A near-bit data acquisition and processing control system and control method

Abstract

The present application relates to the technical field of oil drilling, in particular to a near-bit data acquisition processing control system, comprising a near-bit master control unit, a near-bit attitude measurement unit, a data transmission unit, a wing-rib driving unit and a power management unit. The near-bit attitude measurement unit generates attitude information and transmits it to the near-bit master control unit, which generates driving information based on the attitude information and combined with operation instructions, and sends it to the wing-rib driving unit for execution, thereby adjusting the attitude of the near-bit. The data transmission unit collects attitude information in cooperation with the near-bit attitude measurement unit. The power management unit provides power support for the system. The present application also comprises a method. The present application pre-processes the collected data, filters out abnormal parameter values within the sampling period, and adjusts the parameter fluctuation range to the minimum, so that the near-bit master control unit is more convenient when decomposing the resultant force, the overall drilling direction is more accurate, and the system meets the demand for stable work under high temperature, high pressure and strong vibration.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of oil drilling, in particular to a near-bit data acquisition processing control system and control method. BACKGROUND

[0002] With the increasing complexity of oil drilling technology, conventional drilling methods have been unable to meet the development and exploitation of deep oil and gas resources, and rotary steerable drilling equipment has emerged as the times require. The rotary steerable system (RSS) is a guided drilling system that completes the guiding function in real time while the drill string is rotating. It is a major change in directional drilling technology since the 1990s. RSS drilling has the characteristics of small friction and torsional resistance, high drilling speed, low cost, short well construction period, smooth well trajectory, easy control and long horizontal section length, and is considered to be the development direction of modern guided drilling technology. However, the existing rotary steerable system also has many engineering problems when used in complex and difficult drilling formations, such as weak pressure and shock resistance of near-bit data acquisition, outdated closed-loop control algorithm, and the like. If a rotary steerable system with strong build-up ability, long service life, high rock breaking speed and safe use in the downhole can be developed and a matching guided drilling method can be formed, it will have important value for the progress of drilling technology and important significance for the efficient development of oil and gas resources.

[0003] Chinese patent "CN202420056634 A near-bit while-drilling logging instrument" provides a near-bit data acquisition logging instrument. The utility model patent can collect data such as resistivity on a 7.5-inch drill string. Through the optimized design of the instrument, the stability of near-bit data signal transmission is enhanced, the erosion of the instrument is reduced, the risk of pipe sticking is reduced, and the success rate of pulse signal decoding is improved, thereby speeding up the drilling construction progress. The patent only optimizes the design of the data transmission method of the near-bit tool, and does not further analyze and demonstrate the data reliability. In actual situations, there is a large deviation in the raw data collected under high pressure, strong shock, high temperature and other environments, especially in the near-bit inclination, azimuth, tool face and other engineering parameters. The unstable data acquisition directly leads to poor closed-loop efficiency in the drilling process, complex drilling direction trajectory control, and non-smooth well trajectory. SUMMARY

[0004] The present application aims to provide a near-bit data acquisition processing control system and control method, which mainly solves the problems existing in the prior art. The inclination and tool face parameters become smooth and uniform after preprocessing, which greatly helps the closed-loop control of the near-bit guide head in the later stage. The control system adjusts the drilling direction in real time according to the tool face angle during drilling, and the stable and smooth raw data can complete the system closed-loop control in a very short time.

[0005] In order to achieve the above object, the technical scheme adopted by the present application is to provide a near-bit data acquisition and processing control system for controlling the operation of a near-bit with wing ribs, characterized in that it comprises a near-bit master control unit, a near-bit attitude measurement unit, a data transmission unit, a wing rib driving unit and a power management unit.

[0006] The near-bit attitude measurement unit measures the sensing information of the near-bit, generates attitude information according to the working parameters and transmits the attitude information to the near-bit master control unit; the near-bit master control unit generates driving information indicating the working pressure based on the attitude information and in combination with the operation instructions given by the operator according to the working parameters, and sends the driving information to the wing rib driving unit; the wing rib driving unit reads the driving information and adjusts the working pressure of the wing ribs according to the working parameters, so as to adjust the attitude of the near-bit.

[0007] The data transmission unit is installed on the near-bit and is used to cooperate with the near-bit attitude measurement unit to acquire the attitude information; the power management unit provides power support for the near-bit master control unit, the near-bit attitude measurement unit, the data transmission unit and the wing rib driving unit.

[0008] Further, after reading the attitude information, the master control unit calculates the required working pressure based on a proportional-integral-derivative algorithm, generates the driving information and realizes closed-loop control of the motion trajectory of the near-bit; the configuration of the proportional-integral-derivative algorithm comes from the working parameters.

[0009] Further, the near-bit attitude measurement unit comprises a measurement module and a sensor module; the sensor module is installed on the near-bit, acquires the sensing information of the near-bit and transmits the sensing information to the measurement module by using the data transmission unit; the measurement module integrates and smooths the sensing information based on the working parameters and generates the attitude information.

[0010] Further, the data transmission unit comprises a primary bin and a secondary bin; the primary bin is installed on the near-bit and transmits energy and information in a non-contact manner with the secondary bin.

[0011] Further, the wing rib driving unit comprises wing rib unit modules consistent in number with the wing ribs; the wing rib unit modules independently output driving current to the wing ribs corresponding thereto according to the driving information, so as to adjust the working pressure of the wing ribs.

[0012] Further, the wing rib driving unit further comprises a pressure acquisition module and a closed-loop control module; the pressure acquisition module reads actual pressure information of the wing rib and feeds back to the closed-loop control module; the closed-loop control module adjusts the driving current of the wing rib unit module based on the actual pressure information by using a proportional-integral-derivative algorithm, so as to realize closed-loop control of the working pressure; the proportional-integral-derivative algorithm is configured from the working parameter.

[0013] The application further discloses a control method using the near-bit data acquisition and processing control system.

[0014] In step S100, the power management unit is started to supply power to the drill bit master control unit, the near-bit attitude measurement unit, the data transmission unit and the wing rib driving unit; and the system is waited to be preheated to be completed.

[0015] In step S200, the working parameters of the drill bit master control unit, the near-bit attitude measurement unit and the wing rib driving unit are configured.

[0016] In step S300, the near-bit attitude measurement unit acquires the sensing information of the near bit, generates the attitude information after smoothing processing, and reports to the drill bit master control unit.

[0017] In step S400, the master control unit calculates the working pressure required by the near bit at present by using a proportional-integral-derivative algorithm according to the attitude information, generates the driving information and sends to the wing rib driving unit; the configuration parameters of the proportional-integral-derivative algorithm are read from the working parameters preset in advance.

[0018] In step S500, the wing rib driving unit generates driving current by using a proportional-integral-derivative algorithm according to the working parameters and the actual pressure information of the near bit read, drives the wing rib on the near bit to act and adjusts the attitude of the near bit.

[0019] If the near bit continues to work, the next pressure adjustment is started in step S300.

[0020] Further, in step S300, the following steps are included.

[0021] In step S310, the near-bit attitude measurement unit reads the sensing information.

[0022] Step S320, the near-bit attitude measurement unit performs amplitude limiting filtering on the sensing information to obtain first result information after amplitude limiting filtering, saves the first result information into a historical state record, and takes the first result information as the attitude information; if the first result information is less than an amplitude limiting threshold range, jump to step S350, otherwise, go to step S330;

[0023] Step S330, the near-bit attitude measurement unit reads the number of data in the historical state record, if the number of data exceeds a mean value filtering threshold number, go to step S340, otherwise, take the first result information as the attitude information, and jump to step S350;

[0024] Step S340, the near-bit attitude measurement unit reads all data in the historical state record, performs mean value filtering, and takes second result information after mean value filtering as the attitude information;

[0025] Step S350, the near-bit attitude measurement unit reports the attitude information to the bit master control unit.

[0026] Further, in step S320, the amplitude limiting filtering comprises steps of:

[0027] Step S321, the near-bit attitude measurement unit compares the sensing information with an amplitude limiting threshold range; if the sensing information is within the amplitude limiting threshold range, go to step S323, otherwise, accumulate an out-of-limit number, and then go to step S322;

[0028] Step S322, if the out-of-limit number is less than an out-of-limit threshold, jump to step S324; otherwise, if the out-of-limit number is greater than the out-of-limit threshold, clear the out-of-limit number, and go to step S323;

[0029] Step S323, take the sensing information as the first result information, and save it into the historical state record at the same time, and jump to step S325;

[0030] Step S324, read the latest data from the historical state record as the first result information, and save it into the historical state record again at the same time;

[0031] Step S325, update the amplitude limiting threshold range based on the first result information.

[0032] Further, in step S340, the mean value filtering comprises steps of:

[0033] Step S341, the near-bit attitude measurement unit reads all data in the history state record, intercepts the latest data consistent with the mean filtering threshold number as the to-be-processed state information;

[0034] Step S342, the to-be-processed state information is sorted in ascending order;

[0035] Step S343, in the sorted to-be-processed state information, the maximum and minimum two state information are deleted;

[0036] Step S344, the mathematical mean of the remaining state information is taken as the second result information;

[0037] Step S345, the history state record is updated; all data in the history state record is emptied first, and then the to-be-processed state information is filled into the history state record in turn.

[0038] In view of the above technical features, the near-bit data acquisition processing control system and control method has the following advantages: the collected data is preprocessed, abnormal parameter values are filtered out in the sampling period, and the parameter fluctuation range is adjusted to the minimum, so that the bit master control unit is more convenient when decomposing the resultant force, the overall drilling direction is more accurate, and the system meets the stable work under high temperature, high pressure and strong vibration. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a system block diagram of a preferred embodiment of the near-bit data acquisition processing control system of the application;

[0040] Figure 2 is a method flowchart of a preferred embodiment of the control method using the near-bit data acquisition processing control system of the application;

[0041] Figure 3 is Figure 2 , the method flowchart of the near-bit attitude measurement unit for data smoothing;

[0042] Figure 4 is the fluctuation graph collected by the system vibration test when drilling by using the application;

[0043] Figure 5 is the fluctuation graph after the near-bit attitude measurement unit limiting filtering when drilling by using the application;

[0044] Figure 6 is the fluctuation graph after the near-bit attitude measurement unit mean filtering when drilling by using the application;

[0045] Figure 7For drilling with the present application, the vibration test steering chart formed by the original data obtained by the near-bit attitude measurement unit;

[0046] Figure 8 For drilling with the present application, the vibration test steering chart formed by the data after complete smoothing processing by the near-bit attitude measurement unit.

[0047] In the figure: 100 - near-bit main control unit, 200 - near-bit attitude measurement unit, 300 - data transmission unit, 400 - wing rib driving unit, 500 - power management unit, 600 - wing rib, 700 - near-bit;

[0048] 201 - measurement module, 202 - sensor module;

[0049] 301 - primary bin, 302 - secondary bin;

[0050] 401 - wing rib unit module, 402 - pressure acquisition module, 403 - closed-loop control module. DETAILED DESCRIPTION

[0051] The present application will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present application and not used to limit the scope of the present application. In addition, it should be understood that after reading the content taught by the present application, those skilled in the art can make various modifications or changes to the present application, and these equivalent forms also fall within the scope of the appended claims of the present application.

[0052] Please refer to Figure 1 The present application discloses a near-bit data acquisition and processing control system, as shown in the figure, a preferred embodiment thereof comprises a near-bit main control unit 100, a near-bit attitude measurement unit 200, a data transmission unit 300, a wing rib driving unit 400 and a power management unit 500, which are used to control the work of a near-bit 700 with a wing rib 600.

[0053] The power management unit 500 is responsible for providing power support for the entire system, and provides reliable power supply for the near-bit main control unit 100, the near-bit attitude measurement unit 200, the data transmission unit 300 and the wing rib driving unit 400. Before the system starts working, the staff sets the working parameters of the near-bit main control unit 100, the near-bit attitude measurement unit 200, the data transmission unit 300 and the wing rib driving unit 400, and configures their working state and behavior.

[0054] The near-bit master control unit 100, the near-bit attitude measurement unit 200 and the wing-rib driving unit 400 constitute a closed-loop control system for the working pressure of the wing-rib 600. That is, the near-bit attitude measurement unit 200 obtains the attitude of the near-bit 700 from the internal sensor module 202 thereof, performs preprocessing including data smoothing processing, and transmits the attitude information to the near-bit master control unit 100 through a CAN bus or a 485 bus. The near-bit master control unit 100 obtains a target attitude according to an operation instruction given by a worker, obtains current attitude and motion trajectory information parameters according to the attitude information, and calculates new working pressure required by the wing-rib 600 by using a proportional-integral-derivative algorithm and a resultant force decomposition algorithm, and sends the driving information to the wing-rib driving unit 400 for execution, thereby forming a closed-loop control on the motion trajectory of the near-bit 700. In the near-bit master control unit 100, the specific parameters of the proportional-integral-derivative algorithm are obtained from the working parameters configured during system initialization. The near-bit master control unit 100 also has a storage chip, which can save and store the collected motion trajectory information parameters of the near-bit 700 in real time, and the motion trajectory can be drawn afterwards by reading these stored parameters.

[0055] The data transmission unit 300 cooperates with the near-bit attitude measurement unit 200 to transmit the sensing data. In the near-bit attitude measurement unit 200, a measurement module 201 and a sensor module 202 are included. The sensor module 202 includes a plurality of sensors which are installed on the near-bit 700 to collect sensing information of the near-bit 700 in all directions under the environment of high temperature, high pressure and strong vibration. The measurement module 201 does not need to be installed on the near-bit 700, thereby being away from the high-temperature and vibration environment of the near-bit 700. The measurement module 201 integrates and smooths the sensing information to generate and report the attitude information. The attitude information includes the inclination, azimuth and tool face parameters of the near-bit 700. The smoothing process of the sensing information by the measurement module 201 is determined by the working parameters at the initialization of the system. The smoothing work of the measurement module 201 can filter the occasional jitter, so that the attitude information is stable and more consistent with the actual working state of the near-bit 700. Between the measurement module 201 and the sensor module 202, the sensing data collected by the sensors is transmitted by the data transmission unit 300. The data transmission unit 300 includes a primary bin 301 and a secondary bin 302. The primary bin 301 is installed on the movable end of the near-bit 700 together with the sensor module 202, so as to facilitate the sensor module 202 to collect the real-time state of the near-bit 700. The secondary bin 302 is installed near the primary bin 301, for example, on the fixed end of the near-bit 700. The primary bin 301 and the secondary bin 302 transmit energy and information in a non-contact manner, that is, the primary bin 301 is provided with power by the secondary bin 302 in a non-contact manner, and then transmits the sensing data to the secondary bin 302 in a non-contact manner. The non-contact manner is specifically implemented as a non-contact magnetic coupling communication, and a high-frequency carrier between the primary bin 301 and the secondary bin 302 is realized by a magnetic coupling technology. After the primary bin 301 collects the sensing information, the sensing information is transmitted to the secondary bin 302 through a coupling coil, and the secondary bin 302 decodes the data and transmits the data to the measurement module 201 in a wired manner for further processing.

[0056] The wing rib driving unit 400 comprises a plurality of wing rib unit modules 401, a pressure collection module 402 and a closed loop control module 403. The wing rib unit modules 401 and the wing ribs 600 are consistent in number and one-to-one corresponding. The wing rib unit module 401 outputs a driving current to the wing rib 600 corresponding thereto according to the driving information from the near-bit master control unit 100, quickly adjusts the working pressure of the wing rib 600, and realizes the closed loop control of the pressure. Different wing rib unit modules 401 work independently, and the closed loop control module 403 specifies different driving currents for each wing rib unit module 401 according to the requirements of the driving information, so that a plurality of different wing ribs 600 can output different working pressures at the same time, thereby enabling the near-bit 700 to quickly change the posture. In the embodiment, the wing ribs 600 are three, uniformly distributed along the circumference of the near-bit 700, and distributed at an angle of 120 degrees, thereby providing independent track variation support force. The resultant force formed by the three wing ribs 600 is in the actual drilling direction, which is consistent with the required direction in the driving information transmitted downward.

[0057] The pressure collection module 402 and the closed loop control module 403 are used together to constitute the pressure output closed loop control inside the wing rib driving unit 400, because the working pressure change of the wing rib 600 involves the hydraulic change, and if the output driving current jumps instantaneously, it will affect the working of the driving motor, so a gradual adjustment process is needed. Specifically, the working pressure required in the received driving information is taken as the target working pressure, the data read from the wing rib 600 by the pressure collection module 402 is taken as the actual working pressure, the driving current on the wing rib unit module 401 is adjusted by the closed loop control module 403 using the proportional-integral-derivative algorithm, the wing rib 600 is quickly adjusted to be consistent with the target working pressure under the condition of ensuring the normal working of the driving motor, and the closed loop control of the working pressure is realized. Similarly, the configuration of the proportional-integral-derivative algorithm in the closed loop control module 403 comes from the working parameters during system initialization.

[0058] Please refer to Figure 2 The application further discloses a control method using the near-bit data collection processing control system, and a preferred embodiment of the control method comprises the following steps:

[0059] Step S1, system booting and preheating.

[0060] The power management unit is started to supply power to the bit master control unit, the near-bit posture measurement unit, the data transmission unit and the wing rib driving unit. The system is waited to be preheated. The key of the preheating process is to wait for the hydraulic oil in the wing rib to return to the normal temperature state, so as to avoid the unstable phenomenon of pressure output in the extremely cold state.

[0061] Step S2, configuring system parameters.

[0062] Configure the working parameters of the drill head master control unit, the near-bit attitude measurement unit, and the wing rib driving unit.

[0063] For the drill head master control unit and the wing rib driving unit, the working parameters are specific parameters of a proportional-integral-derivative algorithm.

[0064] For the near-bit attitude measurement unit, the working parameters include an overrun threshold, an amplitude limiting threshold step, and a mean filtering threshold number. In this embodiment, the overrun threshold is 4, the amplitude limiting threshold step is 10, and the mean filtering threshold number is 20. A default attitude value, such as a hole inclination value, is also initialized for the near-bit attitude measurement unit, and is preferably 90 degrees.

[0065] Step S3: Obtain near-bit sensing information.

[0066] The near-bit attitude measurement unit obtains the sensing information of the near-bit from the sensor, performs smoothing processing on the sensing information to generate attitude information, and reports the attitude information to the drill head master control unit. The sensing information includes a hole inclination value of the near-bit, such as 80 degrees, 120 degrees, etc., which changes in real time according to the actual working condition and also fluctuates due to high temperature, high pressure, and vibration during drilling, deviating from the actual attitude.

[0067] Step S4: Generate new driving information.

[0068] The master control unit calculates the required working pressure of the current near-bit according to the attitude information by using a proportional-integral-derivative algorithm, generates driving information, and sends the driving information to the wing rib driving unit. The configuration of the proportional-integral-derivative algorithm is read from the working parameters.

[0069] Step S5: Adjust the working pressure of the wing rib.

[0070] The wing rib driving unit generates driving current by using a proportional-integral-derivative algorithm according to the working parameters and the actual pressure information of the near-bit read, drives the wing rib on the near-bit to act, and adjusts the attitude of the near-bit.

[0071] If drilling continues, jump to step S3 for the next adjustment.

[0072] Please refer to Figure 3 In this embodiment, the working parameters are defined as follows: the overrun threshold is 4, the amplitude limiting threshold step is 10, and the mean filtering threshold number is 20. Assuming that the current hole inclination value is 120 degrees, the upper and lower limit values of the amplitude limiting threshold range are set according to the amplitude limiting threshold, the upper limit value is 120 plus 10, which is 130 degrees, and the lower limit value is 120 minus 10, which is 110 degrees.

[0073] In step S3 described above, the specific steps of the near-bit attitude measurement unit for smoothing the sensing information obtained by the sensor of the near-bit include the following steps:

[0074] Step S31, reading sensor information.

[0075] The near-bit attitude measurement unit reads sensor information, such as the original information of inclination, azimuth and tool face angle, etc.

[0076] Step S32, amplitude limiting filtering of the sensor information.

[0077] The near-bit attitude measurement unit performs amplitude limiting filtering on the sensor information, and according to the result of the amplitude limiting filtering, it is determined whether to enter the mean filtering process.

[0078] Step S321, determining whether the sensor information is out of range.

[0079] The near-bit attitude measurement unit compares the sensor information with the amplitude limiting threshold range. If the sensor information is within the amplitude limiting threshold range (the current range is 110 degrees to 130 degrees), it enters step S323, otherwise the out-of-range number is accumulated and it enters step S322.

[0080] For example, the current inclination value in the collected sensor information is 121 degrees, which is within the amplitude limiting threshold range (the current range is 110 degrees to 130 degrees), so it enters step S323. If the collected inclination value is 135 degrees, which exceeds the range of 110 degrees to 130 degrees, the out-of-range number is accumulated, for example, from 0 to 1, and it enters step S322.

[0081] Step S322, determining the out-of-range threshold.

[0082] If the out-of-range number is less than the out-of-range threshold, it jumps to step S324.

[0083] If it enters the current step, it means that the current sensor information (inclination value) has exceeded the amplitude limiting threshold range. In order to smooth the occasional jitter of the sensor data, only when the out-of-range number is greater than the out-of-range threshold 4, it is believed that the sensor information has indeed changed, and then the out-of-range number is cleared and it enters step S323 to adopt the current sensor data. Otherwise, when the out-of-range number is less than the out-of-range threshold 4, it is considered to be signal jitter, and it enters step S324 to use historical data to report and smooth fluctuations.

[0084] Step S323, adopting the sensor information.

[0085] The sensor information is taken as the first result information and saved in the historical state record, and it jumps to step S325.

[0086] For example, in the case where the amplitude limiting threshold range is 110 degrees to 130 degrees, 135 degrees of data is read, and the out-of-range number has been greater than the out-of-range threshold 4, so it enters the current step to adopt the 135 degrees of data, records it in the historical state record, and takes it as the result of amplitude limiting filtering, and then jumps to step S325 to update the amplitude limiting threshold range.

[0087] Similarly, in the case of the range of the limiting threshold value being 110 degrees to 130 degrees, the data of 122 degrees is read, and since there is no over-limit, the data of 122 degrees is adopted, recorded in the history state record, and then the range of the limiting threshold value is updated in step S325 as a result of the limiting filtering.

[0088] In step S324, the sensing information is not adopted.

[0089] If the current sensing information (the inclination value) has exceeded the range of the limiting threshold value but the over-limit times are less than the over-limit threshold value 4, the current sensing information is discarded, the latest report in the history state record is read as the first result information, and the history state record is saved again. In the case of unreliable sensing information, the latest history data should be closest to the actual state of the near-bit.

[0090] For example, in the case of the range of the limiting threshold value being 110 degrees to 130 degrees, the data of 135 degrees is read, and the over-limit times are equal to 1, which is less than the over-limit threshold value 4, so the current step is reached, the data of 135 degrees is discarded, the latest data of 120 degrees is read from the history state record, and the data of 135 degrees is replaced by the data of 120 degrees as a result of the limiting filtering, and then the range of the limiting threshold value is updated in step S325.

[0091] In step S325, the range of the limiting threshold value is updated.

[0092] After obtaining the result of the limiting filtering, the range of the limiting threshold value is updated with the latest first result information, so that the range of the limiting threshold value can be continuously adjusted according to the working state of the near-bit.

[0093] For example, the result of the limiting filtering is 121, and the upper limit value of the range of the limiting threshold value is set according to the limiting threshold value, which is 131 degrees, and the lower limit value is 111 degrees.

[0094] In step S326, the result of the limiting filtering is jumped according to the result of the limiting filtering.

[0095] If the first result information is less than the range of the limiting threshold value, the process jumps to step S35, otherwise the process enters step S33.

[0096] In the present application, the mean filtering is only initiated when the limiting filtering is over-limited, so that the number of times of triggering the mean filtering can be reduced, and the system efficiency can be improved. Therefore, after the limiting filtering is completed, it is determined whether the limiting filtering is over-limited this time, if yes, the process enters the flow of the mean filtering, otherwise the process is directly generated directly.

[0097] In step S33, it is determined whether the initial condition of the mean filtering is met.

[0098] The near-bit attitude measuring unit reads the number of data in the historical state record. If the number exceeds the mean filtering threshold number, step S34 is entered, otherwise the first result information is taken as the attitude information, and step S35 is jumped to.

[0099] Because mean filtering needs a certain number of historical data, when the number of historical data is not enough, even if the mean filtering process is entered, the mean filtering will not be truly executed. In this embodiment, the mean filtering threshold number is 20, that is, there must be more than 20 data in the historical state record, and the mean filtering is performed on these data.

[0100] Step S34, mean filtering is performed on the historical sensing information.

[0101] The second result information obtained by mean filtering of the near-bit attitude measuring unit is taken as the attitude information.

[0102] Step S341, the state information to be processed is intercepted.

[0103] In order to ensure that the upper limit of the time of mean filtering execution is controllable, only the latest fixed number of data is processed in the mean filtering process. In this embodiment, the near-bit attitude measuring unit reads all the data in the historical state record, intercepts the latest data consistent with the mean filtering threshold number, that is, takes the latest 20 data, as the state information to be processed.

[0104] Step S342, the state information to be processed is sorted in ascending order.

[0105] Step S343, extreme values are removed.

[0106] In the sorted state information to be processed, the maximum and minimum two state information are deleted.

[0107] For example, the maximum data in the state information to be processed is 138, and the minimum data is 108, and the two data are deleted.

[0108] Step S344, the mathematical mean is calculated.

[0109] The mathematical mean of the remaining state information is taken as the second result information and also as the attitude information of this time. For example, the average of the data after removing the extreme values is 125.5 degrees, and 125.5 degrees is reported as the attitude information.

[0110] Step S345, the historical state record is updated.

[0111] The historical state record is emptied, and then the state information to be processed is filled into the historical state record in time sequence.

[0112] Step S35, the near-bit attitude measurement unit reports the attitude information to the bit master control unit.

[0113] Please refer to Figures 4 to 8 , shows the effect of the present application in the actual drilling. Figure 4 is the original data of the original near-bit attitude collected when drilling with the near-bit data acquisition and processing control system, which is equivalent to the attitude information received by the near-bit master control unit in the prior art without data smoothing. Figure 5 is the fluctuation graph after the amplitude limiting filter is opened, Figure 6 is the fluctuation graph after the mean filter is added on the basis of the amplitude limiting filter. It can be clearly seen that the near-bit data acquisition and processing control system of the present application can effectively smooth the original data and exclude abnormal jitter information to obtain attitude information close to the real attitude of the near-bit. Figure 7 shows the comparison graph of the control information sent by the near-bit master control unit and the actual attitude of the near-bit when the smoothing data function of the present application is closed, which is equivalent to the prior art. Figure 8 shows the comparison graph of the control information sent by the near-bit master control unit and the actual attitude of the near-bit when the smoothing data function of the present application is opened. From the comparison, it can be clearly noted that the present application can effectively give the actual attitude of the near-bit, so that the control of the near-bit master control unit is more accurate.

[0114] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control method for using a near-bit data acquisition processing control system, characterized by: The near-bit data acquisition processing control system is used for controlling the near-bit with wings and ribs to work, and comprises a near-bit master control unit, a near-bit attitude measurement unit, a data transmission unit, a wing-rib driving unit and a power management unit. The near-bit attitude measurement unit measures sensing information of the near-bit, generates attitude information according to working parameters, and transmits the attitude information to the near-bit master control unit; the near-bit master control unit generates driving information of indicating working pressure based on the attitude information according to working parameters, in combination with an operation instruction given by a worker, and sends the driving information to the wing-rib driving unit; The wing-rib driving unit reads the driving information, adjusts working pressure of the wing-rib according to working parameters, so as to adjust the attitude of the near-bit; The data transmission unit is installed on the near-bit, and is used for collecting the attitude information in cooperation with the near-bit attitude measurement unit; The power management unit provides power support for the near-bit master control unit, the near-bit attitude measurement unit, the data transmission unit and the wing-rib driving unit; The method comprises the following steps: Step S100, the power management unit is started, and the near-bit master control unit, the near-bit attitude measurement unit, the data transmission unit and the wing-rib driving unit are powered; The system is waited to be preheated to be completed; Step S200, the working parameters of the near-bit master control unit, the near-bit attitude measurement unit and the wing-rib driving unit are configured; Step S300, the near-bit attitude measurement unit acquires the sensing information of the near-bit, generates the attitude information after smoothing processing, and reports the attitude information to the near-bit master control unit; Step S400, the master control unit calculates the working pressure required by the near-bit at present according to the attitude information by using a proportional-integral-derivative algorithm, generates the driving information, and sends the driving information to the wing-rib driving unit; The configuration parameters of the proportional-integral-derivative algorithm are read from the pre-set working parameters; Step S500, the wing-rib driving unit generates driving current by using the proportional-integral-derivative algorithm according to the working parameters and in combination with the actual pressure information of the near-bit read, drives the wing-rib on the near-bit to move, and adjusts the attitude of the near-bit; If the near-bit continues to work, the next pressure adjustment is started in step S300; In step S300, the following steps are included: Step S310, the near-bit attitude measurement unit reads the sensing information; Step S320, the near-bit attitude measurement unit performs amplitude limiting filtering on the sensing information, obtains first result information after amplitude limiting filtering, saves the first result information into a historical state record, and takes the first result information as the attitude information; If the first result information is less than an amplitude limiting threshold range, step S350 is jumped to, otherwise, step S330 is entered; Step S330, the near-bit attitude measuring unit reads the number of data in the historical state record, if the number of data exceeds the mean filtering threshold number, step S340 is entered, otherwise the first result information is taken as the attitude information, and step S350 is jumped to; Step S340, the near-bit attitude measuring unit reads all data in the historical state record, performs mean filtering, and takes the second result information of mean filtering as the attitude information; Step S350, the near-bit attitude measuring unit reports the attitude information to the bit master control unit; In step S340, the mean filtering includes steps: Step S341, the near-bit attitude measuring unit reads all data in the historical state record, intercepts the latest data consistent with the mean filtering threshold number as the to-be-processed state information; Step S342, the to-be-processed state information is sorted in ascending order; Step S343, in the sorted to-be-processed state information, the maximum and minimum two state information are deleted; Step S344, the mathematical mean of the remaining state information is taken as the second result information; Step S345, the historical state record is updated; all data in the historical state record is emptied, and then the to-be-processed state information is sequentially filled into the historical state record.

2. The control method using the near-bit data acquisition and processing control system of claim 1, wherein, In step S320, the limiting amplitude filtering includes steps: Step S321, the near-bit attitude measuring unit compares the sensing information with the limiting amplitude threshold range; if the sensing information is within the limiting amplitude threshold range, step S323 is entered, otherwise the over-limit number is accumulated, and then step S322 is entered; Step S322, if the over-limit number is less than the over-limit threshold, step S324 is jumped to; Conversely, if the over-limit number is greater than the over-limit threshold, the over-limit number is cleared, and step S323 is entered; Step S323, the sensing information is taken as the first result information, and is saved into the historical state record at the same time, and step S325 is jumped to; Step S324, the latest data in the historical state record is read as the first result information, and is saved into the historical state record again at the same time; Step S325, the limiting amplitude threshold range is updated based on the first result information.

3. The control method using the near-bit data acquisition and processing control system of claim 1, wherein, After the master control unit reads the attitude information, the required working pressure is calculated based on a proportional-integral-derivative algorithm, the driving information is generated, and the motion trajectory closed-loop control of the near-bit is realized; the configuration of the proportional-integral-derivative algorithm comes from the working parameter.

4. The control method of claim 1, wherein, The near-bit attitude measuring unit includes a measuring module and a sensor module; the sensor module is installed on the near-bit, collects the sensing information of the near-bit, and transmits the sensing information to the measuring module by using the data transmission unit; the measuring module integrates and smooths the sensing information based on the working parameter, and generates the attitude information.

5. The control method of claim 1, wherein, The data transmission unit includes a primary warehouse and a secondary warehouse; the primary warehouse is installed on the near-bit, and energy and information are transmitted between the primary warehouse and the secondary warehouse in a non-contact manner.

6. The control method of claim 1, wherein, The wing rib driving unit comprises wing rib unit modules consistent with the number of wing ribs; The wing rib unit modules independently output driving currents to the wing ribs corresponding thereto according to the driving information, so as to adjust the working pressure of the wing ribs.

7. The control method of claim 6, wherein the control method comprises: The wing rib driving unit further comprises a pressure acquisition module and a closed-loop control module; the pressure acquisition module reads actual pressure information of the wing ribs and feeds back to the closed-loop control module; the closed-loop control module adjusts the driving currents of the wing rib unit modules based on the actual pressure information by using a proportional-integral-derivative algorithm, so as to realize closed-loop control of the working pressure; the configuration of the proportional-integral-derivative algorithm comes from the working parameters.

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