Intelligent guiding system vector force closed-loop control method

Abstract

The invention discloses a vector force closed-loop control method for an intelligent guiding system, which combines the actual characteristics of an instrument and borehole trajectory measurement parameters, calculates corresponding control logic tables under different hydraulic module expansion and contraction amounts, and designs a plurality of operation modes such as a guiding mode and a keeping mode based on a table look-up method. The corresponding operation mode can be adjusted in combination with the operation condition, the adaptability of the instrument is greatly improved, particularly, under the maintaining mode, full-closed-loop control is achieved, human intervention is reduced, meanwhile, the smoothness and continuity of a well track can be further achieved, and the method is suitable for solving the problems that the amount of parameters needing to be calculated for underground track control is large, underground controller resources are occupied and the like. On the basis of the working current interval, an underground steering vector force control table is designed, rapid adjustment of control parameters is achieved on the basis of a vector force closed-loop control logic distribution table under different working modes, the response speed is high, the control precision is high, and the applicability of a vector force closed-loop control module can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of well logging guidance control, and in particular to a vector force closed-loop control method for an intelligent guidance system. Background Art

[0002] The role of the intelligent guidance system is equivalent to a bent screw whose tool face angle can be adjusted according to the real-time working conditions in the well. The core of its adjustment is three hydraulic modules installed on a non-rotating sleeve with a distribution of 120 degrees. According to the current measurement parameters in the well, the telescopic support of the three hydraulic modules is adjusted in real time to support the well wall to achieve vector forces of different sizes and directions, thereby changing the direction of the drill bit and achieving directional drilling.

[0003] The commonly used vector force closed-loop control technology solution is based on the synthetic action model of the three-push-and-lean block vector forces. According to the principle that the support claw force is the largest in the favorable area and the smallest in the unfavorable area, a control solution of dividing the area by 120° is proposed. On the basis of optimizing the mathematical model, the stress of each support claw is decomposed into the direction of the bias force and the direction perpendicular to the bias force. The mechanical vector analysis method is used to establish the mechanical equations under different bias force vectors, solve the corresponding equations, and obtain the stress expressions of each support claw under different divided areas. The downhole closed-loop vector force is obtained by calculation to adjust the wellbore trajectory. The existing solution occupies a lot of controller resources, resulting in low efficiency, because it needs to calculate the expansion and contraction of the three hydraulic modules in real time according to the measurement and control parameters. Summary of the invention

[0004] The purpose of the present invention is to provide a vector force closed-loop control method for an intelligent guidance system, so as to overcome the problem in the prior art that the extension and retraction amounts of three hydraulic modules need to be calculated in real time according to measurement and control parameters, which occupies a lot of controller resources and leads to low efficiency.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A vector force closed-loop control method for an intelligent guidance system includes two modes:

[0007] Steering mode: input the target steering vector force parameters, based on the real-time measured tool face angle of the rib plate position at 0°, obtain the current and pressure distribution values ​​of the three pushing blocks according to the vector force distribution table, and adjust the current and pressure values ​​of the three pushing blocks so that the steering vector force is equal to the target steering vector force;

[0008] Hold mode: input the target control angle, based on the real-time measured tool face angle and measurement angle of the rib position at 0°, obtain the current and pressure distribution values ​​of the three pushing blocks according to the vector force distribution table, and adjust the current and pressure values ​​of the three pushing blocks so that the measurement angle is equal to the target control angle.

[0009] Preferably, the control angle includes the well inclination angle and the azimuth angle.

[0010] Preferably, when the measured well inclination angle is greater than the target well inclination angle, the vector force formed by the three pushing blocks is reduced, and when the measured well inclination angle is less than the target well inclination angle, the vector force formed by the three pushing blocks is increased.

[0011] Preferably, when the measured azimuth angle is greater than the target azimuth angle, the vector force formed by the three pushing blocks is reduced, and when the measured azimuth angle is less than the target azimuth angle, the vector force formed by the three pushing blocks is increased.

[0012] Preferably, the well inclination angle and azimuth angle can be adjusted simultaneously or in different time periods.

[0013] Preferably, the tool face angle includes a gravity tool face and a magnetic tool face.

[0014] Preferably, based on the principle of resultant force distribution, with the default starting current of the three pushing blocks as the initial value, the ending current as the target value, and the initial value / 100 as the step value, the correspondence between different current sizes and vector forces within the initial value and target value interval is calculated to obtain a vector force distribution table.

[0015] Preferably, the tool face angle of the push block and the target control angle are measured by a three-axis acceleration sensor and a three-axis fluxgate sensor.

[0016] An intelligent guidance system vector force closed-loop control system, comprising:

[0017] Measuring module: measure the tool face angle and measuring angle of the rib plate at 0°;

[0018] Control module: Based on the measurement parameters and target parameters measured by the measurement module, according to the formed vector force control table, the corresponding control parameters are formed and sent to the guidance module to drive the guidance module to act according to the preset instructions and monitor the effect of the guidance module;

[0019] Steering module: Receives instructions from the control module, obtains the current and pressure distribution values ​​of the three pushing blocks based on the target control angle and the vector force distribution table, adjusts the current and pressure values, and finally makes the measured angle equal to the target control angle.

[0020] Preferably, the control module and the guide module are both connected to a power supply module for supplying power to the control module and the guide module.

[0021] Compared with the prior art, the present invention has the following beneficial effects: the present invention provides a vector force closed-loop control method for an intelligent guidance system, designs multiple operating modes such as a guidance mode and a holding mode, and the corresponding operating mode can be adjusted in combination with the operating conditions, thereby greatly improving the adaptability of the instrument, especially in the holding mode, realizing full closed-loop control, reducing human intervention and further realizing the smoothness and continuity of the wellbore trajectory. In view of the large number of parameters required for calculating the downhole trajectory control and the occupation of downhole controller resources, a downhole guidance vector force control table is designed based on its working current range, and the control parameters can be quickly adjusted based on the vector force closed-loop control logic allocation table under different operating modes. The fast response speed and high control accuracy can improve the applicability of the vector force closed-loop control module. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A control mode flow chart of a vector force closed-loop control method for an intelligent guidance system of the present invention;

[0023] Figure 2 This is a flow chart of the guidance mode of a vector force closed-loop control method of an intelligent guidance system of the present invention;

[0024] Figure 3 It is a control flow chart of a specific implementation mode of the present invention;

[0025] Figure 4 This is a block diagram of a vector force closed-loop control system of an intelligent guidance system of the present invention;

[0026] Figure 5 This is a schematic diagram of the control mode effect of an embodiment of the present invention;

[0027] Figure 6 It is a schematic diagram of the effect of the guidance mode of an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0031] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0032] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0033] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0035] like Figure 1 and Figure 2 As shown, the present invention provides a vector force closed-loop control method for an intelligent guidance system, including two modes:

[0036] Steering mode: input the target steering vector force parameters, based on the real-time measured tool face angle of the rib plate position at 0°, obtain the current and pressure distribution values ​​of the three pushing blocks according to the vector force distribution table, and adjust the current and pressure values ​​of the three pushing blocks so that the steering vector force is equal to the target steering vector force;

[0037] Hold mode: input the target control angle, based on the tool face angle and measurement angle of the rib plate position at 0°, obtain the current and pressure distribution values ​​of the three push blocks according to the vector force distribution table, and adjust the current and pressure values ​​of the three push blocks so that the measurement angle is equal to the target control angle. ;

[0038] Multiple operating modes such as steering mode and holding mode are designed. The corresponding operating mode can be adjusted according to the operating conditions, which greatly improves the adaptability of the instrument. In particular, in the holding mode, full closed-loop control is achieved, which reduces human intervention and further realizes the smoothness and continuity of the wellbore trajectory. In view of the large number of parameters required for calculating downhole trajectory control and the occupation of downhole controller resources, a downhole steering vector force control table is designed based on its working current range to realize the rapid adjustment of control parameters based on the vector force closed-loop control logic allocation table under different operating modes. The fast response speed and high control accuracy can improve the applicability of the vector force closed-loop control module.

[0039] The target control angle includes the well inclination angle and the azimuth angle.

[0040] When the measured well inclination angle is greater than the target well inclination angle, the vector forces of the three pushing blocks are reduced, and when the measured well inclination angle is less than the target well inclination angle, the vector forces of the three pushing blocks are increased.

[0041] When the measured azimuth angle is greater than the target azimuth angle, the vector forces of the three pushing blocks are reduced, and when the measured azimuth angle is less than the target azimuth angle, the vector forces of the three pushing blocks are increased.

[0042] The well inclination angle and azimuth angle can be adjusted simultaneously.

[0043] The tool face angle includes a gravity tool face and a magnetic tool face.

[0044] Based on the principle of resultant force distribution, the default starting current of the three pushing blocks is taken as the initial value, the ending current is taken as the target value, and the initial value / 100 is taken as the step value. The corresponding relationship between different current magnitudes and vector forces within the range of the initial value and the target value is calculated to obtain the vector force distribution table.

[0045] The tool face angle of the push block and the target control angle are measured by a three-axis acceleration sensor and a three-axis fluxgate sensor.

[0046] The present invention also provides an intelligent guidance system vector force closed-loop control system, comprising:

[0047] Measuring module: measure the tool face angle and measuring angle of the rib plate at 0°;

[0048] Control module: Based on the measurement parameters and target parameters measured by the measurement module, according to the formed vector force control table, the corresponding control parameters are formed and sent to the guidance module to drive the guidance module to act according to the preset instructions and monitor the effect of the guidance module;

[0049] Steering module: Receives instructions from the control module, obtains the current and pressure distribution values ​​of the three pushing blocks based on the target control angle and the vector force distribution table, adjusts the current and pressure values, and finally makes the measured angle equal to the target control angle.

[0050] The control module and the guide module are both connected with a power supply module for supplying power to the control module and the guide module.

[0051] like Figure 4 The present invention can also be composed of a measurement module and a control module. The measurement module is mainly composed of a three-axis acceleration sensor, a three-axis fluxgate sensor and a signal acquisition and processing circuit to achieve the measurement of wellbore trajectory parameters. The control module mainly adjusts the expansion and contraction of the three push blocks to achieve continuous adjustment of the downhole vector force, adjust the size of the resultant force, and then change the direction of the drill bit to achieve wellbore trajectory adjustment. The core of its control is the closed-loop control method of the guiding force vector.

[0052] According to the principle of vector synthesis, within the circumference, as the magnitudes of the different forces of the three ribs change, the magnitude and direction of the corresponding resultant force also change accordingly.

[0053] Assuming that the magnitudes of the three forces on the high side (the position of rib No. 1 is 0°) are SF1, SF2, and SF3 respectively, then according to the principle of vector synthesis, the magnitude SF and direction SD of the resultant force are calculated as shown in the following formula:

[0054] Decompose the forces pushing against the fastener separately:

[0055] SF2 x =SF2*cos30° (1)

[0056] SF2 y =SF2*sin30° (2)

[0057] SF3 x =SF3*cos30° (3)

[0058] SF3 y =SF3*sin30° (4)

[0059] This sums the components:

[0060] SF x =|SF2 x -SF3 x | (5)

[0061] SF y =|SF1-SF2 y -SF3 y | (6)

[0062] The magnitude and direction of the resultant force:

[0063]

[0064]

[0065] According to SF x and SF y The size relationship of determines in which quadrant θ is located.

[0066] At the same time, the synthesis of three forces into one force is unique, while the decomposition of one combined force into three forces is not unique. It is necessary to combine the downhole controller type (ARM / FPGA, etc.) and select a suitable solution to achieve vector instruction decomposition and achieve rapid response.

[0067] like Figure 3 As shown, the following steps are used for control:

[0068] Step 1: Based on the principle of resultant force distribution, the three push blocks are within a working range with the default starting current as the initial value, the determined ending current as the target value and the step value as the initial value / 100. The corresponding relationship of the vector force under different combinations in the range is calculated to determine the vector force distribution table.

[0069] Step 2: Set the working mode of the control module;

[0070] Step 3: When the working mode is the steering mode, the steering vector force parameters are written into the control module through the data bus;

[0071] Step 4: The control module reads the tool face angle (gravity tool face / magnetic tool face) of the instrument No. 1 push block calculated by the measurement module in real time through the data bus;

[0072] Step 5: Based on the measured tool face angle value, the current / pressure distribution values ​​for the three push blocks are calculated by looking up the table so that the vector force always meets the target parameters set in step 3;

[0073] Step 6: When the working mode is the holding mode, the steering holding force parameter, that is, the size of the target control angle (well inclination angle / azimuth angle) is written into the control module through the data bus;

[0074] Step 7: The control module reads the tool face angle (gravity tool face / magnetic tool face) and target control angle (well inclination angle / azimuth angle) of the instrument No. 1 push block calculated by the measurement module in real time through the data bus.

[0075] Step 8: Calculate the relationship between the target control angle (well inclination / azimuth) and the real-time measured control angle;

[0076] Step 9: When the real-time measured control angle is less than the target control angle (well inclination / azimuth), based on the measured tool face angle value of the No. 1 push block, the current / pressure distribution values ​​for the three push blocks are calculated by looking up the table to increase the vector force so that the current control angle gradually approaches and is equal to the target control angle;

[0077] Step 10: When the real-time measured control angle is greater than the target control angle (well inclination / azimuth), based on the measured tool face angle value of the No. 1 push block, the current / pressure distribution values ​​for the three push blocks are calculated by looking up the table to reduce the vector force so that the current control angle gradually approaches and is equal to the target control angle;

[0078] Step 11: When the current control angle in steps 10 and 11 is close to and equal to the target control angle, the current vector force is maintained and the operation is continued.

[0079] Example:

[0080] Guide mode:

[0081] Step 1: Form a vector force distribution table, and the three push blocks work within their range;

[0082] Step 2: Set the operation mode to guided mode;

[0083] Step 3: Read in the guiding parameters, the guiding force is 75%, and the guiding direction is 68°;

[0084] Step 4: The tool face angle of module 1 at this time is read into the measuring module through the data bus, and the variation range is 0-360°;

[0085] Step 5: Calculate the working current curves of the three push blocks corresponding to different tool face angles, such as Figure 5 As shown in the figure, it can be seen that based on the vector force control method, the magnitude of the guiding force is always around 75% and the guiding direction is always around 68°.

[0086] Hold Mode:

[0087] Step 1: Form a vector force distribution table, and the three push blocks work within their range;

[0088] Step 2: The preset operation mode is the holding mode, and the target parameter is the well inclination angle of 56°;

[0089] Step 3: Since the target well inclination angle is less than the initial well inclination angle, the operation mode is to first reduce the inclination (steering mode) and then maintain it;

[0090] Step 4: The tool face angle of module 1 at this time is read into the measuring module through the data bus, and the variation range is 0-360°;

[0091] Step 5: Calculate the three push block working current curves corresponding to different tool face angles. When the well inclination angle is greater than 56°, the Build Direction (BD) is always kept near 180°, the Build Force (BF) gradually decreases, and the well inclination angle is gradually reduced. Figure 6 As shown;

[0092] Step 6: When the well inclination angle is equal to 56°, maintain the current magnitude and direction of the resultant force regardless of the tool face angle.

[0093] Although the embodiments of the present invention are described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments and application fields, and the above-mentioned specific embodiments are only illustrative and instructive, rather than restrictive. Under the guidance of the specification, a person skilled in the art can also make many forms without departing from the scope of protection of the claims of the present invention, all of which belong to the scope of protection of the present invention.

Claims

1. A vector force closed-loop control method for an intelligent guidance system, characterized in that: There are two modes: Steering mode: input the target steering vector force parameters, based on the real-time measured tool face angle of the rib plate position at 0°, obtain the current and pressure distribution values ​​of the three pushing blocks according to the vector force distribution table, and adjust the current and pressure values ​​of the three pushing blocks so that the steering vector force is equal to the target steering vector force; Hold mode: input the target control angle, based on the real-time measured tool face angle and measurement angle of the rib position at 0°, obtain the current and pressure distribution values ​​of the three pushing blocks according to the vector force distribution table, and adjust the current and pressure values ​​of the three pushing blocks so that the measurement angle is equal to the target control angle.

2. The method for closed-loop control of vector force of an intelligent guidance system according to claim 1, characterized in that: The control angle includes the well inclination angle and the azimuth angle.

3. The method for closed-loop control of vector force of an intelligent guidance system according to claim 2, characterized in that: When the measured well inclination angle is greater than the target well inclination angle, the vector force formed by the three pushing blocks is reduced, and when the measured well inclination angle is less than the target well inclination angle, the vector force formed by the three pushing blocks is increased.

4. The method for closed-loop control of vector force of an intelligent guidance system according to claim 2, characterized in that: When the measured azimuth angle is greater than the target azimuth angle, the vector force formed by the three pushing blocks is reduced, and when the measured azimuth angle is less than the target azimuth angle, the vector force formed by the three pushing blocks is increased.

5. The method for closed-loop control of vector force of an intelligent guidance system according to claim 2, characterized in that: The well inclination angle and azimuth angle can be adjusted simultaneously or in different time periods.

6. The method for closed-loop control of vector force of an intelligent guidance system according to claim 1, characterized in that: The tool face angle includes a gravity tool face and a magnetic tool face.

7. The method for closed-loop control of vector force of an intelligent guidance system according to claim 1, characterized in that: Based on the principle of resultant force distribution, the default starting current of the three pushing blocks is taken as the initial value, the ending current is taken as the target value, and the initial value / 100 is taken as the step value. The corresponding relationship between different current magnitudes and vector forces within the range of the initial value and the target value is calculated to obtain the vector force distribution table.

8. The method for closed-loop control of vector force of an intelligent guidance system according to claim 1, characterized in that: The tool face angle of the push block and the target control angle are measured by a three-axis acceleration sensor and a three-axis fluxgate sensor.

9. An intelligent guidance system vector force closed-loop control system, characterized in that: include: Measuring module: measure the tool face angle and measuring angle of the rib plate at 0°; Control module: Based on the measurement parameters and target parameters measured by the measurement module, according to the formed vector force control table, the corresponding control parameters are formed and sent to the guidance module to drive the guidance module to act according to the preset instructions and monitor the effect of the guidance module; Steering module: Receives instructions from the control module, obtains the current and pressure distribution values ​​of the three pushing blocks based on the target control angle and the vector force distribution table, adjusts the current and pressure values, and finally makes the measured angle equal to the target control angle.

10. The intelligent guidance system vector force closed-loop control system according to claim 9, characterized in that: The control module and the guide module are both connected with a power supply module for supplying power to the control module and the guide module.

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