Control method and system of deepwater drilling device, electronic equipment and storage medium

Abstract

The invention discloses a control method and system of a deepwater drilling device, electronic equipment and a storage medium, and belongs to the technical field of drilling technologies. The deepwater drilling device comprises a riser pressure manifold, a drill rod, a marine riser and a rotation control device, the rotation control device is installed on the upper portion of the marine riser, a fluid conveying line between the rotation control device and the circulating pool comprises a first line and a second line which are connected in parallel, and the first line comprises a first return pipeline. The first line comprises a first return pipeline and a riser pressure manifold which are connected in series, the second line comprises a second return pipeline and a choke manifold which are connected in series, a first drilling pump is arranged in the first line, a second drilling pump is arranged in the second line, a third drilling pump is arranged in the riser pressure manifold, and the equivalent circulation density control method in deepwater drilling comprises the steps that the current working condition of the deepwater drilling device is determined; and selecting a corresponding control mode according to the current working condition. According to the method, the wellbore pressure can be effectively controlled, and the safety and efficiency of deepwater drilling are improved.

Description

Technical Field

[0001] This application relates to the field of drilling technology, and in particular to a control method, system, electronic equipment and storage medium for a deepwater drilling device. Background Technology

[0002] While the ocean is rich in oil and gas reserves, these blocks often have extremely complex geological conditions. On the one hand, the presence of upper seawater layers leads to undercompaction of deep formations, reducing the pressure of overlying strata and significantly lowering fracture (leakage) pressure; high-pressure layers are shallowly embedded in the mud, causing rapid pressure rise, resulting in an extremely narrow safety window between formation pressure and pore pressure during drilling. On the other hand, the formation types are diverse, including deep, high-temperature, high-pressure formations and buried hill fracture-vuggy formations, with various types of open natural fractures. This complex pressure system and formation types mean that improper wellbore pressure control during drilling can easily lead to wellbore leakage, well inrush, or even simultaneous wellbore leakage and blowout accidents.

[0003] Controlled pressure drilling (CPD) is a novel drilling technology. Its principle involves adjusting parameters such as drilling fluid density, flow rate, and wellhead back pressure in real time to alter the fluid pressure distribution within the wellbore. This ensures the fluid pressure remains within the safe density window of the drilling fluid in the formation, preventing well kicks and lost circulation, and guaranteeing the safety and efficiency of the drilling operation. However, for deep-water complex formations, mature and precise wellbore pressure control techniques have not yet been developed. On one hand, due to the environmental factors of deep-water drilling, the blowout preventer (BOP) is installed near the mudline, and the pressure-bearing capacity of the riser above the BOP is weak. Therefore, there is a lack of efficient means to control gas entering the riser during pressure control. On the other hand, deep-water drilling may encounter various formation types, such as high-pressure permeable formations and fractured formations, requiring different wellbore pressure prediction and control techniques to ensure stable wellbore pressure control under varying depth conditions.

[0004] Therefore, how to effectively control wellbore pressure and improve the safety and efficiency of deepwater drilling is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a control method, system, electronic equipment, and storage medium for a deepwater drilling device, which can effectively control the wellbore pressure and improve the safety and efficiency of deepwater drilling.

[0006] To solve the above-mentioned technical problems, this application provides a control method for a deepwater drilling rig. The deepwater drilling rig includes a riser pressure manifold, drill pipe, riser, and a rotary control device. The rotary control device is installed on the upper part of the riser. The fluid transport line between the rotary control device and the circulation tank includes a first line and a second line connected in parallel. The first line includes a first return line, and the second line includes a second return line and a choke manifold connected in series. A first drilling pump is installed in the first line, a second drilling pump is installed in the second line, and a third drilling pump is installed in the riser pressure manifold. The equivalent circulation density control method in deepwater drilling includes:

[0007] Determine the current operating condition of the deepwater drilling rig;

[0008] If the deepwater drilling rig is in overflow condition, the third drilling pump is controlled to inject drilling fluid downward along the drill pipe through the riser pressure manifold, the second drilling pump is controlled to inject the fluid in the annulus into the circulation pool through the second line, and the valve opening of the choke manifold is adjusted according to the first strategy to keep the bottom hole pressure stable.

[0009] If the deepwater drilling rig is in a state of simultaneous overflow and leakage, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold, and the first drilling pump is controlled to inject mud from the circulation pool into the annulus through the first line. After drilling through the lost circulation formation, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus zero, the first drilling pump is controlled to inject mud from the circulation pool into the annulus through the first line, the second drilling pump is controlled to inject fluid from the annulus into the circulation pool through the second line, and the valve opening of the throttling manifold is adjusted according to the second strategy to keep the mud cap height stable.

[0010] Optionally, after determining the current operating condition of the deepwater drilling rig, the method further includes:

[0011] If the deepwater drilling rig is in a leakage condition, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold so that the seawater return rate in the annulus is 0.

[0012] The first and second drilling pumps are controlled to inject mud from the circulation pool into the annulus through the first and second lines to keep the mud cap height stable.

[0013] Optionally, adjusting the valve opening of the throttling manifold according to the first strategy includes:

[0014] Determine the formation pore pressure and formation fracture pressure based on the formation three-pressure profile of the working well;

[0015] The target pressure at the bottom of the well is determined based on the formation pore pressure and the formation fracture pressure.

[0016] Calculate the first back pressure value based on the target pressure at the bottom of the well;

[0017] Adjust the valve opening of the throttling manifold according to the first back pressure value.

[0018] Optionally, adjusting the valve opening of the throttling manifold according to the second strategy includes:

[0019] Determine the ground pore pressure and overflow depth of the overflow layer;

[0020] Determine the leakage pressure and depth of the leakage layer;

[0021] The second back pressure value is determined based on the ground pore pressure, the overflow layer depth, the leakage pressure, and the leakage layer depth.

[0022] Adjust the valve opening of the throttling manifold according to the second back pressure value.

[0023] Optional, also includes:

[0024] Determine whether the mud cap has returned to the sea surface;

[0025] If so, then stop the operation of injecting mud into the annulus.

[0026] Optionally, determining the current operating condition of the deepwater drilling rig includes:

[0027] Determine whether the fluid increment in the circulation pool is greater than a preset value; if so, determine that the deep-water drilling device is in overflow condition.

[0028] If the current drilling location of the deepwater drilling device is a fractured formation, then determine whether the deepwater drilling device was in the overflow condition within a preset time before the current moment;

[0029] If so, the deep-water drilling device is determined to be in a condition of both overflow and leakage.

[0030] If not, the deepwater drilling device is determined to be in a leakage condition.

[0031] This application also provides a control system for a deepwater drilling rig, the deepwater drilling rig including a riser pressure manifold, drill pipe, riser, and a rotary control device. The rotary control device is installed on the upper part of the riser. The fluid transport line between the rotary control device and the circulation tank includes a first line and a second line connected in parallel. The first line includes a first return line, and the second line includes a second return line and a choke manifold connected in series. A first drilling pump is installed in the first line, a second drilling pump is installed in the second line, and a third drilling pump is installed in the riser pressure manifold. The equivalent circulation density control system in the deepwater drilling includes:

[0032] The operating condition determination module is used to determine the current operating condition of the deepwater drilling device;

[0033] The overflow handling module is used to control the third drilling pump to inject drilling fluid down the drill pipe through the riser pressure manifold if the deepwater drilling device is in overflow condition, control the second drilling pump to inject the fluid in the annulus into the circulation pool through the second line, and adjust the valve opening of the choke manifold according to the first strategy to keep the bottom hole pressure stable.

[0034] The overflow handling module is used to control the third drilling pump to inject seawater downwards along the drill pipe through the riser pressure manifold and control the first drilling pump to inject mud from the circulation pool into the annulus through the first line if the deepwater drilling rig is in a condition of simultaneous overflow and leakage. It is also used to control the third drilling pump to inject seawater downwards along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus zero after drilling through a lost circulation formation, control the first drilling pump to inject mud from the circulation pool into the annulus through the first line, control the second drilling pump to inject fluid from the annulus into the circulation pool through the second line, and adjust the valve opening of the throttling manifold according to a second strategy to keep the mud cap height stable.

[0035] Optional, also includes:

[0036] The leakage handling module is used to control the third drilling pump to inject seawater downwards along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus zero if the deepwater drilling rig is in a leakage condition; it is also used to control the first and second drilling pumps to inject mud from the circulation pool into the annulus through the first and second lines to keep the mud cap height stable.

[0037] This application also provides a storage medium storing a computer program thereon, which, when executed, implements the steps of the control method for the deepwater drilling device described above.

[0038] This application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor, when calling the computer program in the memory, implements the steps of the control method for the deep-water drilling device described above.

[0039] This application provides a control method for a deepwater drilling rig. The deepwater drilling rig used in this method includes a riser pressure manifold, drill pipe, riser, and a rotary control device. After determining the current operating condition of the deepwater drilling rig, corresponding operations are performed according to the condition. Specifically, if the deepwater drilling rig is in an overflow condition, the second drilling pump is controlled to inject fluid from the annulus into the circulation pool through a second line, and the valve opening of the choke manifold is adjusted according to a first strategy to stabilize the bottom hole pressure. Therefore, this application effectively controls the bottom hole pressure by adjusting the valve opening of the choke manifold under overflow conditions, preventing the overflow from developing into a blowout. If the deepwater drilling rig is in a state of simultaneous leakage and overflow, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold, and the first drilling pump is controlled to inject mud from the circulation pool into the annulus through the first line. After drilling through the lost circulation formation, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus zero, the first drilling pump is controlled to inject mud from the circulation pool into the annulus through the first line, the second drilling pump is controlled to inject fluid from the annulus into the circulation pool through the second line, and the valve opening of the choke manifold is adjusted according to the second strategy to keep the mud cap height stable. It can be seen that, under the condition of simultaneous leakage and overflow, this application can effectively balance the bottom hole pressure and prevent simultaneous leakage and overflow by injecting mud to form a mud cap and adjusting the valve opening of the choke manifold. These measures work together to improve the safety and efficiency of deepwater drilling. Therefore, this application can effectively control wellbore pressure and improve the safety and efficiency of deepwater drilling. This application also provides a control system for a deepwater drilling device, a storage medium, and an electronic device, which have the aforementioned beneficial effects, and will not be elaborated further here. Attached Figure Description

[0040] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A flowchart illustrating a control method for a deepwater drilling apparatus provided in this application embodiment;

[0042] Figure 2This is a schematic diagram of the structure of a deepwater drilling apparatus provided in an embodiment of this application;

[0043] Figure 3 This is a schematic diagram of fluid circulation corresponding to a constant bottom hole pressure control mode provided in an embodiment of this application;

[0044] Figure 4 This is a schematic diagram of fluid circulation corresponding to a pressurized mud cap control mode provided in an embodiment of this application;

[0045] Figure 5 This is a schematic diagram of fluid circulation corresponding to a floating mud cap control mode provided in an embodiment of this application. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] Please see below. Figure 1 , Figure 1 A flowchart illustrating a control method for a deepwater drilling apparatus provided in an embodiment of this application.

[0048] Specific steps may include:

[0049] S101: Determine the current operating status of the deepwater drilling equipment;

[0050] This embodiment can be applied to the processor of a deepwater drilling rig, which includes a riser pressure manifold, drill pipe, riser, and a rotary control device. The rotary control device is installed on the upper part of the riser. The fluid transport line between the rotary control device and the circulation tank includes a first line and a second line connected in parallel. The first line includes a first return line, and the second line includes a second return line and a choke manifold connected in series. A first drilling pump is installed in the first line, a second drilling pump is installed in the second line, and a third drilling pump is installed in the riser pressure manifold.

[0051] In this embodiment, the riser pressure manifold is used to transport drilling fluid and reach the bottom of the well through the drill pipe, and is equipped with a third drilling pump; the drill pipe is used to transport drilling fluid, provide rotational force and weight; the riser is used to connect the subsea wellhead and the drilling platform and to transport drilling fluid and well fluid; the rotation control device is installed on the upper part of the riser, providing rotational function and sealing the wellhead; the fluid transport line includes a first line and a second line connected in parallel, wherein the first line is used to directly return fluid, and the second line is used to return fluid after adjusting the pressure through the choke manifold; the first drilling pump and the second drilling pump are used to drive the fluid through the first line and the second line back to the circulation pool, respectively.

[0052] This step determines the current operating condition of the deepwater drilling rig based on the state of the circulation tank and the drilling location. Specifically, in this embodiment, it can determine whether the fluid increment in the circulation tank is greater than a preset value; if so, it is determined that the deepwater drilling rig is in an overflow condition.

[0053] If the current drilling location of the deepwater drilling device is a fractured formation, it is determined whether the deepwater drilling device was in the overflow condition within a preset time before the current moment; if so, it is determined that the deepwater drilling device is in the overflow and leakage coexisting condition; if not, it is determined that the deepwater drilling device is in the leakage condition.

[0054] S102: If the deepwater drilling device is in overflow condition, control the third drilling pump to inject drilling fluid down the drill pipe through the riser pressure manifold, control the second drilling pump to inject the fluid in the annulus into the circulation pool through the second line, and adjust the valve opening of the choke manifold according to the first strategy to keep the bottom hole pressure stable.

[0055] This step is based on the premise that the current operating condition of the deepwater drilling rig is overflow condition, and the constant bottom hole pressure control mode can be activated. Overflow condition refers to the phenomenon that during the drilling process, due to the pressure inside the well being lower than the formation pressure, the formation fluid (such as oil, gas, and water) begins to invade the wellbore, resulting in an increase in the volume of fluid inside the well.

[0056] The second drilling pump is typically used to drive fluid in the annulus back to the circulation pool via a second line. Specifically, in a overflow condition, this embodiment can control the second drilling pump to inject fluid in the annulus into the circulation pool via the second line. The second line includes a second return line and a choke manifold. The second return line is used to return fluid in the annulus to the circulation pool, and the choke manifold is used to regulate the fluid pressure to prevent excessively high or low well pressure.

[0057] The choke manifold is equipped with one or more choke valves. The valve opening of the choke manifold is adjusted according to a first strategy to control the bottom hole pressure. In this embodiment, by adjusting the valve opening of the choke manifold, the bottom hole pressure can be kept in a stable state, preventing further intrusion of formation fluids into the wellbore. The aforementioned stable state refers to a bottom hole pressure change rate less than a preset value and within a safe pressure range. This method effectively prevents the overflow from escalating into a blowout and maintains stable bottom hole pressure, improving the safety and efficiency of drilling operations.

[0058] S103: If the deepwater drilling rig is in a state of simultaneous overflow and leakage, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold, and the first drilling pump is controlled to inject mud from the circulation pool into the annulus through the first line; after drilling through the lost circulation formation, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus zero, the first drilling pump is controlled to inject mud from the circulation pool into the annulus through the first line, the second drilling pump is controlled to inject fluid from the annulus into the circulation pool through the second line, and the valve opening of the throttling manifold is adjusted according to the second strategy to keep the mud cap height stable.

[0059] This step assumes that the current operating condition of the deepwater drilling rig is a simultaneous overflow and leakage condition, in which case the pressurized mud cap control mode can be activated. The simultaneous overflow and leakage condition refers to a condition in which both overflow (formation fluid intrusion into the wellbore) and leakage (drilling fluid leakage into the formation) occur simultaneously.

[0060] In the case of simultaneous overflow and leakage, this embodiment first injects seawater into the well via the riser pressure manifold through the third drilling pump, moving it downwards along the drill pipe. The lower density of seawater helps control bottom hole pressure and prevents further overflow. Alternatively, the first drilling pump injects a mud cap into the annulus via the first line, again using the mud cap to control bottom hole pressure and prevent formation fluid intrusion. After drilling through the losing formation, the third drilling pump continues to inject seawater downwards along the drill pipe, reducing the seawater return rate in the annulus to zero to prevent further leakage. This embodiment also controls the first drilling pump to inject mud from the circulation tank into the annulus via the first line, and controls the second drilling pump to inject fluid from the annulus into the circulation tank via the second line. Furthermore, the valve opening of the choke manifold is adjusted to maintain a stable mud cap height. This embodiment controls the wellhead pressure through the choke manifold, ensuring bottom hole pressure balance. These methods effectively control the simultaneous overflow and leakage conditions, improving the safety and efficiency of drilling operations.

[0061] The deepwater drilling rig used in this embodiment includes a riser pressure manifold, drill pipe, riser, and rotation control device. After determining the current operating condition of the deepwater drilling rig, corresponding operations are performed according to the condition. Specifically, if the deepwater drilling rig is in an overflow condition, the second drilling pump is controlled to inject fluid from the annulus into the circulation pool through a second line, and the valve opening of the choke manifold is adjusted according to the first strategy to stabilize the bottom hole pressure. Therefore, this embodiment effectively controls the bottom hole pressure by adjusting the valve opening of the choke manifold under overflow conditions, preventing the overflow from developing into a blowout. If the deepwater drilling rig is in a state of simultaneous overflow and leakage, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold, and the first drilling pump is controlled to inject mud from the circulation pool into the annulus through the first line. After drilling through the lost circulation formation, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus zero, the first drilling pump is controlled to inject mud from the circulation pool into the annulus through the first line, and the second drilling pump is controlled to inject fluid from the annulus into the circulation pool through the second line. The valve opening of the choke manifold is adjusted according to the second strategy to keep the mud cap height stable. Therefore, this embodiment, in the condition of simultaneous overflow and leakage, effectively balances the bottom hole pressure by injecting mud to form a mud cap and adjusting the valve opening of the choke manifold, preventing simultaneous leakage and overflow. These measures work together to improve the safety and efficiency of deepwater drilling. Therefore, this embodiment can effectively control wellbore pressure, improving the safety and efficiency of deepwater drilling.

[0062] As for Figure 1 In a further description of the corresponding embodiment, after determining the current operating condition of the deepwater drilling rig, if the deepwater drilling rig is in a leakage condition, the floating mud cap control mode can be activated. The specific process is as follows: control the third drilling pump to inject seawater downwards along the drill pipe through the riser pressure manifold so that the seawater return rate in the annulus is 0; control the first drilling pump and the second drilling pump to inject mud from the circulation pool into the annulus through the first line and the second line so that the mud cap height is in a stable state.

[0063] In the event of leakage, this embodiment controls the third drilling pump to inject seawater into the well through the riser pressure manifold down the drill pipe, ensuring that the seawater return rate in the annulus is zero, thus preventing fluid from flowing out of the wellhead. This embodiment can also control the first drilling pump to inject the mud cap into the annulus through a first line, and control the second drilling pump to inject the mud cap into the annulus through a second line, maintaining a stable mud cap height and ensuring bottomhole pressure balance. This stable state refers to a mud cap height change rate less than a preset value and within a preset height range.

[0064] As for Figure 1 A further description of the corresponding embodiment: the process of adjusting the valve opening of the choke manifold according to the first strategy includes: determining the formation pore pressure and formation fracture pressure based on the formation three-pressure profile of the working well; determining the bottom hole target pressure based on the formation pore pressure and the formation fracture pressure; calculating the first back pressure value based on the bottom hole target pressure; and adjusting the valve opening of the choke manifold based on the first back pressure value.

[0065] As for Figure 1 A further description of the corresponding embodiment: the process of adjusting the valve opening of the throttling manifold according to the second strategy includes: determining the ground void pressure and overflow depth of the overflow layer; determining the leakage pressure and leakage depth of the leakage layer; determining a second back pressure value based on the ground void pressure, the overflow depth, the leakage pressure, and the leakage depth; and adjusting the valve opening of the throttling manifold based on the second back pressure value.

[0066] As for Figure 1 As further described in the corresponding embodiment, this embodiment can determine whether the mud cap has returned to the sea surface; if so, the operation of injecting mud into the annulus is stopped.

[0067] Please see Figure 2 , Figure 2 This is a schematic diagram of a deepwater drilling apparatus provided in an embodiment of this application. 1A represents the third drilling pump, 1B represents the first drilling pump, 1C represents the second drilling pump, 2 represents the high-pressure swivel, 3 represents the drill pipe, 4 represents the drill bit, 5 represents the open-hole formation, 6 represents the casing, 7 represents the riser, 8 represents the rotary control device (i.e., the RCD sub), 9 represents the first return line, 10 represents the second return line, 11 represents the guide manifold, 12 represents the cuttings separation device, 13 represents the MPD choke manifold, 14 represents the metering manifold, 15A and 15B represent the circulation tank, and 16 represents the riser pressure manifold. Figure 2 Valves can be installed on each of the pipelines shown.

[0068] Based on the aforementioned deepwater drilling rig, this paper presents a method for precise wellbore pressure control in deepwater drilling formations where leakage and overflow coexist. This method involves installing a Rotary Control Device (RCD) on the upper part of the riser support ring, with buffer manifolds on both sides of the RCD connecting to the wellbore annulus and flow monitoring and pressure control manifolds on the platform. For different formation types during drilling, parameters such as fluid flow direction, discharge rate, mud cap density, height, and throttling back pressure within the RCD annulus manifold are adjusted in real time to control constant bottom hole pressure in high-pressure zones and control floating or pressurized mud caps in lost circulation zones, thus achieving safe and efficient drilling in deepwater formations where leakage and overflow coexist.

[0069] This embodiment provides a precise pressure control method for ECD (Equivalent Circulating Density) in deepwater drilling formations where both leakage and boil-out occur, comprising the following steps:

[0070] Step 1: Determine the drilling conditions and select the pressure control mode.

[0071] During drilling, data such as flow rate and wellbore pressure are monitored in real time to determine whether there is overflow, leakage, or both. Generally, an overflow condition is determined when the increase in mud volume in the mud pit exceeds 1 cubic meter. An overflow condition is determined when a fractured formation is encountered immediately after the overflow is dealt with. A leakage condition is determined when there is no overflow but a serious leakage occurs directly.

[0072] Step 2: Select the wellbore pressure control mode based on the drilling conditions.

[0073] If the drilling condition is an overflow condition, control shall be performed according to the constant bottom hole pressure control mode; if the drilling condition is an overflow and leakage condition, control shall be performed according to the pressurized mud cap control mode; if the drilling condition is a leakage condition, control shall be performed according to the floating mud cap control mode.

[0074] Step 3a: When selecting the constant bottom hole pressure control mode, the fluid circulation method is as follows: Drilling fluid is injected downwards along the drill pipe through the swivel, and returns to the annulus at the bottom of the well via the drill bit. Together with the gas that has invaded the wellbore from the formation, it enters the casing and riser from bottom to top. After passing through the second return line of the RCD, it enters the choke manifold through the guide manifold and cuttings manifold. By controlling the valve opening in the choke manifold, a certain back pressure P is generated. head This balances formation pressure and prevents further gas intrusion into the wellbore. The calculation process is as follows: First, input basic wellbore data such as wellbore trajectory and wellbore structure; second, calculate the current formation pore pressure P at the bottom of the well. p Rupture pressure P f Third, based on the bottom hole pressure control boundary and the single-phase flow model of the wellbore, the back pressure P required for the constant bottom hole pressure mode control in high-pressure formations is calculated. head After the gas enters the wellbore, a multiphase flow model of the wellbore will be used for calculations. Please refer to [link / reference]. Figure 3 , Figure 3 This is a schematic diagram of fluid circulation corresponding to a constant bottom hole pressure control mode provided in an embodiment of this application. Figure 3 The circulating tank contains drilling fluid. Figure 3 The valve in the first circuit is closed, so there is no fluid transmission in the first circuit.

[0075] Step 3b: When selecting the pressurized mud cap control mode, based on the above-mentioned normal circulation mode (i.e., the fluid circulation mode under constant bottom hole pressure control mode), inject a weighted mud cap (high density, high viscosity, such as density greater than 1500 kg / m³). 3 (Plastic viscosity greater than 40 mPa·s), then seawater is injected until the weighted mud cap is detected returning to the sea surface; after drilling through the lower lost circulation formation, the fluid circulation mode is switched: first, seawater is pumped in again, the seawater passes through the drilling pump-high pressure faucet-drill pipe-drill bit, returns to the annulus through the bottom of the well, and then leaks into the formation, adjusting the pumped seawater discharge rate Q. sea This is to make it equal to the formation leakage rate, i.e., the return rate of seawater in the annulus is 0; the drilling pump simultaneously injects a weighted mud cap into the RCD via the first return pipeline using a displacement of Q1, and a portion of the mud cap enters the annulus to maintain the mud cap height (H). cap The flow rate is stable, while the other part, at a displacement of Q2, passes through the second return pipeline and enters the throttling manifold (also known as the throttling control manifold) on the platform, generating a certain back pressure P. head1 Please see. Figure 4 , Figure 4 This is a schematic diagram of the fluid circulation corresponding to a pressurized mud cap control mode provided in an embodiment of this application. Figure 4 The two circulating pools are filled with mud cap liquid and seawater, respectively.

[0076] Step 3c: When selecting the floating mud cap control mode, first continue pumping seawater. The seawater passes through the drilling pump, high-pressure swivel, drill pipe, and drill bit, then returns to the annulus at the bottom of the well, and then leaks into the formation. Adjust the pumped seawater discharge rate Q. sea This is done so that the leakage rate equals the formation loss rate, meaning the seawater return rate within the annulus is 0. Low-density, high-viscosity mud caps are injected into the annulus through the first and second return pipelines. The height of the mud caps needs to be monitored in real time during this process. If the heavy mud level drops too quickly during drilling, additional mud caps need to be added until the mud cap height within the annulus stabilizes. For different types of formations, the above three control modes are used and switched in real time until drilling is safely completed. Please refer to [link to relevant documentation]. Figure 5 , Figure 5 This is a schematic diagram of the fluid circulation corresponding to a floating mud cap control mode provided in an embodiment of this application. Figure 5 The two circulating pools are filled with mud cap liquid and seawater, respectively.

[0077] This embodiment provides a precise wellbore pressure control system suitable for deepwater drilling formations with both overflow and leakage. The entire drilling flow pressure control system includes a wellbore flow system and an RCD flow control system.

[0078] The wellbore flow system mainly consists of a drilling pump (also known as a mud pump), a high-pressure swivel, drill pipe, drill bit, open hole formation, casing, and riser. In normal drilling, the drilling fluid in the circulation pool is injected into the drill pipe by the drilling pump through the high-pressure swivel, flowing downwards until it reaches the drill bit, then returning into the annulus. Depending on the relationship between fluid pressure and formation pressure, if the fluid pressure is lower than the formation pore pressure, formation fluids (oil, gas, water) will enter the wellbore; conversely, if the fluid pressure is higher than the formation leakage pressure, some of the drilling fluid will leak into the formation. The remaining drilling fluid and formation fluid will flow upwards into the riser section and return to the circulation pool via the RCD flow control system.

[0079] The RCD flow control system includes an RCD sub, a first return line, a second return line, a guide manifold, a cuttings separator, an MPD choke manifold, a metering manifold, a circulation tank, and a riser pressure manifold. The RCD sub includes the RCD string, a riser annular blowout preventer, and a flow control valve. The rotary control device is installed on the upper part of the riser support ring. After installation, the annulus between the RCD string and the drill pipe is hydraulically sealed. Return lines are connected to both sides of the RCD. During drilling, drilling fluid returning from the riser to the RCD can flow through the wellbore return line, sequentially through the guide manifold, cuttings separator, choke manifold, and metering manifold into the circulation tank. Optionally, the drilling fluid in the circulation tank can be injected via a booster pump through the riser pressure manifold and the first return line, and then returned via the second return line, forming a closed-loop flow system. Back pressure is generated by adjusting the choke valve.

[0080] Using the above system, the ECD precise pressure control method applicable to formations with both overflow and leakage in deepwater drilling mainly includes the following steps:

[0081] By integrating data from drilling logging, logging while drilling, flow monitoring (flow difference, mud pit increment), and pressure monitoring, it is determined whether high-pressure permeable formations or leakage formations have been encountered at the bottom of the well (e.g., the flow difference between the inlet and outlet increases during overflow, while it decreases under leakage conditions). Based on different drilling conditions, the wellbore pressure control mode is selected.

[0082] In cases of abnormally high-pressure formations, a constant bottom-hole pressure control mode (i.e., high-pressure formation constant bottom-hole pressure mode) is adopted. Specifically, the drilling fluid is injected downwards along the drill pipe through a swivel, returns through the drill bit at the bottom of the well, enters the annulus, and, together with the gas infiltrating the wellbore from the formation, flows upwards into the casing and riser. After passing through the second return line of the RCD, it enters the choke manifold via the guide manifold and cuttings manifold. By controlling the valve opening in the choke manifold, a certain back pressure P is generated. head This balances the formation pressure and prevents further gas intrusion into the wellbore.

[0083] The calculation methods for key parameters in the above control process are as follows:

[0084] Step A1: Obtain basic data of the working well, including: wellbore trajectory, well structure, formation temperature gradient, circulation rate, etc.

[0085] Step A2: Obtain the three-pressure profile of the formation at the working well and record the formation pore pressure P at the bottom of the well. p Formation fracture pressure P f The target pressure at the bottom of the well is P. aim :

[0086] ;

[0087] Step A3: Calculate the back pressure P required for high-pressure formation constant bottom hole pressure mode control. head (i.e., the first back pressure value):

[0088] ;

[0089] In the formula: H is the well depth, in meters; E g and E l ρ represents the volume fraction of wellbore gas and drilling fluid. g and ρ l Density of gas and drilling fluid inside the wellbore, in kg / m³ 3 ;ΔP fractor The frictional pressure drop per unit depth along the well depth is expressed in Pa / m, where z represents the unit depth.

[0090] Step A4: During pressure controlled drilling, the gas-liquid integral number E in the wellbore is calculated in real time using a multiphase flow model of the wellbore. g and E l Solving for P as a function of time yields the result. head Then, based on the gas flow rate Q measured by the metering manifold g and drilling fluid flow rate Q l The function for real-time control of the throttle valve opening x is:

[0091] ;

[0092] By continuously circulating the drilling fluid through steps A1-A4 and steadily controlling the throttle valve opening x based on the gas-liquid flow rate measured on the platform, the bottom hole pressure can be controlled at the target pressure P. aim At the same time, the gas inside the wellbore is gradually circulated out.

[0093] If the above-mentioned constant bottom pressure mode is used to drill through the high-pressure formation (depth H) kick ), and continued drilling downwards, encountering a lost circulation formation (depth H). lossAfter that, it is necessary to switch to pressurized mud cap control. The specific circulation method is as follows:

[0094] Step B1: Continue to use the constant circulation method corresponding to the constant bottom pressure control mode described above, inject a weighted mud cap (high density, high viscosity) with a volume of V1 in advance, and then inject seawater until the weighted mud cap is detected to return to the sea surface.

[0095] Step B2: After drilling through the lower lost circulation formation, switch the fluid circulation mode: First, continue pumping seawater. The seawater passes through the drilling pump, high-pressure swivel, drill pipe, and drill bit, then returns to the annulus at the bottom of the well, and then leaks into the formation. Adjust the pumped seawater discharge rate Q. sea This is such that it equals the leakage rate of the formation, i.e., the outflow rate of seawater in the annulus is 0.

[0096] Step B3: Simultaneously, the drilling pump injects the weighted mud cap into the RCD via the first return line using a displacement of Q1. A portion of the mud cap enters the annulus, maintaining the mud cap height H. cap The flow is stable, while the other part, at displacement Q2, passes through the second return pipeline and enters the throttling control manifold on the platform, generating a certain back pressure P. head1 (That is, the second back pressure value).

[0097] The calculation methods for key parameters in the above-mentioned process of controlling the pressure mud cap in leaky formations are as follows:

[0098] The principles for increasing mud cap height and controlling back pressure are as follows: control the wellbore pressure to be greater than the formation pore pressure P of the overflow layer. aim1 At the same time, it is less than the leakage pressure P of the leakage layer. aim2 Therefore, the calculation method for mud cap height and back pressure is as follows:

[0099] ;

[0100] In the above formula, H kick H represents the depth of the overflow layer. loss ρ represents the depth of the lost layer. sea ρ represents the density of seawater, g represents the acceleration due to gravity, and ρ represents the acceleration due to gravity. cap H represents the density of the mud cap. cap Indicates the height of the mud cap.

[0101] Based on the above constraints, we get:

[0102] ;

[0103] To ensure that the dynamic adjustment of the mud cap and the real-time back pressure conditions play a role simultaneously, the back pressure ratio is set to 1 / 3, which is:

[0104] ;

[0105] The mud cap occupies 2 / 3 of the area, and its height is set as follows:

[0106] ;

[0107] By adjusting the flow rate Q2 at the second return pipeline, the height of the mud cap is kept constant, meaning Q1-Q2 represents the amount of liquid required for replenishment. Simultaneously, the initial volume V1 of the injected mud cap can be obtained from the volume relationship within the riser pipe.

[0108] .

[0109] In the above formula, R riser R represents the inner diameter of the riser pipe. DP This indicates the outer diameter of the drill pipe.

[0110] If a low-pressure fractured-vuggy formation is encountered, resulting in severe drilling fluid loss, the system should be switched to floating mud cap control mode. The specific control process is as follows:

[0111] Step C1: First, continue pumping seawater. The seawater passes through the drilling pump, high-pressure faucet, drill pipe, and drill bit, then returns to the annulus at the bottom of the well, and finally leaks into the formation. Adjust the pumped seawater discharge rate Q. sea This is such that it equals the leakage rate of the formation, i.e., the outflow rate of seawater in the annulus is 0.

[0112] Step C2: Inject low-density, high-viscosity mud caps into the annulus through the first and second return lines. The height of the mud caps needs to be monitored in real time during this process. If the heavy mud level drops too quickly during drilling, additional mud caps need to be added until the mud cap height in the annulus stabilizes.

[0113] For different types of formations, the above three control modes are used and switched in real time until drilling is completed safely.

[0114] In the process of controlling floating mud caps in the above-mentioned formations with leakage, the design principles for the depth and total height of the heavy mud surface are as follows:

[0115] ;

[0116] In the above formula, L represents the depth of the upper interface, in meters. aim3 This indicates the leakage pressure of the leakage layer under the floating mud cap mode.

[0117] Compared to traditional wellbore pressure control methods that rely solely on throttling back pressure, resulting in slow control rates when encountering leakage formations, this embodiment proposes three control modes tailored to different formation types. By actively adjusting key parameters such as mud cap height, mud cap density, discharge rate, and throttling back pressure, it achieves wellbore pressure control under various complex conditions including overflow, leakage, and simultaneous overflow and leakage. This method is accurate in calculation, simple to operate, and effectively ensures the safe implementation of deepwater RCD controlled pressure drilling.

[0118] The ECD (Earning Diagram) calculation method for deepwater drilling formations with both overflow and leakage proposed in this embodiment includes a constant bottomhole pressure controlled drilling method for handling overflow, a floating mud cap method for handling leakage, and a pressurized mud cap method for handling both overflow and leakage. For different formation types, by actively adjusting parameters such as fluid direction, flow rate, density, height, and throttling back pressure within the RCD annulus manifold, safe drilling in deepwater formations with both overflow and leakage can be effectively achieved. The control method of this embodiment has reasonable steps and simple, clear calculation steps, taking into account the complex conditions of different formation types in deepwater drilling, providing theoretical and methodological support for safe drilling in formations with both overflow and leakage.

[0119] This application provides a control system for a deepwater drilling rig. The deepwater drilling rig includes a riser pressure manifold, drill pipe, riser, and a rotary control device. The rotary control device is installed on the upper part of the riser. The fluid transport line between the rotary control device and the circulation tank includes a first line and a second line connected in parallel. The first line includes a first return line, and the second line includes a second return line and a choke manifold connected in series. A first drilling pump is installed in the first line, a second drilling pump is installed in the second line, and a third drilling pump is installed in the riser pressure manifold. The equivalent circulation density control system in the deepwater drilling includes:

[0120] The operating condition determination module is used to determine the current operating condition of the deepwater drilling device;

[0121] The overflow handling module is used to control the third drilling pump to inject drilling fluid down the drill pipe through the riser pressure manifold if the deepwater drilling device is in overflow condition, control the second drilling pump to inject the fluid in the annulus into the circulation pool through the second line, and adjust the valve opening of the choke manifold according to the first strategy to keep the bottom hole pressure stable.

[0122] The overflow handling module is used to control the third drilling pump to inject seawater downwards along the drill pipe through the riser pressure manifold and control the first drilling pump to inject mud from the circulation pool into the annulus through the first line if the deepwater drilling rig is in a condition of simultaneous overflow and leakage. It is also used to control the third drilling pump to inject seawater downwards along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus zero after drilling through a lost circulation formation, control the first drilling pump to inject mud from the circulation pool into the annulus through the first line, control the second drilling pump to inject fluid from the annulus into the circulation pool through the second line, and adjust the valve opening of the throttling manifold according to a second strategy to keep the mud cap height stable.

[0123] The deepwater drilling rig used in this embodiment includes a riser pressure manifold, drill pipe, riser, and rotation control device. After determining the current operating condition of the deepwater drilling rig, corresponding operations are performed according to the condition. Specifically, if the deepwater drilling rig is in an overflow condition, the second drilling pump is controlled to inject fluid from the annulus into the circulation pool through a second line, and the valve opening of the choke manifold is adjusted according to the first strategy to stabilize the bottom hole pressure. Therefore, this embodiment effectively controls the bottom hole pressure by adjusting the valve opening of the choke manifold under overflow conditions, preventing the overflow from developing into a blowout. If the deepwater drilling rig is in a state of simultaneous overflow and leakage, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold, and the first drilling pump is controlled to inject mud from the circulation pool into the annulus through the first line. After drilling through the lost-flow formation, the third drilling pump is controlled to inject seawater downwards along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus zero. The first drilling pump is controlled to inject mud from the circulation pool into the annulus through the first line, and the second drilling pump is controlled to inject fluid from the annulus into the circulation pool through the second line. The valve opening of the choke manifold is adjusted according to the second strategy to keep the mud cap height stable. Therefore, this embodiment, in the case of simultaneous overflow and leakage, effectively balances the bottom hole pressure and prevents simultaneous leakage and overflow by injecting high-density mud to form a mud cap and adjusting the valve opening of the choke manifold. These measures work together to improve the safety and efficiency of deepwater drilling. Therefore, this embodiment can effectively control the wellbore pressure, improving the safety and efficiency of deepwater drilling.

[0124] Furthermore, it also includes:

[0125] The leakage handling module is used to control the third drilling pump to inject seawater downwards along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus zero if the deepwater drilling rig is in a leakage condition; it is also used to control the first and second drilling pumps to inject mud from the circulation pool into the annulus through the first and second lines to keep the mud cap height stable.

[0126] Furthermore, the process by which the overflow handling module adjusts the valve opening of the choke manifold according to the first strategy includes: determining the formation pore pressure and formation fracture pressure based on the formation three-pressure profile of the working well; determining the bottom hole target pressure based on the formation pore pressure and the formation fracture pressure; calculating the first back pressure value based on the bottom hole target pressure; and adjusting the valve opening of the choke manifold based on the first back pressure value.

[0127] Furthermore, the process by which the overflow handling module adjusts the valve opening of the throttling manifold according to the second strategy includes: determining the ground void pressure and overflow depth of the overflow layer; determining the leakage pressure and leakage depth of the leakage layer; determining a second back pressure value based on the ground void pressure, the overflow depth, the leakage pressure, and the leakage depth; and adjusting the valve opening of the throttling manifold based on the second back pressure value.

[0128] Furthermore, it also includes:

[0129] The mud cap detection module is used to determine whether the mud cap has returned to the sea surface; if so, the operation of injecting mud into the annulus is stopped.

[0130] Furthermore, the process by which the operating condition determination module determines the current operating condition of the deepwater drilling rig includes: determining whether the fluid increment in the circulation pool is greater than a preset value; if so, determining that the deepwater drilling rig is in an overflow condition; if the current drilling location of the deepwater drilling rig is a fractured formation, determining whether the deepwater drilling rig was in the overflow condition within a preset time period prior to the current moment; if so, determining that the deepwater drilling rig is in a condition of simultaneous overflow and leakage; if not, determining that the deepwater drilling rig is in a leakage condition.

[0131] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and they will not be repeated here.

[0132] This application also provides a storage medium on which a computer program is stored, which, when executed, can perform the steps provided in the above embodiments. The storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0133] This application also provides an electronic device that may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the electronic device may also include various network interfaces, power supplies, and other components.

[0134] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0135] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A control method of a deepwater drilling apparatus, characterized by, The deep water drilling device comprises a riser pressure manifold, a drill pipe, a riser and a rotary control device, the rotary control device is installed on the upper part of the riser, a fluid conveying line between the rotary control device and a circulation pit comprises a first line and a second line in parallel, the first line comprises a first return pipeline, the second line comprises a second return pipeline and a choke manifold in series, a first drilling pump is arranged in the first line, a second drilling pump is arranged in the second line, a third drilling pump is arranged in the riser pressure manifold, and the equivalent circulating density control method in the deep water drilling comprises: determining the current working condition of the deep water drilling device; if the deep water drilling device is in overflow condition, controlling the third drilling pump to inject drilling fluid downward along the drill pipe through the riser pressure manifold, controlling the second drilling pump to inject the fluid in the annulus into the circulation pit through the second line, and adjusting the valve opening degree of the choke manifold according to a first strategy to make the bottom hole pressure stable; if the deep water drilling device is in overflow and leakage coexistence condition, controlling the third drilling pump to inject seawater downward along the drill pipe through the riser pressure manifold, controlling the first drilling pump to inject the mud in the circulation pit into the annulus through the first line; after drilling through the loss layer, controlling the third drilling pump to inject seawater downward along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus 0, controlling the first drilling pump to inject the mud in the circulation pit into the annulus through the first line, and controlling the second drilling pump to inject the fluid in the annulus into the circulation pit through the second line, and adjusting the valve opening degree of the choke manifold according to a second strategy to make the mud cap height stable.

2. The method of claim 1, wherein, After determining the current working condition of the deep water drilling device, further comprising: if the deep water drilling device is in leakage condition, controlling the third drilling pump to inject seawater downward along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus 0; controlling the first drilling pump and the second drilling pump to inject the mud in the circulation pit into the annulus through the first line and the second line to make the mud cap height stable.

3. The method of claim 1, wherein the deep water drilling apparatus is a floating vessel. Adjusting the valve opening degree of the choke manifold according to the first strategy comprises: determining the formation pore pressure and the formation fracture pressure according to the formation three-pressure profile of the working well; determining the bottom hole target pressure according to the formation pore pressure and the formation fracture pressure; calculating a first back pressure value according to the bottom hole target pressure; adjusting the valve opening degree of the choke manifold according to the first back pressure value.

4. The method of claim 1, wherein, Adjusting the valve opening degree of the choke manifold according to the second strategy comprises: determining the ground pore pressure of the overflow layer and the overflow layer depth; determining the leakage pressure of the leakage layer and the leakage layer depth; determining a second back pressure value according to the ground pore pressure, the overflow layer depth, the leakage pressure and the leakage layer depth; adjusting the valve opening degree of the choke manifold according to the second back pressure value.

5. The method of claim 1, wherein, Further comprising: judging whether the mud cap returns to the sea surface; if yes, stopping the operation of injecting mud into the annulus.

6. The method of claim 1, wherein, determining a current working condition of the deep water drilling device, comprising: judging whether the fluid increment in the circulation pit is greater than a preset value; if yes, determining that the deep water drilling device is in overflow condition; if the current drilling position of the deep water drilling device is a fractured formation, judging whether the deep water drilling device is in the overflow condition within a preset time before the current time; if yes, determining that the deep water drilling device is in overflow and leakage coexisting condition; if no, determining that the deep water drilling device is in leakage condition.

7. A control system for a deep water drilling rig, the control system comprising: The deep water drilling device comprises a riser pressure manifold, a drill pipe, a riser and a rotary control device, the rotary control device is installed on the upper part of the riser, the fluid conveying line between the rotary control device and the circulation pit comprises a first line and a second line in parallel, the first line comprises a first return pipeline, the second line comprises a second return pipeline and a choke manifold in series, a first drilling pump is arranged in the first line, a second drilling pump is arranged in the second line, a third drilling pump is arranged in the riser pressure manifold, and the equivalent circulating density control system in the deep water drilling device comprises: a working condition determining module for determining the current working condition of the deep water drilling device; an overflow processing module for, if the deep water drilling device is in overflow condition, controlling the third drilling pump to inject drilling fluid downward along the drill pipe through the riser pressure manifold, controlling the second drilling pump to inject the fluid in the annulus into the circulation pit through the second line, and adjusting the valve opening degree of the choke manifold according to a first strategy to make the bottom hole pressure stable; an overflow and leakage processing module for, if the deep water drilling device is in overflow and leakage coexisting condition, controlling the third drilling pump to inject seawater downward along the drill pipe through the riser pressure manifold, controlling the first drilling pump to inject the mud in the circulation pit into the annulus through the first line; and for, after drilling through the lost formation, controlling the third drilling pump to inject seawater downward along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus 0, controlling the first drilling pump to inject the mud in the circulation pit into the annulus through the first line, controlling the second drilling pump to inject the fluid in the annulus into the circulation pit through the second line, and adjusting the valve opening degree of the choke manifold according to a second strategy to make the mud cap height stable.

8. The control system for a deep water drilling rig as defined in claim 7 wherein, Further comprising: a leakage processing module for, if the deep water drilling device is in leakage condition, controlling the third drilling pump to inject seawater downward along the drill pipe through the riser pressure manifold to make the seawater return rate in the annulus 0; and for controlling the first drilling pump and the second drilling pump to inject the mud in the circulation pit into the annulus through the first line and the second line to make the mud cap height stable.

9. An electronic device, comprising: comprising a memory and a processor, the memory storing a computer program, and the processor calling the computer program in the memory to realize the steps of the control method of the deep water drilling device according to any one of claims 1 to 6.

10. A storage medium, characterized by The storage medium stores computer executable instructions, and the computer executable instructions are loaded by a processor and executed, and steps of the control method of the deep water drilling device according to any one of claims 1 to 6 are implemented.

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