A method, system and device for dynamically tracking and regulating the trajectory of an oil well
By constructing feature values through real-time data analysis and dynamically adjusting the S-curve control algorithm, the problem of unstable trajectory control in traditional methods is solved, and smooth tracking and efficient control of drilling trajectory are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TIANJIN HANTON ENERGY TECH CO LTD
- Filing Date
- 2026-06-08
- Publication Date
- 2026-07-24
AI Technical Summary
Traditional trajectory control methods struggle to detect geological disturbances in real time when dealing with complex formations, leading to deviations in drilling direction and increasing the risk of trajectory drift and operational safety hazards.
By collecting drill bit operation data and formation resistivity data in real time, first and second characteristic values are constructed. The adaptive adjustment speed and acceleration of the S-curve control algorithm are dynamically adjusted to generate an S-shaped smooth trajectory curve, driving the drill bit to drill along the preset trajectory.
It achieves dynamic balance control under both stable and unstable conditions, reduces the risk of trajectory drift and mechanical wear, and ensures a close fit between the drilling trajectory and the preset trajectory.
Smart Images
Figure CN122446985A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent control technology, specifically to a method, system, and device for dynamic tracking and control of oil drilling trajectory. Background Technology
[0002] Directional drilling technology, which controls the drill bit to travel along a preset trajectory, is a core means of achieving efficient development of complex oil and gas reservoirs. However, in actual drilling processes, formation heterogeneity poses a severe challenge to trajectory control.
[0003] Due to the significant differences in the mechanical properties of different lithologies, drill bits are often affected by geological strike deflection forces and anisotropic geostress, leading to deviations in the drilling direction. This is especially true when traversing loose strata or lithological interfaces, where increased borehole diameter and abrupt formation changes can easily induce unstable oscillations in the drill string assembly, further exacerbating trajectory drift. Traditional trajectory control methods (such as fixed-parameter S-curve control) are often based on pre-set ideal dynamic models, lacking real-time perception and adaptive adjustment capabilities for complex formation disturbances. When dealing with formation heterogeneity disturbances, they are prone to control response lag, overshoot, or system oscillations, making it difficult to balance trajectory tracking response speed and operational stability, thus increasing the risk of trajectory deviation and operational safety hazards. Summary of the Invention
[0004] To address the aforementioned technical problems, the purpose of this application is to provide a method, system, and apparatus for dynamic tracking and control of oil drilling trajectories. The specific technical solution adopted is as follows: In a first aspect, embodiments of this application provide a method for dynamic tracking and control of the trajectory of an oil drilling well, the method comprising the following steps: Real-time acquisition of drill bit operation data and formation resistivity data during the drilling process; Analyze the fluctuation characteristics of the operating data in the previous control cycle to construct a first feature value reflecting the stability of the drill bit motion, and combine it with the current drill bit attitude deviation to determine the adaptive adjustment speed of the S-curve control algorithm; wherein, the adaptive adjustment speed is negatively correlated with the first feature value; The characteristics of formation resistivity variation at the current measurement depth are analyzed, a second characteristic value reflecting the influence of formation lithology interface is constructed, and the adaptive adjustment acceleration of the S-curve control algorithm is determined based on the second characteristic value. Based on the adaptive speed and adaptive acceleration, an S-shaped smooth trajectory curve is generated, and the S-shaped smooth trajectory curve is input as a set value to the RSS control module to drive the drill bit to drill according to the preset reference trajectory.
[0005] In one embodiment, the drill bit's operating data includes: drill bit pressure, rotational speed, torque, inclination angle, azimuth angle, and measurement depth.
[0006] In one embodiment, the construction of the first feature value includes: The fluctuation characteristics of the drilling pressure time series data, the fluctuation characteristics of the rotational speed time series data, and the fluctuation characteristics of the torque time series data in the previous control cycle are positively fused to obtain the first feature value.
[0007] In one embodiment, the fluctuation characteristics of the drilling pressure time series data, the fluctuation characteristics of the rotational speed time series data, and the fluctuation characteristics of the torque time series data are all calculated using the range.
[0008] In one embodiment, determining the adaptive adjustment speed of the S-curve control algorithm includes: By combining the current drill bit attitude deviation with the first feature value, the adaptive adjustment speed weight at the current measurement depth is calculated, and the initial value of the adjustment speed is weighted to obtain the adaptive adjustment speed of the S-curve control algorithm.
[0009] In one embodiment, the calculation process for the adaptive adjustment speed weight is as follows: In the formula, The adaptive adjustment of velocity weights at the current measurement depth d. This represents the deviation of the wellbore inclination angle between the current drill bit and the reference trajectory. This represents the azimuth deviation between the current drill bit and the reference trajectory. This is the first eigenvalue at the current measurement depth d. and All are preset allowable deviation thresholds, exp[] is an exponential function with the natural constant as the base, and max() is the function to take the maximum value.
[0010] In one embodiment, the process of constructing the second feature value is as follows: Determine the average change in formation resistivity between adjacent measurement depths during the historical drilling process at the current measurement depth, and calculate the second characteristic value based on the difference between the change in formation resistivity at the current measurement depth and the average change.
[0011] In one embodiment, determining the adaptive adjustment acceleration for the S-curve control algorithm includes: Calculate the adaptive acceleration weight that is negatively correlated with the second feature value, and weight it with the preset initial value of the adjustable acceleration to obtain the adaptive adjustable acceleration.
[0012] Secondly, embodiments of this application also provide a dynamic tracking and control system for oil drilling rigs, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of any of the methods described above.
[0013] Thirdly, embodiments of this application also provide a dynamic tracking and control device for oil drilling rigs, wherein the device stores a computer program, and when the computer program is executed by a processor, it implements the steps of any of the methods described above.
[0014] This application has at least the following beneficial effects: This application uses a first eigenvalue to sense the mechanical stability of the drill bit in real time and incorporates it into the calculation of the adjustment speed. When the drill bit is in a stable operating condition with a large deviation, it can quickly correct the deviation with a high response speed. When encountering complex formations that cause the drill bit to oscillate and become unstable, it can actively reduce the adjustment speed, avoiding high-frequency coupling between the adjustment command and mechanical oscillation. This effectively prevents overshoot and sensitivity overload in the control process under unstable conditions, achieving deep decoupling and dynamic balance between control sensitivity and operational stability. In addition, by extracting a second eigenvalue through the polarization effect of formation resistivity, it can a priori identify the lithological interface that the drill bit is about to cross, and then... The dynamic reduction of acceleration in the S-curve at intervals switches the control process from "rigid adjustment" to "flexible control," ensuring that drill bit parameters can smoothly transition when faced with sudden changes in formation impact force. This significantly reduces peak fluctuations and mechanical losses during trajectory control. Finally, the generation of a smooth S-curve allows for real-time correction of the dynamic boundaries of the control law, i.e., velocity and acceleration, based on formation heterogeneity. This not only effectively reduces the overshoot in the heterogeneous section of the trajectory but also eliminates minor wellbore curvature caused by adjustment overshoot. This enables the actual drilling trajectory to fit the preset reference trajectory closely and smoothly, greatly reducing the risk of trajectory drift and the difficulty of subsequent well completion operations. Attached Figure Description
[0015] To more clearly illustrate the technical solutions and advantages in the embodiments of this application 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0016] Figure 1 This is a flowchart illustrating the steps of a dynamic tracking and control method for oil drilling rigs, provided as an embodiment of this application. Detailed Implementation
[0017] To further illustrate the technical means and effects adopted by this application to achieve the intended purpose of the invention, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a dynamic tracking and control method, system, and apparatus for oil drilling trajectory proposed in this application. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.
[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.
[0019] The following description, in conjunction with the accompanying drawings, details the specific scheme of the dynamic tracking and control method, system, and device for oil drilling trajectory provided in this application.
[0020] Please see Figure 1 The diagram illustrates a flowchart of a method for dynamic tracking and control of oil drilling trajectory according to an embodiment of this application. The method includes the following steps: S1 collects real-time data on drill bit operation and formation resistivity during the drilling process.
[0021] First, a well reference trajectory is constructed to obtain the drilling trajectory length, preset inclination angle, and preset inclination azimuth at each measuring point. The reference trajectory is a preset spatial geometric path planned using the simplest curvature method. This path is planned based on a macroscopic structural model constructed from 3D seismic data and combined with the stratigraphic sequence distribution determined by adjacent well logging data to pinpoint the precise location and orientation of the target producing layer in the subsurface space. The reference trajectory provides a baseline for the preset inclination angle and preset azimuth at each measuring depth during the drilling process. The trajectory design process is a well-known technique in the field of oil well engineering, and this embodiment will not elaborate on it in detail. Implementers can choose other feasible existing trajectory design algorithms, such as the radius of curvature method or the mean angle method.
[0022] Secondly, using the measurement-while-drilling (MWD) tool in the rotary steerable system (RSS), drill bit operating data is acquired in real time at a sampling frequency of 1Hz, including: drill pressure, rotational speed, torque, inclination angle, azimuth angle, and current measurement depth. This operating data is used to characterize the mechanical motion state and spatial attitude of the drill bit in real time. The sampling frequency can be set by the implementer according to the actual situation; this embodiment does not impose any restrictions on it.
[0023] Formation resistivity was obtained using the Logging While Drilling (LWD) tool in RSS. Resistivity data was sampled by depth domain, with a sampling interval of [missing information]. rice, In this embodiment, It equals 0.1m. If the current measurement depth d is not the sampling interval... If the resistivity is an integer multiple of , then Take the value of the sampling point closest to depth d to ensure spatial alignment between environmental and dynamic data.
[0024] The control cycle for drilling trajectory adjustment is set to T minutes. In this embodiment, T = 5 minutes, meaning that a control adjustment is performed every T minutes of drilling operation based on the current drill bit attitude deviation. At the beginning of each control cycle, the real-time operating parameters and corresponding reference trajectory parameters at the current measurement depth d are extracted. Specifically, the actual drilling pressure, rotational speed, torque, inclination angle, and azimuth angle of the drill bit at the current moment are defined as follows: , , , , Define the preset well inclination angle and preset azimuth angle of the reference trajectory at depth d as follows: , .
[0025] S2, analyze the fluctuation characteristics of the operating data in the previous control cycle, construct the first characteristic value reflecting the stability of the drill bit motion, and determine the adaptive adjustment speed of the S-curve control algorithm in combination with the current drill bit attitude deviation.
[0026] In oil drilling, formation heterogeneity and geological structure are the core factors inducing trajectory deviation. Due to the varying hardness, dip angle, and strike of different lithologies, the drill bit is subjected to uneven lateral forces and formation reactions during drilling, resulting in "skewness building" or "skewness reduction" effects, causing the actual trajectory to deviate from the preset path.
[0027] In particular, when traversing loose formations such as sandstone and conglomerate, the poor cementation of the rock makes drilling prone to wellbore detachment and local collapse, causing the actual well diameter to exceed the drill bit diameter. In this situation, the middle and rear ends of the drill string assembly lose effective wellbore constraint, resulting in oscillation or vibration, placing the drill bit in an unstable motion state. Traditional S-curve control algorithms typically use fixed acceleration, deceleration, and jerk parameters, making it difficult to perceive real-time changes in the drill bit's state caused by formation disturbances. When facing complex formations with high heterogeneity, fixed parameter control often leads to lag in response when deviations are small, and overshoot or oscillation when deviations are large or the state is unstable, severely affecting the accuracy and stability of trajectory control.
[0028] To address the poor adaptability of traditional algorithms, this embodiment first characterizes the motion stability by extracting the fluctuation characteristics of drill bit operation data in real time, thereby dynamically adjusting the response speed of the S-curve. The specific process is as follows: First, the deviation between the drill bit and the reference trajectory is calculated based on the inclination and azimuth data of the drill bit at the current measurement depth during drilling, and the well inclination and azimuth data of the reference trajectory at the current measurement depth. The well inclination deviation is... Azimuth deviation .
[0029] Furthermore, due to the frequent alternation of formation lithology and heterogeneous disturbances, the drill bit is prone to high-frequency oscillations and slip instability during drilling, causing the actual trajectory to deviate from the preset reference trajectory. For example, when the drill bit penetrates from a soft formation into a high-density, high-strength hard rock formation, it is often prone to slippage along the hard rock interface, causing the drilling direction to deviate along the formation dip angle. During this transition stage, the formation's resistance to drilling increases sharply, and the 'high drill pressure, high rotational speed, low torque' state that the drill bit maintained in the soft formation is severely mismatched with the current hard rock environment, resulting in a sharp decline in drilling efficiency, manifested as violent and irregular fluctuations in dynamic parameters such as drill pressure, rotational speed, and torque. Similarly, when encountering loose formations that cause wellbore enlargement, the drill string assembly loses wellbore constraint, which can also lead to instability in the overall motion state.
[0030] When a drill bit is in such a high-frequency oscillation or unstable state, if its dynamic parameters are adjusted rapidly, the excessively high adjustment rate will couple with the mechanical oscillation of the drill bit. This will not only fail to effectively correct the deviation but will also exacerbate the instability of the system, leading to more severe and malicious trajectory deviations. Therefore, it is necessary to identify the operating fluctuation state of the drill bit and actively suppress the parameter adjustment rate during periods of instability.
[0031] This embodiment calculates the error of the drill bit at the current measurement depth and the characteristics of the drill bit parameter changes within a control distance interval, and constructs the adjustment speed weight of S-curve control to improve the control effect of the drill bit.
[0032] Specifically, the time series of drilling pressure, rotational speed, and torque data acquired by the drill bit during the drilling process of the previous control cycle can be represented as follows: , , Then, regarding , , The data in the data series is normalized using the upper limit of the sensor range at the time of acquisition, and the values in each time series are normalized to the range [0, 1]. This eliminates the influence of different parameters on the dimensionality of the data, thus enabling the data to have synergistic statistical properties.
[0033] Then, the normalized sequence is calculated. , , The range in , , For the range , , A forward fusion is performed to obtain the first characteristic value reflecting the stability of the drill bit's motion. Here, forward fusion means combining multiple variables, which can be calculated by methods such as addition, averaging, or weighted summation. This embodiment does not limit the specific methods used.
[0034] In this embodiment, the range , , The average of the three values is used as the drill bit's current measurement depth. The first eigenvalue corresponding to the location .
[0035] In statistics, the range characterizes the peak-to-trough span of a data sequence within a specific time window. Introducing it into drilling dynamics evaluation, based on the range normalized to the upper limit of the sensor range, allows for the accurate quantification of the system's fluctuation amplitude on a global physical scale. During drilling operations, when the drill bit encounters formation heterogeneity or wellbore enlargement, abrupt changes in formation reaction forces can cause stick-slip oscillations or torque stagnation in the drill string. This manifests macroscopically as significant fluctuations in drill pressure, rotational speed, and torque within a short period.
[0036] Therefore, this embodiment combines the mean range of three core dynamic parameters, which can intuitively and reliably reflect the comprehensive mechanical oscillation intensity of the drill bit in the previous control cycle. When A large value indicates a wide-amplitude abrupt change in drilling dynamics parameters, with the drill bit severely disturbed by complex formations and in a highly unstable state; conversely, when... A lower value indicates that the parameters fluctuate smoothly, and the drill bit is in a stable and continuous cutting state. The real-time stability of the drill bit can be accurately quantified and evaluated using the first eigenvalue.
[0037] Furthermore, combining the current drill bit attitude deviation with the first feature value, the adaptive adjustment speed weight at the current measurement depth is calculated, specifically as follows: In the formula, The adaptive adjustment of velocity weights at the current measurement depth d. This represents the deviation of the wellbore inclination angle between the current drill bit and the reference trajectory. This represents the azimuth deviation between the current drill bit and the reference trajectory. This is the first eigenvalue at the current measurement depth d. and All are preset allowable deviation thresholds, exp[] is an exponential function with the natural constant as the base, and max() is the function to take the maximum value.
[0038] In this embodiment, and The angles are set to 2° and 5° respectively. In directional well drilling control, the well inclination angle directly determines the vertical depth trajectory of the wellbore. Even a small error in well inclination can cause the drill bit to miss the effective thickness of the target oil and gas reservoir. Therefore, the vertical control accuracy requirements are extremely high. The setting is a relatively strict 2°; while the azimuth angle mainly affects the horizontal extension direction, and is greatly influenced by macroscopic factors such as the drill string assembly twist angle and the formation strike. Furthermore, the target area typically has a certain lateral tolerance on the horizontal plane. The threshold is set to a relatively wide 5°. This differentiated threshold setting ensures accurate hitting of the vertical target while also balancing control precision and drilling efficiency.
[0039] It should be understood that when or When this situation is determined, the well inclination angle or azimuth angle deviation has exceeded the preset allowable threshold, triggering a rapid correction mechanism. The term will be greater than 1, ensuring adaptive adjustment of the speed weight under this operating condition. At the stability benchmark Based on this, a gain coefficient greater than 1 is obtained, thus ensuring that the larger the composite deviation, the faster the adjustment response. Furthermore, if the drill bit exhibits strong instability characteristics, The larger the value, the more actively the correction gain is reduced through the product term to prevent severe oscillations or even stuck drill bit in complex formations caused by excessive pursuit of correction speed. In other situations, the speed weight is adjusted directly based on the current stability benchmark of the drill bit. Once the drill bit attitude is determined to be within the preset tolerance range, the primary task of the control algorithm shifts from error correction to steady-state maintenance. It is no longer driven by the amplification of the deviation, but directly controlled by the motion stability characteristics, and the weights are set to... This ensures that fine adjustments are made at the smoothest rate while meeting the trajectory accuracy requirements, minimizing mechanical fatigue of the actuator and maintaining the smoothness of the wellbore. It achieves a control effect of rapid response when the deviation is large, smooth suppression when the instability is in, and low-frequency maintenance in steady state, taking into account both the sensitivity and stability of the control.
[0040] The obtained unified adaptive adjustment speed weight Mapping this to specific adjustment parameters, we obtain the adaptive adjustment speed of the parameters at the measurement depth d, i.e., the starting moment of the current control cycle. The calculation formula is as follows: In the formula, k represents the specific RSS operating parameter to be adjusted, which in this embodiment includes drilling pressure, rotational speed, and torque. This indicates the adaptive adjustment speed of the RSS operating parameter k within the current control cycle. The initial value of the adjustment speed reference for the RSS operating parameter k. The lower limit for adjusting the speed of RSS operation parameter k to prevent lock-up; max() is the function to retrieve the maximum value, preventing lock-up due to weighting. Too small a value can cause the control algorithm to deadlock.
[0041] Because drilling pressure, rotational speed, and torque have different physical dimensions and response characteristics, their respective... and It needs to be preset independently according to its corresponding rated operating parameters. Specifically, for adjusting the initial value of the reference speed... The value is set to 5% to 15% of the rated operating value of the corresponding parameter k. In this embodiment, the operating parameters of each RSS are... All are set to 10% of the rated value. For example, if the drilling process design drill pressure is 20kN, then the initial value of the drill pressure adjustment speed is... Set to 2kN / min. This is for adjusting the lower limit of the speed anti-lockdown mechanism. To maintain the system's fine-tuning capability under extremely unstable conditions, it is recommended to set the corresponding parameter's rated operating value to 1% to 3%. In this embodiment, the operating parameters of each RSS are... All are set to 2% of the rated value; for example, the lower limit for the anti-lock-up adjustment rate of drilling pressure is 0.4 kN / min. Specifically, in the first control cycle of drilling operations, i.e., when there is a lack of operating data from the previous cycle to calculate the fluctuation range, the adjustment rate of each RSS operating parameter defaults to its baseline initial value. This provides basic control response for the cold start phase.
[0042] S3. Analyze the formation resistivity variation characteristics at the current measurement depth, construct a second characteristic value reflecting the influence of the formation lithology interface, and determine the adaptive adjustment acceleration of the S-curve control algorithm based on the second characteristic value.
[0043] Furthermore, a second characteristic value is constructed based on the anomalous fluctuations in formation resistivity at different formation boundaries caused by polarization effects. This value is used to reflect the impact of formation heterogeneity changes during drilling on the drill bit parameter adjustment process. Specifically: Formation resistivity is a highly sensitive parameter reflecting changes in lithology, porosity, and formation water salinity. In conventional single-lithology formations, the resistivity curve typically remains relatively stable. However, when a logging-while-drilling (LWD) tool crosses the interface between two formations of different lithologies, the step difference in conductivity between the two sides causes charge accumulation in the probe electric field at the interface. This interface polarization effect leads to a significant "polarization angle" distortion in the resistivity signal measured at that depth, meaning the resistivity measurement at the interface forms an abnormally high peak compared to the adjacent formations. Based on this logging physics phenomenon, this embodiment accurately identifies whether the drill bit is at a lithological interface of a heterogeneous formation by comparing the abrupt difference in resistivity at the current measurement depth with the resistivity of its adjacent historical formations, thus providing a smooth and shock-reducing early warning signal for control actions.
[0044] To quantify anomalous changes in the underlying resistivity, this embodiment uses the current measurement depth d as a reference point and traces back a distance D towards the drilled section to construct a local formation data window for feature comparison. The tracing distance D is the sampling interval. Integer multiples of, The value of D can be flexibly determined by the implementer based on the spatial frequency of stratigraphic heterogeneity in the target block: if the area has well-developed thin interbedded layers and extremely high heterogeneity, then D should be taken as a smaller value to improve the spatial resolution of the interface; in this embodiment, D is set to 10. Specifically, in the initial stage of drilling operations, if the current cumulative drilling depth is less than the set backtracking distance D, the local formation data window includes all acquired resistivity data from the wellhead to the current depth d, ensuring the continuity and reliability of the algorithm during the cold start phase.
[0045] Obtain the resistivity at the current measurement depth d. After setting the local stratigraphic data window, in order to eliminate the influence of absolute numerical magnitude and ensure comparability between different depths, the upper limit of the preset range of the resistivity sensor is used to measure the resistivity. All resistivity data within the local stratigraphic data window are normalized and mapped to the [0,1] interval.
[0046] Furthermore, the absolute value of the first-order difference between the normalized resistivity at the current measurement depth d and the resistivity at its spatially adjacent previous sampling point is calculated and denoted as the current rate of change. Simultaneously, the mean of the absolute values of the first-order differences of the normalized resistivity of all adjacent sampling points within the local stratigraphic data window is calculated and denoted as the mean of the local background change rate. .
[0047] Therefore, the second eigenvalue of the drill bit at the measurement depth d The calculation method is as follows , This reflects the difference between the degree of change in formation resistivity at the current measurement depth and the average degree of change within the local formation data window.
[0048] When the drill bit happens to touch the boundary between strata of different lithologies, the charge distortion induced by the polarization effect will cause the current rate of change to change. Much larger than the local background mean At this time, the second eigenvalue It exhibits a significant positive overflow value, accurately characterizing the appearance of the interface, while the formation resistivity fluctuates gently when the drill bit travels through a single lithological stratum. with the mean The values tend to be consistent, with small or negative differences; when the drill bit has penetrated the interface and entered a new stable formation, the current point... The situation has stabilized, but some windows still retain historical data with high fluctuations from the previous interface. It will be pulled up, leading to The non-linear truncation effect of the max() function ensures that, under the latter two non-interface conditions, It was forcibly suppressed to 0, thus achieving precise single-pulse triggering only for the specific spatial state of "about to cross the interface".
[0049] Based on the second eigenvalue Identified abrupt changes in formation features, and adaptive acceleration weights at depth d. Represented as .when When the value increases (approaching 1), it indicates that the drill bit is located at the interface of heterogeneous strata through the resistivity polarization effect. At this point, the weight... The corresponding reduction in acceleration causes the drive control process to enter a smooth shock absorption mode, avoiding overshoot caused by excessively rapid adjustment coupled with abrupt formation changes by reducing the acceleration of parameter adjustment. Conversely, in a single lithological formation, Approaching 0, When it approaches 1, the nominal regulating acceleration will be restored.
[0050] Adaptive acceleration weights Applying this to each RSS operating parameter yields the adaptive acceleration for that parameter. In the formula, The adaptive acceleration of the RSS operating parameter k within the current control cycle. The initial value of the acceleration reference for the RSS operating parameter k is, in this embodiment, uniformly set to the initial value of the speed reference for the corresponding parameter adjustment. 20%, for example, if the initial value of the drilling pressure adjustment speed reference is 2.0 kN / min, then its initial value of the acceleration reference is... 0.4 kN / min 2 , The lower limit of acceleration for the RSS operating parameter k is, in this embodiment, uniformly set to the initial value of the corresponding parameter adjustment speed reference. 5%, for example, the lower limit of drilling pressure acceleration is 0.1 kN / min. 2 .
[0051] During the first control cycle of drilling operations, since there is no historical stratigraphic sequence available to calculate the mean background rate of change, the default setting is... The value is 0, meaning the initial value of the acceleration reference is used. Perform startup control.
[0052] S4. Based on the adaptive speed and adaptive acceleration, an S-shaped smooth trajectory curve is generated, and the S-shaped smooth trajectory curve is input as a set value to the RSS control module to drive the drill bit to drill according to the preset reference trajectory.
[0053] The adaptive adjustment speed of each RSS operating parameter at the measurement depth d is obtained. and adaptive acceleration Then, combined with the preset control period T, the corresponding acceleration parameters are further determined. According to kinematic control theory, the S-curve consists of acceleration, uniform acceleration, deceleration, uniform velocity, acceleration / deceleration, uniform deceleration, and deceleration segments. Its core constraint lies in eliminating the mechanical shock caused by sudden acceleration changes through a smooth transition of acceleration. The calculation of acceleration in S-curve control is a well-known technique and will not be elaborated upon further.
[0054] In this embodiment, the dynamic boundary of the S-curve is no longer a fixed value, but is determined by the real-time sensed drill bit stability characteristics. Characteristics of abrupt changes in stratigraphy The dynamic determination is achieved by solving the third-order equations of motion under the aforementioned adaptive parameter constraints, generating a corresponding parameter adjustment S-shaped smooth trajectory curve for each RSS operating parameter. This curve defines the sequence of target setpoint values for the operating parameters as a function of time within the current control period T.
[0055] The generated S-shaped smooth trajectory curve is input as a real-time command to the underlying control module of the rotary steering system (RSS), and the actuator strictly controls the evolution of the drill bit parameters according to the trajectory curve.
[0056] The adaptive S-shaped control mechanism constructed in this application can provide high response bandwidth when the deviation is large and the operation is stable, and automatically switch to a high-damping smoothing mode when encountering complex formation interfaces or drill bit instability. This control strategy effectively eliminates the positive feedback coupling between control oscillations and formation disturbances caused by parameter adjustment overshoot in traditional algorithms, significantly reduces the oscillation amplitude and overshoot during parameter adjustment, and ultimately ensures that the actual drilling trajectory can closely and smoothly fit the reference trajectory, achieving high-precision directional drilling in complex heterogeneous formations.
[0057] Based on the same inventive concept as the above method, this application embodiment also provides a dynamic tracking and control device for oil drilling trajectory. The device stores a computer program, and when the computer program is executed by a processor, it implements the steps of any one of the above-described methods for dynamic tracking and control of oil drilling trajectory.
[0058] Based on the same inventive concept as the above method, this application embodiment also provides a dynamic tracking and control system for oil drilling trajectory, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any one of the above-described methods for dynamic tracking and control of oil drilling trajectory.
[0059] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments of this specification have been described above. Additionally, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are possible or may be advantageous.
[0060] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.
[0061] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.
Claims
1. A method for dynamic tracking and control of the trajectory of oil drilling, characterized in that, The method includes the following steps: Real-time acquisition of drill bit operation data and formation resistivity data during the drilling process; Analyze the fluctuation characteristics of the operating data in the previous control cycle to construct a first feature value reflecting the stability of the drill bit motion, and combine it with the current drill bit attitude deviation to determine the adaptive adjustment speed of the S-curve control algorithm; wherein, the adaptive adjustment speed is negatively correlated with the first feature value; The characteristics of formation resistivity variation at the current measurement depth are analyzed, a second characteristic value reflecting the influence of formation lithology interface is constructed, and the adaptive adjustment acceleration of the S-curve control algorithm is determined based on the second characteristic value. Based on the adaptive speed and adaptive acceleration, an S-shaped smooth trajectory curve is generated, and the S-shaped smooth trajectory curve is input as a set value to the RSS control module to drive the drill bit to drill according to the preset reference trajectory.
2. The method for dynamic tracking and control of oil drilling trajectory as described in claim 1, characterized in that, The drill bit's operating data includes: drill pressure, rotational speed, torque, inclination angle, azimuth angle, and measurement depth.
3. The method for dynamic tracking and control of oil drilling trajectory as described in claim 2, characterized in that, The construction of the first feature value includes: The fluctuation characteristics of the drilling pressure time series data, the fluctuation characteristics of the rotational speed time series data, and the fluctuation characteristics of the torque time series data in the previous control cycle are positively fused to obtain the first feature value.
4. The method for dynamic tracking and control of oil drilling trajectory as described in claim 3, characterized in that, The fluctuation characteristics of the drilling pressure time series data, the fluctuation characteristics of the rotational speed time series data, and the fluctuation characteristics of the torque time series data are all calculated using the range.
5. The method for dynamic tracking and control of oil drilling trajectory as described in claim 2, characterized in that, The adaptive adjustment speed of the S-curve control algorithm includes: By combining the current drill bit attitude deviation with the first feature value, the adaptive adjustment speed weight at the current measurement depth is calculated, and the initial value of the adjustment speed is weighted to obtain the adaptive adjustment speed of the S-curve control algorithm.
6. The method for dynamic tracking and control of oil drilling trajectory as described in claim 5, characterized in that, The calculation process for the adaptive speed adjustment weight is as follows: In the formula, The adaptive adjustment of velocity weights at the current measurement depth d. This represents the deviation of the wellbore inclination angle between the current drill bit and the reference trajectory. This represents the azimuth deviation between the current drill bit and the reference trajectory. This is the first eigenvalue at the current measurement depth d. and All are preset allowable deviation thresholds, exp[] is an exponential function with the natural constant as the base, and max() is the function to take the maximum value.
7. The method for dynamic tracking and control of oil drilling trajectory as described in claim 1, characterized in that, The process of constructing the second eigenvalue is as follows: Determine the average change in formation resistivity between adjacent measurement depths during the historical drilling process at the current measurement depth, and calculate the second characteristic value based on the difference between the change in formation resistivity at the current measurement depth and the average change.
8. The method for dynamic tracking and control of oil drilling trajectory as described in claim 7, characterized in that, The adaptive adjustment of acceleration in the S-curve control algorithm includes: Calculate the adaptive acceleration weight that is negatively correlated with the second feature value, and weight it with the preset initial value of the adjustable acceleration to obtain the adaptive adjustable acceleration.
9. A dynamic tracking and control device for oil drilling trajectory, wherein the device stores a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-8.
10. A dynamic tracking and control system for oil drilling rigs, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-8.