Rotary steerable downhole vibration measurement and identification method, device, equipment and medium

Abstract

The application discloses a rotary steerable downhole vibration measurement and identification method, device, equipment and medium, relates to the field of oil drilling technology, takes the installation position of an acceleration sensor as a target position, measures high-frequency radial, tangential and axial accelerations and low-frequency radial, tangential and axial accelerations at the target position by using the acceleration sensor; measures instantaneous angular velocity and instantaneous angular acceleration at the target position by using a rotary encoder, constructs a difference equation and solves the difference equation, obtains rotary outer cylinder instantaneous angular velocity and rotary outer cylinder instantaneous angular acceleration; calculates high-frequency accelerations and low-frequency accelerations in different vibration directions; calculates a root mean square value, realizes rotary steerable downhole vibration identification based on the root mean square value, obtains vibration data, solves the vibration data and extracts frequency characteristics, obtains rotary steerable downhole vibration results, realizes capture and identification of downhole full-band vibration signals, comprehensively analyzes downhole vibration characteristics, and accurately evaluates the downhole working state of a rotary steerable system.

Description

Technical Field

[0001] This invention relates to the field of oil drilling technology, and in particular to a method, apparatus, equipment and medium for measuring and identifying downhole vibrations in rotary steerable drilling. Background Technology

[0002] Currently, most downhole vibration measurements for rotary steerable systems involve installing the vibration measurement module on a logging-while-drilling instrument located far from the drill bit. The measured data differs significantly from the actual operating conditions of the rotary steerable system and cannot be used as a reliable evaluation basis. Furthermore, existing technologies for acquiring downhole vibration data mostly rely on three eccentric single-axis accelerometers or one triaxial accelerometer. This measurement method cannot eliminate errors in representing lateral and tangential vibrations, making it difficult to accurately measure and identify these vibrations. Current technologies for acquiring downhole vibration data are all based on accelerometers using a fixed single-frequency sampling method. This method can only acquire vibration signals in a specific frequency band, missing crucial information from other frequency bands, resulting in incomplete or highly erroneous vibration data, and hindering a comprehensive analysis and identification of downhole vibration characteristics.

[0003] As can be seen from the above, how to capture and identify vibration signals across the entire downhole frequency band, comprehensively and meticulously analyze downhole vibration characteristics, and effectively and accurately assess the downhole working status of rotary steering systems are problems that need to be solved in this field. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a method, apparatus, equipment, and medium for measuring and identifying downhole vibrations in rotary steering systems. This method enables the capture and identification of vibration signals across the entire downhole frequency band, provides a comprehensive and detailed analysis of downhole vibration characteristics, and effectively and accurately assesses the downhole operating status of the rotary steering system. The specific solution is as follows:

[0005] In a first aspect, this application discloses a method for measuring and identifying vibrations in rotary steerable downhole drilling, including:

[0006] The installation position of the accelerometer is determined based on the structure of the rotating outer cylinder of the rotary guide, and the accelerometer is installed at the installation position. The installation position is taken as the target position so that the accelerometer can be used to measure the high-frequency radial, tangential and axial acceleration and the low-frequency radial, tangential and axial acceleration at the target position.

[0007] The instantaneous angular velocity and instantaneous angular acceleration at the target position are measured using a rotary encoder on the rotating outer cylinder. A difference equation is constructed based on the instantaneous angular velocity and instantaneous angular acceleration at the target position, and the difference equation is solved to obtain the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder.

[0008] Based on the high-frequency radial, tangential, and axial accelerations, the low-frequency radial, tangential, and axial accelerations, the instantaneous angular velocity of the rotating outer cylinder, and the instantaneous angular acceleration of the rotating outer cylinder, calculate the high-frequency and low-frequency accelerations in different vibration directions;

[0009] The root mean square (RMS) value is calculated using high-frequency and low-frequency accelerations in different vibration directions. Based on the RMS value, the vibration identification of the rotary steering well is realized to obtain vibration data. The vibration data is then solved and frequency features are extracted to obtain the vibration results of the rotary steering well.

[0010] Optionally, installing the acceleration sensor at the installation location includes:

[0011] An opening is provided for the rotating outer cylinder according to the installation position; the opening has a planar fixing surface parallel to the axis of the rotating outer cylinder;

[0012] The accelerometer is mounted on the fixed plane.

[0013] Optionally, the step of measuring the high-frequency radial, tangential, and axial accelerations and the low-frequency radial, tangential, and axial accelerations at the target location using the accelerometer includes:

[0014] A sampling frequency is set for the accelerometer; the sampling frequency includes a first sampling frequency and a second sampling frequency;

[0015] The high-frequency radial, tangential, and axial accelerations at the target location are measured using the accelerometer with the first sampling frequency.

[0016] The accelerometer at the target location is used to measure the low-frequency radial, tangential, and axial accelerations at the target location.

[0017] Optionally, the high-frequency radial acceleration includes high-frequency output acceleration in the horizontal axis direction, high-frequency output acceleration in the vertical axis direction, and high-frequency output acceleration in the vertical direction; the low-frequency radial acceleration includes low-frequency output acceleration in the horizontal axis direction, low-frequency output acceleration in the vertical axis direction, and low-frequency output acceleration in the vertical direction.

[0018] Optionally, the difference equation is:

[0019]

[0020] Where, ω i θ is the instantaneous angular rotational speed of the outer cylinder. i t is the instantaneous rotation angle of the outer cylinder. i For the current time, N represents the instantaneous angular acceleration of the rotating outer cylinder, and N represents the rotary encoder harness.

[0021] Optionally, the step of solving the vibration data and extracting frequency features to obtain the rotational steerable borehole vibration results includes:

[0022] The vibration data were solved using the average periodogram method to obtain the power density spectrum;

[0023] Frequency features were extracted from the power density spectrum to obtain the downhole vibration results of the rotary steerable borehole.

[0024] Secondly, this application discloses a rotary steerable downhole vibration measurement and identification device, comprising:

[0025] The sensor installation and measurement module is used to determine the installation position of the acceleration sensor according to the structure of the rotating outer cylinder of the rotary guide, and install the acceleration sensor at the installation position, taking the installation position as the target position, so as to use the acceleration sensor to measure the high-frequency radial acceleration and low-frequency radial acceleration at the target position;

[0026] The instantaneous velocity calculation module is used to measure the instantaneous angular velocity and instantaneous angular acceleration at the target position using a rotary encoder on the rotating outer cylinder, construct a difference equation based on the instantaneous angular velocity and instantaneous angular acceleration at the target position, and solve the difference equation to obtain the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder.

[0027] An acceleration calculation module is used to calculate high-frequency and low-frequency accelerations in different vibration directions based on the high-frequency radial acceleration, the low-frequency radial acceleration, the instantaneous angular velocity of the rotating outer cylinder, and the instantaneous angular acceleration of the rotating outer cylinder.

[0028] The vibration identification module is used to calculate the root mean square value using high-frequency and low-frequency accelerations in different vibration directions, and to identify the vibration in the rotary steering well based on the root mean square value to obtain vibration data. The vibration data is then solved and frequency features are extracted to obtain the vibration results in the rotary steering well.

[0029] Optionally, the sensor mounting and measurement module includes:

[0030] A window setting module is used to set a window for the rotating outer cylinder according to the installation position; the window has a planar fixed surface parallel to the axis of the rotating outer cylinder;

[0031] An acceleration sensor mounting module is used to mount the acceleration sensor onto the planar fixed surface.

[0032] Thirdly, this application discloses an electronic device, including:

[0033] Memory, used to store computer programs;

[0034] A processor is used to execute the computer program to implement the aforementioned method for measuring and identifying rotary steerable downhole vibrations.

[0035] Fourthly, this application discloses a computer storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the aforementioned disclosed rotary steerable downhole vibration measurement and identification method.

[0036] As can be seen, this application provides a method for measuring and identifying vibrations in a rotary steerable borehole. The method includes determining the installation position of an accelerometer based on the structure of the rotating outer cylinder of the rotary steerable borehole, installing the accelerometer at the installation position, and using the installation position as a target position. The accelerometer is then used to measure high-frequency radial, tangential, and axial accelerations and low-frequency radial, tangential, and axial accelerations at the target position. A rotary encoder on the rotating outer cylinder is used to measure the instantaneous angular velocity and instantaneous angular acceleration at the target position. A differential equation is constructed based on the instantaneous angular velocity and instantaneous angular acceleration at the target position. The equations are divided and the difference equations are solved to obtain the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder. Based on the high-frequency radial, tangential, and axial accelerations, the low-frequency radial, tangential, and axial accelerations, the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder, the high-frequency and low-frequency accelerations in different vibration directions are calculated. The root mean square (RMS) values ​​are calculated using the high-frequency and low-frequency accelerations in different vibration directions. Based on the RMS values, the rotational steerable borehole vibration identification is performed to obtain vibration data. The vibration data is then solved and frequency features are extracted to obtain the rotational steerable borehole vibration results. This application installs an accelerometer on the rotating outer cylinder to measure and calculate high-frequency and low-frequency vibration data in six axes during tool rotation, obtaining high-frequency radial, tangential, and axial accelerations and low-frequency radial, tangential, and axial accelerations. A rotary encoder is used to measure and calculate the tool's rotational speed information, obtaining the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder. Based on the high-frequency, low-frequency radial, tangential, and axial accelerations, the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder, high-frequency and low-frequency accelerations in different vibration directions are calculated. The root mean square value is calculated using the high-frequency and low-frequency accelerations in different vibration directions to achieve downhole vibration identification of the rotary steering system, obtaining vibration data. The vibration data is then solved and frequency features extracted to obtain the downhole vibration results of the rotary steering system. This enables the capture and identification of vibration signals across the entire downhole frequency band, allowing for a comprehensive and detailed analysis of downhole vibration characteristics and an effective and accurate assessment of the downhole working status of the rotary steering system. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0038] Figure 1 This is a flowchart of a rotary steering downhole vibration measurement and identification method disclosed in this application;

[0039] Figure 2 This application discloses an acceleration component diagram of a drill string in the wellbore plane;

[0040] Figure 3 This is a diagram showing an arrangement of an accelerometer sensor disclosed in this application;

[0041] Figure 4 This is a diagram showing the arrangement of a rotary encoder disclosed in this application;

[0042] Figure 5 This is a flowchart of a vibration measurement scheme for a rotary guide system disclosed in this application;

[0043] Figure 6 This is a schematic diagram of the structure of a rotary guide downhole vibration measurement and identification device disclosed in this application;

[0044] Figure 7 This application provides a structural diagram of an electronic device. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Currently, most downhole vibration measurements for rotary steerable systems employ the method of mounting the vibration measurement module on a logging-while-drilling instrument located far from the drill bit. The measured data differs significantly from the actual operating conditions of the rotary steerable system and cannot serve as a reliable evaluation basis. Furthermore, existing technologies for acquiring downhole vibration data largely rely on three eccentric single-axis accelerometers or one triaxial accelerometer. This measurement method cannot eliminate errors in representing lateral and tangential vibrations, making it difficult to accurately measure and identify these vibrations. Current technologies for acquiring downhole vibration data are all based on accelerometers using a fixed single-frequency sampling method. This method can only acquire vibration signals in a specific frequency band, missing crucial information from other frequency bands, resulting in incomplete or highly erroneous vibration data, and hindering a comprehensive analysis and identification of downhole vibration characteristics. Therefore, how to achieve the capture and identification of downhole vibration signals across the entire frequency band, comprehensively and meticulously analyze downhole vibration characteristics, and effectively and accurately assess the downhole operating status of rotary steerable systems are problems that need to be solved in this field.

[0047] See Figure 1 As shown in the figure, this invention discloses a method for measuring and identifying vibrations in rotary steered wells, which may specifically include:

[0048] Step S11: Determine the installation position of the accelerometer based on the structure of the rotating outer cylinder of the rotary guide, and install the accelerometer at the installation position. Use the installation position as the target position so that the accelerometer can be used to measure the high-frequency radial, tangential, and axial acceleration and the low-frequency radial, tangential, and axial acceleration at the target position.

[0049] In this embodiment, the installation position of the accelerometer is determined according to the structure of the rotating outer cylinder of the rotary guide, and a window is set for the rotating outer cylinder according to the installation position. The accelerometer is installed on the fixed plane, and this installation position is taken as the target position so as to set the sampling frequency for the accelerometer. The sampling frequency includes a first sampling frequency and a second sampling frequency. The accelerometer at the first sampling frequency measures the high-frequency radial, tangential, and axial acceleration at the target position. The accelerometer at the second sampling frequency measures the low-frequency radial, tangential, and axial acceleration at the target position. The window has a fixed plane parallel to the axis of the rotating outer cylinder. The high-frequency radial acceleration includes high-frequency output acceleration in the horizontal axis direction, high-frequency output acceleration in the vertical axis direction, and high-frequency output acceleration in the vertical axis direction. The low-frequency radial acceleration includes low-frequency output acceleration in the horizontal axis direction, low-frequency output acceleration in the vertical axis direction, and low-frequency output acceleration in the vertical axis direction.

[0050] For example, considering the rotating outer cylinder of a rotary steering system, which is a hollow cylindrical structure, the accelerometer can only be installed on the outer wall of the rotating outer cylinder. For this type of eccentric sensor installation, the model can refer to the acceleration components of the drill string in the wellbore plane, such as... Figure 2 As shown, based on the principles of Lagrange mechanics, the measurement position can be derived ( Figure 2 The expressions for the radial and tangential accelerations at the eccentric position G are as follows:

[0051]

[0052] in, The radial acceleration is in cylindrical coordinates. The tangential acceleration is in cylindrical coordinates. For the centrifugal acceleration of revolution, For Coriolis acceleration, eω 2 It is the centrifugal acceleration due to rotation. Let r be the angular acceleration due to rotation, and r be the radial displacement. ω is the revolution angle, e is the rotational speed, e is the distance from the measurement point to the center, and t is the time.

[0053] Furthermore, transforming the above expressions for radial and tangential acceleration into Cartesian coordinates, they can be expressed as:

[0054]

[0055] It can be seen that the acceleration at measuring point G consists of two parts: one part is caused by the translation and revolution of the drill string, and the other part is caused by the eccentricity and rotation of the measuring point. Therefore, it can be further simplified to:

[0056]

[0057] Among them, a cx a cy The radial and tangential accelerations are located at the center of the drill string.

[0058] Furthermore, the physical components contained in the three acceleration and single-axis rotational speed measurements at the measurement location can be expressed as:

[0059]

[0060] Among them, X a Y a Z a To measure the radial, tangential, and axial vibration accelerations at the measurement location, Ω represents the rotational speed of the outer cylinder, and a cx a cy a cz The radial, tangential, and axial accelerations at the center of the rotating outer cylinder are given, where e is the radius of the rotating outer cylinder. The instantaneous angular rotational speed of the outer cylinder;

[0061] Accelerometer sensor arrangement as follows Figure 3 As shown, the vibration characteristics of the drill string are analyzed to determine the physical components reflecting the vibration in each direction of the rotary guide. Lateral vibration requires the use of radial a at the center. cx and tangential a cy Acceleration is used to represent tangential vibrations, requiring the angular acceleration α at the eccentric point. cω This indicates that longitudinal vibration requires the use of axial acceleration a. cz This indicates that an accelerometer is installed at the target location to measure the radial, tangential, and axial vibration accelerations at that location.

[0062]

[0063] Among them, X ah Y ah Z ah To measure the high-frequency radial, tangential, and axial output acceleration at the measurement location, X al Y al Z al To measure the low-frequency radial, tangential, and axial output acceleration at the measurement location, a ixh a iyh a izh To measure the high-frequency radial, tangential, and axial acceleration at the center of the measurement position, a ixl a iyl a izl To measure the low-frequency radial, tangential, and axial accelerations at the center of the measurement location, e is the radius at the measurement location, and ω is the instantaneous angular rotational speed at the measurement location. This is the instantaneous angular acceleration at the measurement location.

[0064] An opening is radially inward along the outer wall of the rotating outer cylinder. This opening contains a fixed planar surface parallel to the axis of the rotating outer cylinder. Six uniaxial accelerometers are fixed to this fixed planar surface. For example, three of the accelerometers are set to a sampling frequency of 900Hz to measure high-frequency radial (high-frequency output in the X direction), tangential (high-frequency output in the Y direction), and axial (high-frequency output in the Z direction) accelerations at the target location. The other three accelerometers are set to a sampling frequency of 300Hz to measure low-frequency radial (low-frequency output in the X direction), tangential (low-frequency output in the Y direction), and axial (low-frequency output in the Z direction) accelerations at the target location. Thus, the high-frequency and low-frequency vibrations experienced by the rotating guide system can be directly obtained through the accelerometers, yielding high-frequency radial, tangential, and axial accelerations, as well as low-frequency radial, tangential, and axial accelerations.

[0065] Step S12: Measure the instantaneous angular velocity and instantaneous angular acceleration at the target position using the rotary encoder on the rotating outer cylinder. Construct a difference equation based on the instantaneous angular velocity and instantaneous angular acceleration at the target position, and solve the difference equation to obtain the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder.

[0066] In this embodiment, a difference equation is constructed based on the instantaneous angular velocity and instantaneous angular acceleration at the target position (i.e., the angular velocity and angular acceleration of the rotating outer cylinder are obtained by using the first and second differences of the measured rotation angle with respect to time); the difference equation is:

[0067]

[0068] Where, ω i θ is the instantaneous angular rotational speed of the outer cylinder. i t is the instantaneous rotation angle of the outer cylinder. i For the current time, N represents the instantaneous angular acceleration of the rotating outer cylinder, and N represents the rotary encoder harness.

[0069] In this embodiment, the angular velocity and angular acceleration components included in the six measured accelerations, namely the instantaneous angular velocity ω and instantaneous angular acceleration ω of the rotating outer cylinder, are considered. When the drill string rotation speed is high, it will affect the judgment of the lateral vibration and tangential vibration states. Therefore, a rotary encoder is used to measure the instantaneous angular velocity and instantaneous angular acceleration at the target position.

[0070] Rotary encoder arrangement as follows Figure 4 As shown, the rotary encoder base is designed as a frustum structure, with its upper and lower diameters matching the diameter of the rotating outer cylinder, and the connection between the upper and lower ends is smooth. Its upper end is connected to the rotating outer cylinder via a bearing sleeve mounted on the top of the outer cylinder and a double-row angular contact ball bearing embedded within the bearing sleeve. Its lower end is connected to the rotary encoder via a set of fastening bolts, with both axes precisely aligned.

[0071] Based on the above rotary encoder installation method, the rotary encoder is equipped with three output signals: A, B, and Z. A and B are the main measurement signals, outputting several uniform square wave signals per revolution. The Z signal is an auxiliary signal, outputting one pulse per revolution as a zero-position marker. The rotary encoder wiring harness is set to N, meaning each output pulse corresponds to a rotation angle of... By using the first and second differences of the measured rotation angle with respect to time, the angular velocity and angular acceleration of the rotating outer cylinder can be obtained.

[0072] Step S13: Calculate the high-frequency acceleration and low-frequency acceleration in different vibration directions based on the high-frequency radial, tangential and axial accelerations, the low-frequency radial, tangential and axial accelerations, the instantaneous angular velocity of the rotating outer cylinder and the instantaneous angular acceleration of the rotating outer cylinder.

[0073] In this embodiment, high-frequency radial acceleration, high-frequency tangential acceleration, and high-frequency axial acceleration are calculated based on the high-frequency radial, tangential, and axial accelerations, the low-frequency radial, tangential, and axial accelerations, the instantaneous angular velocity of the rotating outer cylinder, and the instantaneous angular acceleration of the rotating outer cylinder; low-frequency accelerations in different vibration directions include low-frequency radial acceleration, low-frequency tangential acceleration, and low-frequency axial acceleration.

[0074] Specifically, the six accelerations at the target position are measured by six single-axis accelerometers, namely X... ah Y ah Z ah To measure the high-frequency radial, tangential, and axial output acceleration at the measurement location, X al Y al Z al To measure the low-frequency radial, tangential, and axial output accelerations at the measurement location, and the angular velocities and angular accelerations obtained from the rotary encoder measurements, intermediate physical quantities required to represent the three-directional vibrations are calculated, including the high-frequency radial acceleration α. ixh High-frequency tangential acceleration a iyh High-frequency axial acceleration a izh Low-frequency radial acceleration a ixl Low-frequency tangential acceleration a iyl Low-frequency axial acceleration a izl , can be represented as:

[0075]

[0076] Step S14: Calculate the root mean square value using high-frequency and low-frequency accelerations in different vibration directions, and identify the rotational steerable wellbore vibration based on the root mean square value to obtain vibration data. Solve the vibration data and extract frequency features to obtain the rotational steerable wellbore vibration results.

[0077] In this embodiment, the root mean square value is calculated using high-frequency and low-frequency accelerations in different vibration directions. Based on the root mean square value, the rotational steerable borehole vibration identification is achieved to obtain vibration data. The average periodogram method is used to solve the vibration data to obtain the power density spectrum. Frequency features are extracted from the power density spectrum to obtain the rotational steerable borehole vibration results.

[0078] Specifically, based on the calculated instantaneous radial, tangential, and axial accelerations, the root mean square (RMS) values ​​within one measurement period are calculated to form a method for identifying lateral, tangential, and longitudinal vibrations. In this identification method, lateral vibration is represented by the RMS of radial and tangential accelerations, tangential vibration by the RMS of rotational angular velocity, and longitudinal vibration by the RMS of axial acceleration. This can be expressed as:

[0079]

[0080] Among them, Vibration XYH Indicates high-frequency transverse vibration; Vibration TH Indicates high-frequency tangential vibration; Vibration ZH Indicates high-frequency longitudinal vibration; Vibration XYL Indicates low-frequency lateral vibration; Vibration TL Indicates low-frequency tangential vibration; Vibration ZL Indicates low-frequency longitudinal vibration;

[0081] Finally, based on the completed calculations of high-frequency and low-frequency transverse, tangential, and axial vibrations, the sampled data points are divided into N segments, each with 256 data points. The estimated periodogram power spectrum is then obtained, which can be expressed as:

[0082]

[0083] The average periodic power density spectrum estimation result is obtained by solving the above formula:

[0084]

[0085] Based on the calculated average periodic power density spectrum, target frequency features are extracted to identify the type and intensity of vibrations experienced by the tool during rotation.

[0086] The key point of this application is: to use a MEMS single-axis accelerometer and rotary encoder to collect and calculate downhole vibration and rotation speed data in real time, and to measure and identify vibration and impact, so as to accurately evaluate the downhole working status of the rotary steering system.

[0087] The process of the vibration measurement scheme for the rotary steering system proposed in this application is as follows: Figure 5 As shown, for the hollow cylindrical rotating outer cylinder structure of the rotary guide, an innovative approach is adopted, which involves fixing six MEMS single-axis accelerometers to the outer wall of the rotating outer cylinder and installing a rotary encoder on the bearing surface embedded in the upper end of the rotating outer cylinder. This enables the measurement and calculation of the radial, tangential, axial, and rotational components generated during the tool's rotation. It retains the effective values ​​representing high-frequency and low-frequency lateral, tangential, and longitudinal vibrations, and more accurately represents the full-frequency vibration and impact conditions experienced by the tool during rotation. By establishing an analysis method for vibration characteristics, the type and intensity of downhole vibration can be effectively identified, ensuring the safety and reliability of the rotary guide system.

[0088] In this embodiment, the installation position of the accelerometer is determined based on the structure of the rotating outer cylinder of the rotary guide, and the accelerometer is installed at the installation position, which is taken as the target position. The accelerometer is then used to measure the high-frequency radial, tangential, and axial accelerations and low-frequency radial, tangential, and axial accelerations at the target position. The instantaneous angular velocity and instantaneous angular acceleration at the target position are measured using a rotary encoder on the rotating outer cylinder. A difference equation is constructed based on the instantaneous angular velocity and instantaneous angular acceleration at the target position, and the difference equation is solved. The instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder are obtained by solving the problem. Based on the high-frequency radial, tangential, and axial accelerations, the low-frequency radial, tangential, and axial accelerations, the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder, the high-frequency and low-frequency accelerations in different vibration directions are calculated. The root mean square (RMS) values ​​are calculated using the high-frequency and low-frequency accelerations in different vibration directions. Based on the RMS values, the rotational steerable borehole vibration identification is achieved to obtain vibration data. The vibration data is then solved and frequency features are extracted to obtain the rotational steerable borehole vibration results. This application installs an accelerometer on the rotating outer cylinder to measure and calculate high-frequency and low-frequency vibration data in six axes during tool rotation, obtaining high-frequency radial, tangential, and axial accelerations and low-frequency radial, tangential, and axial accelerations. A rotary encoder is used to measure and calculate the tool's rotational speed information, obtaining the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder. Based on the high-frequency, low-frequency radial, tangential, and axial accelerations, the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder, high-frequency and low-frequency accelerations in different vibration directions are calculated. The root mean square value is calculated using the high-frequency and low-frequency accelerations in different vibration directions to achieve downhole vibration identification of the rotary steering system, obtaining vibration data. The vibration data is then solved and frequency features extracted to obtain the downhole vibration results of the rotary steering system. This enables the capture and identification of vibration signals across the entire downhole frequency band, allowing for a comprehensive and detailed analysis of downhole vibration characteristics and an effective and accurate assessment of the downhole working status of the rotary steering system.

[0089] See Figure 6 As shown in the figure, an embodiment of the present invention discloses a rotary steerable downhole vibration measurement and identification device, which may specifically include:

[0090] The sensor installation and measurement module 11 is used to determine the installation position of the acceleration sensor according to the structure of the rotating outer cylinder of the rotary guide, and install the acceleration sensor to the installation position, taking the installation position as the target position, so as to use the acceleration sensor to measure the high-frequency radial, tangential and axial acceleration and the low-frequency radial, tangential and axial acceleration at the target position;

[0091] The instantaneous velocity calculation module 12 is used to measure the instantaneous angular velocity and instantaneous angular acceleration at the target position using the rotary encoder on the rotating outer cylinder, construct a difference equation based on the instantaneous angular velocity and instantaneous angular acceleration at the target position, and solve the difference equation to obtain the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder.

[0092] The acceleration calculation module 13 is used to calculate high-frequency acceleration and low-frequency acceleration in different vibration directions based on the high-frequency radial, tangential and axial acceleration, the low-frequency radial, tangential and axial acceleration, the instantaneous angular velocity of the rotating outer cylinder and the instantaneous angular acceleration of the rotating outer cylinder;

[0093] The vibration identification module 14 is used to calculate the root mean square value using high-frequency acceleration and low-frequency acceleration in different vibration directions, and to realize the vibration identification of the rotary steering downhole based on the root mean square value to obtain vibration data. The vibration data is then solved and frequency features are extracted to obtain the vibration result of the rotary steering downhole.

[0094] In this embodiment, the installation position of the accelerometer is determined based on the structure of the rotating outer cylinder of the rotary guide, and the accelerometer is installed at the installation position, which is taken as the target position. The accelerometer is then used to measure the high-frequency radial, tangential, and axial accelerations and low-frequency radial, tangential, and axial accelerations at the target position. The instantaneous angular velocity and instantaneous angular acceleration at the target position are measured using a rotary encoder on the rotating outer cylinder. A difference equation is constructed based on the instantaneous angular velocity and instantaneous angular acceleration at the target position, and the difference equation is solved. The instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder are obtained by solving the problem. Based on the high-frequency radial, tangential, and axial accelerations, the low-frequency radial, tangential, and axial accelerations, the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder, the high-frequency and low-frequency accelerations in different vibration directions are calculated. The root mean square (RMS) values ​​are calculated using the high-frequency and low-frequency accelerations in different vibration directions. Based on the RMS values, the rotational steerable borehole vibration identification is achieved to obtain vibration data. The vibration data is then solved and frequency features are extracted to obtain the rotational steerable borehole vibration results. This application installs an accelerometer on the rotating outer cylinder to measure and calculate high-frequency and low-frequency vibration data in six axes during tool rotation, obtaining high-frequency radial, tangential, and axial accelerations and low-frequency radial, tangential, and axial accelerations. A rotary encoder is used to measure and calculate the tool's rotational speed information, obtaining the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder. Based on the high-frequency, low-frequency radial, tangential, and axial accelerations, the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder, high-frequency and low-frequency accelerations in different vibration directions are calculated. The root mean square value is calculated using the high-frequency and low-frequency accelerations in different vibration directions to achieve downhole vibration identification of the rotary steering system, obtaining vibration data. The vibration data is then solved and frequency features extracted to obtain the downhole vibration results of the rotary steering system. This enables the capture and identification of vibration signals across the entire downhole frequency band, allowing for a comprehensive and detailed analysis of downhole vibration characteristics and an effective and accurate assessment of the downhole working status of the rotary steering system.

[0095] In some specific embodiments, the sensor mounting and measurement module 11 may specifically include:

[0096] A window setting module is used to set a window for the rotating outer cylinder according to the installation position; the window has a planar fixed surface parallel to the axis of the rotating outer cylinder;

[0097] An acceleration sensor mounting module is used to mount the acceleration sensor onto the planar fixed surface.

[0098] In some specific embodiments, the sensor mounting and measurement module 11 may specifically include:

[0099] A sampling frequency setting module is used to set the sampling frequency for the accelerometer; the sampling frequency includes a first sampling frequency and a second sampling frequency.

[0100] A high-frequency radial, tangential, and axial acceleration measurement module is used to measure the high-frequency radial, tangential, and axial acceleration at the target location using the acceleration sensor at a first sampling frequency;

[0101] A low-frequency radial, tangential, and axial acceleration measurement module is used to measure the low-frequency radial, tangential, and axial acceleration at the target location using the acceleration sensor at a second sampling frequency.

[0102] In some specific embodiments, the high-frequency radial acceleration includes high-frequency output acceleration in the horizontal axis direction, high-frequency output acceleration in the vertical axis direction, and high-frequency output acceleration in the vertical axis direction. The low-frequency radial acceleration includes low-frequency output acceleration in the horizontal axis direction, low-frequency output acceleration in the vertical axis direction, and low-frequency output acceleration in the vertical axis direction.

[0103] In some specific embodiments, the difference equation is:

[0104]

[0105]

[0106] Where, ω i θ is the instantaneous angular rotational speed of the outer cylinder. i t is the instantaneous rotation angle of the outer cylinder. i ω represents the current time. i N represents the instantaneous angular acceleration of the rotating outer cylinder, and N represents the rotary encoder harness.

[0107] In some specific embodiments, the vibration recognition module 14 may specifically include:

[0108] The vibration data solving module is used to solve the vibration data using the average periodogram method to obtain the power density spectrum;

[0109] The frequency feature extraction module is used to extract frequency features from the power density spectrum to obtain the downhole vibration results of the rotary guide shaft.

[0110] Figure 7This is a schematic diagram of an electronic device provided in an embodiment of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the rotary guide downhole vibration measurement and identification method performed by the electronic device disclosed in any of the foregoing embodiments.

[0111] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0112] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored on it include operating system 221, computer program 222 and data 223, etc., and the storage method can be temporary storage or permanent storage.

[0113] The operating system 221 manages and controls the various hardware devices on the electronic device 20 and the computer program 222 to enable the processor 21 to perform calculations and processing on the data 223 in the memory 22. It can be Windows, Unix, Linux, etc. The computer program 222, in addition to including a computer program capable of performing the rotary steerable downhole vibration measurement and identification method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, may further include computer programs capable of performing other specific tasks. The data 223 may include data received by the rotary steerable downhole vibration measurement and identification device from external devices, as well as data collected by its own input / output interface 25.

[0114] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0115] Furthermore, this application also discloses a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, it implements the steps of the rotary guide downhole vibration measurement and identification method disclosed in any of the foregoing embodiments.

[0116] Finally, it should be noted that in this document, 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.

[0117] The present invention provides a detailed description of a rotary steered downhole vibration measurement and identification method, device, equipment, and storage medium. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for measuring and identifying vibration in rotary steerable wellbore drilling, characterized in that, include: The installation position of the accelerometer is determined based on the structure of the rotating outer cylinder of the rotary guide, and the accelerometer is installed at the installation position. The installation position is taken as the target position so that the accelerometer can be used to measure the high-frequency radial, tangential and axial acceleration and the low-frequency radial, tangential and axial acceleration at the target position. The instantaneous angular velocity and instantaneous angular acceleration at the target position are measured using a rotary encoder on the rotating outer cylinder. A difference equation is constructed based on the instantaneous angular velocity and instantaneous angular acceleration at the target position, and the difference equation is solved to obtain the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder. Based on the high-frequency radial, tangential, and axial accelerations, the low-frequency radial, tangential, and axial accelerations, the instantaneous angular velocity of the rotating outer cylinder, and the instantaneous angular acceleration of the rotating outer cylinder, calculate the high-frequency and low-frequency accelerations in different vibration directions; The root mean square (RMS) value is calculated using high-frequency and low-frequency accelerations in different vibration directions. Based on the RMS value, the vibration identification of the rotary steering well is realized to obtain vibration data. The vibration data is then solved and frequency features are extracted to obtain the vibration results of the rotary steering well.

2. The method for measuring and identifying rotary steerable downhole vibration according to claim 1, characterized in that, The step of installing the acceleration sensor at the installation location includes: An opening is provided for the rotating outer cylinder according to the installation position; the opening has a planar fixing surface parallel to the axis of the rotating outer cylinder; The accelerometer is mounted on the fixed plane.

3. The method for measuring and identifying rotary steerable downhole vibration according to claim 1, characterized in that, The measurement of high-frequency radial, tangential, and axial accelerations and low-frequency radial, tangential, and axial accelerations at the target location using the accelerometer includes: A sampling frequency is set for the accelerometer; the sampling frequency includes a first sampling frequency and a second sampling frequency; The high-frequency, tangential, and axial-radial accelerations at the target location are measured using the accelerometer with the first sampling frequency. The accelerometer at the target location is measured using the second sampling frequency to measure the low-frequency, tangential, and axial-radial accelerations.

4. The method for measuring and identifying rotary steerable downhole vibration according to claim 1, characterized in that, High-frequency radial acceleration includes high-frequency output acceleration in the horizontal axis direction, high-frequency output acceleration in the vertical axis direction, and high-frequency output acceleration in the vertical direction; low-frequency radial acceleration includes low-frequency output acceleration in the horizontal axis direction, low-frequency output acceleration in the vertical axis direction, and low-frequency output acceleration in the vertical direction.

5. The method for measuring and identifying rotary steerable downhole vibration according to claim 1, characterized in that, The difference equation is: Where, ω i θ is the instantaneous angular rotational speed of the outer cylinder. i t is the instantaneous rotation angle of the outer cylinder. i For the current time, N represents the instantaneous angular acceleration of the rotating outer cylinder, and N represents the rotary encoder harness.

6. The method for measuring and identifying rotary steerable downhole vibration according to any one of claims 1 to 5, characterized in that, The process of solving the vibration data and extracting frequency features to obtain the downhole vibration results of the rotary steerable borehole includes: The vibration data were solved using the average periodogram method to obtain the power density spectrum; Frequency features were extracted from the power density spectrum to obtain the downhole vibration results of the rotary steerable borehole.

7. A rotary steerable downhole vibration measurement and identification device, characterized in that, include: The sensor installation and measurement module is used to determine the installation position of the acceleration sensor according to the structure of the rotating outer cylinder of the rotary guide, and install the acceleration sensor at the installation position, taking the installation position as the target position, so as to use the acceleration sensor to measure the high-frequency radial, tangential and axial acceleration and the low-frequency radial, tangential and axial acceleration at the target position; The instantaneous velocity calculation module is used to measure the instantaneous angular velocity and instantaneous angular acceleration at the target position using a rotary encoder on the rotating outer cylinder, construct a difference equation based on the instantaneous angular velocity and instantaneous angular acceleration at the target position, and solve the difference equation to obtain the instantaneous angular velocity and instantaneous angular acceleration of the rotating outer cylinder. An acceleration calculation module is used to calculate high-frequency and low-frequency accelerations in different vibration directions based on the high-frequency radial acceleration, the low-frequency radial acceleration, the instantaneous angular velocity of the rotating outer cylinder, and the instantaneous angular acceleration of the rotating outer cylinder. The vibration identification module is used to calculate the root mean square value using high-frequency and low-frequency accelerations in different vibration directions, and to identify the vibration in the rotary steering well based on the root mean square value to obtain vibration data. The vibration data is then solved and frequency features are extracted to obtain the vibration results in the rotary steering well.

8. The rotary steerable downhole vibration measurement and identification device according to claim 7, characterized in that, The sensor mounting and measurement module includes: A window setting module is used to set a window for the rotating outer cylinder according to the installation position; the window has a planar fixed surface parallel to the axis of the rotating outer cylinder; An acceleration sensor mounting module is used to mount the acceleration sensor onto the planar fixed surface.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the rotary steered downhole vibration measurement and identification method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, Used to store computer programs; wherein, when the computer programs are executed by a processor, they implement the rotary steered downhole vibration measurement and identification method as described in any one of claims 1 to 6.

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