Multi-directional vibration adjusting method and device in drilling process

Abstract

The invention relates to a multidirectional vibration adjusting method and device in the drilling process. The method comprises the steps that multiple sets of different drilling parameters and corresponding drilling column vibration signals obtained by conducting multiple times of simulation on vibration of a drilling column system in the drilling process are collected; the different drilling parameters comprise frictional resistance torque, turntable input torque, top drive turntable rotation angular displacement, drilling tool rotation angular displacement, an equivalent stiffness coefficient and an equivalent damping coefficient; the variation coefficient of each drilling parameter is determined, and at least one target drilling parameter influencing the vibration uncertainty of the underground drill string is screened from different drilling parameters; taking at least one target drilling parameter as a random variable, taking other drilling parameters as constants, and establishing a first function relational expression between the drill string vibration signal and different drilling parameters; according to the method, the vibration of the drill string system in the drilling process is simulated and analyzed, the function relation between multiple different drilling parameters and the vibration of the underground drill string is established, and guiding significance is provided for safe identification of the vibration of the underground drill string.

Description

Technical Field

[0001] The invention relates to a method and a device for adjusting multi-directional vibration during drilling. Background Art

[0002] In the process of shale oil and gas development, longer horizontal sections are conducive to increasing single well reserves and economic benefits. Optimizing drilling technology and increasing the length of horizontal sections of horizontal wells have become one of the technical difficulties in horizontal well drilling in unconventional oil and gas reservoirs at this stage.

[0003] In terms of unconventional oil and gas reservoirs, the oil and gas recovery rate needs to be further improved. Therefore, it is necessary to study the mechanical properties of the ultra-long horizontal well drill string system, understand the working state of the ultra-long horizontal well drill string system in the wellbore, thereby suppressing adverse vibrations, and use advanced control methods to reasonably control drilling parameters and improve the horizontal well limit extension capacity and horizontal section mechanical drilling speed. Summary of the invention

[0004] In order to determine the functional relationship between drilling parameters and drill string system vibration during drilling, so as to reasonably control drilling parameters and suppress adverse vibration of horizontal well drill string system, the present invention proposes a multi-directional vibration adjustment method and device during drilling. The technical solution proposed by the present invention is as follows:

[0005] In a first aspect, the present invention provides a method for adjusting multi-directional vibration during drilling, comprising:

[0006] Collect multiple sets of different drilling parameters and corresponding drill string vibration signals obtained by multiple simulations of the vibration of the drill string system during the drilling process; the different drilling parameters include friction torque, turntable input torque, top drive turntable rotation angular displacement, drill tool rotation angular displacement, equivalent stiffness coefficient and equivalent damping coefficient;

[0007] Determine the coefficient of variation of each drilling parameter according to the plurality of different drilling parameters, and select at least one target drilling parameter that affects the uncertainty of downhole drill string vibration from the different drilling parameters according to the coefficients of variation;

[0008] Taking the at least one target drilling parameter as a random variable, taking other drilling parameters among the different drilling parameters as constants, and establishing a first functional relationship between the drill string vibration signal and the different drilling parameters based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals;

[0009] An actual vibration signal of a drill string system during drilling is acquired, and drilling parameters are adjusted based on the actual vibration signal and the first functional relationship to regulate the multi-directional vibration of the drill string system.

[0010] In one or some embodiments, the target drilling parameters include friction torque and rotary table input torque; the drill string vibration signal includes a downhole drill string vibration period;

[0011] The method of taking the at least one target drilling parameter as a random variable, taking other drilling parameters among the different drilling parameters as constants, and establishing a first functional relationship between the drill string vibration signal and the different drilling parameters based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals includes:

[0012] Taking the friction torque and the turntable input torque as random variables, taking the top drive turntable rotation angular displacement, the drill bit rotation angular displacement, the equivalent stiffness coefficient and the equivalent damping coefficient as constants, based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals, a first functional relationship between the downhole drill string vibration period and the different drilling parameters is established as follows:

[0013]

[0014] Where z is the vibration period of the drill string downhole; F Z (z) is the cumulative probability function of the vibration period of the downhole drill string; σ x is the standard deviation of the friction torque; μ x is the mean value of the friction torque; σ y is the standard deviation of the turntable input torque; μ y is the mean value of the input torque of the turntable; k1 = -k(θ1-θ2); k2 = 2c(θ1-θ2)+c b θ1; x is the friction torque; y is the rotary table input torque; k is the equivalent stiffness coefficient; θ1 is the top drive rotary table rotation angle displacement; θ2 is the drilling tool rotation angle displacement; c is the equivalent damping coefficient; c b is the motor equivalent damping coefficient.

[0015] In one or some embodiments, the different drilling parameters further include drilling pressure, rock properties, liquid displacement and drilling speed, and the drill string vibration signal includes a three-way vibration rock breaking signal of vertical well drilling; the method further includes:

[0016] Collect three-dimensional vibration rock breaking signals of vertical well drilling when micro-drilling experiments are carried out on rock samples with different rock characteristics and different liquid displacement, different drilling speeds and different drilling pressures are applied to break the rock;

[0017] Based on the three-dimensional vibration rock-breaking signals of vertical well drilling under different rock properties, different liquid displacements, different drilling speeds and different drilling pressures, a second functional relationship between the three-dimensional vibration rock-breaking signals of vertical well drilling and rock properties, liquid displacement, drilling speed and drilling pressure is obtained by fitting.

[0018] In one or some embodiments, the rock samples with different rock properties include granite samples, sandstone samples and limestone samples; the vertical well drilling three-way vibration rock breaking signal is obtained by the following method:

[0019] Granite samples, sandstone samples and limestone samples were subjected to a first preset number of micro-drilling experiments respectively. During the experiment, different liquid displacements, different drilling speeds and different drilling pressures were applied at the rated speed to break the rocks, and three-way vibration rock-breaking signals were collected when the vertical well drilling vibration experiment system was stable to obtain the vertical well drilling three-way vibration rock-breaking signals.

[0020] In one or some embodiments, before collecting the vertical well drilling three-way vibration rock breaking signal, the method further includes:

[0021] The acceleration time history curve and the frequency spectrum curve of the vertical well drilling vibration experiment system when no-load are collected, and the no-load vibration spectrum analysis is performed based on the acceleration time history curve and the frequency spectrum curve to determine whether the operation state of the vertical well drilling vibration experiment system is stable.

[0022] In one or some embodiments, the different drilling parameters further include pump volume, pump pressure, well inclination, tool face, drilling pressure, rock properties, liquid displacement and drilling speed, and the drill string vibration signal includes a directional drilling three-way vibration rock breaking signal; the method further includes:

[0023] Collect three-dimensional vibration rock breaking signals of directional drilling when micro-drilling experiments are carried out on rock samples with different rock characteristics and different pump volumes, different pump pressures, different well inclinations, different tool faces, different liquid displacements, different drilling speeds and different drilling pressures are applied to break rocks;

[0024] Based on the three-dimensional vibration rock-breaking signals of directional drilling under different rock properties, different pump volumes, different pump pressures, different well inclinations, different tool faces, different liquid displacements, different drilling speeds and different drilling pressures, a third functional relationship between the three-dimensional vibration rock-breaking signals of directional drilling and rock properties, pump volume, pump pressure, well inclination, tool face, liquid displacement, drilling speed and drilling pressure is fitted.

[0025] In one or some embodiments, the rock samples with different rock properties include granite samples, sandstone samples and limestone samples; the directional drilling three-way vibration rock breaking signal is obtained by:

[0026] According to the set pump volume, pump pressure, well inclination, tool surface and drilling pressure, it sends action commands to different actuators of the directional drilling vibration experiment system to control the operation of the motor, drive different hydraulic equipment to work, and perform coiled tubing directional drilling;

[0027] The granite rock samples, sandstone rock samples and limestone rock samples are subjected to the micro-drilling experiment for the second preset number of times respectively. During the experiment, different pump volumes, different pump pressures, different well inclinations, different tool faces, different liquid displacements, different drilling speeds and different drilling pressures are applied at the rated speed to break the rocks, and the three-dimensional rock breaking signal of the directional drilling vibration experimental system is collected when it is stable, so as to obtain the directional drilling three-dimensional vibration rock breaking signal.

[0028] In one or some embodiments, before collecting the directional drilling three-way vibration rock breaking signal, the method further includes:

[0029] The acceleration time history curve and the frequency spectrum curve of the directional drilling vibration experiment system when no-load are collected, and the no-load vibration spectrum analysis is performed based on the acceleration time history curve and the frequency spectrum curve to determine whether the operation state of the directional drilling vibration experiment system is stable.

[0030] In one or some embodiments, the method of determining the coefficient of variation of each drilling parameter according to the multiple groups of different drilling parameters, and obtaining at least one target drilling parameter that affects the uncertainty of downhole drill string vibration from the different drilling parameters according to the coefficients of variation, includes:

[0031] Determining the coefficient of variation of each drilling parameter according to the plurality of different drilling parameters;

[0032] The drilling parameters whose coefficient of variation is greater than a preset value are screened out from the different drilling parameters to obtain at least one target drilling parameter that affects the uncertainty of the vibration of the downhole drill string.

[0033] In a second aspect, the present invention provides a multi-directional vibration adjustment device during drilling, comprising:

[0034] A collection module is used to collect multiple groups of different drilling parameters and corresponding drill string vibration signals obtained by multiple simulations of the vibration of the drill string system during the drilling process; the different drilling parameters include friction torque, turntable input torque, top drive turntable rotation angular displacement, drill tool rotation angular displacement, equivalent stiffness coefficient and equivalent damping coefficient;

[0035] A calculation module, for determining the coefficient of variation of each drilling parameter according to the plurality of different drilling parameters, and selecting at least one target drilling parameter that affects the vibration uncertainty of the downhole drill string from the different drilling parameters according to the coefficients of variation;

[0036] A fitting module, configured to take the at least one target drilling parameter as a random variable, take other drilling parameters among the different drilling parameters as constants, and establish a first functional relationship between the drill string vibration signal and the different drilling parameters based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals;

[0037] The adjustment module is used to obtain an actual vibration signal of a drill string system during drilling, and adjust drilling parameters based on the actual vibration signal and the first functional relationship to adjust the multi-directional vibration of the drill string system.

[0038] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the multi-directional vibration adjustment method during drilling as described in the first aspect.

[0039] In a fourth aspect, the present invention provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0040] Memory, used to store computer programs;

[0041] The processor is used to implement the multi-directional vibration adjustment method during drilling as described in the first aspect when executing the program stored in the memory.

[0042] Based on the above technical solution, the beneficial effects of the present invention compared with the prior art are as follows:

[0043] The multi-directional vibration adjustment method during drilling provided by the embodiment of the present invention adopts the Monte Carlo method to simulate and analyze the vibration of the drill string system during drilling, and collects multiple groups of different drilling parameters and corresponding drill string vibration signals obtained by multiple simulations of the vibration of the drill string system during drilling; the different drilling parameters include friction torque, turntable input torque, top drive turntable rotation angular displacement, drill tool rotation angular displacement, equivalent stiffness coefficient and equivalent damping coefficient; by respectively determining the coefficient of variation of different drilling parameters affecting the uncertainty of downhole drill string vibration, the main influencing factors affecting the uncertainty of downhole drill string vibration, namely, target drilling parameters, are obtained according to the coefficient of variation; the target drilling parameters are taken as random variables, and other drilling parameters in different drilling parameters are taken as constants, and based on multiple groups of different drilling parameters and corresponding drill string vibration signals, a first functional relationship between the drill string vibration signal and different drilling parameters is established. The present invention simulates and analyzes the vibration of the drill string system during drilling, establishes a functional relationship between multiple different drilling parameters and downhole drill string vibration, and provides guidance for the safe identification of downhole vibration of the drill string. After obtaining the first functional relationship, the actual vibration signal of the drill string system during the drilling process can be obtained, and the drilling parameters can be adjusted based on the actual vibration signal and the first functional relationship to adjust the multi-directional vibration of the drill string system, suppress adverse vibrations, and avoid the damage to the drill bit caused by the stick-slip vibration phenomenon.

[0044] 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 are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 It is a flow chart of a multi-directional vibration adjustment method during drilling provided by an embodiment of the present invention;

[0048] Figure 2 It is a structural schematic diagram of a vertical well drilling vibration experiment system provided by an embodiment of the present invention;

[0049] Figure 3 Schematic diagram of drill string vibration test provided by an embodiment of the present invention; wherein (a) is a schematic diagram of a pipe string in a drill string vibration test, and (b) is a schematic diagram of a corresponding vibration unit;

[0050] Figure 4 is a coefficient of variation result diagram of various drilling parameters provided by an embodiment of the present invention;

[0051] Figure 5a This is the probability distribution diagram of the friction torque when the well depth is 1000 meters;

[0052] Figure 5b It is the probability distribution diagram of friction torque when the well depth is 1200 meters;

[0053] Figure 6a It is the probability distribution diagram of the rotary table input torque when the well depth is 1000 meters;

[0054] Figure 6b The probability distribution diagram of the rotary table input torque when the well depth is 1200 meters;

[0055] Figure 7 It is a structural schematic diagram of a drill string vibration test platform provided by an embodiment of the present invention;

[0056] Figure 8It is a curve diagram of drill bit speed variation under the condition of a friction torque of 6000 N.m provided by an embodiment of the present invention;

[0057] Fig. 9 It is a curve diagram of drill bit speed variation under the condition of a friction torque of 5000 N.m provided by an embodiment of the present invention;

[0058] Fig.10 It is a schematic diagram of the flow of a directional drilling vibration experiment provided by an embodiment of the present invention;

[0059] Fig.11 It is a structural schematic diagram of a multi-directional vibration adjustment device during drilling provided by an embodiment of the present invention;

[0060] Fig.12 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0061] 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.

[0062] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0063] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0064] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 communication 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.

[0065] The inventor found that the traditional drill string vibration analysis method considers parameters such as rotation speed, torque, and stiffness coefficient to be a single value, and the vibration of the drill string system obtained from these parameters is also a single value. However, in the actual drilling process, the factors affecting the rotation speed, torque, and stiffness coefficient are various, including friction factor, drilling pressure, drilling fluid performance, formation parameters, tool parameters, etc. Since the values ​​of each parameter have a certain randomness, the value of the vibration of the drill string system has a certain uncertainty. Therefore, the value obtained by the drill string vibration analysis method should be an interval, not a single value. Therefore, it is necessary to study the mechanical properties of the ultra-long horizontal well drill string system, recognize the working state of the ultra-long horizontal well drill string system in the wellbore, so as to suppress adverse vibrations, and use advanced control methods to reasonably control the drilling parameters and improve the horizontal well limit extension capacity and horizontal section mechanical drilling speed. After further research and development, the inventor made the present invention.

[0066] Embodiment 1

[0067] The embodiment of the present invention provides a method for adjusting multi-directional vibration during drilling. Figure 1 As shown, including:

[0068] S101, collecting multiple groups of different drilling parameters and corresponding drill string vibration signals obtained by multiple simulations of the vibration of the drill string system during the drilling process; the different drilling parameters include friction torque, turntable input torque, top drive turntable rotation angular displacement, drill tool rotation angular displacement, equivalent stiffness coefficient and equivalent damping coefficient;

[0069] S102, determining the coefficient of variation of each drilling parameter according to the multiple groups of different drilling parameters, and selecting at least one target drilling parameter that affects the uncertainty of downhole drill string vibration from the different drilling parameters according to the coefficients of variation;

[0070] Before conducting the simulation experiment, the uncertainty analysis of the drill string downhole vibration is carried out. First, the randomness analysis of the drill string downhole vibration parameters is carried out, and the drill string motion differential equation is:

[0071]

[0072] Where: J1 is the moment of inertia of the top drive turntable, kg.m2 ; θ1 is the rotational angular displacement of the top drive turntable, rad; θ2 is the rotational angular displacement of the drill bit, that is, the rotational angular displacement of the bottom drilling tool assembly, rad; s is the vibration period of the downhole drill string, s; k is the equivalent stiffness coefficient (elastic coefficient), Nm / rad; c is the equivalent damping coefficient, Nms / rad; c b is the motor equivalent damping coefficient, Nms / rad; T m is the turntable input torque, Nm; T f is the friction torque, that is, the friction torque corresponding to the maximum static friction between the drill bit and the formation during drilling, Nm.

[0073] The coefficient of variation is an indicator to measure the degree of randomness of the parameter and can be defined as:

[0074]

[0075] Where COV is the coefficient of variation of the random variable, which is dimensionless; σ is the standard deviation of the random variable; and μ is the mean of the random variable.

[0076] For each drilling parameter, multiple sets of the drilling parameters are calculated using the above formula (2) to determine the coefficient of variation of the drilling parameter. Drilling parameters with large coefficients of variation are selected from different drilling parameters to obtain at least one target drilling parameter that affects the uncertainty of downhole drill string vibration.

[0077] S103, taking the at least one target drilling parameter as a random variable, taking other drilling parameters among the different drilling parameters as constants, and establishing a first functional relationship between the drill string vibration signal and the different drilling parameters based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals;

[0078] S104, obtaining an actual vibration signal of the drill string system during the drilling process, and adjusting drilling parameters based on the actual vibration signal and the first functional relationship to regulate the multi-directional vibration of the drill string system.

[0079] When the actual vibration signal is too large, the drilling parameters need to be adjusted to suppress the adverse vibration. The drilling parameters are adjusted through the first functional relationship to reduce the adverse vibration and avoid the damage to the drill bit caused by the stick-slip vibration phenomenon.

[0080] The multi-directional vibration regulation method during drilling provided by the present invention tests the vibration during oil drilling, simulates and analyzes the vibration of the drill string system during drilling by using the Monte Carlo method, and collects multiple groups of different drilling parameters and corresponding drill string vibration signals obtained by simulating the vibration of the drill string system during drilling for multiple times; the different drilling parameters include friction torque, turntable input torque, top drive turntable rotation angle displacement, drill tool rotation angle displacement, equivalent stiffness coefficient and equivalent damping coefficient; by respectively determining the coefficient of variation of different drilling parameters affecting the uncertainty of downhole drill string vibration, the main influencing factors affecting the uncertainty of downhole drill string vibration, namely, target drilling parameters, are screened according to the coefficient of variation; the target drilling parameters are taken as random variables, other drilling parameters in different drilling parameters are taken as constants, and based on multiple groups of different drilling parameters and corresponding drill string vibration signals, a first functional relationship between the drill string vibration signal and different drilling parameters is established. The present invention simulates and analyzes the vibration of the drill string system during drilling, establishes a functional relationship between multiple different drilling parameters and downhole drill string vibration, and provides guidance for the safe identification of downhole vibration of the drill string. After obtaining the first functional relationship, the actual vibration signal of the drill string system during the drilling process can be obtained, and the drilling parameters can be adjusted based on the actual vibration signal and the first functional relationship to adjust the multi-directional vibration of the drill string system, suppress adverse vibrations, and avoid the damage to the drill bit caused by the stick-slip vibration phenomenon.

[0081] In some embodiments, the above S102, according to the multiple groups of different drilling parameters, determines the coefficient of variation of each drilling parameter respectively, and selects at least one target drilling parameter that affects the vibration uncertainty of the downhole drill string from the different drilling parameters according to each coefficient of variation, including:

[0082] S1021, determining the coefficient of variation of each drilling parameter according to the multiple groups of different drilling parameters;

[0083] S1022: Filter out the drilling parameters whose coefficient of variation is greater than a preset value from the different drilling parameters, and obtain at least one target drilling parameter that affects the uncertainty of downhole drill string vibration.

[0084] In order to determine the target drilling parameters, the present invention conducts statistical tests on parameters such as friction torque, turntable input torque, turntable rotation angular displacement, turntable rotation angular displacement, drill tool rotation angular displacement, drill string equivalent stiffness coefficient and equivalent damping coefficient at a drilling site in a certain area, and obtains the coefficient of variation of the main parameters affecting the uncertainty of downhole vibration. Figure 4 The statistical results show that the coefficient of variation of the friction torque and the turntable input torque is much larger than the coefficient of variation of other parameters such as the turntable rotation angular displacement, the drill bit rotation angular displacement, the drill string equivalent stiffness coefficient, the drill string equivalent damping coefficient, etc., that is, the randomness of the friction torque and the turntable input torque is the main influencing factor affecting the uncertainty of downhole drill string vibration.

[0085] Reference Figure 5a , 5b and Figure 6a , 6b As shown in the figure, it is found through fitting distribution that the friction torque and the turntable input torque both obey the normal distribution. Figure 5a is the probability distribution of friction torque when the well depth is 1000 meters, Figure 5b is the probability distribution of friction torque when the well depth is 1200 meters. Figure 6a is the probability distribution of the rotary table input torque when the well depth is 1000 meters, Figure 6b This is the probability distribution of the rotary table input torque when the well depth is 1200 meters.

[0086] Since the randomness of friction torque and turntable input torque is the main influencing factor of drill string vibration uncertainty, the friction torque and turntable input torque can be regarded as two-dimensional random variables, and the other parameters can be regarded as constants. Assume that Z represents the drill string vibration s, and its corresponding random value is z; X represents the friction torque T f , the corresponding random value is x; Y represents the turntable input torque T m , the corresponding random value is y, then formula (1) can be expressed as:

[0087]

[0088] In the formula, k1=-k(θ1-θ2), k2=2c(θ1-θ2)+c b θ1

[0089] but,

[0090] x=g -1 (z,y)=h(z,y)=k2z-y-2k1 (4)

[0091] Taking partial derivative of z in h(z,y) we get:

[0092]

[0093] Let the probability density function of (X, Y) be f X,Y (x,y), since X and Y are independent of each other, then:

[0094] f X,Y (x,y)=f X (x)·f Y (y) (6)

[0095] In the formula, f X (x), f Y (y) are the probability density functions of random variables X and Y respectively.

[0096] According to probability theory, the probability density function of z can be expressed as:

[0097]

[0098] Since the friction torque and the turntable input torque both obey the normal distribution, that is, f X (x), f Y (y) all obey the normal distribution. Therefore, according to the normal distribution and formula (7), the probability density function of the downhole drill string vibration period can be obtained as:

[0099]

[0100] By integrating equation (8), we can obtain the cumulative probability function of the vibration period of the downhole drill string:

[0101]

[0102] The target drilling parameters in S103 are friction torque and turntable input torque; the drill string vibration signal includes a downhole drill string vibration period; the at least one target drilling parameter is used as a random variable, and other drilling parameters among the different drilling parameters are used as constants, and based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals, a first functional relationship between the drill string vibration signal and the different drilling parameters is established, including:

[0103] Taking the friction torque and the turntable input torque as random variables, taking the top drive turntable rotation angular displacement, the drill bit rotation angular displacement, the equivalent stiffness coefficient and the equivalent damping coefficient as constants, based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals, a first functional relationship between the downhole drill string vibration period and the different drilling parameters is established as follows (i.e., the above formula 9):

[0104]

[0105] z is the vibration period of the downhole drill string, s; F Z (z) is the cumulative probability function of the vibration period of the downhole drill string; σ x is the standard deviation of the friction torque; μ x is the mean value of the friction torque; σ y is the standard deviation of the turntable input torque; μ y is the mean value of the input torque of the turntable; k1 = -k(θ1-θ2); k2 = 2c(θ1-θ2)+c b θ1; x is the friction torque, Nm; y is the turntable input torque, Nm; k is the equivalent stiffness coefficient, Nm / rad; θ1 is the top drive turntable rotation angle displacement, rad; θ2 is the drilling tool rotation angle displacement, rad; c is the equivalent damping coefficient, Nms / rad; c bis the motor equivalent damping coefficient, Nms / rad.

[0106] In order to verify the correctness of the uncertainty analysis of downhole drill string vibration in this invention, a drill string vibration test platform was established. Figure 7 As shown. The device mainly includes an adjustable bracket, a drill string, a torque applying device, a tension, compression, vibration and torsion sensor, two sets of servo motors plus controllers, a control device, a mud pool, and a multi-channel sensor installed on the drill string. The drill string is set in the wellbore, one end of the drill string is connected to the servo motor, and the other end is connected to the BHA (Bottom Hole Assembly) and the drill bit through a bottom joint. The control device is started, the pump is started, the drill string rotates and moves forward at the same time, and the pump sends the liquid in the mud pool into the pipe string, and drives the drill bit to rotate and break the rock through the lower BHA. The drill bit speed change curves under the condition of a friction torque of 6000N.m are obtained respectively (refer to Figure 8 As shown) and the drill speed change curve under 5000N.m (refer to Fig. 9 ). Figure 8 and Fig. 9 It can be seen that when the friction torque is 6000N.m, the drill string system produces stick-slip vibration phenomenon, the vibration period of the drill string downhole is about 5s, the difference between the upper limit and the lower limit of the interval is about 5rad / s, and the vibration continues. When the friction torque is 5000N.m, the drill string system also produces stick-slip vibration phenomenon, the vibration period of the drill string downhole is about 10s, the difference between the upper limit and the lower limit of the interval is about 12rad / s, and no stick-slip vibration phenomenon occurs after 82s. The above formula (9) is the cumulative probability function of the vibration period. Different vibration periods can be obtained by inputting different turntable input torques and friction torques. Since the turntable input torque and friction torque have uncertainties, each vibration period will have an upper and lower limit, that is, an interval. In the above two examples, when the friction torque is 6000N.m and 5000N.m, the interval of the vibration period is too large. This is because the turntable input torque and friction torque are too large, which produces large uncertainties, resulting in too large uncertainty intervals of the vibration period. In order to avoid the damage caused by stick-slip vibration to the drill bit, the uncertainty of the friction torque and the turntable input torque should be appropriately reduced, that is, the friction torque and the turntable torque should be reduced. At the same time, due to the different positions of the sensors, the speeds transmitted back are different. Therefore, in order to reduce the interval error, multiple sensors should be set to eliminate the uncertainty of the data as much as possible.

[0107] In some embodiments, the different drilling parameters further include drilling pressure, rock properties, liquid displacement and drilling speed, and the drill string vibration signal includes a three-way vibration rock breaking signal of vertical well drilling; the method further includes:

[0108] S201, collecting three-dimensional vibration rock-breaking signals of vertical well drilling when performing micro-drilling experiments on rock samples with different rock characteristics and applying different liquid displacements, different drilling speeds and different drilling pressures to break rocks;

[0109] Experimental materials: rock samples such as granite, sandstone, limestone, etc. and tap water. Figure 2 As shown, the vertical well drilling vibration experiment system includes a main unit, a display screen, a control box (FFT analysis equipment), a micro-drilling rig, a hydraulic pressurizer, a water pump, a motor, a sensing device (vibration sensor), and a water tank. The motor is connected to the drill bit, and a vibration sensor is provided on the drill bit. For the specific structure of the vertical well drilling vibration experiment system, those skilled in the art may refer to the description of the micro-drilling experiment equipment in the prior art, which will not be repeated here. During the experiment, the power is turned on, the water pump and the motor are started, the motor drives the drill bit to rotate, and the hydraulic pressurizer applies axial pressure to the drill bit through the guide rail to break the rock. The three-way vibration rock-breaking signal of vertical well drilling is obtained through the vibration sensor. In order to more realistically restore the drilling process, tap water is used to simulate the drilling fluid during the drilling process. One is to cool the drill bit and reduce the damage to the drill bit caused by frictional heat; the other is to carry rock cuttings to avoid secondary rock breaking and improve drilling efficiency. Reference Figure 3 As shown in the figure, (a) is a schematic diagram of the drill string in the drill string vibration test, and (b) is a schematic diagram of the corresponding vibration unit. The drill string includes a drill pipe, a drill collar and a drill bit connected in sequence from top to bottom. The drill string drives the drill bit to rotate under the action of the upper hook. The drill string includes n vibration units n=1,2,...i,...n-1,n. The vibration unit is in discontinuous contact with the wellbore wall. The topmost vibration unit is the top node, and the bottommost ones are the near-bit node and the bit node. The contact area between the bit node and the rock is the coupling area.

[0110] In some embodiments, before collecting the vertical well drilling three-way vibration rock breaking signal described in S201 above, the method further includes:

[0111] S200, collecting the acceleration time history curve and the frequency spectrum curve of the vertical well drilling vibration experiment system when it is no-load, performing no-load vibration spectrum analysis based on the acceleration time history curve and the frequency spectrum curve, and judging whether the operation state of the vertical well drilling vibration experiment system is stable.

[0112] The system is unloaded, the drill bit does not break the rock sample, and no drilling pressure is applied. The system runs at a rated drilling speed of 55r / min. The acceleration time history curve data and its spectrum curve are collected to observe the mechanical vibration of the vertical well drilling vibration experiment system. The acceleration time history curve data and its spectrum curve need to be filtered in advance to eliminate interference in signal recognition. The limiting filter method is used for filtering.

[0113] In some embodiments, after determining that the vertical well drilling vibration test system is in a stable operating state, a loading drilling test is performed to collect vertical well drilling three-dimensional vibration rock breaking signals. The rock samples with different rock characteristics include granite samples, sandstone samples, and limestone samples; the vertical well drilling three-dimensional vibration rock breaking signals are obtained in the following manner:

[0114] Granite samples, sandstone samples and limestone samples were subjected to a first preset number of micro-drilling experiments respectively. During the experiment, different liquid displacements, different drilling speeds and different drilling pressures were applied at the rated speed to break the rocks, and three-way vibration rock-breaking signals were collected when the vertical well drilling vibration experiment system was stable to obtain the vertical well drilling three-way vibration rock-breaking signals.

[0115] The first preset number is set according to actual needs, such as 50-80 times.

[0116] S202, based on the vertical well drilling three-dimensional vibration rock-breaking signal under different rock properties, different liquid displacements, different drilling speeds and different drilling pressures, a second functional relationship between the vertical well drilling three-dimensional vibration rock-breaking signal and the rock properties, liquid displacement, drilling speed and drilling pressure is obtained by fitting.

[0117] The collected original vertical well drilling three-way vibration rock-breaking signal is filtered and the spectrum results are statistically analyzed. The correlation between the vertical well drilling three-way vibration rock-breaking signal and drilling pressure, rock characteristics, liquid displacement, and drilling speed is analyzed. During the experiment, the input parameters are drilling pressure, rock characteristics, liquid displacement, well inclination, etc. The output signal in the same time domain is the vertical well drilling three-way vibration rock-breaking signal (including vibration frequency, amplitude) and drilling speed, etc. There will be a correlation between the input and output, and there will be a correlation between the drilling speed and the output vertical well drilling three-way vibration rock-breaking signal. By fitting the drilling speed and the vertical well drilling three-way vibration rock-breaking signal obtained by multiple micro-drilling experiments, the correlation between the vertical well drilling three-way vibration rock-breaking signal and the drilling speed can be determined, and the above-mentioned second functional relationship can be obtained. For example, different drilling pressures (2kN, 4kN, 6kN, 80kN) are applied to break rocks, and the drilling pressure obtained from the first preset number of micro-drilling experiments and the corresponding vertical well drilling three-dimensional vibration rock-breaking signal are fitted to determine the correlation between the vertical well drilling three-dimensional vibration rock-breaking signal and the drilling pressure, and establish the above second functional relationship. When performing actual vertical well drilling, the drilling pressure, rock properties, liquid displacement, and drilling speed can be adjusted according to the second functional relationship to suppress adverse vibrations and avoid the damage to the drill bit caused by the stick-slip vibration phenomenon.

[0118] In some embodiments, the different drilling parameters further include pump volume, pump pressure, well inclination, tool face, drilling pressure, rock properties, liquid displacement and drilling speed, and the drill string vibration signal includes a directional drilling three-way vibration rock breaking signal;

[0119] Directional drilling three-way vibration rock breaking signal by reference Figure 7The experimental system shown in the figure is measured to measure the distribution law of directional drilling parameters and determine the correlation between the three-way vibration rock-breaking signal of directional drilling and rock characteristics, pump volume, pump pressure, well inclination, tool face, liquid displacement, drilling speed and drilling pressure. The experimental materials are rock samples such as granite, sandstone, limestone and tap water. The structure of the directional drilling vibration experimental system can refer to the above description of the drill string vibration test platform. The three-way vibration rock-breaking signal of directional drilling is obtained through a multi-channel sensor. In order to more realistically restore the drilling process, tap water is used to simulate the drilling fluid during the drilling process. One is to cool the drill bit and reduce the damage to the drill bit caused by frictional heat; the other is to carry rock cuttings to avoid secondary rock breaking and improve drilling efficiency.

[0120] In some embodiments, before collecting the directional drilling three-way vibration rock breaking signal, the method further includes:

[0121] S300, collecting the acceleration time history curve and the frequency spectrum curve of the directional drilling vibration experiment system when it is no-load, performing no-load vibration spectrum analysis based on the acceleration time history curve and the frequency spectrum curve, and judging whether the operation state of the directional drilling vibration experiment system is stable.

[0122] The system is unloaded, the drill bit does not break the rock sample, and no drilling pressure is applied. The system runs at a rated drilling speed of 55r / min, and the acceleration time history curve data and its spectrum curve are collected to observe the mechanical vibration of the directional drilling vibration experiment system. The acceleration time history curve data and its spectrum curve are filtered in advance to eliminate interference in signal recognition.

[0123] After determining that the operating state of the directional drilling vibration test system is stable, a loading drilling test is performed to collect the directional drilling three-way vibration rock breaking signal. The method also includes:

[0124] S301, collecting three-dimensional vibration rock-breaking signals of directional drilling when performing micro-drilling experiments on rock samples with different rock characteristics and applying different pump volumes, different pump pressures, different well inclinations, different tool faces, different liquid displacements, different drilling speeds and different drilling pressures to break rocks;

[0125] Specifically, the rock samples with different rock characteristics include granite samples, sandstone samples and limestone samples; the directional drilling three-way vibration rock breaking signal is obtained by the following method:

[0126] S3011. According to the set pump volume, pump pressure, well inclination, tool surface and drilling pressure, an action command is issued to different actuators of the directional drilling vibration experiment system to control the operation of the motor, drive different hydraulic equipment to work, and perform coiled tubing directional drilling;

[0127] Reference Fig.10As shown in the figure, after receiving the parameters (pump volume, pump pressure, well inclination, tool face, drilling pressure, etc.) command from the experimenter, the host sends action commands to different actuators (hydraulic equipment such as simulated injection head, inverter) through the serial port and PCI card to control the operation of the motor and drive different hydraulic equipment to work for continuous tubing directional drilling. Specifically, the PCID / A sends action commands to the electro-hydraulic relief valve and electro-hydraulic proportional valve to control the operation of motor 2 and drive the feed cylinder to work; the serial communication sends action commands to inverter 2 and inverter 1 to control the operation of motor 1 and mud motor respectively, motor 1 drives the lifting equipment to work, and the mud motor drives the mud pump to work.

[0128] S3012. Perform a second preset number of micro-drilling experiments on granite samples, sandstone samples and limestone samples respectively. During the experiment, different pump volumes, different pump pressures, different well inclinations, different tool faces, different liquid displacements, different drilling speeds and different drilling pressures are applied at the rated speed to break the rocks. The three-dimensional rock breaking signal of the directional drilling vibration experimental system is collected when it is stable, so as to obtain the directional drilling three-dimensional vibration rock breaking signal.

[0129] Granite, sandstone and limestone samples were subjected to the second preset number of micro-drilling experiments (50-80 times) respectively. During the experiment, different drilling pressures (2kN, 4kN, 6kN, 80kN) were applied at the rated speed to break the rock. The three-dimensional rock breaking signal when the system was stable was collected to obtain the directional drilling three-dimensional vibration rock breaking signal. The collected original directional drilling three-dimensional vibration rock breaking signal was filtered and the spectrum results were statistically analyzed.

[0130] S302. Based on the three-dimensional vibration rock-breaking signals of directional drilling under different rock properties, different pump volumes, different pump pressures, different well inclinations, different tool faces, different liquid displacements, different drilling speeds and different drilling pressures, a third functional relationship between the three-dimensional vibration rock-breaking signals of directional drilling and rock properties, pump volumes, pump pressures, well inclinations, tool faces, liquid displacements, drilling speeds and drilling pressures is fitted.

[0131] The multi-channel sensor outputs each parameter to the console. After the parameter value stabilizes, record the parameters such as vibration, drilling pressure, displacement, tool face angle, and well inclination angle. Keep the input parameter value unchanged and conduct 50-80 experiments. The output signal in the same time domain is the three-way vibration rock-breaking signal of directional drilling (including vibration frequency, amplitude) and drilling speed, etc. There will be a correlation between the input and output, and there will also be a correlation between the drilling speed and the output three-way vibration rock-breaking signal of vertical well drilling. Analyze the correlation between the three-way vibration rock-breaking signal of directional drilling and pump volume, pump pressure, well inclination, tool face, and drilling pressure. By fitting the pump volume, pump pressure, well inclination, tool face, and drilling pressure obtained from multiple micro-drilling experiments with the three-way vibration rock-breaking signal of vertical well drilling, it is possible to determine the correlation between the three-way vibration rock-breaking signal of vertical well drilling and the pump volume, pump pressure, well inclination, tool face, and drilling pressure, and obtain the third functional relationship. During actual directional drilling, the pump volume, pump pressure, well inclination, tool face and drilling pressure can be adjusted according to the third functional relationship to suppress adverse vibrations and avoid damage to the drill bit caused by stick-slip vibration.

[0132] Embodiment 2

[0133] The embodiment of the present invention provides a multi-directional vibration adjustment device during drilling, referring to Fig.11 As shown, including:

[0134] The acquisition module 401 is used to acquire multiple sets of different drilling parameters and corresponding drill string vibration signals obtained by multiple simulations of the vibration of the drill string system during the drilling process; the different drilling parameters include friction torque, turntable input torque, top drive turntable rotation angular displacement, drill tool rotation angular displacement, equivalent stiffness coefficient and equivalent damping coefficient;

[0135] A calculation module 402 is used to determine the coefficient of variation of each drilling parameter according to the plurality of different drilling parameters, and to select at least one target drilling parameter that affects the vibration uncertainty of the downhole drill string from the different drilling parameters according to the coefficients of variation;

[0136] A fitting module 403 is used to take the at least one target drilling parameter as a random variable, take other drilling parameters among the different drilling parameters as constants, and establish a first functional relationship between the drill string vibration signal and the different drilling parameters based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals;

[0137] The adjustment module 404 is used to obtain an actual vibration signal of the drill string system during the drilling process, and adjust the drilling parameters based on the actual vibration signal and the first functional relationship to adjust the multi-directional vibration of the drill string system.

[0138] The multi-directional vibration adjustment device during drilling provided by the embodiment of the present invention has an implementation principle and technical effect similar to any of the aforementioned method embodiments, which will not be repeated here.

[0139] Embodiment 3

[0140] An embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the multi-directional vibration adjustment method during drilling as described in any of the aforementioned method embodiments is implemented.

[0141] The computer-readable storage medium may be included in the device / apparatus described in the above embodiment; or it may exist independently without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0142] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0143] Embodiment 4

[0144] An embodiment of the present invention provides an electronic device, referring to Fig.12 As shown, it includes a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112 and the memory 113 communicate with each other through the communication bus 114.

[0145] Memory 113, used for storing computer programs;

[0146] The processor 111 is used to implement the multi-directional vibration adjustment method during drilling as described in any of the above method embodiments when executing the program stored in the memory 113.

[0147] The implementation principle and technical effect of the electronic device provided by the embodiment of the present invention are similar to those of any of the aforementioned method embodiments, and will not be repeated here.

[0148] The above-mentioned memory 113 can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. The memory 113 has a storage space for program codes for executing any method steps in the above-mentioned method. For example, the storage space for program codes may include various program codes for implementing various steps in the above method respectively. These program codes can be read from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are usually portable or fixed storage units. The storage unit may have a storage segment or storage space arranged similarly to the memory 113 in the above-mentioned electronic device. The program code can be compressed, for example, in an appropriate form. Generally, the storage unit includes a program for executing the method steps according to an embodiment of the present invention, that is, a code that can be read by, for example, a processor 111, and when these codes are run by an electronic device, the electronic device performs the various steps in the method described above.

[0149] In this document, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. The orientation or position relationship indicated by the terms "upper", "lower", etc. is based on the orientation or position relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0150] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict. The present invention is not limited to any single aspect, any single embodiment, or any combination and / or permutation of these aspects and / or embodiments. Each aspect and / or embodiment of the present invention can be used alone, or in combination with one or more other aspects and / or other embodiments.

[0151] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method for adjusting multi-directional vibration during drilling, characterized in that: include: Collect multiple sets of different drilling parameters and corresponding drill string vibration signals obtained by multiple simulations of the vibration of the drill string system during the drilling process; the different drilling parameters include friction torque, turntable input torque, top drive turntable rotation angular displacement, drill tool rotation angular displacement, equivalent stiffness coefficient and equivalent damping coefficient; Determine the coefficient of variation of each drilling parameter according to the plurality of different drilling parameters, and select at least one target drilling parameter that affects the uncertainty of downhole drill string vibration from the different drilling parameters according to the coefficients of variation; Taking the at least one target drilling parameter as a random variable, taking other drilling parameters among the different drilling parameters as constants, and establishing a first functional relationship between the drill string vibration signal and the different drilling parameters based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals; An actual vibration signal of a drill string system during drilling is acquired, and drilling parameters are adjusted based on the actual vibration signal and the first functional relationship to regulate the multi-directional vibration of the drill string system.

2. The multi-directional vibration adjustment method during drilling according to claim 1, characterized in that: The target drilling parameters include friction torque and turntable input torque; the drill string vibration signal includes the downhole drill string vibration period; Taking the at least one target drilling parameter as a random variable, taking other drilling parameters among the different drilling parameters as constants, and establishing a first functional relationship between the drill string vibration signal and the different drilling parameters based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals, including: Taking the friction torque and the turntable input torque as random variables, taking the top drive turntable rotation angular displacement, the drill bit rotation angular displacement, the equivalent stiffness coefficient and the equivalent damping coefficient as constants, based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals, a first functional relationship between the downhole drill string vibration period and the different drilling parameters is established as follows: Where z is the vibration period of the drill string downhole; F z (z) is the cumulative probability function of the vibration period of the downhole drill string; σ x is the standard deviation of the friction torque; μ x is the mean value of the friction torque; σ y is the standard deviation of the turntable input torque; μ y is the mean value of the input torque of the turntable; k1 = -k(θ1-θ2); k2 = 2c(θ1-θ2)+c b θ1; x is the friction torque; y is the rotary table input torque; k is the equivalent stiffness coefficient; θ1 is the top drive rotary table rotation angle displacement; θ2 is the drilling tool rotation angle displacement; c is the equivalent damping coefficient; c b is the motor equivalent damping coefficient.

3. The multi-directional vibration adjustment method during drilling according to claim 1, characterized in that: The different drilling parameters also include drilling pressure, rock properties, liquid displacement and drilling speed, and the drill string vibration signal includes a three-way vibration rock breaking signal of vertical well drilling; the method also includes: Collect three-dimensional vibration rock breaking signals of vertical well drilling when micro-drilling experiments are carried out on rock samples with different rock characteristics and different liquid displacement, different drilling speeds and different drilling pressures are applied to break the rock; Based on the three-dimensional vibration rock-breaking signals of vertical well drilling under different rock properties, different liquid displacements, different drilling speeds and different drilling pressures, a second functional relationship between the three-dimensional vibration rock-breaking signals of vertical well drilling and rock properties, liquid displacement, drilling speed and drilling pressure is obtained by fitting.

4. The multi-directional vibration adjustment method during drilling according to claim 3, characterized in that: The rock samples with different rock characteristics include granite samples, sandstone samples and limestone samples; the vertical well drilling three-way vibration rock breaking signal is obtained by the following method: Granite samples, sandstone samples and limestone samples were subjected to a first preset number of micro-drilling experiments respectively. During the experiment, different liquid displacements, different drilling speeds and different drilling pressures were applied at the rated speed to break the rocks, and three-way vibration rock-breaking signals were collected when the vertical well drilling vibration experiment system was stable to obtain the vertical well drilling three-way vibration rock-breaking signals.

5. The multi-directional vibration adjustment method during drilling according to claim 3, characterized in that: Before collecting the vertical well drilling three-way vibration rock breaking signal, the method further includes: The acceleration time history curve and the frequency spectrum curve of the vertical well drilling vibration experiment system when no-load are collected, and the no-load vibration spectrum analysis is performed based on the acceleration time history curve and the frequency spectrum curve to determine whether the operation state of the vertical well drilling vibration experiment system is stable.

6. The multi-directional vibration adjustment method during drilling according to claim 1, characterized in that: The different drilling parameters also include pump volume, pump pressure, well inclination, tool face, drilling pressure, rock properties, liquid displacement and drilling speed, and the drill string vibration signal includes a three-way vibration rock breaking signal of directional drilling; the method also includes: Collect three-dimensional vibration rock breaking signals of directional drilling when micro-drilling experiments are carried out on rock samples with different rock characteristics and different pump volumes, different pump pressures, different well inclinations, different tool faces, different liquid displacements, different drilling speeds and different drilling pressures are applied to break rocks; Based on the three-dimensional vibration rock-breaking signals of directional drilling under different rock properties, different pump volumes, different pump pressures, different well inclinations, different tool faces, different liquid displacements, different drilling speeds and different drilling pressures, a third functional relationship between the three-dimensional vibration rock-breaking signals of directional drilling and rock properties, pump volume, pump pressure, well inclination, tool face, liquid displacement, drilling speed and drilling pressure is fitted.

7. The multi-directional vibration adjustment method during drilling according to claim 6, characterized in that: The rock samples with different rock characteristics include granite samples, sandstone samples and limestone samples; the directional drilling three-way vibration rock breaking signal is obtained by the following method: According to the set pump volume, pump pressure, well inclination, tool surface and drilling pressure, it sends action commands to different actuators of the directional drilling vibration experiment system to control the operation of the motor, drive different hydraulic equipment to work, and perform coiled tubing directional drilling; The granite rock samples, sandstone rock samples and limestone rock samples are subjected to the micro-drilling experiment for the second preset number of times respectively. During the experiment, different pump volumes, different pump pressures, different well inclinations, different tool faces, different liquid displacements, different drilling speeds and different drilling pressures are applied at the rated speed to break the rocks, and the three-dimensional rock breaking signal of the directional drilling vibration experimental system is collected when it is stable, so as to obtain the directional drilling three-dimensional vibration rock breaking signal.

8. The multi-directional vibration adjustment method during drilling according to claim 6, characterized in that: Before collecting the directional drilling three-way vibration rock breaking signal, the method further includes: The acceleration time history curve and the frequency spectrum curve of the directional drilling vibration experiment system when no-load are collected, and the no-load vibration spectrum analysis is performed based on the acceleration time history curve and the frequency spectrum curve to determine whether the operation state of the directional drilling vibration experiment system is stable.

9. The multi-directional vibration adjustment method during drilling according to claim 1, characterized in that: The method of determining the coefficient of variation of each drilling parameter according to the plurality of different drilling parameters, and selecting at least one target drilling parameter that affects the vibration uncertainty of the downhole drill string from the different drilling parameters according to the coefficient of variation, comprises: Determining the coefficient of variation of each drilling parameter according to the plurality of different drilling parameters; The drilling parameters whose coefficient of variation is greater than a preset value are screened out from the different drilling parameters to obtain at least one target drilling parameter that affects the uncertainty of the vibration of the downhole drill string.

10. A multi-directional vibration adjustment device during drilling, characterized in that: include: A collection module is used to collect multiple groups of different drilling parameters and corresponding drill string vibration signals obtained by multiple simulations of the vibration of the drill string system during the drilling process; the different drilling parameters include friction torque, turntable input torque, top drive turntable rotation angular displacement, drill tool rotation angular displacement, equivalent stiffness coefficient and equivalent damping coefficient; A calculation module, configured to determine the coefficient of variation of each drilling parameter according to the plurality of different drilling parameters, and to select at least one target drilling parameter that affects the vibration uncertainty of the downhole drill string from the different drilling parameters according to the coefficients of variation; A fitting module, configured to take the at least one target drilling parameter as a random variable, take other drilling parameters among the different drilling parameters as constants, and establish a first functional relationship between the drill string vibration signal and the different drilling parameters based on the multiple groups of different drilling parameters and the corresponding drill string vibration signals; The adjustment module is used to obtain an actual vibration signal of a drill string system during drilling, and adjust drilling parameters based on the actual vibration signal and the first functional relationship to adjust the multi-directional vibration of the drill string system.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the multi-directional vibration adjustment method during drilling as described in any one of claims 1 to 9 is implemented.

12. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The processor is used to implement the multi-directional vibration adjustment method during drilling as described in any one of claims 1 to 9 when executing the program stored in the memory.

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