Centralized control system for well control equipment

Abstract

The invention relates to the technical field of automatic control, in particular to a centralized control system for well control equipment, which comprises a ground blowout preventer remote control module, and a remote control driller station, a one-key automatic well closing driller station, a turntable clutch module, a winch module and a slurry pump control cabinet which are in communication connection with the ground blowout preventer remote control module, the well shut-in process of automatic control is adopted, well control equipment is automatically controlled in a centralized mode, the well shut-in process is automatically completed by means of an electromagnetic valve and an encoder, and compared with a well shut-in scheme that equipment is controlled in a decentralized mode and generally operated manually, the well shut-in efficiency and safety of the scheme are higher; meanwhile, well drilling data can be collected, displayed and monitored in real time, and the safety degree of well control equipment is further improved.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a centralized control system for well control equipment. Background Art

[0002] At present, drilling teams generally adopt the "four-seven" action, mainly relying on manual operation and hand signal transmission to carry out well shut-in control. When overflow occurs during drilling, the following actions are taken in sequence: a: send a signal; b: stop the turntable and the pump (when equipped with a top drive, stop the top drive and the pump); c: lift the square drill pipe (when equipped with a top drive, lift the drill bit); d: open the hydraulic flat valve; e: close the blowout preventer (close the annular blowout preventer first, and then close the semi-closed gate blowout preventer); f: close the joint flow valve first (try to shut down the well), then close the manual flat valve next to the front end of the joint flow valve, and then open the annular blowout preventer; g: carefully observe and accurately record the riser and casing pressures and the increase or decrease in the amount of drilling fluid in the circulating pool, and promptly report the drilling supervision to the team leader or drilling engineer.

[0003] The existing wellhead equipment, BOP group and throttle manifold are all controlled separately and independently. When shutting in the well, multiple operators are required to provide real-time feedback of the equipment switch status to the driller. Since the well shut-in control equipment is dispersed, there are many coordination points, and the operators are not coordinated well, especially in emergency situations, people are prone to operating errors. Any error in any link will seriously affect the well shut-in time, miss the best time to shut in the well, and bring huge hidden dangers and risks to well control safety.

[0004] In addition, since the BOP group and throttle manifold control systems currently used in oil fields are controlled separately, the control method mainly relies on various mechanical instruments and operator visual observation to understand the system's working status and key working parameters, so the control effect is poor and the response speed is slow. Therefore, a practical and feasible automatic control solution for the centralized control system of well control equipment is urgently needed to further improve the safety of well control equipment. Summary of the invention

[0005] The purpose of the present invention is to overcome the technical problems in the prior art of using separately controlled blowout preventer groups and throttle manifold control systems, in which the control method mainly relies on various mechanical instruments and operator visual observation to understand the working status and key working parameters of the system, resulting in poor control effect and slow response speed, and to provide a centralized control system for well control equipment.

[0006] The present invention provides a centralized control system for well control equipment, comprising: a surface blowout preventer remote control module, and a remote control drilling platform, a one-button automatic well shut-in drilling platform, a rotary table clutch module, a winch module, and a mud pump control cabinet connected to the surface blowout preventer remote control module;

[0007] The remote-controlled drilling platform and the one-button automatic well shut-in drilling platform send an overflow signal to the turntable clutch module through the surface blowout preventer remote control module, and the turntable clutch module controls the turntable to stop rotating after receiving the overflow signal; after the turntable stops rotating, the remote-controlled drilling platform and the one-button automatic well shut-in drilling platform send an overflow signal to the mud pump control cabinet through the surface blowout preventer remote control module, and the mud pump control cabinet controls the mud pump to stop working after receiving the overflow signal; after the mud pump stops working, the surface blowout preventer remote control module sends an automatic well shut-in signal to the winch module, and controls the winch module to lift the drilling tool to a specified height.

[0008] By adopting the above calculation scheme, a centralized control system is used to realize the automated control of well control equipment and the collection, display and monitoring of drilling data, further improving the safety of well control equipment.

[0009] Preferably, the rotary clutch module comprises two rotary clutches, a first two-position three-way pneumatically controlled reversing valve, a first solenoid valve and a second solenoid valve, and the rotary clutch module is communicatively connected with the surface blowout preventer remote control module via a wiring connector;

[0010] After the turntable clutch module receives the overflow information, the first two-position three-way air-controlled reversing valve moves to the left position, so that the turntable clutch air source cannot flow into the circuit, and the first solenoid valve moves to the right position to further block the flow of the turntable clutch air source. At the same time, the second solenoid valve moves to the left position to open the exhaust circuit, and the residual gas in the turntable clutch module is discharged through the rotary joint and the second solenoid valve, so that the turntable is in a stopped state.

[0011] Preferably, after receiving the overflow signal, the mud pump control cabinet controls the mud pump to stop working through a relay connected in parallel with the mud pump control cabinet.

[0012] Preferably, the winch module comprises a winch, a winch disc brake, a limiter, and a winch clutch, and the winch module is communicatively connected to the surface blowout preventer remote control module via the connector;

[0013] After the winch module receives the automatic well shut-in signal, the winch releases the winch disc brake, then automatically lifts the drilling tool to a specified height, and finally opens the winch disc brake for braking; wherein the winch disc brake is automatically released by controlling the winch disc brake fluid inlet and oil return solenoid valves.

[0014] Preferably, the velocity equation and acceleration equation of each node are derived at the specified height using vector analysis, and the movement of each node is calculated using the velocity equation and acceleration equation. When a dangerous situation occurs at any target position at the wellhead, the movement of each joint of the wellhead grabbing device is reversely solved according to the coordinates of the target position to obtain the target elongation of the driving cylinder and the target rotation angle of the hydraulic motor, thereby lifting the drilling tool to the target position.

[0015] Preferably, each joint adopts an industrial controller to receive the command information of each joint and compare it with the angle information measured by the angle sensor, and the deviation signal is used as the input of the industrial controller. The output signal of the industrial controller controls the electro-hydraulic proportional reversing valve to drive the hydraulic cylinder and the hydraulic motor to work respectively, and realizes the rotation of the column slewing joint and the extension of the folding arm joint through the slewing bearing and the folding arm.

[0016] Preferably, an encoder is installed on the main drum of the drawworks to detect the drilling tool lifting height, and the encoder is communicatively connected with the surface blowout preventer remote control module;

[0017] During the lifting process, the encoder measures the rotation angle of the main drum and sends a signal to the second two-position two-way electromagnetic reversing valve when the drill bit is lifted to a preset specified height. At this time, the second two-position two-way electromagnetic reversing valve moves to the right position, and the third two-position three-way electromagnetic reversing valve moves to the left position. At this time, the air source of the clutch of the main drum is cut off, and the residual gas in the clutch flows into the fourth two-position three-way electromagnetic reversing valve through the rotary joint and is discharged by the third two-position two-way electromagnetic reversing valve.

[0018] Preferably, one end of the encoder is connected to the connector, and the other end is communicatively connected to the surface blowout preventer remote control module through an encoder control box.

[0019] Preferably, when the drilling tool is lifted to a specified height, the drawworks disc brake is restored by the solenoid valve to brake, and the drawworks brake fluid inlet and oil return solenoid valves are controlled at the same time to achieve automatic braking of the drawworks.

[0020] Preferably, it also includes a gate blowout preventer and a hydraulic valve that are communicatively connected to the surface blowout preventer remote control module. After the drawworks lifts the drilling tool to a specified height and keeps the height unchanged, the surface blowout preventer remote control module controls the closure of the gate blowout preventer and the opening of the hydraulic valve.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The well-shut-in process is automated, and the well control equipment is centrally and automatically controlled. The well-shut-in process is automatically completed by relying on solenoid valves and encoders. Compared with the well-shut-in solution in which the equipment is decentralized and generally operated manually, this solution has higher well-shut-in efficiency and safety. At the same time, it can collect, display and monitor drilling data in real time, further improving the safety of well control equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Throughout the accompanying drawings, the same reference numerals are used to represent the same components. In the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of a centralized control system for well control equipment described in Example 1;

[0025] Figure 2 A schematic diagram of a rotary table shutdown of a well control equipment centralized control system described in Example 2;

[0026] Figure 3 A mud pump shutdown diagram of a well control equipment centralized control system described in Example 2;

[0027] Figure 4 A schematic diagram of the automatic lifting principle of a drilling tool of a centralized control system for well control equipment described in Example 2;

[0028] Figure 5 A schematic diagram of a winch automatically lifting drilling tools in a centralized control system for well control equipment described in Example 2;

[0029] Figure 6 A schematic diagram of a well control equipment centralized control system controlling closing of a semi-closed gate blowout preventer and opening of a hydraulic valve as described in Example 2;

[0030] Figure 7 A schematic diagram of a mechanical arm connecting rod mechanism of a wellhead check valve of a centralized control system for well control equipment described in Example 3;

[0031] Figure 8 This is a block diagram of the servo control of the column rotary joint of a centralized control system for well control equipment described in Example 3;

[0032] Fig. 9 This is a block diagram of the hydraulic servo control of the folding arm joint of a centralized control system for well control equipment described in Example 3.

[0033] Markings in the figure: 1-ground BOP remote control module; 2-remote control system drilling platform; 3-one-button automatic well shut-in drilling platform; 4-hydraulic valve; 5-gate BOP; 6-connector; 7-first turntable clutch; 8-winch disc brake; 9-encoder; 10-winch clutch; 11-winch; 12-limiter; 13-second turntable clutch; 14-encoder control box; 15-mud pump control cabinet; 16-first two-position three-way air-controlled reversing valve; 17-first solenoid valve; 18-second solenoid valve; 19-first rotary joint; 20-working clamp; 21-safety clamp; 22-first two-position two-way solenoid reversing valve; 24-second two-position three-way solenoid reversing valve; 25-Cylinder; 26-First two-position four-way solenoid reversing valve; 27-First three-position three-way solenoid reversing valve; 28-Third two-position three-way solenoid reversing valve; 29-Accumulator; 30-Gas through pressure reducing valve; 31-Second two-position two-way solenoid reversing valve; 32-Fourth two-position three-way air solenoid reversing valve; 33-Second rotary joint; 34-Drawworks main drum clutch; 35-Third two-position two-way solenoid reversing valve; 36-First three-position five-way air solenoid reversing valve; 37-Second three-position five-way air solenoid reversing valve; 38-Cylinder; 39-First three-position four-way hydraulic solenoid reversing valve; 40-Liquid source; 41-Hydraulic cylinder of semi-closed gate blowout preventer; 42-Hydraulic flat valve cylinder; 43-Gas source. DETAILED DESCRIPTION

[0034] 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 only a part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0035] It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance, or implying any such actual relationship or order between these entities or operations. In addition, the terms "connected", "connected", etc. can mean direct connection between components, or indirect connection via other components.

[0036] Example 1

[0037] This embodiment provides a centralized control system for well control equipment, such as Figure 1 As shown, it includes: a ground blowout preventer remote control module 1, a remote control system drilling platform 2 connected to the ground blowout preventer remote control module 1, a one-button automatic well shut-in drilling platform 3, a hydraulic valve 4, a gate blowout preventer 5, a rotary disc clutch module, a winch module, an encoder 9 and a mud control cabinet 15; the hydraulic valve 4 and the gate blowout preventer 5 are an integrated device and are connected to the ground blowout preventer remote control module 1, the rotary disc clutch module includes: a first rotary disc clutch 7 and a second rotary disc clutch 13, and is connected to the ground blowout preventer remote control module 1 through a connector 6, the winch module includes: a winch 11, a winch disc brake 8, a limiter 12, a winch clutch 10, and is connected to the ground blowout preventer remote control module 1 through a connector 6, the encoder 9 is installed outside the winch clutch 10, one end of the encoder 9 is connected to the connector 6, and the other end is connected to the ground blowout preventer remote control module 1 through an encoder control box 14.

[0038] The remote-controlled drilling platform 2 and the one-button automatic well shut-in drilling platform 3 send an overflow signal to the turntable clutch module through the surface blowout preventer remote control module 1, and the turntable clutch module controls the turntable to stop rotating after receiving the overflow signal; after the turntable stops rotating, the remote-controlled drilling platform 2 and the one-button automatic well shut-in drilling platform 3 send an overflow signal to the mud pump control cabinet 15 through the surface blowout preventer remote control module 1, and the mud pump control cabinet 15 controls the mud pump to stop working after receiving the overflow signal; after the mud pump stops working, the surface blowout preventer remote control module 1 sends an automatic well shut-in signal to the winch module, and controls the winch module to lift the drilling tool to a specified height.

[0039] Example 2

[0040] This embodiment is a specific implementation of embodiment 1;

[0041] When overflow occurs, the remote control system drilling platform 2 and the one-button automatic well shut-in drilling platform 3 simultaneously send signals to the surface blowout preventer remote control system 1, and the surface blowout preventer remote control system 1 transmits the signal to the first turntable clutch 7 and the second turntable clutch 13 through the connector 6. At this time, the first turntable clutch 7 and the second turntable clutch 13 disconnect the turntable clutch air source through the solenoid valve to stop the turntable. The specific implementation process is as follows: Figure 2As shown: when the first turntable clutch 7 and the second turntable clutch 13 receive a signal, the first two-position three-way air-controlled reversing valve 16 moves to the left position, so that the turntable clutch source cannot flow into the circuit, the first solenoid valve 17 moves to the right position to further block the flow of the turntable clutch air source, and at the same time the second solenoid valve 18 moves to the left position to open the exhaust circuit, and the residual gas in the turntable clutch module is discharged through the first rotary joint 19 and the second solenoid valve 18, so that the turntable is in a stopped state;

[0042] When the rotary table stops, the remote control system driller console 2 and the one-button automatic well shut-in driller console 3 transmit the signal to the mud pump control cabinet 15 through the surface blowout preventer remote control system 1, and the mud pump control cabinet 15 stops the mud pump. Figure 3 As shown: stopping the mud pump is mainly achieved by connecting a relay UC in parallel to the "fast return to neutral switch" of the mud pump control cabinet 15; when the emergency well shut-in control program is started, the relay UC is used to transmit an electrical signal to the "fast return to neutral switch" of the mud pump, which is equivalent to turning the knob on the operation panel to the "neutral" position to stop the mud pump.

[0043] When the mud pump stops, the automatic well shut-in signal is transmitted from the connector 6 to the winch 11, so that the winch 11 releases the winch disc brake 8, and then the winch 11 automatically lifts the drilling tool to a specified height, and finally opens the winch disc brake 8 for braking. The winch disc brake 8 is released mainly by controlling the winch disc brake inlet and return oil solenoid valves to achieve automatic brake release of the winch. The specific implementation method is as follows: Figure 4 As shown: the drawworks brake disc includes a working clamp 20 and a safety clamp 21. After the well shut-in procedure is started, the first two-position two-way solenoid reversing valve 22 moves to the right position. The hydraulic oil in the hydraulic cylinder of the working clamp 20 flows into the C port through the A port of the second two-position three-way solenoid reversing valve 24 on the left under the extension and compression of the spring and flows into the oil cylinder 25 through the first two-position two-way solenoid reversing valve 22. At the same time, the two-position four-way solenoid reversing valve 26 moves to the right position. The hydraulic oil in the working clamp 20 flows into the oil cylinder 25 through the first two-position four-way solenoid reversing valve 26 and the first three-position three-way solenoid reversing valve 27. At this time, the working clamp 20 releases the brake disc under the action of the spring. At the same time, the third two-position three-way solenoid reversing valve 28 moves to the left position. The hydraulic oil flows into the hydraulic cylinder of the safety clamp 21 through the third two-position three-way solenoid reversing valve 28. The hydraulic oil compresses the spring to release the brake disc of the safety clamp. At this time, the drawworks disc brake is completely released. The function of the accumulator 29 is to absorb the excess energy in the hydraulic circuit and maintain the stable pressure of the hydraulic circuit.

[0044] When the winch disc brakes are all released, the winch first presets the automatic lifting height of the drill tool through the encoder and then automatically lifts the drill tool to the specified height. When the automatic emergency well shut-in control is started, the clutch of the main drum of the winch is controlled by the solenoid valve to achieve automatic lifting, and the encoder is installed on the main drum to detect the height of the lifted drill tool. The specific implementation method is as follows Figure 5 As shown: the gas flows into the air pressure circuit through the pressure reducing valve 30, the second two-position two-way electromagnetic reversing valve 31 moves to the left position, and the fourth two-position three-way air electromagnetic reversing valve 32 moves to the right position. The gas flows into the second rotary joint 33 through the second two-position two-way air electromagnetic reversing valve 31 and the fourth two-position three-way air electromagnetic reversing valve 32, and enters the drawworks main drum clutch 34. The drawworks main drum clutch 34 works to drive the drawworks to lift the drilling tool. During the lifting process, the encoder 9 measures the drum rotation angle, and sends a signal to the second two-position two-way air electromagnetic reversing valve 31 when the drilling tool is lifted to a preset specified height. At this time, the second two-position two-way air electromagnetic reversing valve 31 moves to the right position, and the third two-position three-way air electromagnetic reversing valve 32 moves to the left position. At this time, the air source of the drawworks main drum clutch 34 is cut off, and the residual gas in the drawworks main drum clutch 34 flows into the fourth two-position three-way air electromagnetic reversing valve 32 through the second rotary joint 33 and is discharged by the third two-position two-way air electromagnetic reversing valve 35.

[0045] When the drilling tool is lifted to the specified height, the winch disc brake is restored through the solenoid valve, and the drawworks brake fluid inlet and oil return solenoid valves are controlled at the same time to achieve automatic brake of the drawworks. The specific implementation method is as follows: Figure 4 As shown: after the drilling tool is lifted to the specified height, the first two-position two-way electromagnetic reversing valve 22 moves to the left position, and at the same time, the second two-position three-way electromagnetic reversing valve 24 on the left moves to the right position, and the first two-position four-way electromagnetic reversing valve 26 moves to the left position. At this time, the hydraulic oil flows into the hydraulic cylinder of the working clamp 20 through the second two-position three-way electromagnetic reversing valve 24 on the left and the first two-position four-way electromagnetic reversing valve 26 on the left. The hydraulic cylinder spring of the working clamp 20 is hydraulically compressed to clamp the brake disc of the working clamp, and at the same time, the second two-position three-way electromagnetic reversing valve 24 on the right moves to the left position, and the first two-position two-way electromagnetic reversing valve 22 on the right moves to the right position. The hydraulic source in the safety clamp 21 is cut off, and its hydraulic oil flows into the hydraulic circuit under the elongation and compression of the spring, flows into the C port through the A port of the second two-position three-way electromagnetic reversing valve 24 on the right, and flows into the oil cylinder 25 through the first two-position two-way electromagnetic reversing valve 22 on the right. At this time, the safety clamp hydraulic cylinder clamps the brake disc to achieve braking under the action of the elongation of the spring. At this time, the winch disc brake is fully clamped to maintain the drilling tool at the specified height.

[0046] After the winch lifts the drilling tool to the specified height and keeps the height unchanged, the ground BOP remote control system 1 controls the closing of the semi-closed gate BOP 5 and the opening of the hydraulic valve 4 (hydraulic flat valve). The specific implementation method is as follows Figure 6As shown: the signal is transmitted to the first three-position five-way air electromagnetic reversing valve 36 and the second three-position five-way air electromagnetic reversing valve 37. At this time, the first three-position five-way air electromagnetic reversing valve 36 and the second three-position five-way air electromagnetic reversing valve 37 are both moved to the right position, and the gas in the gas source 43 flows into the left side of the cylinder 38 through the first three-position five-way air electromagnetic reversing valve 36 and the second three-position five-way air electromagnetic reversing valve 37. The gas in the cylinder 38 makes the piston move to the right and drives the first three-position four-way liquid electromagnetic reversing valve 39 to move to the right position. At this time, the hydraulic oil in the liquid source 40 flows into the C port of the semi-closed gate blowout preventer hydraulic cylinder 41 and the hydraulic flat valve cylinder 42 through the first three-position four-way liquid electromagnetic reversing valve 39. At this time, the pistons in the two hydraulic cylinders are both moved to the left, so that the semi-closed gate blowout preventer is closed and the hydraulic flat valve is opened. After completing all the above actions, the workflow of the automated well closing procedure is completed.

[0047] Example 3

[0048] This embodiment is a specific implementation of embodiment 1;

[0049] The velocity equation and acceleration equation of each node are derived at the specified height using the vector analysis method, and the movement of each node is calculated using the velocity equation and acceleration equation. When a dangerous situation occurs at any target position at the wellhead, the movement of each joint of the wellhead grabbing device is reversely solved according to the coordinates of the target position to obtain the target elongation of the driving cylinder and the target rotation angle of the hydraulic motor, thereby lifting the drilling tool to the target position.

[0050] Specifically, starting from the actual working principle of the wellhead rush check valve device, and obtaining the position and posture of the folding arm according to the motion parameters of each drive, thereby obtaining the motion trajectory of the end point of the wellhead rush check valve, the vector analysis method is used to perform kinematic analysis on the connecting rod mechanism of the wellhead rush check valve robotic arm, and the vector equations are established according to the closed vector loop of the mechanism, and then the position equations of the end of the hydraulic cylinder and the end of the robotic arm are derived, and then the velocity equation and acceleration equation of the end of the robotic arm are derived.

[0051] The wellhead check valve device is a complex multi-link mechanism. The traditional robot DH method cannot derive its kinematic equations. Therefore, the vector analysis method is used to derive its complete kinematic equations, and the matlab program is used to calculate its mathematical relationship.

[0052] The equations derived above serve as the theoretical basis necessary for the motion control of the device's robotic arm. That is, when a dangerous situation occurs at any target position at the wellhead, the motion of each joint of the wellhead grabbing device can be reversely solved according to the coordinates of the target position, thereby solving the target extension of the driving cylinder and the target rotation angle of the hydraulic motor, so that the device can accurately reach the target position to complete the grabbing work.

[0053] The movement of the mechanical arm of the wellhead check valve device can be divided into the overall rotation movement driven by the bottom hydraulic motor and the extension movement of the folding arm driven by the folding arm hydraulic cylinder. The driving relationship of the hydraulic motor is relatively simple and the rotation angle is a known quantity, while the movement relationship of the folding arm part is not clear, so the movement of the folding arm is simplified as follows: Figure 7 The schematic diagram of the planar mechanism motion is shown;

[0054] In the folding arm mechanism, the prime mover is the hydraulic cylinder. Taking the elongation of the hydraulic cylinder as a known quantity, the relationship between the rotation angles of the forearm and the rear arm and the elongation of the hydraulic cylinder and the position equation of the end point M of the hydraulic cylinder and the center point W of the bottom of the check valve during the movement are solved.

[0055] The forward kinematic equations are established using vector analysis method;

[0056] In the closed vector shape ABCJ we have:

[0057]

[0058] According to Euler's formula:

[0059] e iθ =cosθ+isinθ (2)

[0060] Combining equations (1) and (2), we can obtain:

[0061]

[0062] In the closed vector graphics JCGI there are:

[0063]

[0064] Applying Euler's formula we get:

[0065]

[0066] In the quadrilateral AFGI there are:

[0067] L AJ +L JI =L AI (6)

[0068] Combining equations (3), (5) and (6), we can get:

[0069]

[0070] In equation (7), the unknown quantities are θ1, θ2, and α. This system of equations is a hyperstatic system of equations. The exact solution of the three unknown quantities cannot be solved, but the functional relationship between the three can be obtained.

[0071] Therefore, from the above analysis, the functional relationship between the forearm angle θ0 and the hind arm angle α can be obtained as follows:

[0072]

[0073] The functional relationship between the two is relatively complex and is a nonlinear relationship that cannot be solved analytically. Here, the relationship is only given in the form of an equation.

[0074] Each joint adopts an industrial controller to receive the command information of each joint and compare it with the angle information measured by the angle sensor, and the deviation signal is used as the input of the industrial controller. The output signal of the industrial controller controls the electro-hydraulic proportional reversing valve to drive the hydraulic cylinder and the hydraulic motor to work respectively, and realizes the rotation of the column slewing joint and the extension of the folding arm joint through the slewing bearing and the folding arm.

[0075] Specifically, a hydraulic servo fuzzy control strategy is adopted. In order to meet the rapidity, stability and accuracy of the automatic check valve device during operation, a fuzzy PID control strategy is adopted to achieve precise control of the hydraulic system of the automatic check valve device.

[0076] In order to realize the automatic grab check valve device to move along the predetermined path, the combined complex movement of the device can be disassembled into a single movement of each joint. All actuators are controlled by electro-hydraulic proportional reversing valves, and the control system adopts an independent joint control scheme. When designing the robot arm control system, only one joint controller needs to be designed in detail, and the parameters of other joints can be adjusted on this basis.

[0077] The industrial controller receives the joint command information from the industrial computer and compares it with the angle information measured by the angle sensor, and uses the deviation signal as the input of the industrial controller. The output signal of the industrial controller controls the electro-hydraulic proportional reversing valve to drive the hydraulic cylinder and the hydraulic motor respectively, and realizes the rotation of the column slewing joint and the extension of the folding arm joint through the slewing bearing and folding arm.

[0078] like Figure 8 and Fig. 9 The hydraulic servo control block diagram of the column swivel joint and folding arm joint shown;

[0079] A fuzzy PID controller with two-input and three-output structure takes the deviation e and the deviation change rate ec of the control voltage signal as the system input, and the proportional adjustment value Δkp, integral adjustment value Δki and differential adjustment value Δkd as the system output. The fuzzy controller adopts a two-dimensional controller and takes Max-Min as the fuzzy control decision, and uses the center of gravity method for the final defuzzification.

[0080] The fuzzy controller needs to fuzzify the precise quantity to obtain the fuzzy quantity. When selecting the fuzzy set, in order to take into account the universal applicability of the controller to the joints of the drill check valve, since the device needs precise control during its working process, the division of its fuzzy domain subsets should be as detailed as possible. Therefore, the fuzzy domain of the input variable deviation e and the deviation change rate ec is divided into {6, 4, 2, 0, -2, -4, -6}, the fuzzy domain of the output variables Δkp and Δki is {6, 4, 2, 0, -2, -4, -6}, and the fuzzy domain of Δkd is {-3, -2, -1, 0, 1, 2, 3}. The fuzzy subsets corresponding to the fuzzy domains of the input variables and output variables are {PB, PM, PS, ZO, NS, NM, NB}. In the selection of the membership function, the fuzzy subsets NB and PB on both sides adopt the Z-type membership function, and the middle fuzzy subset adopts the triangular membership function with higher sensitivity.

[0081] The innovation of the present invention is that the formulation of the fuzzy rule table is more suitable for the working requirements of the automatic check valve device than the general fuzzy rule table. The fuzzy rules for ΔKp should be as shown in the following table: For example, when the deviation e and the deviation change rate ec are the most negative (that is, NB in ​​the fuzzy subset), in order to adjust the control effect of the automatic check valve device at this time, since the automatic check valve is in the interference of the blowout environment during emergency rescue, the deviation caused by the blowout interference is generally large and it is necessary to quickly adjust the deviation caused by the interference in real time. Therefore, the change amplitude of the proportional control parameter should also be increased as much as possible to eliminate the real-time impact of the interference. At this time, the proportional control parameter variable ΔKp should increase positively (that is, PB in the fuzzy subset). Similarly, when the changes in the deviation and the deviation change rate are other situations in the fuzzy subset, the adjustment changes of the proportional control parameter increment ΔKp are shown in Table 1.

[0082]

[0083] Table 1: Fuzzy rule control table of Δkp

[0084] The fuzzy rules for ΔKi should be as shown in the following table: For the change of the integral control parameter ΔKi, since this parameter is used to reduce the steady-state error in the control process, the automatic check valve device needs to be reduced during emergency until the steady-state error is eliminated and the predetermined position is accurately reached. Therefore, a relatively conservative adjustment method should be adopted for the integral control. For example, when the deviation change e and the deviation change rate ec are both the most negative, the change of the integral control parameter should also be the least negative to eliminate the steady-state error caused by the proportional parameter adjustment. Similarly, the fuzzy rules for ΔKi are shown in Table 2.

[0085]

[0086] Table 2: Fuzzy rule control table of Δki

[0087] The fuzzy rules for ΔKd should be as shown in the following table: For the change of the differential control parameter ΔKd, since this parameter is used to eliminate the oscillation and instability effect caused by the adjustment of the proportional parameter, the automatic check valve device may experience control oscillation during the motion control process. Therefore, a relatively conservative adjustment method should be adopted for the differential control. If the adjustment range of this parameter is too large, the control system will be over-damped, which will make it difficult for the check valve device to accurately reach the predetermined target position in a short time. Therefore, for example, when the deviation change e and the deviation change rate ec are both the largest in the negative direction, the change of ΔKd should not be too large, and its change value should be PS in the fuzzy subset (i.e., a small positive change). Similarly, the fuzzy rules for ΔKd are as follows:

[0088] As shown in Table 3.

[0089]

[0090]

[0091] Table 3: Fuzzy rule table of ΔKd

[0092] By establishing good fuzzy rules, the surfaces of Δkp, Δki, and Δkd can be observed in the surface observation window, as shown in the figure.

[0093] The drilling tool lifting height is detected by installing an encoder on the main drum of the winch, and the encoder is communicatively connected with the remote control module of the surface blowout preventer;

[0094] During the lifting process, the encoder measures the rotation angle of the main drum and sends a signal to the first two-position two-way solenoid reversing valve when the drill bit is lifted to a preset specified height. At this time, the first two-position two-way solenoid reversing valve moves to the right position, and the second two-position three-way solenoid reversing valve moves to the left position. At this time, the air source of the clutch of the main drum is cut off, and the residual gas in the clutch flows into the second two-position three-way solenoid reversing valve through the rotary joint and is discharged by the third two-position two-way solenoid reversing valve.

[0095] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A centralized control system for well control equipment, characterized in that: include: A surface blowout preventer remote control module, and a remote control drilling platform, a one-button automatic well shut-in drilling platform, a rotary table clutch module, a winch module, and a mud pump control cabinet that are communicatively connected to the surface blowout preventer remote control module; The remote-controlled drilling platform and the one-button automatic well shut-in drilling platform send an overflow signal to the turntable clutch module through the surface blowout preventer remote control module, and the turntable clutch module controls the turntable to stop rotating after receiving the overflow signal; after the turntable stops rotating, the remote-controlled drilling platform and the one-button automatic well shut-in drilling platform send an overflow signal to the mud pump control cabinet through the surface blowout preventer remote control module, and the mud pump control cabinet controls the mud pump to stop working after receiving the overflow signal; after the mud pump stops working, the surface blowout preventer remote control module sends an automatic well shut-in signal to the winch module, and controls the winch module to lift the drilling tool to a specified height.

2. A centralized control system for well control equipment according to claim 1, characterized in that: The rotary clutch module includes two rotary clutches, a first two-position three-way pneumatic reversing valve, a first solenoid valve and a second solenoid valve, and the rotary clutch module is communicatively connected to the surface blowout preventer remote control module via a wiring connector; After the turntable clutch module receives the overflow information, the first two-position three-way air-controlled reversing valve moves to the left position, so that the turntable clutch air source cannot flow into the circuit, and the first solenoid valve moves to the right position to further block the flow of the turntable clutch air source. At the same time, the second solenoid valve moves to the left position to open the exhaust circuit, and the residual gas in the turntable clutch module is discharged through the rotary joint and the second solenoid valve, so that the turntable is in a stopped state.

3. A centralized control system for well control equipment according to claim 1, characterized in that: After receiving the overflow signal, the mud pump control cabinet controls the mud pump to stop working through a relay connected in parallel with the mud pump control cabinet.

4. A centralized control system for well control equipment according to claim 2, characterized in that: The winch module includes a winch, a winch disc brake, a limiter, and a winch clutch, and the winch module is communicatively connected with the surface blowout preventer remote control module through the connector; After the winch module receives the automatic well shut-in signal, the winch releases the winch disc brake, then automatically lifts the drilling tool to a specified height, and finally opens the winch disc brake for braking; wherein the winch disc brake is automatically released by controlling the winch disc brake fluid inlet and oil return solenoid valves.

5. A centralized control system for well control equipment according to claim 4, characterized in that: The velocity equation and acceleration equation of each node are derived at the specified height using the vector analysis method, and the movement of each node is calculated using the velocity equation and acceleration equation. When a dangerous situation occurs at any target position at the wellhead, the movement of each joint of the wellhead grabbing device is reversely solved according to the coordinates of the target position to obtain the target elongation of the driving cylinder and the target rotation angle of the hydraulic motor, thereby lifting the drilling tool to the target position.

6. A centralized control system for well control equipment according to claim 5, characterized in that: Each joint adopts an industrial controller to receive the command information of each joint and compare it with the angle information measured by the angle sensor, and the deviation signal is used as the input of the industrial controller. The output signal of the industrial controller controls the electro-hydraulic proportional reversing valve to drive the hydraulic cylinder and the hydraulic motor to work respectively, and realizes the rotation of the column slewing joint and the extension of the folding arm joint through the slewing bearing and the folding arm.

7. A centralized control system for well control equipment according to claim 6, characterized in that: The drilling tool lifting height is detected by installing an encoder on the main drum of the winch, and the encoder is communicatively connected with the remote control module of the surface blowout preventer; During the lifting process, the encoder measures the rotation angle of the main drum and sends a signal to the second two-position two-way electromagnetic reversing valve when the drill bit is lifted to a preset specified height. At this time, the second two-position two-way electromagnetic reversing valve moves to the right position, and the third two-position three-way electromagnetic reversing valve moves to the left position. At this time, the air source of the clutch of the main drum is cut off, and the residual gas in the clutch flows into the fourth two-position three-way electromagnetic reversing valve through the rotary joint and is discharged by the third two-position two-way electromagnetic reversing valve.

8. A centralized control system for well control equipment according to claim 7, characterized in that: One end of the encoder is connected to the connector, and the other end is communicatively connected to a remote control module of a surface blowout preventer through an encoder control box.

9. A centralized control system for well control equipment according to claim 4, characterized in that: When the drilling tool is lifted to a specified height, the drawworks disc brake is restored through the solenoid valve for braking, and the drawworks brake fluid inlet and oil return solenoid valves are controlled at the same time to achieve automatic braking of the drawworks.

10. A centralized control system for well control equipment according to claim 9, characterized in that: It also includes a gate blowout preventer and a hydraulic valve that are communicatively connected to the surface blowout preventer remote control module. After the drawworks lifts the drilling tool to a specified height and keeps the height unchanged, the surface blowout preventer remote control module controls the closing of the gate blowout preventer and the opening of the hydraulic valve.

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