Grinding control system and control method thereof

Abstract

The invention provides a grinding control system and a control method thereof. The system comprises an injection head pump, a continuous pipe, a bit pressure sensor, a speed sensor, a milling shoe and a control terminal, the injection head pump is used for feeding the coiled tubing into a shaft; the bit pressure sensor is used for acquiring the initial bit pressure of the milling shoe; the control terminal is used for comparing the initial bit pressure with the target bit pressure to obtain a first comparison result; according to the first comparison result and a control function, obtaining a target tripping-in speed; the speed sensor is used for acquiring the real-time tripping-in speed of the coiled tubing; the control terminal is further used for comparing the real-time tripping-in speed with the target tripping-in speed to obtain a second comparison result; according to the second comparison result, a control signal is generated, and the control signal is sent to the injection head pump; the injection head pump is used for adjusting the displacement according to the control signal so as to control the tripping-in speed of the continuous pipe, and constant bit pressure control is achieved. Based on the system, the bit pressure can be automatically and accurately controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of petroleum equipment, and in particular to a grinding control system and a control method thereof. Background Art

[0002] With the large-scale development of shale gas and tight low-permeability oil and gas reservoirs, horizontal well drillable bridge plug segmented multi-cluster fracturing has been widely used. During the horizontal well drillable bridge plug segmented multi-cluster fracturing operation, the mill (the mill is set at the inner end of the continuous pipe) is sent into the wellbore through the continuous pipe, and the mill is used for grinding operation. It is necessary to monitor and control the drilling pressure of the mill. When the drilling pressure of the mill is too high, the drilling pressure is reduced by reducing the speed of the continuous pipe to reduce the wear of the mill and extend the service life of the mill; when the drilling pressure of the mill is too low, the drilling pressure is increased by increasing the continuous pipe to improve the grinding efficiency and give full play to the performance of the mill.

[0003] In the prior art, the real-time load on the ground is usually obtained, the mill drilling pressure is estimated using the real-time load, and the coiled tubing running speed is changed by manual control. This method cannot obtain accurate mill drilling pressure, nor can it automatically adjust the coiled tubing running speed.

[0004] Currently, no effective solution has been proposed for the above technical problems. Summary of the invention

[0005] This specification provides a grinding control system and a control method thereof, which can realize automatic and accurate control of drilling pressure.

[0006] The purpose of the embodiment of this specification is to provide a grinding control system, including: an injection head pump, a coiled tubing, a drilling pressure sensor, a speed sensor, a grinding shoe, and a control terminal; the injection head pump is used to apply pressure to the coiled tubing to send the coiled tubing into a wellbore; the drilling pressure sensor and the grinding shoe are arranged inside the end of the coiled tubing; the drilling pressure sensor is used to obtain the initial drilling pressure of the grinding shoe; the grinding shoe is used to grind a bridge plug; the control terminal is used to compare the initial drilling pressure with the target drilling pressure to obtain a first comparison result; and obtain a target running speed according to the first comparison result and a control function; the speed sensor is used to obtain the initial running speed of the coiled tubing; the control terminal is also used to compare the initial running speed with the target running speed to obtain a second comparison result; and generate a control signal according to the second comparison result, and send the control signal to the injection head pump; the injection head pump is also used to adjust the displacement according to the control signal to control the running speed of the coiled tubing.

[0007] Furthermore, in another embodiment of the system, the system also includes a control chip; the drilling pressure sensor is used to generate a drilling pressure simulation signal according to the initial drilling pressure; the speed sensor is used to generate a speed simulation signal according to the initial running-in speed; the control chip is used to send the drilling pressure simulation signal and the speed simulation signal to the control terminal; the control terminal is used to obtain the initial drilling pressure and the initial running-in speed according to the drilling pressure simulation signal and the speed simulation signal.

[0008] Furthermore, in another embodiment of the system, the system further comprises a cable; the cable is arranged inside the coiled tubing; the cable is used to transmit the drilling pressure simulation signal to the control chip.

[0009] Furthermore, in another embodiment of the system, the system further comprises a fracturing pump; the fracturing pump is used to inject high-pressure fluid into the coiled tubing.

[0010] Furthermore, in another embodiment of the system, the system further comprises a screw motor; the screw motor is disposed inside the end of the continuous tube; the screw motor drives the grinding shoe to grind under the drive of the high-pressure fluid.

[0011] Furthermore, in another embodiment of the system, when the second comparison result is that the initial running speed is greater than the target running speed, the control terminal is used to generate a reduction signal and use the reduction signal as a control signal; the injection head pump is used to reduce the displacement according to the control signal to control the running speed of the coiled tubing to decrease.

[0012] Furthermore, in another embodiment of the system, when the second comparison result is that the initial running speed is less than the target running speed, the control terminal is used to generate an increase signal and use the increase signal as a control signal; the injection head pump is used to increase the displacement according to the control signal to control the running speed of the coiled tubing to increase.

[0013] Furthermore, in another embodiment of the system, the control terminal is also used to determine the target drilling pressure in the following manner: obtain the bridge plug type and the mill shoe type; input the bridge plug type and the mill shoe type into a pre-built target drilling pressure model to obtain the target drilling pressure.

[0014] Furthermore, in another embodiment of the system, the control function is a PID control function.

[0015] On the other hand, an embodiment of the present specification further provides a control method of a grinding control system, the method being applied to a control terminal, comprising:

[0016] Obtain the initial drilling pressure of the grinding shoe and the initial running speed of the coiled tubing;

[0017] Comparing the initial drilling pressure with the target drilling pressure to obtain a first comparison result; and obtaining a target running speed according to the first comparison result and a control function;

[0018] Comparing the initial lowering speed with the target lowering speed to obtain a second comparison result; and generating a control signal according to the second comparison result;

[0019] The control signal is sent to the injection head pump; wherein the control signal is used to adjust the displacement of the injection head pump to control the lowering speed of the coiled tubing. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of this specification, the drawings required for use in the embodiments will be briefly introduced below. The drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of an embodiment of a grinding control system provided in this specification;

[0022] Figure 2 It is a structural schematic diagram of a hydraulic subsystem provided in this specification;

[0023] Figure 3 This specification provides a flow chart of an embodiment of a control method of a grinding control system;

[0024] Figure 4 This is a schematic diagram of feedback regulation based on PID provided in this manual;

[0025] Figure 5 It is a structural schematic diagram of a specific grinding control system provided in this specification;

[0026] Figure 6 It is a schematic diagram of the control process in a specific scenario example provided in this manual;

[0027] Figure 7 This specification provides a schematic structural diagram of an embodiment of a control device of a grinding control system;

[0028] Figure 8 This is a schematic diagram of the structural composition of a server provided in this manual. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0030] With the large-scale development of shale gas and tight low-permeability oil and gas reservoirs, horizontal well drillable bridge plug segmented multi-cluster fracturing has been widely used. During the horizontal well drillable bridge plug segmented multi-cluster fracturing operation, the mill (the mill is set at the inner end of the continuous pipe) is sent into the wellbore through the continuous pipe, and the mill is used for grinding operation. It is necessary to monitor and control the drilling pressure of the mill. When the drilling pressure of the mill is too high, the drilling pressure is reduced by reducing the speed of the continuous pipe to reduce the wear of the mill and extend the service life of the mill; when the drilling pressure of the mill is too low, the drilling pressure is increased by increasing the continuous pipe to improve the grinding efficiency and give full play to the performance of the mill.

[0031] Considering that in the prior art, the real-time load on the ground is usually obtained, and the result of subtracting the initial load from the real-time load is used as the mill drilling pressure, and then the coiled tubing running speed is changed by manual control of the operator. When the mill drilling pressure is greater than the preset drilling pressure value, the coiled tubing running speed is reduced, and when the mill drilling pressure is less than the preset drilling pressure value, the coiled tubing running speed is increased. This method cannot fully consider the complex nonlinear relationship between the real-time load and the mill drilling pressure, so the mill drilling pressure obtained by load estimation is not accurate; and manual control relies on the experience of the operator, which is easy to lead to low construction efficiency and the problem of drill jamming in complex working conditions, and cannot achieve automated and refined control of the coiled tubing drilling pressure.

[0032] Furthermore, it is also considered that the above process relies on the operator's experience and manually adjusts the coiled tubing running speed, and it is impossible to automatically and accurately adjust the coiled tubing running speed through the coiled tubing running speed preset value.

[0033] In view of the above problems existing in the existing methods and the specific reasons for the above problems, the present application introduces a grinding control system based on the coiled tubing lowering speed and a control method thereof to achieve automatic and accurate control of the grinding shoe drilling pressure.

[0034] Based on the above ideas, see Figure 1As shown, this specification proposes a grinding control system, which at least includes: an injection head pump 11, a coiled tube 12, a drilling pressure sensor 13, a speed sensor 15, a grinding shoe 14, and a control terminal 16; the injection head pump 11 is used to apply pressure to the coiled tube 12 to send the coiled tube 12 into the wellbore; the drilling pressure sensor 13 and the grinding shoe 14 are arranged inside the end of the coiled tube 12; the drilling pressure sensor 13 is used to obtain the initial drilling pressure of the grinding shoe 14; the grinding shoe 14 is used to grind the bridge plug 17; the control terminal 16 is used to compare the The initial drilling pressure and the target drilling pressure are compared to obtain a first comparison result; and a target running speed is obtained according to the first comparison result and the control function; the speed sensor 15 is used to obtain the initial running speed of the coiled tubing 12; the control terminal 16 is also used to compare the initial running speed and the target running speed to obtain a second comparison result; and according to the second comparison result, a control signal is generated and sent to the injection head pump 11; the injection head pump 11 is also used to adjust the displacement according to the control signal to control the running speed of the coiled tubing 12.

[0035] In some embodiments, the system further includes a control chip; the drilling pressure sensor is used to generate a drilling pressure simulation signal according to the initial drilling pressure; the speed sensor is used to generate a speed simulation signal according to the initial running speed; the control chip is used to send the drilling pressure simulation signal and the speed simulation signal to the control terminal; the control terminal is used to obtain the initial drilling pressure and the initial running speed according to the drilling pressure simulation signal and the speed simulation signal. The control chip is a lower computer of the drilling pressure sensor and the speed sensor, which is used to receive the analog signal from the drilling pressure sensor and the speed sensor and forward it to the control terminal. The control terminal is a host computer of the drilling pressure sensor and the speed sensor, which is used to receive the analog signal and restore the analog signal to the initial drilling pressure and the initial running speed. The control terminal is specifically an intelligent terminal with data receiving, data processing, data sending, and data display functions, such as a desktop computer, a laptop computer, a tablet computer, a smart phone, etc. The control terminal also includes an input device that can receive control instructions input by a user to control the grinding process.

[0036] In some embodiments, the system further comprises a cable; the cable is arranged inside the coiled tubing; the cable is used to transmit the drilling pressure simulation signal to the control chip. The inside of the coiled tubing can be divided into a fluid channel and a data channel, the fluid channel and the data channel are isolated by a baffle device, the fluid channel is used to transmit high-pressure fluid, and the data channel is used to place the cable, one end of the cable is connected to the control chip, and the other end is connected to the drilling pressure sensor.

[0037] In some embodiments, the system further comprises a fracturing pump, which is used to inject high-pressure fluid into the coiled tubing. Specifically, the high-pressure fluid can be injected into the fluid channel in the coiled tubing, and the high-pressure fluid flushes the screw motor to provide power for the screw motor, which in turn drives the grinding shoe to perform grinding operations.

[0038] In some embodiments, the system further comprises a screw motor; the screw motor is disposed inside the end of the continuous tube; the screw motor is connected to a grinding shoe, and drives the grinding shoe to grind under the drive of the high-pressure fluid.

[0039] In some embodiments, the system further comprises an injection head, which is installed above the wellhead of the oil well and connected to the starting end of the coiled tubing. The injection head can straighten and lift the coiled tubing during the grinding operation. The injection head pump can directly apply pressure to the injection head to deliver the coiled tubing connected to the injection head into the wellbore.

[0040] In some embodiments, when the second comparison result is that the initial running speed is greater than the target running speed, the control terminal is used to generate a reduction signal, and use the reduction signal as a control signal to send the control signal to the injection head pump; the injection head pump is used to reduce the displacement according to the control signal to control the running speed of the coiled tubing to decrease.

[0041] In some embodiments, when the second comparison result is that the initial running speed is less than the target running speed, the control terminal is used to generate an increase signal, and use the increase signal as a control signal to send the control signal to the injection head pump; the injection head pump is used to increase the displacement according to the control signal to control the running speed of the coiled tubing to increase.

[0042] In some embodiments, when the second comparison result is that the initial running speed is equal to the target running speed, the control terminal does not adjust the coiled tubing running speed.

[0043] In some embodiments, the injection head pump can be directly controlled using a control terminal, or can be indirectly controlled through a control chip.

[0044] Based on the above method, the grinding pressure of the mill and the running speed of the coiled tubing can be used for grinding control, avoiding the problems of inaccurate adjustment and slow adjustment speed caused by using only the mill drilling pressure for control. Ultimately, the real-time drilling pressure of the mill can be stabilized near the target drilling pressure, and the real-time running speed of the coiled tubing can be stabilized near the target running speed.

[0045] In some embodiments, the control terminal is further used to determine the target drilling pressure in the following manner:

[0046] S1: Obtaining the bridge plug type and the mill shoe type; the bridge plug type and the mill shoe type can be obtained through construction design data;

[0047] S2: Inputting the bridge plug type and the mill shoe type into a pre-built target drilling weight model to obtain a target drilling weight.

[0048] In some embodiments, the target weight-on-bit model may be pre-built in the following manner:

[0049] S1: Conduct a grinding experiment in the laboratory, select different types of target bridge plugs and different types of target grinding shoes, grind the target bridge plugs with the target grinding shoes in turn, record the real-time drilling pressure and grinding efficiency of the target grinding shoes during the grinding process, and use the real-time drilling pressure corresponding to the maximum grinding efficiency as the target drilling pressure. Obtain multiple sets of corresponding relationships between "bridge plug type-grinding shoe type-target drilling pressure" to form a training data set;

[0050] S2: Use the training data set to train the initial neural network model to obtain the target drilling pressure model.

[0051] In some embodiments, the control terminal is further used to determine the target drilling pressure in the following manner:

[0052] S1: Determine the drilling pressure interval according to the initial drilling pressure; for example, the initial drilling pressure can be used as the midpoint of the drilling pressure interval, and a certain interval step length can be set to obtain the drilling pressure interval;

[0053] S2: adjusting the drilling pressure of the grinding shoe from the initial drilling pressure to the left end point value of the drilling pressure interval, and gradually increasing the drilling pressure of the grinding shoe until it reaches the right end point value of the drilling pressure interval; recording multiple mechanical drilling speeds at different times during the process;

[0054] S3: compare multiple mechanical drilling speeds, and use the drilling pressure corresponding to the maximum mechanical drilling speed as the target drilling pressure.

[0055] In some embodiments, the control function is a PID control function. PID refers to proportional, integral, and differential control. The PID control function eliminates errors through integral action. It can form a control quantity through linear combination of the proportion (P), integral (I), and differential (D) of the deviation between the given value r(t) and the actual output value y(t) to control the controlled object. For example, the difference between the initial drilling pressure and the target drilling pressure is used as the input quantity of the PID control function and input into the PID control function, and the PID control function will output the target running speed.

[0056] In some embodiments, the system further includes a pump pressure sensor; the pump pressure sensor is used to obtain the pump pressure of the fracturing pump.

[0057] In some embodiments, the control terminal is also used to automatically identify whether the grinding shoe contacts the bridge plug according to the pump pressure of the fracturing pump and the initial drilling pressure, and start the grinding operation when the grinding shoe contacts the bridge plug.

[0058] In some embodiments, the system further includes a remote control platform located on the ground, and the remote control platform can be composed of one or more intelligent terminals. During the grinding process, the drilling pressure sensor collects the grinding shoe drilling pressure in real time and feeds it back to the control terminal, the speed sensor collects the coiled tubing lowering speed in real time and feeds it back to the control terminal, and the pump pressure sensor collects the fracturing pump pressure in real time and feeds it back to the control terminal. The control terminal transmits the grinding shoe drilling pressure, the coiled tubing lowering speed, and the fracturing pump pressure to the remote control platform through a wireless transmission device. The remote control platform is used to input the grinding shoe drilling pressure, the coiled tubing lowering speed, and the fracturing pump pressure into a pre-built drilling and grinding efficiency neural network model to obtain the current drilling and grinding efficiency; the remote control platform is also used to input the grinding shoe drilling pressure, the coiled tubing lowering speed, and the fracturing pump pressure into a pre-built risk identification neural network model to obtain the current drilling risk identification result, and adjust the drilling parameters such as the grinding shoe drilling pressure, the coiled tubing lowering speed, the fracturing pump pressure, and the mechanical drilling speed based on the current drilling risk identification result to avoid drilling risks such as stuck drill. The drilling and milling efficiency neural network model can be obtained by training the initial neural network model based on the historical milling shoe drilling pressure, the historical coiled tubing running speed, the historical fracturing pump pressure, and the historical drilling and milling efficiency. The risk identification neural network model can be obtained by training the initial neural network model based on the historical milling shoe drilling pressure, the historical coiled tubing running speed, the historical fracturing pump pressure, and the historical drilling risk identification results.

[0059] In some embodiments, the system further comprises a hydraulic subsystem, see Figure 2As shown, the hydraulic subsystem includes: an oil replenishment pump 21, an overflow valve 22, a shuttle valve 23, a flushing valve 24, a balancing valve 25, a hydraulic motor 26, and an oil tank 27. The hydraulic subsystem is connected to the injection head pump 11 and is used to control the injection head pump 11. Specifically, the oil replenishment pump 21 sucks hydraulic oil from the oil tank 27 and provides it to the injection head pump 11. The injection head pump 11 uses the hydraulic oil to apply pressure to the injection head, and the injection head then transmits the pressure to the coiled tubing to send the coiled tubing into the wellbore. The overflow valve 22 is used to control the oil replenishment pressure. The shuttle valve 23 is used to realize the oil replenishment from the oil replenishment pump 21 to the low-pressure side pipeline of the hydraulic motor 26. The flushing valve 24 controls the low-pressure side hydraulic oil to flow into the oil tank 27 to ensure the thermal balance of the entire hydraulic subsystem. The balancing valve 25 is used to prevent the injection head pump 11 from slipping after losing power. The hydraulic motor 26 rotates under the action of high-pressure hydraulic oil to provide power to the injection head pump 11. During the drilling and grinding process, the injection head drives the coiled tubing, drilling pressure sensor, screw motor and grinding shoe to slowly go in. When the coiled tubing lowering speed needs to be changed, the control terminal gives a control signal to change the hydraulic oil output flow rate, control the output speed of the hydraulic motor 26, and then change the displacement of the injection head pump 11.

[0060] The present application also proposes a control method for a grinding control system, which is applied to a grinding control system and includes:

[0061] S1: The control terminal obtains the automatic operation parameters of drilling and grinding; the automatic operation parameters of drilling and grinding include: drilling and grinding operation parameters, automatic cruise parameters; the drilling and grinding operation parameters include: bridge plug type, grinding shoe type, initial lowering speed, initial bridge plug position, initial injection head pump displacement, initial fracturing pump displacement, wellbore structure; the automatic cruise parameters include: coiled tubing lowering speed, clamping force, tension force, and drum pressure corresponding to different lowering depths; multiple bridge plugs will be ground in one grinding operation, and each bridge plug corresponds to an initial bridge plug position;

[0062] S2: The control terminal runs the coiled tubing to the vicinity of the first bridge plug according to the drilling and milling operation parameters, and receives the drilling pressure of the mill shoe and the pumping pressure of the fracturing pump;

[0063] S3: The control terminal detects whether the mill shoe contacts the first bridge plug according to the mill shoe drilling pressure and the fracturing pump pressure; specifically, when the mill shoe does not contact the first bridge plug, the mill shoe drilling pressure is close to 0, and detects whether the change of the mill shoe drilling pressure over time is greater than a first preset value. When the change of the mill shoe drilling pressure over time is greater than the first preset value, it is determined that the mill shoe contacts the first bridge plug; or detects whether the change of the fracturing pump pressure over time is greater than a second preset value. When the change of the fracturing pump pressure over time is greater than the second preset value, it is determined that the mill shoe contacts the first bridge plug;

[0064] S4: when it is determined that the grinding shoe contacts the first bridge plug, the drilling pressure of the grinding shoe at this time is determined to be the initial drilling pressure, the coiled tubing running speed at this time is determined to be the initial running speed, and the current running speed is adjusted by using the grinding control system to grind the first bridge plug;

[0065] S5: The control terminal receives the mill drilling pressure and the fracturing pump pressure; based on the mill drilling pressure and the fracturing pump pressure, detects whether the grinding of the first bridge plug is completed; specifically, the mill drilling pressure will be restored to 0 when the grinding is completed, and detects whether the absolute value of the change of the mill drilling pressure over time is greater than a third preset value, and when the absolute value of the change of the mill drilling pressure over time is greater than the third preset value, determines that the grinding is completed; or detects whether the absolute value of the change of the fracturing pump pressure over time is greater than a fourth preset value, and when the absolute value of the change of the fracturing pump pressure over time is greater than the fourth preset value, determines that the grinding is completed;

[0066] S6: When it is determined that the grinding of the first bridge plug is completed, the control terminal controls the coiled tubing to be lowered to the vicinity of the second bridge plug according to the automatic cruise parameter and the initial bridge plug position of the second bridge plug;

[0067] S7: receiving the drilling pressure of the grinding shoe and the pumping pressure of the fracturing pump of the second bridge plug, and repeating the above steps S3 to S6 until all bridge plugs are ground.

[0068] The present application also proposes a control method for a grinding control system, the method is applied to a control terminal, the control terminal belongs to a grinding control system, see Figure 3 As shown, the method includes:

[0069] S301: Obtaining the initial drilling pressure of the grinding shoe and the initial running speed of the coiled tubing;

[0070] S302: Compare the initial drilling pressure with the target drilling pressure to obtain a first comparison result; and obtain a target running speed according to the first comparison result and a control function;

[0071] S303: Compare the initial lowering speed with the target lowering speed to obtain a second comparison result; and generate a control signal according to the second comparison result;

[0072] S304: Sending the control signal to the injection head pump; wherein the control signal is used to adjust the displacement of the injection head pump to control the lowering speed of the coiled tubing.

[0073] The above method of adjusting the displacement of the injection head pump by using the control signal can be referred to the above embodiment and will not be described in detail here.

[0074] In some embodiments, see Figure 4As shown in the figure, W1 represents the target drilling pressure, V1 represents the target running speed, Q1 represents the injection head pump displacement before control, Q2 represents the injection head running displacement after control, V2 represents the coiled tubing running speed after control, W2 represents the mill drilling pressure after control, H V represents the speed feedback function, H W represents the drilling pressure feedback function, H Q Represents the displacement feedback function. The drilling pressure ring is constructed based on the PID (proportional, integral, and differential control method) controller. The drilling pressure ring obtains the target lowering speed V1 according to the target drilling pressure and the drilling pressure control algorithm. The speed loop is constructed based on the PID controller. The speed loop adjusts the coiled tube lowering speed according to the target lowering speed and the speed control algorithm. The hydraulic ring is constructed based on the PID controller. The hydraulic ring adjusts the injection head pump displacement according to the injection head pump displacement, displacement control algorithm, and control signal before control. Specifically, the flow regulator 1 is used to adjust the displacement of the oil replenishment pump, and the flow regulator 2 adjusts the power of the hydraulic motor according to the displacement of the oil replenishment pump, and finally adjusts the displacement of the injection head pump. Based on the above method, the real-time drilling pressure of the grinding shoe can be maintained near the target drilling pressure, realizing the constant drilling pressure control process.

[0075] In some embodiments, see Figure 5 As shown, Figure 5 The structure diagram of a specific grinding control system is shown in FIG. 1 , which includes an injection head 51, a coiled tube 12, a drilling pressure sensor 13, a speed sensor 15, an injection head pump 11, a screw motor 52, a grinding shoe 14, a control chip 53, a control terminal 16, a wireless transmission device 54, and a remote control platform 55. The grinding shoe 14 is used to grind the bridge plug 17. The injection head pump 11 delivers the coiled tube 12 into the ground through the injection head 51, and the drilling pressure sensor 13, the screw motor 52, and the grinding shoe 14 are arranged at the inner end of the coiled tube 12.

[0076] For a specific scenario example, see Figure 6 As shown, a speed sensor (also called a speed sensor) can be set at the hydraulic motor. The hydraulic motor drives the injection head pump to work. The proportional actuator (SV) is used to control the displacement of the injection head pump. The speed regulator is a PID controller used to generate a control signal to adjust the displacement of the injection head pump. The drilling pressure regulator is a PID controller used to generate a target running speed. W1 represents the target drilling pressure, V1 represents the target running speed, and H V represents the speed feedback function, H W Represents the bit pressure feedback function.

[0077] In a specific scenario example, the following steps can be followed to adjust the drilling pressure using the grinding control system:

[0078] S1: Get the coiled tubing with cables and equip the corresponding work vehicle with a wireless transmission device;

[0079] S2: Select the operating wellhead, place the operating vehicle at the wellhead, and place the grinding shoe, drilling pressure sensor, and screw motor inside the end of the coiled tubing;

[0080] S3: The control terminal receives the automatic operation parameters of drilling and grinding imported by the user; the automatic operation parameters of drilling and grinding include: drilling and grinding operation parameters, automatic cruise parameters; the drilling and grinding operation parameters include: bridge plug type, grinding shoe type, initial lowering speed, initial bridge plug position, initial injection head pump displacement, initial fracturing pump displacement, wellbore structure; the automatic cruise parameters include: coiled tubing lowering speed, clamping force, tension force, and drum pressure corresponding to different lowering depths; multiple bridge plugs will be ground in one grinding operation, and each bridge plug corresponds to an initial bridge plug position;

[0081] S4: The coiled tubing is lowered to the vicinity of the bridge plug according to the automatic operation parameters of the drill and grinder. The drilling pressure sensor and the speed sensor automatically collect the drilling pressure of the mill and the running speed of the coiled tubing, and transmit the drilling pressure of the mill to the control chip through the cable, which then transmits it to the control terminal inside the operating machine. Since the speed sensor is set on the ground, no cable is needed, and other types of data cables can be used to transmit the running speed of the coiled tubing to the control chip, which then transmits it to the control terminal. The control terminal automatically detects whether the mill contacts the bridge plug.

[0082] S5: After determining that the bridge plug is in contact, the initial drilling pressure of the grinding shoe and the initial running speed of the coiled tubing are obtained; the initial drilling pressure is compared with the target drilling pressure to obtain a first comparison result; and the target running speed is obtained according to the first comparison result and the control function; the initial running speed is compared with the target running speed to obtain a second comparison result; and a control signal is generated according to the second comparison result; the displacement of the injection head pump is adjusted according to the control signal to control the running speed of the coiled tubing to be maintained near the target running speed; specifically, when the second comparison result is that the initial running speed is greater than the target running speed, the control terminal is used to generate a reduction signal and use the reduction signal as the control signal; the injection head pump is used to reduce the displacement according to the control signal to control the running speed of the coiled tubing to decrease; when the second comparison result is that the initial running speed is less than the target running speed, the control terminal is used to generate an increase signal and use the increase signal as the control signal; the injection head pump is used to increase the displacement according to the control signal to control the running speed of the coiled tubing to increase;

[0083] S6: collect the mill drilling pressure, coiled tubing running speed, and fracturing pump pressure in real time, and send the above data to the remote control platform through a wireless transmission device. The remote control platform uses the above data to obtain the current drilling risk identification results, and adjusts the drilling parameters such as the mill drilling pressure, coiled tubing running speed, fracturing pump pressure, and mechanical drilling speed according to the drilling risk identification results to improve the safety during drilling;

[0084] S7: During the drilling and grinding process, the completion of the bridge plug grinding can be detected in real time according to the changes in the drilling pressure of the grinding shoe and the pump pressure of the fracturing pump. If completed, the automatic cruise mode is switched to move the coiled tubing to the vicinity of the next bridge plug using the automatic cruise parameters and the initial position of the next bridge plug; steps S4 to S7 are repeated until all bridge plugs are ground.

[0085] Based on the control method of the grinding control system, this specification also proposes an embodiment of a control device of the grinding control system, wherein the device is applied to a control terminal, and the control terminal belongs to the grinding control system, Figure 7 As shown, the device specifically includes the following modules:

[0086] An acquisition module 701 is used to acquire the initial drilling pressure of the grinding shoe and the initial running speed of the coiled tubing;

[0087] A first comparison module 702 is used to compare the initial drilling pressure with the target drilling pressure to obtain a first comparison result; and obtain a target running speed according to the first comparison result and a control function;

[0088] A second comparison module 703 compares the initial lowering speed with the target lowering speed to obtain a second comparison result; and generates a control signal according to the second comparison result;

[0089] The sending module 704 sends the control signal to the injection head pump; wherein the control signal is used to adjust the displacement of the injection head pump to control the running speed of the coiled tubing.

[0090] It should be noted that the units, devices or modules described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described separately by functions divided into various modules. Of course, when implementing this specification, the functions of each module can be implemented in the same or more software and / or hardware, or the modules that implement the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0091] The embodiment of the present specification also provides a computer storage medium of a control method for a grinding control system, wherein the computer storage medium stores computer program instructions, and when the computer program instructions are executed, the following are achieved: obtaining the initial drilling pressure of the grinding shoe and the initial running speed of the coiled tubing; comparing the initial drilling pressure with the target drilling pressure to obtain a first comparison result; and obtaining the target running speed based on the first comparison result and a control function; comparing the initial running speed with the target running speed to obtain a second comparison result; and generating a control signal based on the second comparison result; sending the control signal to the injection head pump; wherein the control signal is used to adjust the displacement of the injection head pump to control the running speed of the coiled tubing.

[0092] In this embodiment, the storage medium includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a cache, a hard disk (HDD), or a memory card. The memory may be used to store computer program instructions. The network communication unit may be an interface for network connection communication set in accordance with the standard specified by the communication protocol.

[0093] In this embodiment, the functions and effects specifically implemented by the program instructions stored in the computer storage medium can be explained in comparison with other implementations and will not be described in detail here.

[0094] The present specification also provides a server, comprising a processor and a memory for storing instructions executable by the processor. When the processor is implemented, the following steps can be performed according to the instructions: obtaining an initial drilling pressure of a grinding shoe and an initial running speed of a coiled tubing; comparing the initial drilling pressure with a target drilling pressure to obtain a first comparison result; and obtaining a target running speed according to the first comparison result and a control function; comparing the initial running speed with the target running speed to obtain a second comparison result; and generating a control signal according to the second comparison result; sending the control signal to an injection head pump; wherein the control signal is used to adjust the displacement of the injection head pump to control the running speed of the coiled tubing.

[0095] In order to complete the above instructions more accurately, refer to Figure 8 As shown, the embodiment of this specification also provides another specific server, wherein the server includes a network communication port 801, a processor 802 and a memory 803, and the above structures are connected through internal cables so that each structure can perform specific data interaction.

[0096] The network communication port 801 can be used to obtain the initial drilling pressure of the grinding shoe and the initial running speed of the coiled tubing.

[0097] The processor 802 can be specifically used to compare the initial drilling pressure with the target drilling pressure to obtain a first comparison result; and obtain a target running speed according to the first comparison result and a control function; compare the initial running speed with the target running speed to obtain a second comparison result; and generate a control signal according to the second comparison result; and send the control signal to the injection head pump; wherein the control signal is used to adjust the displacement of the injection head pump to control the running speed of the coiled tubing.

[0098] The memory 803 may be specifically used to store corresponding instruction programs.

[0099] In this embodiment, the network communication port 801 can be a virtual port that is bound to different communication protocols so that different data can be sent or received. For example, the network communication port can be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for email data communication. In addition, the network communication port can also be a physical communication interface or communication chip. For example, it can be a wireless mobile network communication chip, such as GSM, CDMA, etc.; it can also be a Wifi chip; it can also be a Bluetooth chip.

[0100] In this embodiment, the processor 802 may be implemented in any appropriate manner. For example, the processor may take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) executable by the (micro)processor, a logic gate, a switch, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller, etc. This specification does not limit this.

[0101] In this embodiment, the memory 803 may include multiple levels. In a digital system, anything that can store binary data can be a memory; in an integrated circuit, a circuit with a storage function but no physical form is also called a memory, such as RAM, FIFO, etc.; in a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0102] Although the present specification provides method operation steps as described in the embodiments or flow charts, more or less operation steps may be included based on conventional or non-creative means. The order of steps listed in the embodiments is only one way of executing the order of many steps, and does not represent a unique execution order. When the device or client product in practice is executed, it can be executed in sequence or in parallel according to the method shown in the embodiments or the drawings (for example, a parallel processor or a multi-threaded processing environment, or even a distributed data processing environment). The term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, product or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, product or device. In the absence of more restrictions, it is not excluded that there are other identical or equivalent elements in the process, method, product or device including the elements. The first, second, etc. words are used to represent the name, and do not represent any particular order.

[0103] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules for implementing the method and structures within the hardware component.

[0104] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media including storage devices.

[0105] Through the description of the above embodiments, it can be known that those skilled in the art can clearly understand that the present specification can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present specification can essentially be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in each embodiment of the present specification or some parts of the embodiments.

[0106] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. This specification can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0107] Although the present specification is described through embodiments, those skilled in the art will appreciate that there are many modifications and changes to the present specification without departing from the spirit of the present specification, and it is intended that the appended claims include these modifications and changes without departing from the spirit of the present specification.

Claims

1. A grinding control system, characterized in that: include: Injection head pump, coiled tubing, drilling pressure sensor, speed sensor, grinding shoe, control terminal; The injection head pump is used to apply pressure to the coiled tubing to send the coiled tubing into the wellbore; the drilling pressure sensor and the grinding shoe are arranged inside the end of the coiled tubing; The drilling pressure sensor is used to obtain the initial drilling pressure of the grinding shoe; the grinding shoe is used to grind the bridge plug; The control terminal is used to compare the initial drilling pressure with the target drilling pressure to obtain a first comparison result; and obtain a target running speed according to the first comparison result and the control function; The speed sensor is used to obtain the initial running speed of the coiled tubing; The control terminal is also used to compare the initial lowering speed with the target lowering speed to obtain a second comparison result; and generate a control signal according to the second comparison result, and send the control signal to the injection head pump; The injection head pump is also used to adjust the displacement according to the control signal to control the lowering speed of the coiled tubing.

2. The system according to claim 1, characterized in that The system also includes a control chip; The drilling pressure sensor is used to generate a drilling pressure simulation signal according to the initial drilling pressure; the speed sensor is used to generate a speed simulation signal according to the initial running speed; The control chip is used to send the drilling pressure simulation signal and the speed simulation signal to the control terminal; The control terminal is used to obtain the initial drilling pressure and the initial running speed according to the drilling pressure simulation signal and the speed simulation signal.

3. The system according to claim 2, characterized in that The system further comprises a cable; the cable is arranged inside the coiled pipe; the cable is used to transmit the drilling pressure simulation signal to the control chip.

4. The system according to claim 1, characterized in that The system further comprises a fracturing pump; the fracturing pump is used for injecting high-pressure fluid into the coiled tubing.

5. The system according to claim 4, characterized in that The system further comprises a screw motor; the screw motor is arranged inside the end of the continuous tube; the screw motor drives the grinding shoe to grind under the drive of the high-pressure fluid.

6. The system according to claim 1, characterized in that When the second comparison result shows that the initial lowering speed is greater than the target lowering speed, the control terminal is used to generate a reduction signal and use the reduction signal as a control signal; The injection head pump is used to reduce the displacement according to the control signal to control the lowering speed of the coiled tubing.

7. The system according to claim 1, characterized in that When the second comparison result shows that the initial lowering speed is less than the target lowering speed, the control terminal is used to generate an increase signal and use the increase signal as a control signal; The injection head pump is used to increase the displacement according to the control signal to control the increase of the lowering speed of the coiled tubing.

8. The system according to claim 1, characterized in that The control terminal is also used to determine the target drilling pressure in the following manner: Get the bridge plug type and mill shoe type; The bridge plug type and the mill shoe type are input into a pre-built target bit weight model to obtain a target bit weight.

9. The system according to claim 1, characterized in that The control function is a PID control function.

10. A control method for a grinding control system, characterized in that: The method is applied to a control terminal, comprising: Obtain the initial drilling pressure of the grinding shoe and the initial running speed of the coiled tubing; Comparing the initial drilling pressure with the target drilling pressure to obtain a first comparison result; and obtaining a target running speed according to the first comparison result and a control function; Comparing the initial lowering speed with the target lowering speed to obtain a second comparison result; and generating a control signal according to the second comparison result; The control signal is sent to the injection head pump; wherein the control signal is used to adjust the displacement of the injection head pump to control the lowering speed of the coiled tubing.

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