A method and system for automatically controlling the deviation of a real drilling trajectory

Abstract

This invention relates to the field of process control technology, and discloses an automatic control method and system for actual drilling trajectory comparison deviation. The method includes: performing coordinate analysis on the inclination angle and azimuth angle at the well depth and the spatial coordinate sequence of the designed trajectory at the well depth to obtain a spatial coordinate sequence; performing sliding window comparison analysis on the spatial coordinate sequence and the spatial coordinate sequence of the designed trajectory at the same well depth to obtain a multi-scale deviation feature set; performing nonlinear mapping inference on the multi-scale deviation feature set to obtain a dynamic control target vector; performing correlation analysis on the tool face angle in the dynamic control target vector and the measured tool face angle to obtain a bottom-level drive command sequence; performing spatial registration evaluation on the spatial coordinate sequence and the preset design trajectory to obtain a spatial deviation vector sequence; and adaptively adjusting the bottom-level drive command sequence to obtain a target drilling scheme. This invention can improve the efficiency of automatic control of actual drilling trajectory comparison deviation.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, and in particular to an automatic control method and system for comparing deviations in actual drilling trajectories. Background Technology

[0002] In the field of actual drilling trajectory control, existing technologies for analyzing the deviation between the actual drilling trajectory and the designed trajectory mostly adopt a single-dimensional static comparison method. This method can only obtain instantaneous deviation values ​​at a fixed well depth and cannot comprehensively extract multi-scale features such as deviation change trends and cumulative deviation amounts within the well section. This results in a one-sided understanding of actual drilling trajectory deviations and makes it difficult to accurately reflect the actual distribution and development patterns of trajectory deviations. Furthermore, existing technologies lack a nonlinear mapping reasoning mechanism based on drilling expertise and knowledge bases. The processing of deviation features involves only simple linear calculations, failing to match corresponding control strategies according to different deviation conditions, thus resulting in insufficient targeting and effectiveness of trajectory control.

[0003] Current methods for generating control commands for actual drilling trajectory deviations largely rely on manual experience and judgment. Furthermore, they lack an adaptive adjustment mechanism based on real-time spatial deviations after command issuance. This leads to a disconnect between the control commands and the spatial distribution characteristics of the actual trajectory deviations, resulting in issues such as inadequate adjustment in key deviation sections and over-adjustment in non-deviation sections. This not only reduces the control accuracy of the actual drilling trajectory but also increases the operational and time costs of drilling operations. In addition, existing technologies fail to achieve a unified reference system matching between measured data and target data in the correlation analysis stage of the drill string tool face, causing azimuth deviations in the generation of underlying drive commands. This further impacts the overall efficiency and reliability of automatic control for actual drilling trajectory deviation comparison. Summary of the Invention

[0004] This invention provides an automatic control method and system for comparing deviations in actual drilling trajectories, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides an automatic control method for comparing deviations in actual drilling trajectories, comprising: S1. Perform coordinate analysis on the inclination angle and azimuth angle at the well depth and the spatial coordinate sequence of the well depth design trajectory to obtain the spatial coordinate sequence of the actual drilling trajectory; S2. Perform a sliding window comparison analysis between the spatial coordinate sequence and the design trajectory spatial coordinate sequence at the same well depth to obtain the multi-scale deviation feature set of the actual drilling trajectory; S3. Based on the preset drilling expert experience and drilling knowledge base, perform nonlinear mapping reasoning on the multi-scale deviation feature set to obtain the dynamic control target vector of the actual drilling trajectory; S4. Real-time acquisition of the measured tool face angle of the current drill string assembly, and correlation analysis between the tool face angle in the dynamic control target vector and the measured tool face angle to obtain the underlying drive command sequence of the actual drilling trajectory; S5. Perform spatial registration evaluation between the spatial coordinate sequence and the preset design trajectory to obtain the spatial deviation vector sequence of the design trajectory; S6. Based on the spatial deviation vector sequence, the underlying drive command sequence is adaptively adjusted to obtain the target drilling scheme of the actual drilling trajectory.

[0006] In a preferred embodiment, the step of performing coordinate analysis on the inclination angle and azimuth angle at the well depth and the spatial coordinate sequence of the well depth design trajectory to obtain the spatial coordinate sequence of the actual drilling trajectory includes: The well inclination angle and azimuth angle uploaded by the measurement while drilling tool at multiple sampling well depths are obtained, and the design trajectory spatial coordinate sequence corresponding to the sampling well depth is extracted from the preset well structure design file; The well inclination angle and the azimuth angle are associated and mapped with the design coordinate points at the same well depth in the design trajectory spatial coordinate sequence to establish the correspondence between the measured data and the design data at the sampling well depth; Based on the correspondence and the design coordinates, the wellbore direction of the inclination angle and the azimuth angle is extended and projected to obtain the instantaneous spatial location of the actual drilled wellbore at the depth of the sampling well. The instantaneous spatial location points of the actual drilled wellbore are arranged and combined in order of increasing well depth to obtain the spatial coordinate sequence of the actual drilling trajectory.

[0007] In a preferred embodiment, the step of performing a sliding window comparison analysis between the spatial coordinate sequence and the designed trajectory spatial coordinate sequence at the same well depth to obtain the multi-scale deviation feature set of the actual drilling trajectory includes: In the spatial coordinate sequence of the actual drilling trajectory and the spatial coordinate sequence of the designed trajectory, the sliding analysis window of the actual drilling trajectory is determined with the current well depth node as the center; Within the sliding analysis window, the actual drilling spatial coordinates at the well depth are compared point by point with the design spatial coordinates at the same well depth to determine the instantaneous well inclination deviation and instantaneous azimuth deviation values ​​at the well depth. Trend features are extracted from the instantaneous well inclination deviation and instantaneous azimuth deviation values ​​at the well depth within the sliding analysis window to obtain the deviation change rate characteristics at the well depth. Cumulative features are extracted from the instantaneous well inclination deviation and instantaneous azimuth deviation values ​​at the well depth within the sliding analysis window to obtain the cumulative deviation feature at the well depth. The instantaneous well deviation value, the instantaneous azimuth deviation value, the deviation change rate feature, and the cumulative deviation feature are associated and combined according to the correspondence of the well depth nodes to construct a multi-scale deviation feature set of the actual drilling trajectory.

[0008] In a preferred embodiment, the step of performing nonlinear mapping inference on the multi-scale deviation feature set based on a preset drilling expert experience and drilling knowledge base to obtain the dynamic control target vector of the actual drilling trajectory includes: Based on the preset drilling expert experience and drilling knowledge base, the multi-scale deviation feature set is matched and evaluated with the working condition feature fields in the drilling expert experience to obtain the feature similarity of the multi-scale deviation feature set. Based on the feature similarity, target rule entries for the actual drilling trajectory are selected from the expert rule entries of the drilling expert's experience. The tool face angle adjustment reference value and the guide force adjustment reference value in the consequent control parameter field of the target rule entry are integrated into the preliminary control parameters of the actual drilling trajectory; The preliminary control parameters are weighted and fused to obtain the dynamic control target vector of the actual drilling trajectory.

[0009] In a preferred embodiment, the step of weighted fusing the preliminary control parameters to obtain the dynamic control target vector of the actual drilling trajectory includes: The control components of the actual drilling trajectory are obtained by performing parameter analysis on the activation rules in the drilling expert experience and drilling knowledge base. Based on the drilling expert experience and drilling knowledge base, information decision-making is made on the contribution priority of the control components in the final control target under different combinations of deviation characteristics, so as to obtain the weight allocation strategy of the actual drilling trajectory. According to the weight allocation strategy, the trajectory adjustment parameters in the control components are fused, the control component with the highest priority is taken as the dominant control component, and the remaining control components are taken as auxiliary constraints to construct the comprehensive control parameter set of the actual drilling trajectory. The control parameter set is structured and encapsulated according to a preset dynamic control target vector data format to obtain the dynamic control target vector of the actual drilling trajectory.

[0010] In a preferred embodiment, the formula for calculating the dynamic control target vector is as follows: ; In the formula, The dynamic control target vector, Using the feature similarity vector as The instrumental facet angle weighting coefficient of the independent variable This is the feature similarity vector of the multi-scale deviation feature set. This is the vector of adjustment reference values ​​for the tool face angle extracted from the consequent control parameter field of the target rule entry. Using the feature similarity vector as The guiding force weight coefficient of the independent variable, The vector of adjustment reference values ​​for the guiding force extracted from the consequent control parameter field of the target rule entry. The deviation characteristic amplitude vector of the current well section These are the cross-coupling weight coefficients of the independent variables. For the cooperative coupling operator between vectors, This is the deviation characteristic amplitude vector for the current well section.

[0011] In a preferred embodiment, the real-time acquisition of the measured tool facet angle of the current drill string assembly, and the correlation analysis between the tool facet angle in the dynamic control target vector and the measured tool facet angle to obtain the underlying drive command sequence of the actual drilling trajectory, includes: The system receives real-time measured tool face angle data of the current drill string assembly and extracts the target tool face angle value from the dynamic control target vector. The target tool face angle value and the measured tool face angle data are placed in the same azimuth reference system for position correlation to determine the azimuth range of the current drill string assembly; Based on the azimuth interval and the preset drill bit action rule library, the corresponding drill bit adjustment action type in the azimuth interval is retrieved and matched; The industrial requirement parameters of the orientation holding action, clockwise addressing action, and counterclockwise addressing action in the search and matching are arranged sequentially to obtain the layer driving command sequence of the actual drilling trajectory.

[0012] In a preferred embodiment, the step of spatially registering and evaluating the spatial coordinate sequence with a preset design trajectory to obtain a spatial deviation vector sequence of the design trajectory includes: The inter-coordinate sequence and the design trajectory are extracted synchronously to obtain the actual drilling spatial coordinate points and the design spatial coordinate points of the actual drilling trajectory; Spatial calibration is performed between the actual drilled spatial coordinate points and the design spatial coordinate points to obtain the spatial offset direction between the actual drilled spatial coordinate points and the design spatial coordinate points; Based on the spatial offset direction, mark the positional deviation relationship between the actual drilled spatial coordinate point and the designed spatial coordinate point in three-dimensional space; The positional deviation relationships are arranged and combined in order of increasing well depth to obtain the spatial deviation vector sequence of the designed trajectory.

[0013] In a preferred embodiment, the step of adaptively adjusting the bottom-level drive command sequence based on the spatial deviation vector sequence to obtain the target drilling scheme of the actual drilling trajectory includes: The drilling density distribution is evaluated by analyzing the pointing characteristics and amplitude distribution characteristics of the spatial deviation vectors in the spatial deviation vector sequence to obtain the key adjustment well sections of the actual drilling trajectory; Based on the key adjustment well section, the bottom driving command sequence is divided into regional segments according to the well depth interval to obtain the command sub-sequence segments of the bottom driving command sequence; Based on the pointing characteristics of the spatial deviation vector within the key adjustment well section, the directional consistency of the drill string action commands in the command sub-sequence segment is checked to obtain the command items to be corrected in the command sub-sequence segment; The instruction item to be corrected is removed from the instruction sub-sequence segment, and the instruction items of the instruction sub-sequence segment are rearranged and combined according to the pointing characteristics of the spatial deviation vector to obtain the corrected instruction sub-sequence segment of the actual drilling trajectory. The modified instruction subsequence segment is concatenated with the underlying driving instruction sequence to form compliant instructions, and the concatenated instructions are then converted into strategies to obtain the target drilling scheme for the actual drilling trajectory.

[0014] To address the above problems, the present invention also provides an automatic control system for comparing deviations in actual drilling trajectories, the system comprising: The coordinate analysis module is used to perform coordinate analysis on the inclination angle and azimuth angle at the well depth and the spatial coordinate sequence of the well depth design trajectory to obtain the spatial coordinate sequence of the actual drilling trajectory; The sliding window comparison module is used to perform sliding window comparison analysis between the spatial coordinate sequence and the design trajectory spatial coordinate sequence at the same well depth to obtain the multi-scale deviation feature set of the actual drilling trajectory. The nonlinear mapping reasoning module is used to perform nonlinear mapping reasoning on the multi-scale deviation feature set based on the preset drilling expert experience and drilling knowledge base, so as to obtain the dynamic control target vector of the actual drilling trajectory. The correlation parsing module is used to obtain the measured tool face angle of the current drill string assembly in real time, and to perform correlation parsing between the tool face angle in the dynamic control target vector and the measured tool face angle to obtain the underlying drive command sequence of the actual drilling trajectory. The spatial registration and evaluation module is used to perform spatial registration and evaluation between the spatial coordinate sequence and the preset design trajectory to obtain the spatial deviation vector sequence of the design trajectory. An adaptive adjustment module is used to adaptively adjust the underlying drive command sequence based on the spatial deviation vector sequence to obtain the target drilling scheme of the actual drilling trajectory.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The automatic control method and system for actual drilling trajectory comparison deviation of the present invention constructs a spatial coordinate sequence of the actual drilling trajectory by analyzing the well inclination angle, azimuth angle and design trajectory coordinates. Combined with sliding window comparison analysis, it achieves accurate extraction of multi-scale deviation feature sets, enabling comprehensive capture of the deviation state of the actual drilling trajectory, making the analysis of trajectory deviation more comprehensive and accurate. At the same time, relying on the experience of drilling experts and the drilling knowledge base, it conducts nonlinear mapping reasoning to generate a dynamic control target vector that fits the actual working conditions, realizing the scientific derivation and precise setting of control parameters, greatly improving the pertinence and scientific nature of actual drilling trajectory deviation control, and effectively enhancing the overall effect of trajectory control.

[0016] 2. This invention generates a low-level driving command sequence by analyzing the correlation between measured data and the target tool facet angle. Then, it adaptively adjusts the command sequence using a spatial deviation vector sequence obtained from spatial registration and evaluation. This achieves dynamic control of the entire drilling command process, from generation to optimization, allowing the drilling plan to accurately match the spatial deviation characteristics of the actual drilling trajectory, thus improving the effectiveness of command execution and the precision of trajectory control. This technology automates and intelligently controls deviations in actual drilling trajectory comparisons, reducing errors caused by manual intervention and significantly improving the efficiency of automatic control of actual drilling trajectory deviations. Simultaneously, it optimizes the drilling operation process, ensuring that the actual drilling trajectory more closely matches the design trajectory, thereby improving the overall quality and efficiency of drilling operations. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating an automatic control method for comparing deviations in actual drilling trajectories, provided in an embodiment of the present invention. Figure 2 This is a functional block diagram of an automatic control system for comparing deviations in actual drilling trajectories, provided in an embodiment of the present invention. The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] This application provides an automatic control method for actual drilling trajectory comparison deviation. The executing entity of this automatic control method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the automatic control method for actual drilling trajectory comparison deviation can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster. The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0020] Reference Figure 1 The diagram shown is a flowchart illustrating an automatic control method for actual drilling trajectory comparison deviation according to an embodiment of the present invention. In this embodiment, the automatic control method for actual drilling trajectory comparison deviation includes: S1. Perform coordinate analysis on the inclination angle and azimuth angle at the well depth and the spatial coordinate sequence of the well depth design trajectory to obtain the spatial coordinate sequence of the actual drilling trajectory; In this embodiment of the invention, the step of performing coordinate analysis on the inclination angle and azimuth angle at the well depth and the spatial coordinate sequence of the well depth design trajectory to obtain the spatial coordinate sequence of the actual drilling trajectory includes: The well inclination angle and azimuth angle uploaded by the measurement while drilling tool at multiple sampling well depths are obtained, and the design trajectory spatial coordinate sequence corresponding to the sampling well depth is extracted from the preset well structure design file; The well inclination angle and the azimuth angle are associated and mapped with the design coordinate points at the same well depth in the design trajectory spatial coordinate sequence to establish the correspondence between the measured data and the design data at the sampling well depth; Based on the correspondence and the design coordinates, the wellbore direction of the inclination angle and the azimuth angle is extended and projected to obtain the instantaneous spatial location of the actual drilled wellbore at the depth of the sampling well. The instantaneous spatial location points of the actual drilled wellbore are arranged and combined in order of increasing well depth to obtain the spatial coordinate sequence of the actual drilling trajectory.

[0021] During drilling operations, measurement-while-drilling (MWD) tools are used to sequentially collect inclination angle and azimuth data corresponding to multiple sampling well depths at preset depth intervals. The collected inclination angle and azimuth data are bound and stored with the corresponding well depths according to the sampling time sequence. From the pre-compiled wellbore structure design file, the design trajectory spatial coordinate sequence that is completely consistent with the location of the above-mentioned multiple sampling well depths is read and extracted, ensuring that the well depth value corresponding to the extracted design trajectory spatial coordinate sequence corresponds one-to-one with the well depth value of the sampling well depth.

[0022] The inclination angle and azimuth angle collected at the depth of each sampling well are matched with the design coordinate points at the same depth in the design trajectory spatial coordinate sequence extracted from the well structure design document. The well depth value is used as the only matching basis to establish a fixed correspondence between the measured inclination angle and measured azimuth angle at the same well depth value and the design coordinate points, forming an associated data group containing both measured data and design data at the depth of each sampling well.

[0023] Based on the correspondence between the measured data and the design data established at the depth of each sampling well, the design coordinate point at that depth is taken as the starting reference point. Combining the wellbore tilt direction represented by the well inclination angle and the wellbore horizontal orientation represented by the azimuth angle at that depth, the path is extended along the actual direction of the wellbore extension. The wellbore extension path is then projected into three-dimensional space. The spatial point obtained after projection is the instantaneous spatial position point of the actual drilled wellbore at that sampling well depth.

[0024] The instantaneous spatial location points of the actual drilled wellbore calculated from the depth of all sampling wells are arranged in ascending order of well depth value. All the arranged instantaneous spatial location points of the actual drilled wellbore are then combined in an orderly manner to form a continuous and complete spatial coordinate sequence of the actual drilling trajectory.

[0025] The beneficial effects include the ability to stably acquire wellbore inclination and azimuth data uploaded by the measurement-while-drilling tool, completely extract the spatial coordinate sequence of the design trajectory at the corresponding well depth, ensure that the measured data and design data are accurate and correspond to each other, establish a correlation mapping relationship between measured data and design data at the same well depth to ensure accurate and unbiased data matching, project the wellbore direction according to the correspondence and design coordinate points, reliably obtain the instantaneous spatial position points of the actual drilled wellbore at each sampling well depth, and then arrange and combine all position points in ascending order of well depth to form a continuous and complete spatial coordinate sequence of the actual drilled trajectory. The entire analysis process is clear and controllable, and the data is closely connected, effectively improving the accuracy and reliability of the actual drilled trajectory analysis, ensuring that the actual drilled trajectory and the design trajectory can be accurately matched, and providing an accurate and reliable basis for trajectory control of drilling operations.

[0026] S2. Perform a sliding window comparison analysis between the spatial coordinate sequence and the design trajectory spatial coordinate sequence at the same well depth to obtain the multi-scale deviation feature set of the actual drilling trajectory; In this embodiment of the invention, the step of performing a sliding window comparison analysis between the spatial coordinate sequence and the designed trajectory spatial coordinate sequence at the same well depth to obtain the multi-scale deviation feature set of the actual drilling trajectory includes: In the spatial coordinate sequence of the actual drilling trajectory and the spatial coordinate sequence of the designed trajectory, the sliding analysis window of the actual drilling trajectory is determined with the current well depth node as the center; Within the sliding analysis window, the actual drilling spatial coordinates at the well depth are compared point by point with the design spatial coordinates at the same well depth to determine the instantaneous well inclination deviation and instantaneous azimuth deviation values ​​at the well depth. Trend features are extracted from the instantaneous well inclination deviation and instantaneous azimuth deviation values ​​at the well depth within the sliding analysis window to obtain the deviation change rate characteristics at the well depth. Cumulative features are extracted from the instantaneous well inclination deviation and instantaneous azimuth deviation values ​​at the well depth within the sliding analysis window to obtain the cumulative deviation feature at the well depth. The instantaneous well deviation value, the instantaneous azimuth deviation value, the deviation change rate feature, and the cumulative deviation feature are associated and combined according to the correspondence of the well depth nodes to construct a multi-scale deviation feature set of the actual drilling trajectory.

[0027] Within the well depth range covered by the spatial coordinate sequence of the actual drilling trajectory and the spatial coordinate sequence of the design trajectory, the current well depth node that is currently undergoing trajectory comparison is selected as the center position of the window. The window extends bidirectionally to the well depth above and below the current well depth node according to the preset well depth range. After the extension terminates, a continuous well depth range of fixed length is formed. This continuous well depth range is the sliding analysis window of the actual drilling trajectory.

[0028] For each independent well depth covered by the established sliding analysis window, the actual drilling spatial coordinates at the corresponding well depth in the spatial coordinate sequence of the actual drilling trajectory are compared with the design spatial coordinates at the same well depth in the spatial coordinate sequence of the design trajectory. The instantaneous well inclination deviation value at that well depth is determined by comparing the positional difference between the actual drilling spatial coordinates and the design spatial coordinates in the wellbore inclination direction. The instantaneous azimuth deviation value at that well depth is determined by comparing the positional difference between the actual drilling spatial coordinates and the design spatial coordinates in the wellbore horizontal orientation direction.

[0029] For each independent well depth within the sliding analysis window, the instantaneous well inclination deviation and instantaneous azimuth deviation values ​​have been determined. The changes in deviation values ​​at adjacent well depths are compared sequentially in order of increasing well depth. The magnitude of the change in deviation values ​​at adjacent well depths is directly correlated with the corresponding well depth spacing. This determines the rate of change of the instantaneous well inclination deviation and the instantaneous azimuth deviation values ​​at that well depth. These rates of change together constitute the deviation change rate characteristics at that well depth.

[0030] For each independent well depth within the sliding analysis window, the instantaneous well inclination deviation value and instantaneous azimuth deviation value have been determined. The instantaneous well inclination deviation values ​​at that well depth and above that well depth within the sliding analysis window are then summed up sequentially. The summed values ​​are then summed up sequentially, and the summed values ​​correspond to the cumulative deviation characteristics at that well depth.

[0031] The instantaneous well inclination deviation, instantaneous azimuth deviation, deviation rate of change, and cumulative deviation characteristics corresponding to each well depth within the sliding analysis window are integrated one-to-one with the well depth node as the sole correlation basis. All deviation characteristics under the same well depth node are classified and merged, and then the deviation characteristics of all well depth nodes are systematically organized in order from shallow to deep well depth. After the organization is completed, a complete and hierarchical multi-scale deviation feature set of the actual drilling trajectory is formed.

[0032] The beneficial effects include the ability to accurately determine the sliding analysis window of the actual drilling trajectory, enabling precise point-to-point comparison between the actual drilling spatial coordinates and the design spatial coordinates, accurately obtaining the instantaneous well deviation and instantaneous azimuth deviation values ​​at each well depth, effectively extracting the deviation change rate characteristics and cumulative deviation characteristics, and constructing a complete multi-scale deviation feature set of the actual drilling trajectory by associating and combining various deviation features. This clearly presents the deviation between the actual drilling trajectory and the design trajectory, providing comprehensive and reliable feature basis for the precise control of drilling trajectory deviation, and improving the scientificity and accuracy of drilling trajectory control.

[0033] S3. Based on the preset drilling expert experience and drilling knowledge base, perform nonlinear mapping reasoning on the multi-scale deviation feature set to obtain the dynamic control target vector of the actual drilling trajectory; In this embodiment of the invention, the step of performing nonlinear mapping reasoning on the multi-scale deviation feature set based on a preset drilling expert experience and drilling knowledge base to obtain the dynamic control target vector of the actual drilling trajectory includes: Based on the preset drilling expert experience and drilling knowledge base, the multi-scale deviation feature set is matched and evaluated with the working condition feature fields in the drilling expert experience to obtain the feature similarity of the multi-scale deviation feature set. Based on the feature similarity, target rule entries for the actual drilling trajectory are selected from the expert rule entries of the drilling expert's experience. The tool face angle adjustment reference value and the guide force adjustment reference value in the consequent control parameter field of the target rule entry are integrated into the preliminary control parameters of the actual drilling trajectory; The preliminary control parameters are weighted and fused to obtain the dynamic control target vector of the actual drilling trajectory.

[0034] The step of weighting and fusing the preliminary control parameters to obtain the dynamic control target vector of the actual drilling trajectory includes: The control components of the actual drilling trajectory are obtained by performing parameter analysis on the activation rules in the drilling expert experience and drilling knowledge base. Based on the drilling expert experience and drilling knowledge base, information decision-making is made on the contribution priority of the control components in the final control target under different combinations of deviation characteristics, so as to obtain the weight allocation strategy of the actual drilling trajectory. According to the weight allocation strategy, the trajectory adjustment parameters in the control components are fused, the control component with the highest priority is taken as the dominant control component, and the remaining control components are taken as auxiliary constraints to construct the comprehensive control parameter set of the actual drilling trajectory. The control parameter set is structured and encapsulated according to a preset dynamic control target vector data format to obtain the dynamic control target vector of the actual drilling trajectory.

[0035] The formula for calculating the dynamic control target vector is as follows: ; In the formula, The dynamic control target vector, Using the feature similarity vector as The instrumental facet angle weighting coefficient of the independent variable This is the feature similarity vector of the multi-scale deviation feature set. This is the vector of adjustment reference values ​​for the tool face angle extracted from the consequent control parameter field of the target rule entry. Using the feature similarity vector as The guiding force weight coefficient of the independent variable, The vector of adjustment reference values ​​for the guiding force extracted from the consequent control parameter field of the target rule entry. The deviation characteristic amplitude vector of the current well section These are the cross-coupling weight coefficients of the independent variables. For the cooperative coupling operator between vectors, This is the deviation characteristic amplitude vector for the current well section.

[0036] The dynamic control target vector is determined by the feature similarity vector obtained by matching the multi-scale deviation feature set of the actual drilling trajectory with the drilling expert experience and drilling knowledge base. This vector is generated by comparing the deviation features with the working condition feature fields one by one and evaluating the degree of correspondence, and it is the direct basis for the weight coefficient value.

[0037] The tool face angle weight coefficient is determined by fitting the feature similarity vector as the independent variable through the experience of drilling experts and the correspondence between historical working conditions and control parameters in the drilling knowledge base. The fitting process is completed based on the statistical law of the tool face angle control effect under different deviation characteristics.

[0038] The adjustment reference value vector of the tool face angle is directly extracted from the consequent control parameter field of the target rule entry. This entry is obtained by comparing and filtering the feature similarity with the preset matching judgment threshold, and is completely adapted to the trajectory deviation status of the current well section.

[0039] The steering force weight coefficient also uses the feature similarity vector as the independent variable, and is determined based on mature strategies for steering force control under different deviation scenarios from the experience of drilling experts. The value selection process combines the correspondence between steering force and trajectory regression effects in historical drilling data. The steering force adjustment benchmark value vector is extracted from the consequent control parameter field of the target rule entry, and has the same source as the tool face angle adjustment benchmark value vector, together constituting the basic control parameters for trajectory control.

[0040] The cross-coupling weight coefficient takes the deviation characteristic amplitude vector of the current well section as the independent variable and is determined according to the magnitude of the deviation characteristic amplitude. The amplitude is obtained by summarizing and calculating the instantaneous deviation and cumulative deviation within the sliding analysis window, and is used to reflect the degree of mutual influence between the tool face angle and the guiding force.

[0041] The inter-vector coupling operator is used to realize the coupling calculation of the tool face angle and the guide force adjustment reference value vector. The calculation process is based on the coordinated combination of the control direction and control amplitude of the two at the same well depth node, reflecting the actual effect of the two control parameters working together.

[0042] The deviation characteristic amplitude vector of the current well section is obtained by summarizing the point-by-point deviations between the actual drilling trajectory and the design trajectory within the sliding analysis window. The summarization range covers the instantaneous and cumulative deviations of all well depth nodes within the window, directly reflecting the degree of trajectory deviation.

[0043] This formula integrates the independent control of the tool facet angle and the guiding force, as well as their synergistic coupling effect, so that the dynamic control target vector can simultaneously reflect the comprehensive influence of deviation characteristics, expert experience and real-time working conditions. It provides a precise and suitable dynamic control basis for the actual drilling trajectory, ensuring that the control target is consistent with the actual deviation state and expert control logic.

[0044] The system calls upon the pre-organized and solidified drilling expert experience and drilling knowledge base, and compares each type of deviation feature information contained in the multi-scale deviation feature set with the pre-set working condition feature fields in the drilling expert experience. By comparing the type, trend, and distribution of deviation features with the degree of correspondence with the working condition feature fields, the feature similarity between the multi-scale deviation feature set and the existing working condition features is determined.

[0045] The calculated feature similarity values ​​are compared with the preset matching threshold. Expert rule entries that reach the preset matching threshold are selected. The selected expert rule entries are adapted to the deviation state of the current actual drilling trajectory, and are the target rule entries corresponding to the actual drilling trajectory.

[0046] Extract the tool face angle adjustment reference value and guide force adjustment reference value recorded in the consequent control parameter field from the selected target rule entries. Merge and organize the tool face angle adjustment reference value and guide force adjustment reference value corresponding to the same target rule entry. The combined values ​​constitute the preliminary control parameters of the actual drilling trajectory.

[0047] According to the preset control parameter weight allocation principle, the adjustment reference values ​​of the tool face angle and the guide force in the preliminary control parameters are assigned corresponding weights and integrated, so that different control parameters form a unified control direction according to the actual drilling control needs. After integration, a dynamic control target vector of the actual drilling trajectory that can be directly used for trajectory control is formed.

[0048] The activation rules that are triggered and take effect in the drilling expert experience and drilling knowledge base are broken down and analyzed item by item. The specific control information of the actual drilling trajectory control direction and control amplitude corresponding to each activation rule is extracted. The extracted control information is integrated to form the control components of the actual drilling trajectory.

[0049] Based on the experience of drilling experts and the trajectory control logic corresponding to different combinations of deviation characteristics recorded in the drilling knowledge base, the degree of role played by the control components under different combinations of deviation characteristics in achieving the trajectory regression target is determined. The execution order and influence of each control component are determined in descending order of influence, thereby forming a weight allocation strategy for the actual drilling trajectory.

[0050] Based on the degree of influence and execution order determined by the weight allocation strategy, the various trajectory adjustment parameters contained in the control component are merged and integrated. The control component with the highest degree of influence in the weight allocation strategy is set as the dominant control component that plays a leading role in trajectory control. The remaining control components are set as auxiliary constraint conditions that constrain and correct the dominant control component. The dominant control component and auxiliary constraint conditions are combined according to the control logic to form a comprehensive control parameter set for the actual drilling trajectory.

[0051] The various control information in the integrated control parameter set are organized and arranged according to the data structure and arrangement required by the pre-set dynamic control target vector, so that the control information in the integrated control parameter set forms a unified and standardized vector structure. After being organized and encapsulated, the dynamic control target vector of the actual drilling trajectory is directly output.

[0052] The beneficial effects include the ability to fully leverage the pre-set drilling expert experience and drilling knowledge base to achieve accurate comparison between multi-scale deviation feature sets and working condition feature fields, accurately determine feature similarity and select target rule entries that are suitable for the current actual drilling trajectory deviation state, effectively extract the adjustment benchmark values ​​of tool face angle and guiding force and integrate them to form preliminary control parameters, obtain control components through reasonable weight allocation and integration processing, clarify the contribution priority of each control component and construct a weight allocation strategy, integrate and form a comprehensive control parameter set and then encapsulate it in a structured manner, finally obtaining a dynamic control target vector that can be directly used for trajectory control. The entire process relies on expert experience and knowledge base to ensure the scientificity and adaptability of control parameters, accurately guide the correction of actual drilling trajectory deviation, improve the accuracy and reliability of drilling trajectory control, and ensure that the actual drilling trajectory conforms to design requirements.

[0053] S4. Real-time acquisition of the measured tool face angle of the current drill string assembly, and correlation analysis between the tool face angle in the dynamic control target vector and the measured tool face angle to obtain the underlying drive command sequence of the actual drilling trajectory; In this embodiment of the invention, the real-time acquisition of the measured tool facet angle of the current drill string assembly, and the correlation analysis between the tool facet angle in the dynamic control target vector and the measured tool facet angle to obtain the underlying drive command sequence of the actual drilling trajectory, includes: The system receives real-time measured tool face angle data of the current drill string assembly and extracts the target tool face angle value from the dynamic control target vector. The target tool face angle value and the measured tool face angle data are placed in the same azimuth reference system for position correlation to determine the azimuth range of the current drill string assembly; Based on the azimuth interval and the preset drill bit action rule library, the corresponding drill bit adjustment action type in the azimuth interval is retrieved and matched; The industrial requirement parameters of the orientation holding action, clockwise addressing action, and counterclockwise addressing action in the search and matching are arranged sequentially to obtain the layer driving command sequence of the actual drilling trajectory.

[0054] During drilling operations, the measurement-while-drilling (MWD) system continuously collects and transmits measured tool facet angle data of the current drill string assembly, ensuring real-time and continuous data transmission. Simultaneously, target tool facet angle values ​​for trajectory adjustment are extracted from the generated dynamic control target vector, guaranteeing a perfect correspondence between the extracted target tool facet angle values ​​and the adjustment requirements for the current well depth. The extracted target tool facet angle values ​​and the real-time received measured tool facet angle data are uniformly converted to the same azimuth reference system based on the wellbore axis. Within this azimuth reference system, the azimuth positions of the two tool facet angles are directly compared. Based on their relative positional relationship and angular interval within the azimuth reference system, the precise azimuth interval of the current drill string assembly is defined and determined. Based on the determined azimuth interval of the current drill string assembly, a pre-established and fixed drill string action rule library is searched line by line. The tool facet angle adjustment requirements corresponding to the azimuth interval are matched with the rule entries recorded in the drill string action rule library, selecting the drill string adjustment action type that perfectly matches the azimuth interval. The directional holding action, clockwise addressing action, and counterclockwise addressing action obtained from the retrieval and matching are sorted according to the corresponding industrial control requirements. The above actions are arranged in sequence according to the logical order of the drill string's execution actions. The arranged actions are combined and organized to form the underlying drive command sequence of the actual drilling trajectory.

[0055] The beneficial effects include the ability to acquire the measured tool face angle data of the current drill string assembly in real time and continuously, accurately extract the target tool face angle value from the dynamic control target vector, and accurately determine the azimuth range of the current drill string assembly by unifying the two to the same azimuth reference system. Based on the preset drill string action rule library, the azimuth range and drill string adjustment action type are accurately retrieved and matched. The industrial requirement parameters of various drill string actions are arranged in a reasonable order to form a low-level drive command sequence that adapts to the actual drilling trajectory control needs. This ensures that the drill string actions and trajectory control targets correspond accurately, and guarantees that the actual drilling trajectory is smoothly adjusted according to the dynamic control target vector. This improves the real-time performance and accuracy of drilling trajectory control and provides reliable command support for the efficient conduct of drilling operations.

[0056] S5. Perform spatial registration evaluation between the spatial coordinate sequence and the preset design trajectory to obtain the spatial deviation vector sequence of the design trajectory; In this embodiment of the invention, the step of performing spatial registration evaluation between the spatial coordinate sequence and a preset design trajectory to obtain a spatial deviation vector sequence of the design trajectory includes: The inter-coordinate sequence and the design trajectory are extracted synchronously to obtain the actual drilling spatial coordinate points and the design spatial coordinate points of the actual drilling trajectory; Spatial calibration is performed between the actual drilled spatial coordinate points and the design spatial coordinate points to obtain the spatial offset direction between the actual drilled spatial coordinate points and the design spatial coordinate points; Based on the spatial offset direction, mark the positional deviation relationship between the actual drilled spatial coordinate point and the designed spatial coordinate point in three-dimensional space; The positional deviation relationships are arranged and combined in order of increasing well depth to obtain the spatial deviation vector sequence of the designed trajectory.

[0057] According to the uniformly set well depth progressive interval, the spatial coordinate sequence of the actual drilling trajectory and the preset design trajectory are extracted synchronously. At each determined well depth, the corresponding coordinate information is obtained at the same time to ensure that the well depth position is not missed or misaligned during the extraction process. Finally, the actual drilling spatial coordinate points and design spatial coordinate points of the actual drilling trajectory are formed one-to-one with the well depth.

[0058] The actual drilled spatial coordinates and the design spatial coordinates corresponding to the same well depth are uniformly incorporated into the same three-dimensional spatial measurement reference system for position calibration. The design spatial coordinates are used as a reference reference, and the actual drilled spatial coordinates are aligned with the reference reference in the same direction. By comparing the actual orientation difference between the two in space, the spatial offset direction of the actual drilled spatial coordinates relative to the design spatial coordinates is determined.

[0059] Based on the determined spatial offset direction, the deviation direction, deviation path, and spatial relative position of the actual drilling spatial coordinate point relative to the design spatial coordinate point are completely identified in three-dimensional space, and the positional deviation relationship between the two in the vertical, horizontal, and extension directions is clearly recorded.

[0060] The positional deviation relationships formed at various well depths are arranged in order of increasing well depth. All positional deviation relationships within a continuous well section are systematically integrated and connected to form a spatial deviation vector sequence of the design trajectory that can fully reflect the trajectory deviation of the entire well section.

[0061] The beneficial effects include the ability to simultaneously extract actual drilling spatial coordinate points and design spatial coordinate points according to a uniform well depth spacing, ensuring that the extracted coordinate points correspond to the well depth without misalignment or omission. By incorporating both into the same three-dimensional spatial measurement benchmark system for precise calibration, the spatial offset direction of the actual drilling spatial coordinate points relative to the design spatial coordinate points is clearly determined, and the positional deviation relationship between the two in three-dimensional space is fully identified. Then, the positional deviation relationship is arranged and integrated in ascending order of well depth to form a spatial deviation vector sequence that can completely reflect the trajectory deviation of the entire well section. This accurately presents the spatial deviation state between the actual drilling trajectory and the design trajectory, providing a comprehensive and accurate basis for subsequent deviation correction and control of the drilling trajectory, ensuring that the drilling trajectory conforms to the design requirements, and improving the accuracy and reliability of drilling operations.

[0062] S6. Based on the spatial deviation vector sequence, the underlying drive command sequence is adaptively adjusted to obtain the target drilling scheme of the actual drilling trajectory.

[0063] In this embodiment of the invention, the step of adaptively adjusting the underlying drive command sequence based on the spatial deviation vector sequence to obtain the target drilling scheme of the actual drilling trajectory includes: The drilling density distribution is evaluated by analyzing the pointing characteristics and amplitude distribution characteristics of the spatial deviation vectors in the spatial deviation vector sequence to obtain the key adjustment well sections of the actual drilling trajectory; Based on the key adjustment well section, the bottom driving command sequence is divided into regional segments according to the well depth interval to obtain the command sub-sequence segments of the bottom driving command sequence; Based on the pointing characteristics of the spatial deviation vector within the key adjustment well section, the directional consistency of the drill string action commands in the command sub-sequence segment is checked to obtain the command items to be corrected in the command sub-sequence segment; The instruction item to be corrected is removed from the instruction sub-sequence segment, and the instruction items of the instruction sub-sequence segment are rearranged and combined according to the pointing characteristics of the spatial deviation vector to obtain the corrected instruction sub-sequence segment of the actual drilling trajectory. The modified instruction subsequence segment is concatenated with the underlying driving instruction sequence to form compliant instructions, and the concatenated instructions are then converted into strategies to obtain the target drilling scheme for the actual drilling trajectory.

[0064] The drilling density distribution of each spatial deviation vector in the spatial deviation vector sequence is evaluated on a well-by-well basis. Continuous well sections whose spatial deviation amplitude reaches the preset deviation judgment standard are designated as well sections that need to be strengthened and controlled. These well sections are the key well sections for adjustment of the actual drilling trajectory.

[0065] Based on the well depth range of the key adjustment well section that has been determined, the bottom drive command sequence is independently divided according to the boundary position of different well depth intervals, so that each divided command segment corresponds to a single well depth interval. After the division is completed, the command sub-sequence segment of the bottom drive command sequence is obtained.

[0066] Based on the trajectory regression direction determined by the pointing characteristics of the spatial deviation vector within the key adjustment well section, each drill string action command in the instruction sub-sequence segment is checked to see if its execution direction is consistent with the trajectory regression direction. Drill string action commands whose directions are inconsistent are the instruction items to be corrected in the instruction sub-sequence segment.

[0067] The verified instruction items to be corrected are completely removed from the corresponding instruction sub-sequence segment. Then, the direction is adjusted according to the trajectory required by the pointing characteristics of the spatial deviation vector. The valid instruction items retained in the instruction sub-sequence segment are reordered and combined to ensure that the instruction execution logic is consistent with the trajectory regression requirements. After the combination is completed, the corrected instruction sub-sequence segment of the actual drilling trajectory is obtained.

[0068] The corrected instruction subsequence segments are compliantly and continuously spliced ​​together with the uncorrected instruction segments in the underlying drive instruction sequence in ascending order of well depth. The spliced ​​overall instruction is then converted into an execution strategy adapted to the field drilling operation, ultimately forming a target drilling scheme with a real drilling trajectory that can be directly used for trajectory control.

[0069] The beneficial effects include the ability to accurately assess the drilling density distribution of the pointing and amplitude distribution characteristics of the spatial deviation vector sequence, accurately delineate key adjustment well sections of the actual drilling trajectory, and rationally segment the bottom drive command sequence into depth intervals based on the key adjustment well sections to obtain corresponding command sub-sequence segments. By verifying the consistency between the drill string action commands and the pointing characteristics of the spatial deviation vector in the command sub-sequence segments, the command items to be corrected are accurately identified. After removing the command items to be corrected, the command sub-sequence segments are rearranged and combined to obtain the corrected command sub-sequence segments. The corrected command sub-sequence segments are then compliantly spliced ​​with the bottom drive command sequence to complete the strategy conversion, ultimately obtaining the target drilling plan that adapts to the actual drilling needs. This ensures that the command adjustment fits the actual trajectory deviation, improves the adaptability and accuracy of drilling commands, guarantees that the actual drilling trajectory accurately returns to the design requirements, and improves the efficiency and reliability of drilling operations.

[0070] like Figure 2 The diagram shown is a functional block diagram of an automatic control system for comparing deviations in actual drilling trajectories provided in an embodiment of the present invention.

[0071] The automatic control system 100 for comparing deviations in actual drilling trajectories described in this invention can be installed in an electronic device. Depending on the functions implemented, the automatic control system 100 may include a coordinate analysis module 101, a sliding window comparison module 102, a nonlinear mapping inference module 103, an association analysis module 104, a spatial registration evaluation module 105, and an adaptive adjustment module 106. The modules described in this invention can also be referred to as units, which are a series of computer program segments that can be executed by the processor of an electronic device and perform a fixed function, and are stored in the memory of the electronic device.

[0072] In this embodiment, the functions of each module / unit are as follows: The coordinate analysis module 101 is used to perform coordinate analysis on the inclination angle and azimuth angle at the well depth and the spatial coordinate sequence of the well depth design trajectory to obtain the spatial coordinate sequence of the actual drilling trajectory. The sliding window comparison module 102 is used to perform sliding window comparison analysis between the spatial coordinate sequence and the design trajectory spatial coordinate sequence at the same well depth to obtain the multi-scale deviation feature set of the actual drilling trajectory. The nonlinear mapping reasoning module 103 is used to perform nonlinear mapping reasoning on the multi-scale deviation feature set based on the preset drilling expert experience and drilling knowledge base to obtain the dynamic control target vector of the actual drilling trajectory. The association parsing module 104 is used to obtain the measured tool face angle of the current drill string assembly in real time, and to perform association parsing between the tool face angle in the dynamic control target vector and the measured tool face angle to obtain the underlying drive command sequence of the actual drilling trajectory. The spatial registration and evaluation module 105 is used to perform spatial registration and evaluation between the spatial coordinate sequence and the preset design trajectory to obtain the spatial deviation vector sequence of the design trajectory. The adaptive adjustment module 106 is used to adaptively adjust the underlying drive command sequence according to the spatial deviation vector sequence to obtain the target drilling scheme of the actual drilling trajectory.

[0073] In the several embodiments provided by this invention, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0074] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0075] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0076] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0077] This application embodiment can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automatic control method for comparing deviations in actual drilling trajectories, characterized in that, The method includes: S1. Perform coordinate analysis on the inclination angle and azimuth angle at the well depth and the spatial coordinate sequence of the well depth design trajectory to obtain the spatial coordinate sequence of the actual drilling trajectory; S2. Perform a sliding window comparison analysis between the spatial coordinate sequence and the design trajectory spatial coordinate sequence at the same well depth to obtain the multi-scale deviation feature set of the actual drilling trajectory; S3. Based on the preset drilling expert experience and drilling knowledge base, perform nonlinear mapping reasoning on the multi-scale deviation feature set to obtain the dynamic control target vector of the actual drilling trajectory; S4. Real-time acquisition of the measured tool face angle of the current drill string assembly, and correlation analysis between the tool face angle in the dynamic control target vector and the measured tool face angle to obtain the underlying drive command sequence of the actual drilling trajectory; S5. Perform spatial registration evaluation between the spatial coordinate sequence and the preset design trajectory to obtain the spatial deviation vector sequence of the design trajectory; S6. Based on the spatial deviation vector sequence, the underlying drive command sequence is adaptively adjusted to obtain the target drilling scheme of the actual drilling trajectory.

2. The automatic control method for comparing deviations in actual drilling trajectory as described in claim 1, characterized in that, The coordinate analysis of the inclination angle and azimuth angle at the well depth with the spatial coordinate sequence of the designed well depth trajectory yields the spatial coordinate sequence of the actual drilling trajectory, including: The well inclination angle and azimuth angle uploaded by the measurement while drilling tool at multiple sampling well depths are obtained, and the design trajectory spatial coordinate sequence corresponding to the sampling well depth is extracted from the preset well structure design file; The well inclination angle and the azimuth angle are associated and mapped with the design coordinate points at the same well depth in the design trajectory spatial coordinate sequence to establish the correspondence between the measured data and the design data at the sampling well depth; Based on the correspondence and the design coordinates, the wellbore direction of the inclination angle and the azimuth angle is extended and projected to obtain the instantaneous spatial location of the actual drilled wellbore at the depth of the sampling well. The instantaneous spatial location points of the actual drilled wellbore are arranged and combined in order of increasing well depth to obtain the spatial coordinate sequence of the actual drilling trajectory.

3. The automatic control method for comparing deviations in actual drilling trajectory as described in claim 1, characterized in that, The step of performing a sliding window comparison analysis between the spatial coordinate sequence and the designed trajectory spatial coordinate sequence at the same well depth to obtain the multi-scale deviation feature set of the actual drilling trajectory includes: In the spatial coordinate sequence of the actual drilling trajectory and the spatial coordinate sequence of the designed trajectory, the sliding analysis window of the actual drilling trajectory is determined with the current well depth node as the center; Within the sliding analysis window, the actual drilling spatial coordinates at the well depth are compared point by point with the design spatial coordinates at the same well depth to determine the instantaneous well inclination deviation and instantaneous azimuth deviation values ​​at the well depth. Trend features are extracted from the instantaneous well inclination deviation and instantaneous azimuth deviation values ​​at the well depth within the sliding analysis window to obtain the deviation change rate characteristics at the well depth. Cumulative features are extracted from the instantaneous well inclination deviation and instantaneous azimuth deviation values ​​at the well depth within the sliding analysis window to obtain the cumulative deviation feature at the well depth. The instantaneous well deviation value, the instantaneous azimuth deviation value, the deviation change rate feature, and the cumulative deviation feature are associated and combined according to the correspondence of the well depth nodes to construct a multi-scale deviation feature set of the actual drilling trajectory.

4. The automatic control method for comparing deviations in actual drilling trajectory as described in claim 1, characterized in that, The method, based on a pre-set drilling expert experience and drilling knowledge base, performs nonlinear mapping reasoning on the multi-scale deviation feature set to obtain the dynamic control target vector of the actual drilling trajectory, including: Based on the preset drilling expert experience and drilling knowledge base, the multi-scale deviation feature set is matched and evaluated with the working condition feature fields in the drilling expert experience to obtain the feature similarity of the multi-scale deviation feature set. Based on the feature similarity, target rule entries for the actual drilling trajectory are selected from the expert rule entries of the drilling expert's experience. The tool face angle adjustment reference value and the guide force adjustment reference value in the consequent control parameter field of the target rule entry are integrated into the preliminary control parameters of the actual drilling trajectory; The preliminary control parameters are weighted and fused to obtain the dynamic control target vector of the actual drilling trajectory.

5. The automatic control method for comparing deviations in actual drilling trajectory as described in claim 4, characterized in that, The step of weighting and fusing the preliminary control parameters to obtain the dynamic control target vector of the actual drilling trajectory includes: The control components of the actual drilling trajectory are obtained by performing parameter analysis on the activation rules in the drilling expert experience and drilling knowledge base. Based on the drilling expert experience and drilling knowledge base, information decision-making is made on the contribution priority of the control components in the final control target under different combinations of deviation characteristics, so as to obtain the weight allocation strategy of the actual drilling trajectory. According to the weight allocation strategy, the trajectory adjustment parameters in the control components are fused, the control component with the highest priority is taken as the dominant control component, and the remaining control components are taken as auxiliary constraints to construct the comprehensive control parameter set of the actual drilling trajectory. The control parameter set is structured and encapsulated according to a preset dynamic control target vector data format to obtain the dynamic control target vector of the actual drilling trajectory.

6. The automatic control method for comparing deviations in actual drilling trajectory as described in claim 5, characterized in that, The formula for calculating the dynamic control target vector is as follows: ； In the formula, The dynamic control target vector, Using the feature similarity vector as The instrumental facet angle weighting coefficient of the independent variable This is the feature similarity vector of the multi-scale deviation feature set. This is the vector of adjustment reference values ​​for the tool face angle extracted from the consequent control parameter field of the target rule entry. Using the feature similarity vector as The guiding force weight coefficient of the independent variable, The vector of adjustment reference values ​​for the guiding force extracted from the consequent control parameter field of the target rule entry. The deviation characteristic amplitude vector of the current well section These are the cross-coupling weight coefficients of the independent variables. For the cooperative coupling operator between vectors, This is the deviation characteristic amplitude vector for the current well section.

7. The automatic control method for comparing deviations in actual drilling trajectory as described in claim 1, characterized in that, The real-time acquisition of the measured tool face angle of the current drill string assembly, and the correlation analysis between the tool face angle in the dynamic control target vector and the measured tool face angle to obtain the underlying drive command sequence of the actual drilling trajectory, includes: The system receives real-time measured tool face angle data of the current drill string assembly and extracts the target tool face angle value from the dynamic control target vector. The target tool face angle value and the measured tool face angle data are placed in the same azimuth reference system for position correlation to determine the azimuth range of the current drill string assembly; Based on the azimuth interval and the preset drill bit action rule library, the corresponding drill bit adjustment action type in the azimuth interval is retrieved and matched; The industrial requirement parameters of the orientation holding action, clockwise addressing action, and counterclockwise addressing action in the search and matching are arranged sequentially to obtain the layer driving command sequence of the actual drilling trajectory.

8. The automatic control method for comparing deviations in actual drilling trajectory as described in claim 1, characterized in that, The step of spatially registering and evaluating the spatial coordinate sequence with a preset design trajectory to obtain a spatial deviation vector sequence of the design trajectory includes: The inter-coordinate sequence and the design trajectory are extracted synchronously to obtain the actual drilling spatial coordinate points and the design spatial coordinate points of the actual drilling trajectory; Spatial calibration is performed between the actual drilled spatial coordinate points and the design spatial coordinate points to obtain the spatial offset direction between the actual drilled spatial coordinate points and the design spatial coordinate points; Based on the spatial offset direction, mark the positional deviation relationship between the actual drilled spatial coordinate point and the designed spatial coordinate point in three-dimensional space; The positional deviation relationships are arranged and combined in order of increasing well depth to obtain the spatial deviation vector sequence of the designed trajectory.

9. The automatic control method for comparing deviations in actual drilling trajectory as described in claim 1, characterized in that, The step of adaptively adjusting the underlying drive command sequence based on the spatial deviation vector sequence to obtain the target drilling scheme for the actual drilling trajectory includes: The drilling density distribution is evaluated by analyzing the pointing characteristics and amplitude distribution characteristics of the spatial deviation vectors in the spatial deviation vector sequence to obtain the key adjustment well sections of the actual drilling trajectory; Based on the key adjustment well section, the bottom driving command sequence is divided into regional segments according to the well depth interval to obtain the command sub-sequence segments of the bottom driving command sequence; Based on the pointing characteristics of the spatial deviation vector within the key adjustment well section, the directional consistency of the drill string action commands in the command sub-sequence segment is checked to obtain the command items to be corrected in the command sub-sequence segment; The instruction item to be corrected is removed from the instruction sub-sequence segment, and the instruction items of the instruction sub-sequence segment are rearranged and combined according to the pointing characteristics of the spatial deviation vector to obtain the corrected instruction sub-sequence segment of the actual drilling trajectory. The modified instruction subsequence segment is concatenated with the underlying driving instruction sequence to form compliant instructions, and the concatenated instructions are then converted into strategies to obtain the target drilling scheme for the actual drilling trajectory.

10. An automatic control system for comparing deviations in actual drilling trajectories, characterized in that, The system is used to implement the automatic control method for comparing deviations in actual drilling trajectories as described in claim 1, the system comprising: The coordinate analysis module is used to perform coordinate analysis on the inclination angle and azimuth angle at the well depth and the spatial coordinate sequence of the well depth design trajectory to obtain the spatial coordinate sequence of the actual drilling trajectory; The sliding window comparison module is used to perform sliding window comparison analysis between the spatial coordinate sequence and the design trajectory spatial coordinate sequence at the same well depth to obtain the multi-scale deviation feature set of the actual drilling trajectory. The nonlinear mapping reasoning module is used to perform nonlinear mapping reasoning on the multi-scale deviation feature set based on the preset drilling expert experience and drilling knowledge base, so as to obtain the dynamic control target vector of the actual drilling trajectory. The correlation parsing module is used to obtain the measured tool face angle of the current drill string assembly in real time, and to perform correlation parsing between the tool face angle in the dynamic control target vector and the measured tool face angle to obtain the underlying drive command sequence of the actual drilling trajectory. The spatial registration and evaluation module is used to perform spatial registration and evaluation between the spatial coordinate sequence and the preset design trajectory to obtain the spatial deviation vector sequence of the design trajectory. An adaptive adjustment module is used to adaptively adjust the underlying drive command sequence based on the spatial deviation vector sequence to obtain the target drilling scheme of the actual drilling trajectory.

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