A three-dimensional simulation method and system for oil drilling

Abstract

The present application relates to the technical field of petroleum drilling simulation interaction, and particularly relates to a three-dimensional simulation method and system for petroleum drilling; a set of operation instruction data is received, a current simulation working condition type is identified, a corresponding reduced-order dynamic model is matched, flexible dynamics of a drill string and rock breaking mechanics are coupled and iteratively solved, and a set of drilling working condition state data is output; the set of drilling working condition state data is received, a segmented force sense mapping model corresponding to the current working condition is matched, a plurality of degrees of freedom feedback force parameters and handle damping adjustment parameters are solved, and a set of force sense control signals is output; the set of drilling working condition state data is received to drive real-time rendering of a three-dimensional downhole scene, and the set of force sense control signals is synchronously sent to force feedback executing mechanisms and damping adjustment mechanisms of an operation end; through reduced-order dynamic coupling solving and segmented force sense mapping, drilling three-dimensional simulation with real force sense feedback is realized, and real operation skill transfer effect is improved.

Description

Technical Field

[0001] This invention relates to the field of oil drilling simulation and interactive technology, and in particular to a three-dimensional simulation method and system for oil drilling. Background Technology

[0002] In the field of driller training in the oil drilling industry, 3D simulation systems have become a core technical means to replace on-site training and reduce training costs and operational risks. Current mainstream drilling 3D simulation solutions mainly revolve around 3D modeling of downhole scenes and visualization rendering of drilling conditions. By constructing 3D models of the wellbore, drill string, and formation, they simulate visual scenes at different drilling stages, enabling training and practice of basic operating procedures and steps. This can help trainees become familiar with drilling operation logic to a certain extent, reducing equipment usage and safety hazards associated with on-site training.

[0003] However, in the aforementioned existing technologies, drilling 3D simulation technology generally only achieves visual simulation of working conditions. The operating end has not established a force feedback mechanism corresponding to the actual drilling working conditions. Operators cannot perceive real operational feedback such as drilling pressure reaction force, rotary table torque, and drill string vibration through the operating handle. The operating feel is significantly different from the actual operation of the driller on site. The operating perception and muscle memory formed during the training process have a low degree of matching with the on-site working conditions. The on-site transfer effect of operating skills is not good, making it difficult to meet the application needs of high-precision practical training. Summary of the Invention

[0004] The purpose of this invention is to provide a three-dimensional simulation method and system for oil drilling, aiming to solve the technical problem that existing three-dimensional drilling simulation technologies generally only achieve visual simulation of working conditions, and the operating end does not establish a force feedback mechanism corresponding to the actual drilling working conditions, so the operator cannot perceive the actual operation feedback such as drilling pressure reaction force, rotary table torque, drill string vibration, etc. through the operating handle.

[0005] To achieve the above objectives, the present invention employs a three-dimensional simulation method for oil drilling, comprising the following steps: Collect the handle operation parameters and real-time position data of the driller's control end, and output a standardized operation command dataset after dead zone removal, filtering and normalization preprocessing. Receive the operation instruction dataset, identify the current simulation condition type and match the corresponding reduced-order dynamic model, perform coupled iterative calculation of drill string flexibility dynamics and rock fracture mechanics, and output the drilling condition status dataset. Receive drilling condition data set, match the segmented force mapping model corresponding to the current condition, calculate the multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters, and output a set of force control signals. The system receives drilling condition data sets to drive real-time rendering of the downhole 3D scene, and simultaneously sends force control signal sets to the force feedback actuator and damping adjustment mechanism at the operating end.

[0006] Among them, the steps of collecting the handle operation parameters and real-time pose data at the driller's control end, and outputting a standardized operation command dataset after dead zone removal, filtering, and normalization preprocessing are as follows: Collect the axial displacement parameters, rotation angle parameters, operating speed parameters and real-time position and posture data of the driller's operating handle to generate the original operation dataset; The original operation dataset is subjected to dead zone removal and sliding window mean filtering to eliminate operation idle travel and jitter interference data. The processed data is normalized and mapped to a standard numerical range according to the rated range of the handle, and then encapsulated to generate a standardized operation instruction dataset and output.

[0007] In the steps of performing dead zone removal and sliding window mean filtering on the original operation dataset to eliminate operation idle travel and jitter interference data: Use a preset handle dead zone threshold to remove invalid operation data within the empty travel range; By using a sliding window mean filtering algorithm with a set window length, the effective operation data is smoothed, and the instantaneous jump data caused by operation jitter is filtered out. Output smoothed, valid operating parameter data.

[0008] Among the steps of receiving the operation command dataset, identifying the current simulation condition type and matching the corresponding reduced-order dynamic model, performing coupled iterative calculation of drill string flexibility dynamics and rock fracture mechanics, and outputting the drilling condition status dataset: Retrieve the pre-constructed downhole 3D geological model, drill string parameter model, and formation mechanics parameter library to determine the simulation boundary conditions; Identify the current simulation condition type based on the operation instruction dataset and match the corresponding reduced-order dynamic solution model; Using operation commands as input, a two-way coupled iterative solution of drill string deformation and rock breaking reaction force is carried out, and a drilling condition status dataset is output.

[0009] Among them, in the step of performing bidirectional coupled iterative calculation of drill string deformation and rock-breaking reaction force with operation commands as input conditions, and outputting a drilling condition status dataset: The drill string is discretized into multiple Euler beam elements, and the axial deformation, circumferential torque and longitudinal vibration amplitude of the drill string under operating load are calculated by a reduced-order model. Based on the current rock mechanics parameters of the formation, calculate the rock-breaking reaction force, torque fluctuation and impact load generated by the interaction between the drill bit and the formation; The drill string dynamics solution and the rock breaking mechanics solution are coupled and iterated in two directions to output drilling condition data containing multi-dimensional stress parameters.

[0010] In the steps of receiving the drilling condition data set, matching the piecewise force-feedback mapping model corresponding to the current condition, solving for the multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters, and outputting the force-feedback control signal set: Extract characteristic parameters of drill string suspension weight, rotary table torque, drill string vibration amplitude, and rock-breaking impact load from the drilling condition data set; Match the piecewise force mapping model corresponding to the current working condition type, and calculate the feedback force amplitude of the axial and circumferential degrees of freedom of the operating end respectively; The handle damping adjustment coefficient is calculated by combining the working condition parameters, and the feedback force parameter and damping parameter are encapsulated into a force control signal set and output.

[0011] In the step of matching the piecewise force mapping model corresponding to the current working condition type and calculating the feedback force amplitude of the axial and circumferential degrees of freedom of the operating end respectively: The value of the basic feedback force is calculated using the linear mapping coefficients obtained from the working condition calibration. By superimposing the high-frequency components corresponding to drill string vibration and rock-breaking impact, the dynamic fluctuation characteristics of the feedback force are corrected. Feedforward compensation is performed based on the simulation calculation delay value to output the force control signal in advance, thereby offsetting the transmission and calculation delay.

[0012] Among them, in the steps of receiving the drilling condition data set to drive the real-time rendering of the downhole 3D scene, and simultaneously sending the force control signal set to the force feedback actuator and damping adjustment mechanism at the operating end: Receive drilling condition data set and drive the downhole 3D scene model to complete real-time rendering of the drilling condition; The feedback force command, which is a collection of force control signals, is sent to the force feedback actuator, which drives the actuator to output a feedback force of the corresponding amplitude. The damping adjustment command is simultaneously sent to the damping adjustment mechanism to dynamically adjust the damping of the handle operation.

[0013] Among them, in the step of receiving the drilling condition data set and driving the downhole 3D scene model to complete the real-time rendering of the drilling condition: Based on the drill bit position data and drill string deformation, the wellbore extension trajectory and drill string spatial shape are updated in real time. The particle effect state of drilling fluid flow and cuttings transport is dynamically adjusted according to the operating parameters. The drilling parameter numerical display layer is synchronously overlaid, and the complete three-dimensional simulation screen is output to the display terminal at the set frame rate.

[0014] This invention also provides a three-dimensional simulation system for oil drilling, employing the aforementioned three-dimensional simulation method for oil drilling, including an operation input acquisition module, a drilling condition simulation calculation module, a force mapping calculation module, and a feedback rendering output module; wherein: The operation input acquisition module is used to acquire the handle operation parameters and real-time position and posture data of the driller's operating end. After dead zone removal, filtering and normalization preprocessing, it outputs a standardized operation instruction dataset. The drilling condition simulation and calculation module is used to receive the operation command dataset, identify the current simulation condition type and match the corresponding reduced-order dynamic model, perform coupled iterative calculation of drill string flexibility dynamics and rock fracture mechanics, and output the drilling condition status dataset. The force mapping solution module is used to receive the drilling condition status dataset, match the segmented force mapping model corresponding to the current condition, solve for the multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters, and output the force control signal set. The feedback rendering output module is used to receive drilling condition data sets to drive real-time rendering of the downhole 3D scene, and simultaneously send force control signal sets to the force feedback actuator and damping adjustment mechanism at the operating end.

[0015] This invention discloses a 3D simulation method and system for oil drilling. The method collects the handle operation parameters and real-time pose data from the driller's control end. After dead zone removal, filtering, and normalization preprocessing, a standardized operation command dataset is output. The system receives the operation command dataset, identifies the current simulation condition type, matches the corresponding reduced-order dynamic model, and performs coupled iterative calculations of drill string flexibility dynamics and rock fracture mechanics, outputting a drilling condition status dataset. The system also receives the drilling condition status dataset, matches the piecewise force mapping model corresponding to the current condition, calculates multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters, and outputs a force control signal set. The system receives the drilling condition status dataset to drive real-time rendering of the downhole 3D scene, simultaneously sending the force control signal set to the force feedback actuator and damping adjustment mechanism at the control end. Through reduced-order dynamic coupling calculations and piecewise force mapping, a 3D drilling simulation with realistic force feedback is achieved, improving the transfer of practical skills. By constructing a complete closed-loop system encompassing operation data acquisition, working condition calculation, force perception mapping, and synchronized visual and force output, this system overcomes the limitations of traditional drilling simulations that rely solely on visual presentation. It effectively addresses the core issues of existing solutions, such as significant discrepancies between the operational experience and actual working conditions, and poor skill transfer. On one hand, a combined preprocessing mechanism of dead zone elimination, filtering, and normalization is employed for operational input. This effectively eliminates invalid interference data caused by handle idle travel and operational jitter, ensuring the accuracy and smoothness of operational commands. This provides a reliable input foundation for subsequent force perception mapping, avoiding force perception feedback deviations due to input distortion. On the other hand, a reduced-order dynamic model is used to achieve coupled iterative calculation of drill string flexibility dynamics and rock fracture mechanics. This overcomes the industry bottleneck of high computational load and inability to meet real-time simulation requirements of full-order dynamic models. It also preserves the physical characteristics of drill string deformation, rock-breaking reaction force, and torque fluctuations under real drilling conditions, providing a data source that closely matches actual drilling patterns for force perception feedback and avoiding the distortion problems of fixed-parameter force simulation. Meanwhile, by simultaneously calculating the multi-degree-of-freedom feedback force and handle damping adjustment parameters through a segmented force mapping model, the force characteristics of different drilling conditions can be matched, restoring the damping feel and force feedback of real driller operations. Combined with the synchronous transmission mechanism of 3D scene rendering and force signals, a high degree of synergy between visual presentation and tactile feedback is achieved, enabling trainees to form an operational perception and muscle memory that is highly matched with the actual working conditions in the simulation operation. This significantly improves the on-site transfer effect of practical skills, effectively reduces the equipment cost and safety risks of on-site training, and meets the application needs of high-precision driller practical training. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart of the steps of the three-dimensional simulation method for oil drilling of the present invention.

[0018] Figure 2 This is a flowchart of steps S100 of the present invention.

[0019] Figure 3 This is a flowchart of steps S102 of the present invention.

[0020] Figure 4 This is a flowchart of steps S200 of the present invention.

[0021] Figure 5 This is a flowchart of steps S203 of the present invention.

[0022] Figure 6 This is a flowchart of steps S300 of the present invention.

[0023] Figure 7 This is a flowchart of steps S302 of the present invention.

[0024] Figure 8 This is a flowchart of steps S400 of the present invention.

[0025] Figure 9 This is a flowchart of steps S401 of the present invention.

[0026] Figure 10 This is a schematic diagram of the structural principle of the three-dimensional simulation system for oil drilling of the present invention.

[0027] 501 - Operation Input Acquisition Module, 502 - Drilling Condition Simulation Calculation Module, 503 - Force Mapping Calculation Module, 504 - Feedback Rendering Output Module. Detailed Implementation

[0028] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0029] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0030] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0031] Please see Figures 1-9 This invention provides a three-dimensional simulation method for oil drilling, comprising the following steps: S100: Collects the handle operation parameters and real-time position data of the driller's operating end, and outputs a standardized operation command dataset after dead zone removal, filtering and normalization preprocessing. In this embodiment, the operating parameters and real-time pose data of the driller's control arm are collected. After dead zone removal, filtering, and normalization preprocessing, a standardized operating command dataset is output. Specifically, this includes: S101: Collect the axial displacement parameters, rotation angle parameters, operating speed parameters and real-time position and posture data of the driller's operating handle, and generate the original operation dataset; S102: Perform dead zone removal and sliding window mean filtering on the original operation dataset to eliminate operation idle travel and jitter interference data; S1021: Uses a preset handle dead zone threshold to remove invalid operation data within the empty travel range; S1022: The effective operation data is smoothed by a sliding window mean filtering algorithm with a set window length, and the instantaneous jump data caused by operation jitter is filtered out. S1023: Outputs smoothed effective operating parameter data.

[0032] S103: Normalize and map the processed data to a standard numerical range according to the rated range of the handle, encapsulate and generate a standardized operation instruction dataset and output it.

[0033] This section covers the entire process of inputting operation signals. Handle parameter acquisition is achieved through the built-in magnetostrictive displacement sensor and rotary encoder on the handle. The axial displacement acquisition resolution is 0.1mm, and the rotation angle acquisition resolution is 0.1°. The sampling frequency is uniformly set to 100Hz, and the data is uploaded to the simulation host in real time via the USB-HID protocol. The dead zone elimination stage presets a dead zone threshold of 3% of the handle's full travel. Operation data within the dead zone is directly judged as invalid idle travel data and discarded, avoiding false triggering caused by misalignment of the handle's center position. The sliding window mean filtering uses a fixed-length sliding window of 10 sampling points, with each sliding step being 1 sampling point. The arithmetic mean of the data within the window is taken as the current output value, filtering out high-frequency fluctuation interference above 10Hz caused by hand shaking. The normalization process uses a linear mapping formula to uniformly map the physical range of each parameter to the standard numerical range of [0,1]. The mapping reference is the upper and lower limits of the nominal range of the handle hardware. The final dataset is encapsulated in JSON format and contains four core fields: timestamp, axial displacement value, rotation angle value, and operating speed value. It is then output to the downstream simulation solution module.

[0034] S200: Receives operation command dataset, identifies the current simulation condition type and matches the corresponding reduced-order dynamic model, performs coupled iterative calculation of drill string flexibility dynamics and rock fracture mechanics, and outputs drilling condition status dataset. In this embodiment, an operation command dataset is received, the current simulation condition type is identified and matched with the corresponding reduced-order dynamic model, and coupled iterative calculations of drill string flexibility dynamics and rock fracture mechanics are performed to output a drilling condition status dataset. Specifically, this includes: S201: Retrieve the pre-constructed downhole 3D geological model, drill string parameter model, and formation mechanics parameter library to determine the simulation boundary conditions; S202: Identify the current simulation condition type based on the operation instruction dataset and match the corresponding reduced-order dynamic solution model; S203: Using operation commands as input, perform bidirectional coupled iterative calculation of drill string deformation and rock breaking reaction force, and output drilling condition status dataset.

[0035] S2031: Discretize the drill string into multiple Euler beam elements, and solve the axial deformation, circumferential torque and longitudinal vibration amplitude of the drill string under operating load using a reduced-order model; S2032: Based on the current formation rock mechanics parameters, calculate the rock-breaking reaction force, torque fluctuation and impact load generated by the interaction between the drill bit and the formation; S2033: The drill string dynamics solution results and the rock breaking mechanics solution results are coupled and iterated in two directions to output drilling condition data containing multi-dimensional stress parameters.

[0036] This section is the core computational stage of the simulation. The reduced-order dynamic model is constructed based on the full-order finite element model using orthogonal decomposition. Modal extraction is performed on the full-order simulation results for three typical working conditions: normal drilling, single-rod connection, and tripping. The first 20 principal modes are retained to construct the reduced-order basis matrix, compressing the solution degrees of freedom to within 5% of the original full-order model, ensuring the computational power required for real-time solution. The drill string is discretized by dividing each drill rod into an Euler beam element. The element governing equations adopt the Timoshenko beam dynamic equations, simultaneously considering deformation in three directions: axial tension / compression, circumferential torsion, and longitudinal bending. Working condition type identification is determined by the characteristics of the operating commands: continuous axial feed and continuous rotary table rotation indicate a normal drilling condition; axial stationary and rotary table stopped indicate a single-rod connection condition; and continuous axial lifting indicates a tripping condition, corresponding to the use of a dedicated reduced-order model. The bidirectional coupled iteration is executed in 1ms steps. First, the drill string dynamics module outputs the force and pose of the drill bit end face, then substitutes them into the rock breaking mechanics module to solve for the formation reaction force. The reaction force is then used as the load boundary and fed back to the drill string dynamics module to complete one iteration. Convergence is determined when the deviation of the results of three consecutive iterations is less than 1%, and the current step working condition data is output. The reduced-order model is constructed using the intrinsic orthogonal decomposition method based on the full-order drill string finite element model. First, a full-order finite element benchmark model containing axial, circumferential, and longitudinal degrees of freedom is established based on the actual drill string structural parameters. Multiple sets of transient dynamic simulations are carried out for three typical working conditions: normal drilling, single-joint connection, and tripping in and out of the drill string. Full-order displacement response data under different loads are collected to construct a sample set. Then, singular value decomposition is performed on the sample set, and the top 20 principal mode vectors are extracted from high to low according to energy proportion to construct the reduced-order basis matrix, retaining more than 95% of the system dynamic characteristics. Finally, the full-order system dynamic control equations are projected onto the low-dimensional subspace spanned by the reduced-order basis, resulting in a reduced-order dynamic solution model with degrees of freedom compressed to less than 5% of the original full-order model. This significantly reduces the computational load while ensuring solution accuracy, meeting the computational power requirements of real-time simulation.

[0037] S300: Receives drilling condition data set, matches the segmented force mapping model corresponding to the current condition, calculates the multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters, and outputs a set of force control signals. In this embodiment, a drilling condition data set is received, matched with the piecewise force-feedback mapping model corresponding to the current condition, and the multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters are calculated. A set of force-feedback control signals is then output. Specifically, this includes: S301: Extract drill string weight, rotary table torque, drill string vibration amplitude and rock-breaking impact load characteristic parameters from the drilling condition data set; S302: Match the piecewise force mapping model corresponding to the current working condition type, and calculate the feedback force amplitude of the axial and circumferential degrees of freedom of the operating end respectively; S3021: Calculate the basic feedback force value using the linear mapping coefficients obtained from the working condition calibration; S3022: Superimpose the high-frequency components corresponding to drill string vibration and rock breaking impact to correct the dynamic fluctuation characteristics of feedback force; S3023: Performs feedforward compensation based on the simulation calculation delay value, outputs force control signal in advance to offset transmission and calculation delay.

[0038] S303: Combines working condition parameters to calculate the handle damping adjustment coefficient, and encapsulates the feedback force parameter and damping parameter into a force control signal set for output.

[0039] This section is the core conversion stage of force feedback. The segmented force mapping model corresponds one-to-one with three working conditions, and the mapping coefficients are obtained through calibration using actual drilling data. Data on the suspended weight, torque, and handle feedback force of the same model of driller's control table are collected on-site. The least squares method is used to fit independent linear mapping coefficients for the axial and circumferential degrees of freedom under each working condition, ensuring that the feedback force is consistent with the on-site operating feel. In the high-frequency vibration component superposition stage, the longitudinal vibration frequency and torque fluctuation frequency of the drill string are extracted from the working condition data, and a sinusoidal disturbance signal of the same frequency is generated. The amplitude is calculated at 15% of the vibration amplitude and superimposed on the basic feedback force value to recreate the vibration feel during drilling. The time delay feedforward compensation pre-determines the sum of the average time consumed in a single-step simulation calculation and the signal transmission time as the total time delay value. The force control signal is output in advance according to the corresponding time, offsetting the delay in the calculation and transmission links, ensuring that the force feedback is synchronized with the visual display. The handle damping adjustment coefficient is linked to the operating torque; the greater the torque, the higher the damping coefficient. The damping adjustment range is 0.5-2 times the basic handle damping, simulating the difference in operating resistance under different drilling intensities. The final control signal is encapsulated according to the standard serial port protocol and output to the operating actuator. The piecewise force mapping model is a piecewise linear function divided according to working condition type. Independent linear mapping sections are set for three typical working conditions: normal drilling, single-joint connection, and tripping. Under normal drilling conditions, the axial feedback force linear mapping coefficient ranges from 0.08 N / N to 0.12 N / N, and the circumferential feedback force linear mapping coefficient ranges from 0.06 N·m / N·m to 0.10 N·m / N·m. Under single-joint connection conditions, the axial feedback force linear mapping coefficient ranges from 0.15 N / N to 0.20 N / N, and the circumferential feedback force linear mapping coefficient ranges from 0.15 N / N to 0.20 N / N. The force linear mapping coefficient ranges from 0.02 N·m / N·m to 0.04 N·m / N·m. Under tripping and running conditions, the axial feedback force linear mapping coefficient ranges from 0.10 N / N to 0.14 N / N, and the circumferential feedback force linear mapping coefficient ranges from 0.01 N·m / N·m to 0.03 N·m / N·m. The mapping coefficients for each working condition are calibrated using actual drilling operation data from the same model of driller's control platform on site, ensuring that the matching degree between the feedback force amplitude at the control end and the on-site driller's operating feel under different working conditions reaches more than 90%.

[0040] S400: Receives drilling condition data set to drive real-time rendering of the downhole 3D scene, and simultaneously sends force control signal set to the force feedback actuator and damping adjustment mechanism at the operating end.

[0041] In this embodiment, receiving the drilling condition data set drives real-time rendering of the downhole 3D scene, and simultaneously sends the force feedback control signal set to the force feedback actuator and damping adjustment mechanism at the operating end. Specifically, this includes: S401: Receives drilling condition data set and drives the downhole 3D scene model to complete real-time rendering of the drilling condition. S4011: Based on the drill bit position data and drill string deformation, update the wellbore extension trajectory and drill string spatial shape in real time; S4012: Dynamically adjusts the particle effect state of drilling fluid flow and cuttings transport based on operating parameters; S4013: Synchronously overlays drilling parameter numerical display layers and outputs complete 3D simulation images to the display terminal at a set frame rate.

[0042] S402: Sends the feedback force command from the force control signal set to the force feedback actuator, driving the mechanism to output a feedback force of the corresponding amplitude; S403: The damping adjustment command is synchronously sent to the damping adjustment mechanism to dynamically adjust the damping of the handle operation.

[0043] This stage is the final output stage. The 3D scene rendering and simulation calculation employ a synchronous mechanism with the same timestamp. Both the calculation frequency and rendering frame rate are set to 60Hz. Each completed dynamic calculation synchronously drives the rendering of one frame, with the visual and haptic latency difference controlled within 20ms. The wellbore trajectory and drill string morphology update utilize a linear interpolation algorithm, updating the wellbore path vertex coordinates frame-by-frame based on drill bit pose data. Drill string deformation is achieved through vertex skeleton driving, mapping the deformation of each unit to the vertex offset of the corresponding drill string model segment, thus visualizing flexible deformation. Particle effect parameters are linked to operating parameters in real time: drilling fluid particle flow rate corresponds to displacement parameters, the number of cuttings particles generated corresponds to mechanical drilling rate parameters, and particle transparency is dynamically adjusted with well depth to restore a realistic downhole visual effect. The force feedback actuator is driven by a permanent magnet synchronous torque motor, which receives a current loop control signal and outputs a corresponding feedback force; the damping adjustment mechanism uses a magnetorheological damper, which receives a voltage control signal to adjust the damping magnitude; both mechanisms receive control commands synchronously, with a command issuance delay of less than 5ms, ensuring that the axial feedback force and circumferential damping act synchronously on the operating handle, achieving a high degree of matching between visual and tactile perception.

[0044] Specific implementation: The operator manipulates the driller's control handle to perform drilling operations. The displacement sensor and rotary encoder built into the handle collect axial displacement, rotation angle, operating speed and real-time pose data at a frequency of 100Hz to generate the original operation dataset. The data is first filtered to remove invalid data of the empty stroke by a dead zone threshold of 3% of the full stroke, and then filtered to remove operation jitter interference by a 10-point sliding window mean filter. Finally, it is normalized to the standard value range of [0,1] according to the linear mapping rule, packaged into a standardized operation instruction dataset and output to the simulation solution unit. The simulation solution unit receives the operation command dataset, identifies it as a normal drilling condition, and matches the corresponding reduced-order dynamic model. It retrieves the pre-stored downhole 3D geological model, drill string parameters, and formation mechanical parameters to determine the simulation boundary conditions. The drill string is discretized into Euler beam elements as a single drill pipe. The two-way coupled iteration of drill string flexible deformation and rock fracture reaction force is carried out with a step size of 1ms. When the deviation of the results of three consecutive iterations is less than 1%, it is determined to be converged. The output includes a drilling condition status dataset containing drill string suspended weight, rotary table torque, vibration amplitude, and drill bit posture. The force mapping unit extracts core force characteristic parameters from the working condition dataset, matches them with the segmented force mapping model corresponding to normal drilling conditions, calculates the axial and circumferential basic feedback forces through pre-calibrated linear mapping coefficients, superimposes the high-frequency components corresponding to drill string vibration and rock breaking impact to correct the dynamic feel, and combines the torque value to calculate the handle damping adjustment coefficient; after feedforward compensation based on the preset total calculation and transmission delay value, the feedback force and damping parameters are encapsulated into a force control signal set for output; The 3D rendering unit receives the working condition data set, updates the wellbore trajectory and drill string deformation at a frame rate of 60Hz, adjusts the drilling fluid and cuttings particle effects in conjunction with the parameter display layer, and outputs it to the display terminal. At the same time, the force control signal is synchronously sent to the torque motor and magnetorheological damper at the operating end, which drive the output of feedback force and operating damping of corresponding amplitude, respectively, to achieve synchronous output of visual image and force sensation, and complete the full process simulation of a single drilling operation.

[0045] Corresponding to the aforementioned embodiments of the three-dimensional simulation method for oil drilling, this application also provides embodiments of a three-dimensional simulation system for oil drilling.

[0046] Figure 10 This is a block diagram of a three-dimensional simulation system for oil drilling, according to an exemplary embodiment. (Refer to...) Figure 10 The system may include: an operation input acquisition module 501, a drilling condition simulation calculation module 502, a force mapping calculation module 503, and a feedback rendering output module 504; wherein: The operation input acquisition module 501 is used to acquire the handle operation parameters and real-time position data of the driller's operating end. After dead zone removal, filtering and normalization preprocessing, it outputs a standardized operation instruction dataset. The drilling condition simulation and calculation module 502 is used to receive the operation instruction dataset, identify the current simulation condition type and match the corresponding reduced-order dynamic model, perform coupled iterative calculation of drill string flexibility dynamics and rock fracture mechanics, and output the drilling condition status dataset. The force mapping solution module 503 is used to receive the drilling condition status dataset, match the segmented force mapping model corresponding to the current condition, solve for the multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters, and output the force control signal set. The feedback rendering output module 504 is used to receive the drilling condition status dataset to drive the real-time rendering of the downhole three-dimensional scene, and simultaneously send the force control signal set to the force feedback actuator and damping adjustment mechanism at the operating end.

[0047] In this embodiment, the operation input acquisition module 501 is used to acquire the handle operation parameters and real-time pose data of the driller's operating end. After dead zone removal, filtering and normalization preprocessing, it outputs a standardized operation command dataset. The drilling condition simulation calculation module 502 is used to receive the operation command dataset, identify the current simulation condition type and match the corresponding reduced-order dynamic model, perform coupled iterative calculation of drill string flexibility dynamics and rock fracture mechanics, and output a drilling condition status dataset. The force perception mapping calculation module 503 is used to receive the drilling condition status dataset, match the piecewise force perception mapping model corresponding to the current condition, calculate the multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters, and output a force perception control signal set. The feedback rendering output module 504 is used to receive the drilling condition status dataset to drive the real-time rendering of the downhole three-dimensional scene, and simultaneously send the force perception control signal set to the force feedback actuator and damping adjustment mechanism at the operating end.

[0048] Regarding the system in the above embodiments, the specific ways in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0049] For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units 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 application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0050] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0051] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A three-dimensional simulation method for oil drilling, characterized in that, Includes the following steps: Collect the handle operation parameters and real-time position data of the driller's control end, and output a standardized operation command dataset after dead zone removal, filtering and normalization preprocessing. Receive the operation instruction dataset, identify the current simulation condition type and match the corresponding reduced-order dynamic model, perform coupled iterative calculation of drill string flexibility dynamics and rock fracture mechanics, and output the drilling condition status dataset. Receive drilling condition data set, match the segmented force mapping model corresponding to the current condition, calculate the multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters, and output a set of force control signals. The system receives drilling condition data sets to drive real-time rendering of the downhole 3D scene, and simultaneously sends force control signal sets to the force feedback actuator and damping adjustment mechanism at the operating end.

2. The three-dimensional simulation method for oil drilling as described in claim 1, characterized in that, In the steps of collecting the handle operation parameters and real-time pose data at the driller's control end, and outputting a standardized operation command dataset after dead zone removal, filtering, and normalization preprocessing: Collect the axial displacement parameters, rotation angle parameters, operating speed parameters and real-time position and posture data of the driller's operating handle to generate the original operation dataset; The original operation dataset is subjected to dead zone removal and sliding window mean filtering to eliminate operation idle travel and jitter interference data. The processed data is normalized and mapped to a standard numerical range according to the rated range of the handle, and then encapsulated to generate a standardized operation instruction dataset and output.

3. The three-dimensional simulation method for oil drilling as described in claim 2, characterized in that, In the steps of performing dead zone removal and sliding window mean filtering on the original operation dataset to eliminate operation idle travel and jitter interference data: Use a preset handle dead zone threshold to remove invalid operation data within the empty travel range; By using a sliding window mean filtering algorithm with a set window length, the effective operation data is smoothed, and the instantaneous jump data caused by operation jitter is filtered out. Output smoothed, valid operating parameter data.

4. The three-dimensional simulation method for oil drilling as described in claim 1, characterized in that, In the steps of receiving the operation command dataset, identifying the current simulation condition type and matching the corresponding reduced-order dynamic model, performing coupled iterative calculation of drill string flexibility dynamics and rock fracture mechanics, and outputting the drilling condition status dataset: Retrieve the pre-constructed downhole 3D geological model, drill string parameter model, and formation mechanics parameter library to determine the simulation boundary conditions; Identify the current simulation condition type based on the operation instruction dataset and match the corresponding reduced-order dynamic solution model; Using operation commands as input, a two-way coupled iterative solution of drill string deformation and rock breaking reaction force is carried out, and a drilling condition status dataset is output.

5. The three-dimensional simulation method for oil drilling as described in claim 4, characterized in that, In the step of performing a two-way coupled iterative calculation of drill string deformation and rock-breaking reaction force, using operation commands as input conditions, and outputting a drilling condition status dataset: The drill string is discretized into multiple Euler beam elements, and the axial deformation, circumferential torque and longitudinal vibration amplitude of the drill string under operating load are calculated by a reduced-order model. Based on the current rock mechanics parameters of the formation, calculate the rock-breaking reaction force, torque fluctuation and impact load generated by the interaction between the drill bit and the formation; The drill string dynamics solution and the rock breaking mechanics solution are coupled and iterated in two directions to output drilling condition data containing multi-dimensional stress parameters.

6. The three-dimensional simulation method for oil drilling as described in claim 1, characterized in that, In the steps of receiving the drilling condition dataset, matching the piecewise force-feed mapping model corresponding to the current condition, calculating the multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters, and outputting the force-feed control signal set: Extract characteristic parameters of drill string suspension weight, rotary table torque, drill string vibration amplitude, and rock-breaking impact load from the drilling condition data set; Match the piecewise force mapping model corresponding to the current working condition type, and calculate the feedback force amplitude of the axial and circumferential degrees of freedom of the operating end respectively; The handle damping adjustment coefficient is calculated by combining the working condition parameters, and the feedback force parameter and damping parameter are encapsulated into a force control signal set and output.

7. The three-dimensional simulation method for oil drilling as described in claim 6, characterized in that, In the step of matching the piecewise force mapping model corresponding to the current working condition type and calculating the feedback force amplitude of the axial and circumferential degrees of freedom of the operating end respectively: The value of the basic feedback force is calculated using the linear mapping coefficients obtained from the working condition calibration. By superimposing the high-frequency components corresponding to drill string vibration and rock-breaking impact, the dynamic fluctuation characteristics of the feedback force are corrected. Feedforward compensation is performed based on the simulation calculation delay value to output the force control signal in advance, thereby offsetting the transmission and calculation delay.

8. The three-dimensional simulation method for oil drilling as described in claim 1, characterized in that, In the steps of receiving drilling condition data sets to drive real-time rendering of the downhole 3D scene and simultaneously sending force control signal sets to the force feedback actuator and damping adjustment mechanism at the operating end: Receive drilling condition data set and drive the downhole 3D scene model to complete real-time rendering of the drilling condition; The feedback force command, which is a collection of force control signals, is sent to the force feedback actuator, which drives the actuator to output a feedback force of the corresponding amplitude. The damping adjustment command is simultaneously sent to the damping adjustment mechanism to dynamically adjust the damping of the handle operation.

9. The three-dimensional simulation method for oil drilling as described in claim 8, characterized in that, In the step of receiving the drilling condition data set and driving the downhole 3D scene model to complete the real-time rendering of the drilling condition: Based on the drill bit position data and drill string deformation, the wellbore extension trajectory and drill string spatial shape are updated in real time. The particle effect state of drilling fluid flow and cuttings transport is dynamically adjusted according to the operating parameters. The drilling parameter numerical display layer is synchronously overlaid, and the complete three-dimensional simulation screen is output to the display terminal at the set frame rate.

10. A three-dimensional simulation system for oil drilling, employing the three-dimensional simulation method for oil drilling as described in claim 1, characterized in that, It includes an operation input acquisition module, a drilling condition simulation calculation module, a force mapping calculation module, and a feedback rendering output module; among which: The operation input acquisition module is used to acquire the handle operation parameters and real-time position and posture data of the driller's operating end. After dead zone removal, filtering and normalization preprocessing, it outputs a standardized operation instruction dataset. The drilling condition simulation and calculation module is used to receive the operation command dataset, identify the current simulation condition type and match the corresponding reduced-order dynamic model, perform coupled iterative calculation of drill string flexibility dynamics and rock fracture mechanics, and output the drilling condition status dataset. The force mapping solution module is used to receive the drilling condition status dataset, match the segmented force mapping model corresponding to the current condition, solve for the multi-degree-of-freedom feedback force parameters and handle damping adjustment parameters, and output the force control signal set. The feedback rendering output module is used to receive drilling condition data sets to drive real-time rendering of the downhole 3D scene, and simultaneously send force control signal sets to the force feedback actuator and damping adjustment mechanism at the operating end.

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