet the preset requirements; the wellbore trajectory model is a correction trajectory model from the current bottom hole point to the chasing point, and its correction trajectory includes an interval-designed stable inclination segment and an arc segment; the chasing model includes a model that determines the correction trajectory parameters according to the trajectory segment where the chasing point is located on the original design trajectory, with the maximum wellbore curvature of the original design trajectory and the preset maximum chasing length as constraints;

[0012] A deviation correction track that satisfies a preset optimal solution condition is determined from the feasible set to obtain an optimal deviation correction track.

[0013] In some optional embodiments, the step of selecting a plurality of catching-up points from the original designed track includes:

[0014] Starting from the normal point on the original design trajectory, several catching-up points are selected along the direction of increasing well depth, and the well depth of the selected catching-up points is not greater than the preset maximum catching-up well depth;

[0015] The normal point is the point on the original design trajectory where the normal passes through the current bottom hole point.

[0016] In some optional embodiments, the wellbore trajectory model is pre-built, and the building process includes:

[0017] Constructing a wellbore deviation correction trajectory with the current bottom point as the starting point and the selected pursuit point as the ending point, wherein the wellbore deviation correction trajectory includes a first inclination stabilizing segment, a first circular arc segment, a second inclination stabilizing segment, a second circular arc segment, and a third inclination stabilizing segment;

[0018] The constraint equation of the wellbore correction trajectory is constructed according to the length of each stable inclination section of the wellbore correction trajectory, the wellbore direction vector, the dogleg angle of each arc section, the wellbore curvature and the tangent length.

[0019] In some optional embodiments, the wellbore deviation correction trajectory constraint equation is as follows:

[0020]

[0021] in, is the length of the stable slope section, is the wellbore direction vector of the stable deflection section, ;

[0022] The dogleg angle of the arc segment, The curvature of the wellbore in the arc segment, is the tangent length of the arc segment, .

[0023] In some optional embodiments, the chasing model is a model that determines the unknown parameters of the deviation correction track based on known parameters according to the track segment where the chasing point is located on the original design track, with the maximum wellbore curvature of the original design track and the preset maximum chasing length as constraints; the chasing length is the difference between the well depth of the normal point on the original design track and the well depth of the selected chasing point;

[0024] Among them, when the track segment where the chasing point is located is different, the known parameters and the unknown parameters are different, and the process of determining the known parameters and the unknown parameters includes: determining the expressions of the position vector and the wellbore direction vector of the chasing point according to the track segment where the chasing point is located on the original design track; according to the expressions of the position vector and the wellbore direction vector of the chasing point on different track segments, determining the known parameters and unknown parameters of the correction track model when the chasing point is in different track segments.

[0025] In some optional embodiments, when the catching-up point is on the stable inclination section of the original designed trajectory, the position vector and the wellbore direction vector of the catching-up point are determined according to the well depth of the starting point of the stable inclination section of the original designed trajectory, the position vector of the starting point, the wellbore direction vector of the starting point, and the well depth of the catching-up point;

[0026] When the catching-up point is on the circular arc section of the original designed trajectory, the position vector and the wellbore direction vector of the catching-up point are determined according to the normal vector of the starting point of the circular arc section of the original designed trajectory, the wellbore direction vector of the ending point of the circular arc section of the original designed trajectory, the curvature radius and the dogleg angle of the circular arc section of the original designed trajectory.

[0027] In some optional embodiments, a multi-objective optimization method is used to determine a feasible set of deviation correction tracks that make preset actual drilling deviation correction track constraint parameters meet preset requirements, including:

[0028] Under the premise of the maximum catching-up well depth, the catching-up point is selected with the preset catching-up step length. Based on the known parameters of the correction trajectory model, the wellbore trajectory model and the catching-up model are solved to solve the correction trajectory that makes the preset actual drilling correction trajectory constraint parameters meet the preset requirements, and obtain the feasible set of the correction trajectory.

[0029] In some optional embodiments, under the premise of the maximum chasing well depth, the chasing point is selected with a preset chasing step length, and the wellbore trajectory model and the chasing model are solved based on the known parameters of the determined deviation correction trajectory model to solve the deviation correction trajectory that makes the preset actual drilling deviation correction trajectory constraint parameters meet the preset requirements, and obtain the feasible set of the deviation correction trajectory, including:

[0030] Initialize the length of the arc segment in the wellbore trajectory model according to the maximum wellbore curvature of the original designed trajectory;

[0031] Within the range of the preset maximum pursuit well depth, the normal point is used as the starting pursuit point, a pursuit point is selected according to a preset pursuit step length, and the position vector and the wellbore direction vector at the pursuit point are determined based on a pre-established pursuit model;

[0032] The position vector and wellbore direction vector of one of the stabilizing segments are initialized according to the position vector and wellbore direction vector of the chasing point. After setting the length of another stabilizing segment within the preset maximum length range based on the chasing step length, the wellbore trajectory model is solved to determine the correction trajectory that makes the preset actual drilling correction trajectory constraint parameters meet the preset requirements, and obtain the feasible set of correction trajectories.

[0033] In some optional embodiments, a multi-objective optimization method is used to determine a feasible set of deviation correction trajectories that make preset actual drilling deviation correction trajectory constraint parameters meet preset requirements, including:

[0034] Preset the pursuit step length and maximum pursuit depth;

[0035] Initialize the lengths of the first arc segment and the second arc segment to the maximum wellbore curvature of the original designed trajectory, and initialize the length of the third stable inclination segment to zero; use the normal point as the starting point for catching up and perform a cycle:

[0036] Determine whether the well depth at the catching-up point is not greater than the maximum well depth of catching-up;

[0037] If the well depth at the catching-up point is not greater than the maximum catching-up well depth, the position vector and the wellbore direction vector of the original designed trajectory at the catching-up point are calculated according to the pre-established catching-up model;

[0038] The position vector and the wellbore direction vector at the chasing point are used as the position vector and the wellbore direction vector of the third stable inclination segment, and the length of the first stable inclination segment is set to zero, and the pre-established five-segment wellbore trajectory model is solved to solve the length of the second stable inclination segment and the wellbore direction vector;

[0039] If there is no solution, the next catching-up point is selected based on the set catching-up step size, and the step of judging whether the catching-up point depth is not greater than the maximum catching-up depth is continued.

[0040] If there is a solution, add the solution as a feasible deviation correction track to the feasible set; let the maximum length of the first stable inclination segment be equal to the length of the third stable inclination segment obtained by solution, and loop over the length of the first stable inclination segment:

[0041] The length of the first stable inclination section is set as a catching-up step length, and it is determined whether the length of the first stable inclination section is not greater than the maximum length of the first stable inclination section; if the length of the first stable inclination section is not greater than the maximum length of the first stable inclination section, the pre-established five-segment wellbore trajectory model is solved to solve the length of the second stable inclination section and the wellbore direction vector;

[0042] If there is a solution, add the solution as a feasible deviation correction track to the feasible set, increase the length of the first stable inclination segment by a catching-up step, and continue to perform the step of determining whether the length of the first stable inclination segment is not greater than the maximum length of the first stable inclination segment;

[0043] If there is no solution, based on the set catching-up step length, select the next catching-up point, and continue to execute the step of determining whether the well depth of the catching-up point is not greater than the maximum catching-up well depth;

[0044] If the catching-up well depth is greater than the maximum catching-up well depth, the cycle ends.

[0045] In some optional embodiments, determining a deviation correction track that satisfies a preset optimal solution condition from the feasible set to obtain an optimal deviation correction track includes:

[0046] Determine a deviation correction track that satisfies a preset non-inferior solution condition from the feasible set to obtain a non-inferior set; the non-inferior solution condition includes the minimum total length of the arc under the same pursuit length or the minimum pursuit length under the same total length of the arc;

[0047] A correction trajectory that satisfies a preset optimal solution condition is determined from the non-inferior set to obtain an optimal correction trajectory; the optimal solution condition is determined based on the pursuit length, the total arc length of the correction trajectory, the maximum well inclination deviation, and the maximum azimuth deviation.

[0048] In some optional embodiments, the optimal solution condition is a utility indicator obtained by weighted summing the pursuit length, the total arc length of the correction track, the maximum well inclination deviation and the maximum azimuth deviation according to preset weights.

[0049] In some optional embodiments, when the current bottom hole parameters and the original design trajectory data include: well depth, well inclination, azimuth, north-south coordinates, east-west coordinates, vertical depth;

[0050] The actual drilling correction trajectory constraint parameters include the pursuit length, the correction trajectory arc length, the wellbore curvature, the allowable deviation of the well inclination angle and the allowable deviation of the azimuth angle.

[0051] The embodiment of the present invention provides a real drilling deviation correction wellbore trajectory design device, comprising:

[0052] An acquisition module is used to obtain current bottom hole parameters and original design trajectory data;

[0053] A feasible set determination module is used to select a number of chasing points from the original design trajectory, and according to the current bottom hole parameters and the original design trajectory data, use the pre-established wellbore trajectory model and the chasing model, and adopt a multi-objective optimization method to determine a feasible set of correction trajectories that make the preset actual drilling correction trajectory constraint parameters meet the preset requirements; the wellbore trajectory model is a correction trajectory model from the current bottom hole point to the chasing point, and its correction trajectory includes a stable inclination segment and an arc segment designed at intervals; the chasing model includes a model that determines the correction trajectory parameters based on the trajectory segment where the chasing point is located on the original design trajectory, with the maximum wellbore curvature of the original design trajectory and the preset maximum chasing length as constraints;

[0054] The optimal solution determination module is used to determine the deviation correction track that satisfies the preset optimal solution conditions from the feasible set, so as to obtain the optimal deviation correction track.

[0055] In some optional embodiments, it also includes:

[0056] A wellbore model construction module is used to construct a five-segment wellbore correction trajectory with the current bottom point as the starting point and the selected pursuit point as the end point, wherein the five-segment wellbore correction trajectory includes a first stabilizing inclination segment, a first arc segment, a second stabilizing inclination segment, a second arc segment, and a third stabilizing inclination segment; according to the length of each stabilizing inclination segment of the five-segment wellbore correction trajectory and the wellbore direction vector, the dogleg angle of each arc segment, the wellbore curvature and the tangent length, the five-segment wellbore correction trajectory constraint equation is constructed;

[0057] The chasing model construction module is used to pre-build a chasing model, wherein the chasing model is a model that uses the maximum wellbore curvature of the original design track and the preset maximum chasing length as constraints, and determines the unknown parameters of the correction track based on known parameters according to the track segment where the chasing point is located on the original design track; the chasing length is the difference between the well depth of the normal point on the original design track and the well depth of the selected chasing point; wherein, when the track segment where the chasing point is located is different, the known parameters and the unknown parameters are different, and the process of determining the known parameters and the unknown parameters includes: determining the expressions of the position vector and the wellbore direction vector of the chasing point according to the track segment where the chasing point is located on the original design track; and determining the known parameters and the unknown parameters of the correction track model when the chasing point is in different track segments according to the expressions of the position vector and the wellbore direction vector of the chasing point on different track segments.

[0058] An embodiment of the present invention provides a computer storage medium, in which computer executable instructions are stored. When the computer executable instructions are executed by a processor, the above-mentioned actual drilling deviation correction wellbore trajectory design method is implemented.

[0059] An embodiment of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned actual drilling deviation correction wellbore trajectory design method when executing the program.

[0060] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0061] The above-mentioned method provided by the embodiment of the present invention uses the pre-established wellbore trajectory model and the pursuit model based on the current bottom hole parameters and the original design trajectory data, and adopts a multi-objective optimization method to determine the feasible set of correction trajectories that make the preset actual drilling correction trajectory constraint parameters meet the preset requirements; and then determines the correction trajectory that makes the preset optimal solution conditions meet from the feasible set to obtain the optimal correction trajectory. This method can quickly find a reasonable correction trajectory and quickly and accurately correct the actual drilling trajectory that deviates from the design trajectory.

[0062] The above method is based on the borehole trajectory model and the catch-up model, and searches for feasible catch-up points and correction trajectories on the original design trajectory, and further searches for the optimal catch-up points and correction trajectories, so as to correct the deviated actual drilling trajectory as soon as possible. In the process of searching for the optimal correction trajectory, the maximum borehole curvature of the original design trajectory and the preset maximum catch-up length are used as constraints, and the catch-up length of the correction trajectory, the arc length of the correction trajectory, the borehole curvature, the allowable deviation of the well inclination angle, and the allowable deviation of the azimuth angle are considered. Constraint parameters such as the correction trajectory can be optimized, so that the constraint parameters of the correction trajectory meet the requirements, the designed correction trajectory is more reasonable, the arc segment length and the catch-up length can be as short as possible, and the difficulty of correction is reduced, so that the actual drilling trajectory can be corrected to the original design trajectory as soon as possible. The overall implementation process of the correction trajectory design is relatively simple, and it can also be applied to equipment with limited computing resources, and it has strong versatility.

[0063] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0064] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0066] Figure 1 Schematic diagram of a local coordinate system of a wellbore in an embodiment of the present invention;

[0067] Figure 2 It is a flow chart of a method for designing a wellbore trajectory for actual drilling correction in an embodiment of the present invention;

[0068] Figure 3 A flowchart for determining a feasible set of deviation correction tracks in an embodiment of the present invention;

[0069] Figure 4 It is a geometric interpretation diagram of two target non-inferior sets in an embodiment of the present invention;

[0070] Figure 5 An example diagram of a feasible set determined by a real drilling example 1 in an embodiment of the present invention;

[0071] Figure 6 This is an example diagram of a non-inferior set determined in a real drilling example 1 in an embodiment of the present invention;

[0072] Figure 7 This is an example diagram of the optimal solution determined by the actual drilling example 1 in the embodiment of the present invention;

[0073] Figure 8 An example diagram of a feasible set determined by the actual drilling example 2 in an embodiment of the present invention;

[0074] Fig. 9 This is an example diagram of a non-inferior set determined in the actual drilling example 2 in an embodiment of the present invention;

[0075] Fig.10 This is an example diagram of the optimal solution determined by the actual drilling example 2 in the embodiment of the present invention;

[0076] Fig.11 It is a horizontal projection diagram of the original design track and the deviation correction track in the embodiment of the present invention;

[0077] Fig.12 It is a vertical projection diagram of the original design track and the deviation correction track in the embodiment of the present invention;

[0078] Fig.13 It is a structural schematic diagram of a device for designing a wellbore trajectory for actual drilling correction in an embodiment of the present invention. DETAILED DESCRIPTION

[0079] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0080] The embodiment of the present invention provides a method for designing a real drilling correction wellbore trajectory. The minimum curvature method is used in the design of the correction trajectory. The correction trajectory is composed of a plurality of curve segments and straight line segments connected in sections. In this application, it is assumed that the curve segment is a space arc curve. When describing the space arc trajectory, the vector description method based on vector algebra is used as an example for description because this method is more concise. Of course, other description methods can be used to describe the space arc trajectory in practical applications. The real drilling correction wellbore trajectory design method is based on the multi-objective optimization (MOO) theory to design the correction trajectory so as to design the optimal correction trajectory that meets the conditions. The method takes the wellbore curvature and the tool face angle as the parameters to be optimized, and takes the total arc trajectory length, the catch-up length, the well inclination deviation and the azimuth deviation of the wellbore trajectory to be drilled as the optimization targets, and uses the multi-objective optimization method to obtain the optimal correction trajectory parameters.

[0081] The actual drilling deviation correction wellbore trajectory design method provided by the embodiment of the present invention is implemented based on a basic mathematical model and a multi-objective optimization model. The basic mathematical model and the multi-objective optimization model used are first introduced below. In the description of this application, unless otherwise explicitly stated, it is generally assumed that the angle unit is radian (rad).

[0082] The following are some notes about symbols that may be involved in the description:

[0083] —North coordinate; —East coordinate; —vertical depth, m; —The well is deep; — Well inclination angle; - azimuth; —Arc dogleg angle; —Circular wellbore curvature; — radius of the arc; —the central angle of any point on the arc; —vector diameter; —wellbore direction vector; —wellbore high side vector; —vertical azimuth vector; — arc main normal vector; —Wellbore compliance rate; —Intermediate variables in the wellbore compliance formula; —Spatial distance from the measuring point to the designed track; — coordinates in the local coordinate system; — Length of one column (or single bar); —Normal distance; — proportionality factor; —No. The normal distance from the end point of an arc (or line segment) to the designed track; —No. The curvature of the wellbore is a circular arc; —No. The curvature of the designed trajectory wellbore corresponding to the arc (or line segment); —The number of sections of the deviation correction track; — error control limits; —subscript, indicating the starting point of arc AB; m—subscript, indicating point M on the designed track; —Subscript, indicating the deviation correction track An arc (or straight line segment).

[0084] 1.1. Space arc model

[0085] For any point P on the arc AB on the wellbore design trajectory, its spatial coordinates are , the well depth is , the well inclination angle is , the azimuth is , the tool face angle is , define the following vector:

[0086] Position coordinate vector (1)

[0087] Wellbore direction vector (2)

[0088] Borehole high side vector (3)

[0089] Vertical azimuth vector (4)

[0090] Principal Normal Vector (5)

[0091] In the following description, the parameters related to point A on arc AB are indicated by the subscript a in the formula, and the parameters related to point B are indicated by the subscript b in the formula. For example, the wellbore direction vector at point A is , the wellbore direction vector at point B is The same goes for other parameters.

[0092] The dogleg angle of arc AB is , the wellbore curvature is , the arc radius is , then:

[0093] (6)

[0094] (7)

[0095] For any point P on arc AB, the central angle is :

[0096] ( ) (8)

[0097] (9)

[0098] (10)

[0099] (11)

[0100] For the straight line segment AB on the wellbore design trajectory, we have

[0101] (12)

[0102] 1.2. Wellbore local coordinate system

[0103] Any point on the design track Define a spatial rectangular coordinate system ,in The unit length vector on the axis is , The unit length vector on the axis is , The unit length vector on the axis is , see Figure 1 Schematic diagram of the local coordinate system of the wellbore. The coordinate plane constitutes the normal plane of the wellbore trajectory, and the main normal vector of the wellbore trajectory On the normal plane, the unit length vector and The angle between The tool face angle.

[0104] For any point Q outside the wellbore trajectory, its coordinates in the local coordinate system are , then the Q point potential vector is

[0105] (13)

[0106] in,

[0107] (14)

[0108] In particular, when the Q point is located at On the normal plane of point Q, the longitudinal deviation is , the lateral deviation is , the normal distance d is:

[0109] (16)

[0110] Well inclination deviation and azimuth deviation They are:

[0111] (17)

[0112] (18)

[0113] 1.3 Five-segment wellbore trajectory model

[0114] The five-segment wellbore trajectory “stable inclination 1+arc 2+stable inclination 3+arc 4+stable inclination 5” satisfies the following set of constraint equations:

[0115] (19)

[0116] in, Steady slope segment Length, Steady slope segment The length and wellbore direction vector, ; Arc well section The dog leg angle, Arc well section The curvature of the wellbore, Arc well section The tangent length, ; To design the displacement vector. The equation group (19) has 7 independent equations, and 7 unknowns can be solved. The parameters , , , is an inevitable unknown, the wellbore direction vector is also an unknown number (it contains 2 unknown numbers and ), the remaining unknown number can be obtained from , , Choose one of them. There have been many research results on the solution of this set of 7 nonlinear equations. This paper uses the quasi-analytical method, which has the advantages of no need to manually set the initial value of the iteration, fast calculation speed, good stability, and global convergence.

[0117] For the deviation correction track design problem, the bottom hole parameters are known, so is a known vector and is also required to satisfy the drilling process constraints:

[0118] (20)

[0119] in, is the maximum wellbore curvature of the original design trajectory, so and Can be taken as , they are known numbers.

[0120] 1.4. Catch-up model

[0121] There is a point on the original design track , so that Point normal surface passes through the bottom point , which is called the normal point of the well bottom. From the normal point, take a point on the original design trajectory in the direction of increasing well depth. , based on the bottom point As the starting point, As the end point, design a five-segment wellbore trajectory so that it ends at point If it can be designed to be tangent to the original design track, it is called The point is the catch-up point, which means the point where the actual drilling trajectory deviates. The point "caught up" with the original design track. Due to tangency, the position of the end point of the correction track and wellbore direction It is also a known vector, which is equal to the original design track at the tangent point Location and wellbore direction .

[0122] The depth of the well It is called the chasing point well depth (also called the chasing well depth). is called the catch-up length, where For the French point The well is deep.

[0123] In order to correct the deviation of the bottom of the well from the original design track as soon as possible, the chasing length should be as small as possible under the conditions of ensuring the drilling process requirements and considering the difficulty of construction. Such a correction track design model is called a chasing model.

[0124] When the catching-up point is on the stable inclination segment MN of the original design trajectory, the position vector of the catching-up point and the wellbore direction vector are:

[0125] (twenty one)

[0126] in, and is the position of the starting point M of the original design trajectory stable inclination section and the wellbore direction vector, .

[0127] When the catching-up point is on the arc segment MN of the original designed trajectory, the position vector of the catching-up point and the wellbore direction vector are:

[0128] (twenty two)

[0129] in, is the normal vector of the starting point of the original designed track arc segment, and are the radius of curvature and the dog-leg angle of the arc segment respectively.

[0130] When the catching-up point is inside a well section of the original designed track, there are three situations for correcting the track:

[0131] (1) Arc 2 + Steady Slope 3 + Arc 4: , the unknown number is and ;

[0132] (2) Steady tilt 1 + arc 2 + arc 4: , the unknown number is and ;

[0133] (3) Steady Slope 1 + Arc 2 + Steady Slope 3 + Arc 4: , the unknown number is , and .

[0134] In case (3), let Change first, then solve and .

[0135] When the bottom point of the well is in some extremely special positions, the deviation correction track type needs to use "stable inclination 1+arc 2+stable inclination 2" or "stable inclination 1".

[0136] The embodiment of the present invention provides a method for designing a wellbore trajectory for real drilling correction, which is implemented based on the above basic mathematical model. The process is as follows: Figure 1 As shown, the following steps are included:

[0137] Step S101: obtaining current bottom hole parameters and original designed trajectory data.

[0138] The current bottom hole parameters and the original designed trajectory data may include: well depth, well inclination angle, azimuth, north-south coordinate, east-west coordinate, and vertical depth. The current bottom hole parameters can be obtained through real-time bottom hole inclination data.

[0139] Step S102: Select several catch-up points from the original design trajectory, and according to the current bottom hole parameters and the original design trajectory data, use the pre-established wellbore trajectory model and catch-up model, and adopt a multi-objective optimization method to determine a feasible set of correction trajectories that make the preset actual drilling correction trajectory constraint parameters meet the preset requirements.

[0140] Select several catch-up points from the original design trajectory, including: starting from the normal point on the original design trajectory, select several catch-up points in the direction of increasing well depth, and the well depth of the selected catch-up points is not greater than the preset maximum catch-up well depth; the normal point is the point on the original design trajectory where the normal passes through the current bottom point. When selecting catch-up points, you can select according to the preset step size. By selecting different catch-up points, determine whether the wellbore trajectory model at different catch-up points has a solution, so as to find a feasible correction trajectory and provide a data basis for further optimization.

[0141] The wellbore trajectory model is a deviation correction trajectory model from the current well bottom point to the catch-up point, and its deviation correction trajectory includes interval-designed stable inclination segments and arc segments. Based on the wellbore trajectory model, the deviation correction trajectory from the well bottom point to the selected catch-up point can be obtained.

[0142] The catch-up model includes a model that determines the correction track parameters based on the track segment where the catch-up point is located on the original design track, with the maximum borehole curvature of the original design track and the preset maximum catch-up length as constraints; the catch-up model can be used to cyclically determine whether different catch-up points have feasible correction tracks within the preset catch-up length range according to the preset catch-up step length, that is, whether the correction track has a solution. The catch-up model can consider each possible catch-up point one by one, so as to find the optimal catch-up point and the optimal correction track faster and better.

[0143] During the solution process, the multi-objective optimization method can be used to solve the feasible set of the correction track based on the actual drilling correction track constraint parameters, and the actual drilling correction track constraint parameters include the pursuit length, the correction track arc length, the wellbore curvature, the allowable deviation of the well inclination angle and the allowable deviation of the azimuth angle. Through the multi-objective optimization method, it is possible to find the optimal correction track that meets the drilling process requirements of multiple target constraint parameters, where the optimized target parameters can be set according to the needs, such as minimizing the total arc length of the wellbore track, and making the well inclination deviation and azimuth deviation as small as possible, etc.

[0144] Step S103: Determine the deviation correction track that satisfies the preset optimal solution conditions from the feasible set, and obtain the optimal deviation correction track.

[0145] The feasible set of constraints of the actual drilling correction trajectory parameters is further optimized to obtain a non-inferior solution, and then further optimized to obtain the optimal solution, that is, the optimal correction trajectory. Through the step-by-step screening and determination of feasible solutions, non-inferior solutions, and optimal solutions, and comprehensive consideration of various parameter requirements, the optimal correction trajectory is obtained by comprehensively considering various factors and obtaining the correction trajectory that best meets the drilling process requirements.

[0146] In some optional embodiments, the above method further includes pre-constructing a wellbore trajectory model, and the construction process includes: constructing a wellbore correction trajectory with the current bottom point as the starting point and the selected pursuit point as the end point, the wellbore correction trajectory including the first stable inclination segment, the first arc segment, the second stable inclination segment, the second arc segment, and the third stable inclination segment; according to the length of each stable inclination segment of the wellbore correction trajectory and the wellbore direction vector, the dogleg angle of each arc segment, the wellbore curvature and the tangent length, construct the wellbore correction trajectory constraint equation. Among them, the wellbore correction trajectory constraint equation is as follows:

[0147]

[0148] in, is the length of the stable slope section, is the wellbore direction vector of the stable deflection section, ;

[0149] The dogleg angle of the arc segment, The curvature of the wellbore in the arc segment, is the tangent length of the arc segment, .

[0150] In this application, the wellbore trajectory model constructed is a five-segment wellbore trajectory model as an example. The wellbore deviation correction trajectory constructed by the five-segment wellbore trajectory model is a five-segment wellbore deviation correction trajectory. Of course, wellbore trajectory models with other numbers of segments or other forms can also be used. For the relevant content of the five-segment wellbore trajectory model, please refer to the relevant description of the basic mathematical model above.

[0151] In some optional embodiments, the above method also includes pre-constructing a chasing model. The chasing model is a model that uses the maximum borehole curvature of the original design track and the preset maximum chasing length as constraints, and determines the unknown parameters of the correction track based on known parameters according to the track segment where the chasing point is located on the original design track; the chasing length is the difference between the well depth of the normal point on the original design track and the well depth of the selected chasing point; wherein, when the track segment where the chasing point is located is different, the known parameters and the unknown parameters are different, and the process of determining the known parameters and the unknown parameters includes: determining the expressions of the position vector and the borehole direction vector of the chasing point according to the track segment where the chasing point is located on the original design track; determining the known parameters and unknown parameters of the correction track model when the chasing point is in different track segments according to the expressions of the position vector and the borehole direction vector of the chasing point on different track segments. For the relevant content of the chasing model, please refer to the relevant description of the basic mathematical model above.

[0152] In the above step S102, the position vector and the wellbore direction vector of the catching-up point can be determined according to the well section where the catching-up point is located on the original designed trajectory. After determining the position vector and the wellbore direction vector of the catching-up point, the position vector and the wellbore direction vector of the third stabilizing segment in the five-segment wellbore correction trajectory can be determined according to the position vector and the wellbore direction vector of the catching-up point.

[0153] When the catching-up point is on the stable inclination section of the original design trajectory, the position vector and wellbore direction vector of the catching-up point are determined according to the well depth of the starting point of the stable inclination section of the original design trajectory, the position vector of the starting point, the wellbore direction vector of the starting point, and the well depth of the catching-up point; for example: the position vector of the catching-up point and the wellbore direction vector They are:

[0154]

[0155] in, is the position vector of the starting point M of the original design track inclination stabilization section, is the wellbore direction vector of the starting point M of the original designed trajectory stable inclination section; , To catch up with the depth of the well, The well depth of the original design track stable inclination section starting point M;

[0156] When the catching-up point is on the circular well section of the original design trajectory, the position vector and well direction vector of the catching-up point are determined according to the normal vector of the starting point of the circular well section of the original design trajectory, the well direction vector of the ending point of the circular well section of the original design trajectory, the curvature radius and the dogleg angle of the circular well section of the original design trajectory, for example: the position vector of the catching-up point and the wellbore direction vector They are:

[0157]

[0158] in, is the normal vector of the starting point M of the original designed track arc segment, is the wellbore direction vector of the end point N of the original designed trajectory arc segment, and are the curvature radius and dog-leg angle of the original designed track arc segment respectively.

[0159] In the above step S102, a multi-objective optimization method is used to determine a feasible set of correction trajectories that make the preset real drilling correction trajectory constraint parameters meet the preset requirements, including: under the premise of the maximum pursuit well depth, a pursuit point is selected with a preset pursuit step length, and based on the known parameters of the correction trajectory model, the wellbore trajectory model and the pursuit model are solved to solve the correction trajectory that makes the preset real drilling correction trajectory constraint parameters meet the preset requirements, and obtain the feasible set of correction trajectories. When determining the feasible set, the length of the arc segment in the wellbore trajectory model can be initialized according to the maximum wellbore curvature of the original design trajectory; the position vector and the wellbore direction vector of one of the stable inclination segments are initialized according to the position vector at the pursuit point and the wellbore direction vector; within the range of the preset maximum pursuit well depth, the normal point is used as the starting pursuit point, and a loop iteration method is used according to the preset pursuit step length to find the correction trajectory that makes the preset real drilling correction trajectory constraint parameters meet the preset requirements, and obtain the feasible set of correction trajectories. Find a correction trajectory that makes the preset actual drilling correction trajectory constraint parameters meet the preset requirements, that is, a chasing point that makes the wellbore trajectory model have a solution, and take each solution of the solvable chasing point as a feasible correction trajectory in the feasible set.

[0160] When a multi-objective optimization model is used to find a feasible set, the parameters for measuring the deviation correction track can be selected for optimization. In a specific example of this embodiment, the parameters for measuring the deviation correction track are mainly ,in To catch up with the length, is the total length of the arc of the correction track, It is the maximum absolute value of the deviation between the well inclination angle at the node of the correction track design and the well inclination angle at the normal point of the original design track. It is the maximum absolute value of the deviation between the azimuth at the design node of the correction track and the azimuth at the normal point of the original design track.

[0161] According to the drilling process requirements, the total length of the arc is expected to be the smallest, and at the same time, the length is as small as possible, and the well deviation and azimuth deviation are also as small as possible. The mathematical model that meets these requirements is a multi-objective optimization model:

[0162] (twenty three)

[0163] in, is the feasible set, which is the set of all deviation-correcting trajectories obtained using the pursuit model.

[0164] Multi-objective optimization is to find The "best" deviation correction track is found in the problem, but the general multi-objective optimization problem is very difficult to solve, and there is no good and mature solution technology. Although there have been many studies on the use of intelligent algorithms to solve multi-objective optimization problems in recent years, the amount of calculation is too large. The basic solution idea of ​​multi-objective programming in this application is to discretize problem (23) first, then solve the non-inferior solution according to the definition of non-inferior solution and utility function, and further optimize to obtain the optimal solution. The optimization process is described in detail below.

[0165] 1. The process of determining the feasible set.

[0166] When the pursuit well is deep enough, a corrective trajectory can generally be obtained from the pursuit model, which is called a feasible solution to the multi-objective optimization problem (23). and maximum catch-up depth , a feasible set of correction trajectories can be found through cyclic iteration. This process can be implemented by a computer program to find a feasible set The process of determining the feasible set may include:

[0167] Initialize the length of the arc segment in the wellbore trajectory model according to the maximum wellbore curvature of the original designed trajectory;

[0168] Within the range of the preset maximum pursuit well depth, the normal point is used as the starting pursuit point, a pursuit point is selected according to a preset pursuit step length, and the position vector and the wellbore direction vector at the pursuit point are determined based on a pre-established pursuit model;

[0169] The position vector and wellbore direction vector of one of the stabilizing segments are initialized according to the position vector and wellbore direction vector of the chasing point. After setting the length of another stabilizing segment within the preset maximum length range based on the chasing step length, the wellbore trajectory model is solved to determine the correction trajectory that makes the preset actual drilling correction trajectory constraint parameters meet the preset requirements, and obtain the feasible set of correction trajectories.

[0170] The following is an example of an optional implementation process for determining a feasible set. The process is as follows:

[0171] S201: Preset the pursuit step length and the maximum pursuit depth.

[0172] For example: Step length and maximum catch-up depth .

[0173] S202: Initialize the lengths of the first arc segment and the second arc segment to the maximum wellbore curvature of the original designed trajectory, and initialize the length of the third stable inclination segment to zero.

[0174] For example: The first arc segment and the second arc segment are initialized as , the length of the third stable slope segment is initialized to .

[0175] S203: Taking the normal point as the starting point for catching up, a cycle is performed.

[0176] Well depth for catching up point To loop: , k is an integer. Terminated.

[0177] S204: Determine whether the well depth at the catch-up point is not greater than the maximum well depth at the catch-up point. If so, execute step S205; if not, execute step S215.

[0178] S205: If the well depth at the catching-up point is not greater than the maximum catching-up well depth, the position vector and the wellbore direction vector of the original designed trajectory at the catching-up point are calculated according to a pre-established catching-up model.

[0179] According to formula (21) or formula (22), the original design track is calculated at the catch-up point The position vector at and the wellbore direction vector .

[0180] S206: Use the position vector and wellbore direction vector at the chasing point as the position vector and wellbore direction vector of the third stable inclination segment, set the length of the first stable inclination segment to zero, solve the pre-established five-segment wellbore trajectory model, and solve the length and wellbore direction vector of the second stable inclination segment.

[0181] Let the position vector of the third stable slope segment be , the wellbore direction vector of the third stable inclination section , the length of the first stable slope section is , solve equation (19), the unknown is the length of the second stable slope segment and the wellbore direction vector of the second stable deflection section If the equation group (19) has no solution, execute step S207; if the equation group (19) has a solution, execute step S208.

[0182] S207: Based on the set catching-up step length, select the next catching-up point, and continue to execute step S204 to determine whether the well depth of the catching-up point is not greater than the maximum catching-up well depth.

[0183] In this step, after selecting the next catch-up point, the catch-up point depth Updated to: .

[0184] S208: Add the solution to the feasible set S as a feasible correction trajectory.

[0185] S209: Set the maximum length of the first stable slope segment to be equal to the solved length of the third stable slope segment, and loop the length of the first stable slope segment. At the beginning of the loop, set the length of the first stable slope segment to a catch-up step, and then gradually increase the length of the first stable slope segment according to the catch-up step until it is greater than the maximum length of the first stable slope segment.

[0186] For example: Let the maximum length of the first stable slope segment ,right Loop and set the length of the first steady slope segment to , m is an integer. Terminated.

[0187] S210: Determine whether the length of the first stable inclination segment is not greater than the maximum length of the first stable inclination segment. If not, execute step S211; otherwise, execute step S213.

[0188] S211: If the length of the first stabilizing inclination section is not greater than the maximum length of the first stabilizing inclination section, solve the pre-established five-segment wellbore trajectory model to solve the length of the second stabilizing inclination section and the wellbore direction vector.

[0189] If the length of the first stable slope section , solve equation (19), the unknown is the length of the second stable slope segment and the wellbore direction vector of the second stable deflection section If the equation group (19) has a solution, execute step S212; if the equation group (19) has no solution, execute step S207.

[0190] Step S212: Add the solution as a feasible deviation correction trajectory to the feasible set middle.

[0191] Step S213: increase the length of the first stable inclination segment by a catching-up step, and continue to execute step S210 to determine whether the length of the first stable inclination segment is not greater than the maximum length of the first stable inclination segment.

[0192] Step S215: End.

[0193] If the catching-up well depth is greater than the maximum catching-up well depth, the cycle ends.

[0194] The catch-up step length in the above cycle For example, it can be set to 10m. Of course, other values ​​can be set as needed. It depends on the normal distance between the bottom of the well and the original designed trajectory.

[0195] The above steps can be used to obtain the feasible set in the decision space. When determining the feasible set, for each feasible point (i.e., the correction track), four metrics are calculated:

[0196] (twenty four)

[0197] Among them, the subscript Take all the design nodes of the correction track except the starting point of the bottom of the well to form a vector . All vectors Form a collection , called the feasible set on the target space, and is also referred to as the feasible set when it does not cause ambiguity. The vector It is called a feasible point on the target space, also known as a feasible point for short.

[0198] In the above step S103, the correction track that satisfies the preset optimal solution condition is determined from the feasible set to obtain the optimal correction track, including: determining the correction track that satisfies the preset non-inferior solution condition from the feasible set to obtain the non-inferior set; the non-inferior solution condition includes the minimum total arc length under the same pursuit length or the minimum pursuit length under the same total arc length; determining the correction track that satisfies the preset optimal solution condition from the non-inferior set to obtain the optimal correction track; the optimal solution condition is determined based on the pursuit length, the total arc length of the correction track, the maximum well inclination deviation, and the maximum azimuth deviation. The optimal solution condition is a utility indicator obtained by weighted summing the pursuit length, the total arc length of the correction track, the maximum well inclination deviation, and the maximum azimuth deviation according to the preset weights.

[0199] 2. The process of determining non-inferior solutions.

[0200] First, let me introduce the idea of ​​determining non-inferior solutions:

[0201] For general multi-objective optimization problems:

[0202] (25)

[0203] in, yes dimensional space vector, The space in which they are located is called the decision space; is called the objective function, Dimensional vector The space in which it is located is called the target space; is the constraint function, the set

[0204] (26)

[0205] It is called the feasible set of the multi-objective optimization problem in the decision space, the set

[0206] (27)

[0207] It is called the feasible set of the multi-objective optimization problem in the objective space.

[0208] if , and there is no other feasible point make holds, and at least one of the strict inequalities holds, then it is said that is a non-inferior solution, and the set of all non-inferior solutions is called a non-inferior set. Similarly, the non-inferior solutions (non-inferior points) and non-inferior sets on the target space are defined.

[0209] When the objective function is two, the non-inferior solution in the objective space has an obvious geometric interpretation. Figure 3 middle, is the feasible set in the target space. It can be seen that Any point in It must not be a non-inferior solution, because Click the point on the lower left (the shaded area in the figure) Must satisfy: , , and at least one of them holds true. If If the area below and to the left of a point in is an empty set, then the point is a non-inferior point, so Any point on the lower left boundary (arc AB in the figure) is a non-inferior solution, and fox AB is a non-inferior set. Figure 3 Geometric interpretation of the two-objective non-inferior set shown.

[0210] For the multi-objective optimization problem (23), since the feasible set is a finite discrete set, the non-inferior set can be directly found using the definition of the non-inferior set. Figure 4 yes Figure 2 The corresponding non-inferior set shows that all non-inferior points are on the lower left boundary of the non-inferior set. A careful examination of the calculation process data shows that the correcting track types corresponding to the non-inferior solutions are all "arc + stable inclination + arc", and when the catch-up length is given, the feasible solutions from left to right in the figure are is increasing; this finding shows that it is unnecessary to calculate most of the feasible solutions outside the non-inferior set. Only a few feasible solutions adjacent to the non-inferior solutions need to be calculated (because the well deviation and azimuth deviation have not been considered yet), which can save the total amount of calculation.

[0211] In the present application, after the feasible set of the deviation correction track is determined, the non-inferior solution can be determined from the feasible set according to the above-mentioned principles and ideas for determining the non-inferior solution.

[0212] 3. The process of determining the optimal solution.

[0213] In multi-objective optimization problems, since there are multiple optimization objectives to consider, and sometimes these multiple objectives may be contradictory, it is difficult to find a definite optimal solution like a single-objective optimization problem. For example, in the deviation correction track design problem considered in this article, the goal of the shortest "arc total length" and the minimum "catch-up length" are such a situation. The smaller the arc total length, the longer the catch-up length, and vice versa, the smaller the catch-up length, the longer the arc total length. It is impossible for both the arc total length and the catch-up length to reach the minimum at the same time. This requires a compromise between these two optimization objectives, so that the arc total length and the catch-up length are both "relatively small" and within the allowable range of directional construction.

[0214] Define a utility metric:

[0215] (28)

[0216] in, is a fixed constant ( ), which describes the preference of directional well engineers for the four objectives. The larger the value, the more important the directional well engineers think the objective is.

[0217] In the specific implementation, since the numerical ranges of the four targets are different, normalization processing needs to be performed in advance, which will not be repeated here.

[0218] The utility indicator function defined in this way is a hyperplane in the target space when When increasing continuously from 0, there will always be a value that makes the hyperplane pass through a certain point or at most 4 points on the non-inferior set. This point or these 4 points are the optimal solution under the utility index. When the non-inferior point is not unique, select one of them or choose according to the well inclination and azimuth deviation.

[0219] See also Figure 5 The feasible set diagram of the actual drilling example 1 is given. The actual drilling example 1 takes the total length of the arc of two targets and the length of the pursuit as an example. Considering two targets means that the coefficient of the target not considered in equation (24) can be set to 0. According to Figure 5 It is obvious that when the step length When it is infinitely close to 0, the feasible set is a continuous closed set.

[0220] Figure 6 A schematic diagram of the non-inferior solution of the real drilling example 1 is given. Figure 6 It can be seen that the non-inferior solutions corresponding to the red points are all distributed in the lower left edge.

[0221] Figure 7 The optimal solution diagram of the actual drilling example 1 is given. Figure 7 It can be seen that the optimal solution corresponding to the green point is located in the middle part of the arc formed by the red points.

[0222] See also Figure 8 A feasible set diagram of the actual drilling example 2 is given. The actual drilling example 2 takes the total length of four target arcs, the pursuit length, the well inclination and the azimuth deviation as an example. The calculation formulas for the well inclination deviation and the azimuth deviation of the correction trajectory given by formula (24) can be used.

[0223] Fig. 9 A schematic diagram of the non-inferior solution of the real drilling example 2 is given. Fig. 9 It can be seen that the non-inferior solutions corresponding to the red points are all distributed on the left edge.

[0224] Fig.10 The optimal solution diagram of the actual drilling example 2 is given. Fig.10 It can be seen that the optimal solution corresponding to the green point is located at the upper end of the arc formed by the red point.

[0225] The following is a specific example of the Y101H29-3 well. The Y101H29-3 well is a three-dimensional horizontal well, and the original design trajectory data of the well is shown in Table 1.

[0226] Table 1

[0227] Serial number Well depth (m) Well inclination (°) Azimuth (°) Vertical depth (m) North (m) East (m) 0 0 0 0 0 0 0 1 250 0 0 250 0 0 2 383 6.66 116.79 382.7 -3.48 6.89 3 3709 6.66 116.79 3686.26 -177.34 351.23 4 3866 25 25 3837.99 -150.92 373.77 5 4194 90.69 25 4003.15 87.19 484.8 6 6194 90.69 25 3979.06 1899.67 1329.97

[0228] The current bottom hole inclinometer data is shown in Table 2. Judging from the normal distance, it has seriously deviated from the designed track and it is very difficult to correct the deviation.

[0229] Table 2

[0230] Depth (m) Well inclination (°) Azimuth (°) Vertical depth (m) North (m) East (m) Normal distance (m) 3685.39 16.7 132.04 3645.39 -139.58 287.74 68.65

[0231] Column length 30 m, wellbore curvature constraint value 8° / 30 m, the minimum pursuit algorithm is used for the deviation correction track design, and the deviation correction track optimization is completed in the 26th step. The deviation correction track design calculation results are shown in Table 3. Fig.11 and Fig.12 .

[0232] Table 3

[0233]

[0234] Fig.11 This is the horizontal projection of the original design track (partial) and the correction track. The blue one is the original design track, and the red track to be drilled is the correction track. Fig.12The vertical projection diagram of the original design track (partial) and the correction track (projection azimuth 25°), the blue one is the original design track, and the red one to be drilled is the correction track. The correction track designed by the above method can realize the actual drilling track correction within the shortest footage, and the correction track is easier to construct, reducing the construction difficulty.

[0235] The above-mentioned deviation-correcting track design method provided by the embodiment of the present invention has the following advantages:

[0236] (1) Based on the minimum curvature method, a correction trajectory design model, the minimum pursuit model, was established. It can be summarized as a multi-parameter, multi-constraint nonlinear optimization model. Under the condition of satisfying the wellbore curvature constraint, the correction trajectory segmented trajectory control parameters, the wellbore curvature and the tool face angle, are optimized so that the normal distance decreases almost everywhere and the pursuit length is minimized.

[0237] (2) The example shows that the intelligent optimization algorithm can calculate the deviation correction trajectory, the minimum pursuit model is solvable, and the deviation correction trajectory optimized by the intelligent optimization algorithm meets the requirements of the drilling process, which is convenient for the real-time online design of the wellbore trajectory. It can be achieved based on a simple algorithm and is more suitable for system environments with tight computing resources such as rotary guide instruments.

[0238] Based on the same inventive concept, the embodiment of the present invention also provides a real drilling correction wellbore trajectory design device, such as Fig.13 As shown, including:

[0239] An acquisition module 11 is used to acquire current bottom hole parameters and original designed trajectory data, wherein the current bottom hole parameters and original designed trajectory data include: well depth, well inclination angle, azimuth, north-south coordinate, east-west coordinate, and vertical depth;

[0240] The feasible set determination module 12 is used to select a number of chasing points from the original design trajectory, and according to the current bottom hole parameters and the original design trajectory data, use the pre-established wellbore trajectory model and the chasing model, and adopt a multi-objective optimization method to determine the feasible set of the correction trajectory that makes the preset actual drilling correction trajectory constraint parameters meet the preset requirements; the wellbore trajectory model is a correction trajectory model from the current bottom hole point to the chasing point, and its correction trajectory includes a stable inclination segment and an arc segment designed at intervals; the chasing model includes a model that determines the correction trajectory parameters based on the trajectory segment where the chasing point is located on the original design trajectory with the maximum wellbore curvature of the original design trajectory and the preset maximum chasing length as constraints; the actual drilling correction trajectory constraint parameters include the chasing length, the correction trajectory arc length, the wellbore curvature, the allowable deviation of the well inclination angle, and the allowable deviation of the azimuth angle;

[0241] The optimal solution determination module 13 is used to determine the deviation correction track that satisfies the preset optimal solution conditions from the feasible set, so as to obtain the optimal deviation correction track.

[0242] In some optional embodiments, the above-mentioned actual drilling deviation correction wellbore trajectory design device further includes:

[0243] The wellbore model construction module 14 is used to construct a five-segment wellbore correction trajectory with the current bottom hole point as the starting point and the selected chasing point as the end point, wherein the five-segment wellbore correction trajectory includes a first stabilizing inclination segment, a first circular arc segment, a second stabilizing inclination segment, a second circular arc segment, and a third stabilizing inclination segment; according to the length of each stabilizing inclination segment of the five-segment wellbore correction trajectory and the wellbore direction vector, the dogleg angle of each circular arc segment, the wellbore curvature and the tangent length, the five-segment wellbore correction trajectory constraint equation is constructed.

[0244] The chasing model construction module 15 is used to pre-construct a chasing model, wherein the chasing model is a model that uses the maximum wellbore curvature of the original design track and the preset maximum chasing length as constraints, and determines the unknown parameters of the correction track based on known parameters according to the track segment where the chasing point is located on the original design track; the chasing length is the difference between the well depth of the normal point on the original design track and the well depth of the selected chasing point; wherein, when the track segment where the chasing point is located is different, the known parameters and the unknown parameters are different, and the process of determining the known parameters and the unknown parameters includes: determining the expressions of the position vector and the wellbore direction vector of the chasing point according to the track segment where the chasing point is located on the original design track; and determining the known parameters and the unknown parameters of the correction track model when the chasing point is in different track segments according to the expressions of the position vector and the wellbore direction vector of the chasing point on different track segments.

[0245] An embodiment of the present invention further provides a computer storage medium, in which computer executable instructions are stored. When the computer executable instructions are executed by a processor, the above-mentioned actual drilling deviation correction wellbore trajectory design method is implemented.

[0246] An embodiment of the present invention further provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned actual drilling deviation correction wellbore trajectory design method when executing the program.

[0247] Regarding the actual drilling correction wellbore trajectory design device in the above-mentioned embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0248] Unless otherwise specifically stated, terms such as processing, computing, calculating, determining, displaying, etc. may refer to the actions and / or processes of one or more processing or computing systems, or similar devices, which operate and convert data represented as physical (e.g., electronic) quantities within registers or memories of a processing system into other data similarly represented as physical quantities within memories, registers, or other such information storage, transmission, or display devices of the processing system. Information and signals may be represented using any of a variety of different techniques and methods. For example, data, instructions, commands, information, signals, bits, symbols, and chips mentioned throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0249] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0250] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0251] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0252] The steps of the method or algorithm described in conjunction with the embodiments herein may be directly embodied as hardware, a software module executed by a processor, or a combination thereof. The software module may be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and the storage medium may also be present in a user terminal as discrete components.

[0253] For software implementation, the techniques described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

[0254] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. A method for designing a wellbore trajectory for real drilling correction, characterized in that: include: Obtain current bottom hole parameters and original designed trajectory data; A number of chasing points are selected from the original design trajectory, and according to the current bottom hole parameters and the original design trajectory data, a pre-established wellbore trajectory model and a chasing model are used, and a multi-objective optimization method is adopted to determine a feasible set of correction trajectories that make the preset actual drilling correction trajectory constraint parameters meet the preset requirements; the wellbore trajectory model is a correction trajectory model from the current bottom hole point to the chasing point, and its correction trajectory includes a stable inclination segment and an arc segment designed at intervals; the chasing model includes a model for determining the correction trajectory parameters based on the trajectory segment where the chasing point is located on the original design trajectory with the maximum wellbore curvature of the original design trajectory and the preset maximum chasing length as constraints; determining the correction trajectory parameters is Refers to determining the unknown parameters of the deviation correction track based on known parameters; the pursuit length is the difference between the well depth of the normal point on the original design track and the well depth of the selected pursuit point; wherein, when the track segment where the pursuit point is located is different, the known parameters and the unknown parameters are different, and the process of determining the known parameters and the unknown parameters includes: determining the expressions of the position vector and the wellbore direction vector of the pursuit point according to the track segment where the pursuit point is located on the original design track; determining the known parameters and unknown parameters of the deviation correction track model when the pursuit point is in different track segments according to the expressions of the position vector and the wellbore direction vector of the pursuit point on different track segments; the normal point is the point on the original design track where the normal surface passes through the current bottom point; A deviation correction track that satisfies a preset optimal solution condition is determined from the feasible set to obtain an optimal deviation correction track.

2. The method according to claim 1, characterized in that The method of selecting a number of catching-up points from the original design track includes: Starting from the normal point on the original design trajectory, several catching-up points are selected along the direction of increasing well depth, and the well depth of the selected catching-up points is not greater than the preset maximum catching-up well depth.

3. The method according to claim 1, characterized in that It also includes pre-built well trajectory models, which include: Constructing a wellbore deviation correction trajectory with the current bottom point as the starting point and the selected pursuit point as the ending point, wherein the wellbore deviation correction trajectory includes a first inclination stabilizing segment, a first circular arc segment, a second inclination stabilizing segment, a second circular arc segment, and a third inclination stabilizing segment; The constraint equation of the wellbore correction trajectory is constructed according to the length of each stable inclination section of the wellbore correction trajectory, the wellbore direction vector, the dogleg angle of each arc section, the wellbore curvature and the tangent length.

4. The method according to claim 3, characterized in that The wellbore deviation correction trajectory constraint equation is as follows: in, is the length of the stable slope section, is the wellbore direction vector of the stable deflection section, ; The dogleg angle of the arc segment, The curvature of the wellbore in the arc segment, is the tangent length of the arc segment, .

5. The method according to claim 1, characterized in that When the catching-up point is on the stable inclination section of the original design trajectory, the position vector and the wellbore direction vector of the catching-up point are determined according to the well depth of the starting point of the stable inclination section of the original design trajectory, the position vector of the starting point, the wellbore direction vector of the starting point, and the well depth of the catching-up point; When the catching-up point is on the circular arc section of the original designed trajectory, the position vector and the wellbore direction vector of the catching-up point are determined according to the normal vector of the starting point of the circular arc section of the original designed trajectory, the wellbore direction vector of the ending point of the circular arc section of the original designed trajectory, the curvature radius and the dogleg angle of the circular arc section of the original designed trajectory.

6. The method according to claim 3, characterized in that A multi-objective optimization method is used to determine a feasible set of deviation correction tracks that makes the preset actual drilling deviation correction track constraint parameters meet the preset requirements, including: Under the premise of the maximum catching-up well depth, the catching-up point is selected with the preset catching-up step length. Based on the known parameters of the determined correction trajectory model, the wellbore trajectory model and the catching-up model are solved to solve the correction trajectory that makes the preset actual drilling correction trajectory constraint parameters meet the preset requirements, and obtain the feasible set of the correction trajectory.

7. The method according to claim 6, characterized in that Under the premise of the maximum pursuit well depth, the pursuit point is selected with the preset pursuit step length. Based on the known parameters of the determined correction trajectory model, the wellbore trajectory model and the pursuit model are solved to solve the correction trajectory that makes the preset actual drilling correction trajectory constraint parameters meet the preset requirements, and the correction trajectory feasible set is obtained, including: Initialize the length of the arc segment in the wellbore trajectory model according to the maximum wellbore curvature of the original designed trajectory; Within the range of the preset maximum pursuit well depth, the normal point is used as the starting pursuit point, a pursuit point is selected according to a preset pursuit step length, and the position vector and the wellbore direction vector at the pursuit point are determined based on a pre-established pursuit model; The position vector and wellbore direction vector of one of the stabilizing segments are initialized according to the position vector and wellbore direction vector of the chasing point. After setting the length of another stabilizing segment within the preset maximum length range based on the chasing step length, the wellbore trajectory model is solved to determine the correction trajectory that makes the preset actual drilling correction trajectory constraint parameters meet the preset requirements, and obtain the feasible set of correction trajectories.

8. The method according to claim 3, characterized in that The process of using a multi-objective optimization method to determine a feasible set of deviation correction tracks that makes the preset actual drilling deviation correction track constraint parameters meet the preset requirements includes: Preset the pursuit step length and maximum pursuit depth; Initialize the lengths of the first and second arc segments to the maximum wellbore curvature of the original designed trajectory, and initialize the length of the third stable inclination segment to zero; use the normal point as the starting point for catching up and perform a cycle: Determine whether the well depth at the catching-up point is not greater than the maximum well depth of catching-up; If the well depth at the catching-up point is not greater than the maximum catching-up well depth, the position vector and the wellbore direction vector of the original designed trajectory at the catching-up point are calculated according to the pre-established catching-up model; The position vector and the wellbore direction vector at the chasing point are used as the position vector and the wellbore direction vector of the third stable inclination segment, and the length of the first stable inclination segment is set to zero, and the pre-established five-segment wellbore trajectory model is solved to solve the length of the second stable inclination segment and the wellbore direction vector; If there is no solution, the next catching-up point is selected based on the set catching-up step size, and the step of judging whether the catching-up point depth is not greater than the maximum catching-up depth is continued. If there is a solution, add the solution as a feasible deviation correction track to the feasible set; let the maximum length of the first stable inclination segment be equal to the length of the third stable inclination segment obtained by solution, and loop over the length of the first stable inclination segment: The length of the first stable inclination section is set as a catching-up step length, and it is determined whether the length of the first stable inclination section is not greater than the maximum length of the first stable inclination section; if the length of the first stable inclination section is not greater than the maximum length of the first stable inclination section, the pre-established five-segment wellbore trajectory model is solved to solve the length of the second stable inclination section and the wellbore direction vector; If there is a solution, add the solution as a feasible deviation correction track to the feasible set, increase the length of the first stable inclination segment by a catching-up step, and continue to perform the step of determining whether the length of the first stable inclination segment is not greater than the maximum length of the first stable inclination segment; If there is no solution, based on the set catching-up step length, select the next catching-up point, and continue to execute the step of determining whether the well depth of the catching-up point is not greater than the maximum catching-up well depth; If the catching-up well depth is greater than the maximum catching-up well depth, the cycle ends.

9. The method according to any one of claims 1 to 8, characterized in that Determining a deviation correction track that satisfies a preset optimal solution condition from the feasible set, and obtaining an optimal deviation correction track, includes: Determine a deviation correction track that satisfies a preset non-inferior solution condition from the feasible set to obtain a non-inferior set; the non-inferior solution condition includes the minimum total length of the arc under the same pursuit length or the minimum pursuit length under the same total length of the arc; A correction track that satisfies a preset optimal solution condition is determined from the non-inferior set to obtain an optimal correction track; the optimal solution condition is determined based on the pursuit length, the total arc length of the correction track, the maximum well inclination deviation, and the maximum azimuth deviation.

10. The method according to claim 9, characterized in that The optimal solution condition is a utility index obtained by weighted summing the pursuit length, the total arc length of the deviation correction track, the maximum well inclination deviation and the maximum azimuth deviation according to preset weights.

11. The method according to claim 1, characterized in that The current bottom hole parameters and the original design trajectory data include: well depth, well inclination, azimuth, north-south coordinates, east-west coordinates, and vertical depth; The actual drilling correction trajectory constraint parameters include the pursuit length, the correction trajectory arc length, the wellbore curvature, the allowable deviation of the well inclination angle and the allowable deviation of the azimuth angle.

12. A real drilling deviation correction wellbore trajectory design device, characterized in that: include: An acquisition module is used to obtain current bottom hole parameters and original design trajectory data; A feasible set determination module is used to select a number of chasing points from the original design trajectory, and according to the current bottom hole parameters and the original design trajectory data, use the pre-established wellbore trajectory model and the chasing model, and adopt a multi-objective optimization method to determine a feasible set of correction trajectories that make the preset actual drilling correction trajectory constraint parameters meet the preset requirements; the wellbore trajectory model is a correction trajectory model from the current bottom hole point to the chasing point, and its correction trajectory includes a stable inclination segment and an arc segment designed at intervals; the chasing model includes a model that determines the correction trajectory parameters based on the trajectory segment where the chasing point is located on the original design trajectory, with the maximum wellbore curvature of the original design trajectory and the preset maximum chasing length as constraints; The catch-up model construction module is used to pre-construct a catch-up model, wherein the catch-up model is a model that uses the maximum borehole curvature of the original design track and the preset maximum catch-up length as constraints, and determines the unknown parameters of the correction track based on known parameters according to the track segment where the catch-up point is located on the original design track; the catch-up length is the difference between the well depth of the normal point on the original design track and the well depth of the selected catch-up point; wherein, when the track segment where the catch-up point is located is different, the known parameters and the unknown parameters are different, and the process of determining the known parameters and the unknown parameters includes: determining the expressions of the position vector and the borehole direction vector of the catch-up point according to the track segment where the catch-up point is located on the original design track; determining the known parameters and the unknown parameters of the correction track model when the catch-up point is in different track segments according to the expressions of the position vector and the borehole direction vector of the catch-up point on different track segments; the normal point is the point on the original design track where the normal surface passes through the current bottom hole point; The optimal solution determination module is used to determine the deviation correction track that satisfies the preset optimal solution conditions from the feasible set, so as to obtain the optimal deviation correction track.

13. The device according to claim 12, characterized in that Also includes: A wellbore model construction module is used to construct a five-segment wellbore correction trajectory with the current bottom point as the starting point and the selected chasing point as the end point, wherein the five-segment wellbore correction trajectory includes a first stabilizing inclination segment, a first circular arc segment, a second stabilizing inclination segment, a second circular arc segment, and a third stabilizing inclination segment; according to the length of each stabilizing inclination segment of the five-segment wellbore correction trajectory and the wellbore direction vector, the dogleg angle of each circular arc segment, the wellbore curvature and the tangent length, the five-segment wellbore correction trajectory constraint equation is constructed.

14. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, and when the computer executable instructions are executed by the processor, the actual drilling correction wellbore trajectory design method described in any one of claims 1-11 is implemented.

15. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for designing a wellbore trajectory for actual drilling correction as described in any one of claims 1 to 11 when executing the program.

Images