Simulation operating system for coiled tubing drilling rig model

Abstract

A simulation operating system for a coiled tubing drilling rig model. The system comprises: an injector head pointing unit (100), which is used for acquiring a pointing parameter and a pointing instruction; a drilling rig traveling unit (200), which is used for acquiring a traveling parameter and a traveling instruction; a drilling-rig drilling unit (300), which consists of an injector head chain-roller module (310), a borehole trajectory module (320) and a drilling control module (330), wherein the injector head chain-roller module (310) is used for modifying parameters of an injector head chain-roller model, the borehole trajectory module (320) obtains a borehole trajectory curve on the basis of the injector head chain-roller model and borehole trajectory parameters, and the drilling control module (330) is used for acquiring drilling parameters and a drilling instruction, determining a drilling pressure, a drilling speed, a coiled tubing gripping force and a coiled tubing injection force during a simulated drilling process on the basis of the drilling parameters, and controlling the start and stop of the simulated drilling process on the basis of the drilling instruction; and a coiled tubing drilling rig model, which simulates the operation process of a coiled tubing drilling rig on the basis of the injector head pointing unit, the drilling rig traveling unit and the drilling-rig drilling unit. The simulation operating system for a coiled tubing drilling rig model lays a solid foundation for realizing the true unmanned operation of a tubing drilling rig, and also enables a real-time operating system to achieve greater universality.

Description

A simulation operating system for a coiled tubing drilling rig model Technical Field

[0001] The invention belongs to the field of intelligent control of drilling equipment, and in particular relates to a simulation operating system of a coiled tubing drilling rig model. Background Art

[0002] The rapid advancement of coiled tubing drilling rig technology and the continuous upgrading of various equipment have broadened its application scope, expanding beyond oil and gas development to include coal drilling and other applications. Dubbed the "universal drilling machine," the coiled tubing rig represents the fusion and integration of oil drilling technologies. It integrates multiple traditional processes and stages through innovative assembly techniques, achieving integrated drilling operations throughout the entire oil and gas extraction process. Real-time operating systems (RTOSs) offer high reliability and stability, as well as openness and compatibility. They offer seamless compatibility between hardware and software systems, integrating their functionality and running them on a unified operating platform. Real-time performance is their most important advantage over non-RTOSes.

[0003] Currently, over 10% of oil wells in certain regions of the United States are being drilled using coiled tubing (CT) rigs. The rapid development of CT drilling technology fueled the rapid recovery of shale oil in the 1990s. This development also ushered in a period of rapid growth for CT technology. Within the decade since 2008, shale oil extraction efficiency in the United States has increased by 3-4 times. Schlumberger first proposed the use of CT rigs in western Venezuela in 1993, and over 300 wells have been drilled to date, demonstrating their high drilling efficiency.

[0004] However, the main control equipment used by coiled tubing drilling rigs is still relatively traditional. At the same time, the degree of integration of coiled tubing drilling rigs is low. Existing coiled tubing drilling rigs lack a unified operating system concept. The industry threshold is high, and the operating system of coiled tubing drilling rigs is complex. Non-professionals need extensive training to operate them.

[0005] Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a simulation operating system for a coiled tubing drilling rig model, aiming to solve the problem that the operating system of the coiled tubing drilling rig is complex and requires extensive training for non-professionals to operate it.

[0007] The embodiment of the present application is implemented as follows: a simulation operating system for a continuous tube drilling rig model, the system comprising: an injection head pointing unit for obtaining pointing parameters and pointing instructions, determining the pointing height, pointing angle and operation time of the injection head pointing model according to the pointing parameters, and controlling the pointing action of the injection head pointing model according to the pointing instructions; a drilling rig driving unit for obtaining driving parameters and driving instructions, determining the driving direction of the drilling rig chassis model according to the driving parameters, and controlling the driving action of the drilling rig chassis model according to the driving instructions, the driving parameters at least including the horizontal coordinate and vertical coordinate of the target point, the rotation angle of the drilling rig chassis model and the driving speed of the drilling rig chassis model; a drilling rig drilling unit, consisting of an injection head chain roller module, a drilling trajectory module and a drilling control module, the injection head chain roller module being used to modify the injection head chain roller model parameters, the drilling trajectory module obtaining a drilling trajectory curve based on the injection head chain roller model and the drilling trajectory parameters, the drilling control module being used to obtain drilling parameters and drilling instructions, and determining the drilling pressure, drilling speed and The coiled tubing clamping force and the coiled tubing injection force control the start and stop of the simulated drilling process according to the drilling instructions; the coiled tubing drilling rig model simulates the working process of the coiled tubing drilling rig based on the injection head pointing unit, the drilling rig travel unit, and the drilling rig drilling unit.

[0008] The present application provides a simulation operating system for a coiled tubing drilling rig model. The injection head pointing unit simulates and controls the direction of the injection head, allowing users to monitor changes in the pointing frame height and angle curves in real time. The drilling rig travel unit simulates and controls the rig's movement, allowing users to determine whether the rig has reached the target point during operation based on the rig's travel path curve. The slope of the curve at the target point can also be used to roughly determine whether the rig's rotation angle is correct. The drilling unit simulates and controls the drilling process, allowing users to intuitively experience the entire rig's drilling process. All of these units can be controlled by a real-time operating system. The addition of a real-time operating system gives the coiled tubing drilling rig greater intelligence and operability, laying a solid foundation for truly unmanned operation of the rig. The introduction of multi-body dynamics simulation into the drilling rig simulation expands the application scope of the real-time operating system. Multi-body dynamics solver simulation provides strong support for the real-time operating system to implement drilling rig functions, while also making the real-time operating system more versatile. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] FIG1 is an overall framework diagram of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0010] FIG2 is a diagram of a drilling rig model of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0011] FIG3 is a diagram of an injection head pointing model of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0012] FIG4 is a simplified structural diagram of an injection head pointing model of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0013] FIG5 is a dynamic model diagram of an injection head pointing model of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0014] FIG6 is an injection head pointing operation module of a simulation operation system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0015] FIG7 is a calculation example of an injection head pointing operation module of a simulation operation system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0016] FIG8 is a diagram of a drilling rig chassis model of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0017] FIG9 is a kinematic analysis diagram of a drilling rig turning in a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0018] FIG10 is a drilling rig travel operation module of a simulation operating system of a coiled tubing drilling rig model provided by an embodiment of the present application;

[0019] FIG11 is a calculation example of a drilling rig travel operation module of a simulation operating system of a coiled tubing drilling rig model provided by an embodiment of the present application;

[0020] FIG12 is a diagram of an injection head chain rolling model of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0021] FIG13 is a diagram of frame parameters of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0022] FIG14 is a diagram of fixture parameters of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0023] FIG15 is a diagram showing drive wheel parameters of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0024] FIG16 is a diagram showing parameters of a driven wheel of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0025] FIG17 is a diagram showing parameters of an extrusion wheel of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0026] FIG18 is a diagram showing parameters of a tensioning pulley of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0027] FIG19 is a chain parameter diagram of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0028] FIG20 shows the integral parameters of an injection head chain rolling model of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0029] FIG21 is a flowchart of a drilling unit of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0030] FIG22 is a drilling control module of a simulation operating system of a coiled tubing drilling rig model provided in an embodiment of the present application;

[0031] FIG23 is a block diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script without departing from the scope of this application.

[0034] As shown in FIG1 , in one embodiment, a simulation operating system for a coiled tubing drilling rig model is provided. The simulation operating system for the coiled tubing drilling rig model can be integrated into a computer device, and specifically can include an injection head pointing unit 100 , a drilling rig travel unit 200 , and a drilling rig drilling unit 300 .

[0035] The injection head pointing unit 100 is used to obtain pointing parameters and pointing instructions, determine the pointing height, pointing angle and operation time of the injection head pointing model according to the pointing parameters, and control the pointing action of the injection head pointing model according to the pointing instructions;

[0036] The drilling rig driving unit 200 is configured to obtain driving parameters and driving instructions, determine a driving direction of the drilling rig chassis model based on the driving parameters, and control the driving movement of the drilling rig chassis model based on the driving instructions. The driving parameters include at least the abscissa and ordinate of a target point, the rotation angle of the drilling rig chassis model, and the driving speed of the drilling rig chassis model.

[0037] The drilling unit 300 of the drilling rig consists of an injector chain roller module, a drilling trajectory module, and a drilling control module. The injector chain roller module is used to modify the injector chain roller model parameters. The drilling trajectory module obtains a drilling trajectory curve based on the injector chain roller model and drilling trajectory parameters. The drilling control module is used to obtain drilling parameters and drilling instructions, determine the bit weight, drilling speed, coiled tubing clamping force, and coiled tubing injection force of the simulated drilling process based on the drilling parameters, and control the start and stop of the simulated drilling process based on the drilling instructions.

[0038] A coiled tubing drilling rig model is provided, wherein the coiled tubing drilling rig model simulates the working process of the coiled tubing drilling rig based on the injection head pointing unit, the drilling rig travel unit and the drilling rig drilling unit.

[0039] In one embodiment, the coiled tubing drilling rig model's main structure comprises at least three components: an injection head pointing unit, a drilling rig travel unit, and a drilling rig support unit. This application primarily describes the first three components. The coiled tubing drilling rig model is pre-designed, and some of its parameters can be modified based on user input to adapt to different application scenarios. The entire coiled tubing drilling rig model simulates the drilling rig's operating process using a real-time operating system.

[0040] In one embodiment, as shown in FIG3 , the injection head pointing unit is part of the entire real-time operating system and is used to control the injection head pointing portion of the coiled tubing drilling rig model. The injection head pointing unit includes an injection head pointing model 110. The injection head pointing model consists of a pointing frame 111, two main arms 112 on both sides, a synchronization rod 113, and four hydraulic rods 114 on both sides. The synchronization rod is used to ensure the consistency of movement on both sides. The hydraulic rod acts as an actuator to provide power to drive the movement of the two main arms and the pointing frame to achieve the purpose of pointing.

[0041] In one embodiment, as shown in FIG4 , the present application primarily uses the angle α1 between the main arm and the horizontal plane and the angle α2 between the pointing frame and the main arm to control the injection head pointing model. The height h of the pointing frame center and the angle α between the pointing frame and the horizontal plane are more intuitive parameters, so the latter is primarily used as the input target value in the user interface. These two sets of parameters satisfy the following relationship: α1 + α2 = α sin α1 = (hl) / L

[0042] As shown in Figure 5, in the dynamic model of the injection head pointing model, the constraint between the main arm and the synchronization rod is a fixed joint, the constraint between the hydraulic rod outer sleeve and the push rod is a sliding joint, and the remaining connections—such as the hydraulic rod and main arm, the hydraulic rod and the pointing frame, and the main arm and the pointing frame—are all revolute joints. In the dynamic model, applying a force or velocity signal between the hydraulic rod outer sleeve and the push rod drives the motion of the entire pointing frame model.

[0043] During the execution of the injection head pointing model, if the control variable received is a step signal, the injection head pointing model will respond dynamically, with the possibility of overshoot. The angle between the main arm of the injection head pointing frame and the horizontal plane changes from -30° to -50°. Given a step signal, the angle curve overshoots. To prevent overshoot of the control variable and stabilize the motion of the injection head pointing frame, a motion trajectory planning algorithm is used to implement the injection head pointing frame's motion.

[0044] The angles α1 between the main arm and the horizontal plane in the injection head pointing model and α2 between the pointing frame and the main arm at the initial moment need to be read by the solver. At the initial moment, both angular velocities are 0. The target angle is the user-given value, and the angular velocity when reaching the target angle should also be 0. Based on this condition, the Emilt interpolation algorithm is used for trajectory planning. The function value of the interpolation polynomial in the Emilt interpolation algorithm is the same as the original function. At the same time, the first-order to specified-order derivative values ​​of the interpolated polynomial at the node are also equal to the corresponding-order derivatives of the interpolated function. In this paper, the motion trajectory planning requires the first-order interpolation polynomial and the first-order derivative of the interpolated function to be equal, so the angle can be set to θ and the motion trajectory curve is set to:

[0045] (t0,θ0), (t1,θ1), Substituting the above equation, we can solve the values ​​of the four parameters as follows: c0=θ0 c1=0

[0046] In one embodiment, as shown in FIG6 , the injection head pointing unit further includes an injection head pointing operation module 120 . The operation interface of the injection head pointing operation module includes several functional modules, such as pointing parameter setting, pointing model operation, run time, and result display. The pointing parameter setting module is the input portion of the operating system interface. The user enters the pointing box target height, target angle, and operation time. After clicking Set, the target parameters are written into the operating system. During operation, the control system reads the target height and angle values ​​and performs the operation.

[0047] The model manipulation module is responsible for user operations on model simulations, including starting, pausing, resuming, and ending. It also manages the post-processing animation display process, including animation loading, animation stopping, and animation restarting. Simulation begins when the model is started. Users can pause or simulate at any time. Clicking the resume button resumes the simulation from the breakpoint. The model utilizes multi-threaded parallelism during the simulation process, meaning that the model execution process and updates to the user interface do not interfere with each other, ensuring real-time user operations. After the model starts, the runtime module's LCD digital display begins, displaying the current runtime in real time, allowing users to monitor the progress of the operation.

[0048] After starting the model simulation, you can load the animation. The animation results will be displayed on the FreeCAD main interface and will be synchronized with the model running process. Users can view the model animation effect in real time. In the post-processing animation, the various views of the model run synchronously, allowing users to observe the model operation effect from multiple perspectives at the same time. The animation restart button will restart the animation from the beginning, which is also the animation playback process. Users can view the results of the model calculation multiple times.

[0049] Users can monitor the changes in the pointing frame's height and angle curves in real time, and can also view changes in the error curve. During actual operation, the injector pointing frame operates within a limited operating space. The pointing frame's height never exceeds 2.4 meters, and the angle between the pointing frame and the horizontal plane ranges from -20° to 90°. All control experiments are performed within the injector pointing frame's operating space. The coordinate axes in the result curve display interface are dynamically changing. That is, during operation, the maximum value of the time axis gradually increases, and the time scale gradually decreases. This ensures that users can view intuitive animated graphs at any time without having to manually adjust the curve position.

[0050] Data transmission from the injection head to the unit is done via file transfer. After the user enters the control parameters and clicks the Set button, the new control target is written to the model entry file. After the model is started, it reads the entry file to obtain the control target value. During subsequent operation, the controller reads the data in the model entry file in real time to detect changes in the control target value. The output results from the model operation process are uniformly output by the controller to the result file. The main interface of the operating system uses a timer to read the result file output by the controller in real time and update the main interface display data (including the run time display and result curve). The timer reading frequency can be adjusted according to user needs. In this article, the timer reading frequency of the main interface of the injection head pointing operation module is 100Hz.

[0051] In one embodiment, as shown in FIG7 , a case study is performed to verify the injection head pointing unit. For example, the height of the pointing frame is 1.6 m, the angle between the pointing frame and the horizontal plane is 50°, and the operation time is 40 s. In the figure, the black solid line represents the current height value of the injection head pointing frame, the blue solid line represents the target height value of the injection head pointing frame in this experiment, and the red solid line represents the error value curve between the measured height curve and the target height curve; similarly, in the pointing frame angle curve, the black solid line represents the current measured angle value between the pointing frame and the horizontal plane, the blue solid line represents the target angle value curve of this experiment, and the red solid line represents the error value curve between the measured angle value and the target angle value.

[0052] The curve shows that the maximum scale value on the time axis represents the model's operating time. The angle and height values ​​of the pointing frame follow a specific trajectory within the operating time. The curve in the figure represents the cubic Emil interpolation curve generated by the trajectory planning algorithm. The height and angle curves ultimately match the target values, and their derivatives are both zero at the endpoints. This ensures the safety of the injector pointing frame during operation and prevents overshoot. The error curve also ultimately drops to zero.

[0053] At the same time, the measured height and angle curves also show the height and angle values ​​of the pointing box at the initial moment. These are the data read by the control system from the solver at the initial moment. This data participates in the curve fitting process in the motion trajectory planning algorithm.

[0054] In one embodiment, as shown in FIG8 , the drilling rig travel unit 200 is part of the entire real-time operating system and is used to control the drilling rig travel portion of the coiled tubing drilling rig model. This includes a drilling rig chassis model 210. The drilling rig chassis is a tracked vehicle that controls the movement of tracks 211 on both sides to allow the drilling rig to move straight or turn. The tracks utilize a chain roller system, comprising tracks 211 and rollers 212. The rollers are further divided into driving wheels and driven wheels. The former provides the driving force that drives the entire track. Support hydraulic columns 213 are installed at the four corners of the drilling rig chassis to stabilize the drilling rig during drilling. A pointing frame mounting bracket 214 is provided on the upper side of the chassis for mounting the injection head pointing frame.

[0055] In one embodiment, as shown in FIG9 , target values ​​are set to ensure that the drilling rig follows the correct route and posture. The crawler vehicle controls the speed of its two tracks during travel to achieve straight travel and turning. During straight travel, the two tracks maintain the same speed and direction, with no turning angular velocity. However, when turning, the speeds of the two tracks deviate, generating an angular velocity for the turning operation.

[0056] Figure 9 shows the kinematic analysis of a drilling rig's turning process. The drilling rig has three degrees of freedom during its movement, and two sets of parameters uniquely determine its motion. One set of parameters is the speed and direction of the two tracks, with the directions of the two speeds constrained to be parallel. The other set of parameters is the center speed of the drill rig and its turning angular velocity, both of which are also constrained. Therefore, these two sets of parameters can be used to determine the drilling rig's motion. In engineering applications, crawler vehicle drivers typically operate the vehicle by directly controlling the speed of the two tracks. However, in real-time operating systems, for a more intuitive user experience, the center speed and turning angular velocity are used to determine the drilling rig's motion.

[0057] In the figure, v c Indicates the center speed of the drilling rig, v l and v r represents the speed of the crawler tracks on both sides of the drilling rig, ω represents the turning angular velocity of the drilling rig, l represents the width of the drilling rig, and R represents the turning radius of the crawler tracks on the inside of the drilling rig. The speed of the drilling rig during turning satisfies the following relationship:

[0058] When the drilling rig moves straight, the following conditions are met:

[0059] When the drilling rig turns, this article uniformly sets counterclockwise turning as positive and clockwise turning as negative. When the drilling rig turns counterclockwise, it satisfies:

[0060] When the drilling rig makes a clockwise turn, the following conditions are met:

[0061] The starting and ending points of the drilling rig have specific coordinate positions during its travel, and the drilling rig's posture at the starting and ending points is also determined. Therefore, the target path planning algorithm can be defined as the problem of solving the path curve of the entire process given the known coordinate positions and postures of the starting and ending points. The path curve can be planned using a Bezier curve. In the target path planning algorithm, the curve to be generated must pass through the starting and ending points and meet the given path slope (direction) at the starting and ending points. Therefore, a third-order Bezier curve is used as follows: B(t) = P0(1-t) 3 +3P1t(1-t) 2 +3P2t 2 (1-t)+P3t 3

[0062] The formula contains four points: P0=(x0,y0) P1=(x1,y1) P2=(x2,y2) P3=(x3,y3)

[0063] Where P0 and P3 are the starting and ending points of the path curve, respectively. P1 and P2 are the two middle control points, which are mainly used to control the shape of the path curve. The selection of the control point positions can ensure that the direction slope of the curve at the starting and ending points meets the requirements. Bezier curves generally do not pass through the two middle control points. The curvature formula of the curve is:

[0064] Substituting the third-order Bezier curve formula into the curve curvature formula yields:

[0065] The key to determining the parameters of a third-order Bezier curve is to find the two middle control points. Set the first control point on the extension line of the starting point and the second control point on the opposite extension line of the ending point. The straight-line distance between the starting point and the ending point can be expressed as:

[0066] The coordinates of the two control points can be set as: x1 = x0 - α1Δs sinθ1 y1 = y0 + α1Δs cosθ1 x2 = x3 + α2Δs sinθ2 y2 = y3 - α2Δs cosθ2

[0067] Where α1 and α2 are scaling factors that can be modified as needed; θ1 and θ2 are the angles between the global coordinates and the coordinate system attached to the rigid body at the start and end points, respectively. By parameterizing these two control points, the parameters can be continuously modified to find a more optimal path curve.

[0068] In one embodiment, as shown in Figure 10, the drilling rig travel unit also includes a drilling rig travel operation module 220. The operating interface of this module includes several functional modules, including travel parameter setting, travel model operation, and path curve display. The parameters entered by the user in this travel parameter setting section include the horizontal and vertical coordinates of the target point, the drilling rig's rotation angle, and the drilling rig's travel speed. In experiments, to more quickly verify the operational effects, the target coordinates are measured in millimeters, and the drilling rig's travel speed is measured in mm / s. Once the user clicks "Set," the target parameters are written to the operating system, which can then read the target values ​​and perform simulations at runtime.

[0069] The model operation section of the drilling rig travel operation module's interface is similar to that of the injection head pointing operation module, including start, pause, resume, end, animation loading, animation stop, and animation restart. The control system operates in a multi-threaded parallel manner, which does not interfere with the update process of the main operation interface. The animation loading section is the post-processing animation module of the drilling rig travel. Through the animation display of this module, users can more intuitively see the process of the drilling rig operation. At the same time, the operation trajectory of the drilling rig can be plotted in the post-processing module and compared with the driving curve. The animation restart module supports animation playback function, and each animation run can be demonstrated from the beginning.

[0070] The path curve display module includes two parts: running time and path curve display. The running time is used to display the current model simulation moment on the LCD display. This time is synchronized with the time of the simulation process, making it convenient for users to grasp the operation trend in real time. The path curve display mainly shows the path curve of the drilling rig during the driving process and the position of the target point. The path curve of the drilling rig can be used to determine whether the drilling rig has reached the target point during the operation process. At the same time, the slope of the curve at the target point can be used to roughly determine whether the drilling rig angle is correct. The drilling rig angle value can also be directly read through the result file of the operating system. Since the accuracy requirements for target points and angles in actual engineering are not very high, the results of the operating system simulation constructed in this application only need to meet a certain result range. For example, if the distance between the actual end point of the drilling rig and the target end point is less than 100mm, the drilling rig can be considered to have reached the target point; if the angle error of the drilling rig at the end point is between -20° and 20°, the angle can be considered to be basically correct. This technical indicator can be continuously updated and improved according to the needs of users and engineering applications.

[0071] In one embodiment, as shown in FIG11 , a drill rig travel unit is verified by calculation. For example, the target point is set at (2000, 2000), the drill rig rotation angle is set to -80°, and the speed value is set to 80 mm / s. According to the post-processing animation diagram of the travel, it can be seen that in the post-processing animation, the actual travel trajectory curve of the drill rig is basically consistent with the operating system interface. By reading the result file, it can be obtained that the fixed coordinate system rotation angle of the drill rig at the end point is -84.2°, which deviates from the target rotation angle of -80° by no more than 5°, which is within the normal working range.

[0072] In one embodiment, the drilling unit 300 of the drilling rig can be divided into three modules as a whole, namely the injection head chain roller module 310, the drilling trajectory module 320 and the drilling control module 330. These three parts need to be performed in sequence during the operation. First, the injection head chain roller model is assembled, then the drilling trajectory curve is generated, and finally the drilling control operation is performed along the planned drilling trajectory curve.

[0073] In one embodiment, as shown in Figure 12, the injection head chain roller model includes seven main components: a frame 311, a clamp 312, a drive wheel 313, a driven wheel 314, a squeeze wheel 315, a tensioning wheel 316, and a chain 317, along with the coiled tubing. The frame primarily serves as a mounting base for other components, including the drive wheel 313, the driven wheel 314, the clamp 312, and the tensioning wheel 316, while also being secured to the drilling rig. The clamp is mounted on the frame and primarily applies clamping force to the coiled tubing. The squeeze wheel 315 is mounted on the clamp, allowing for relative sliding movement between the clamp and the frame. The chain 317 is composed of links, including clamping links and connecting links. The clamping links directly clamp the coiled tubing, while the connecting links connect the chain into a closed loop. The coiled tubing is used for drilling, with the chain roller system providing both injection and clamping forces.

[0074] In one embodiment, the injection head chain roller model modification module includes geometric parameters, integral parameters, chain assembly and animation loading. The geometric parameters and integral parameters are mainly used to parametrically model the injection head chain roller model. The chain assembly is a dynamic relaxation process. During the chain assembly process, the assembly progress can be observed in real time through the progress bar below. The animation loading kinetic energy is to display the generated injection head chain roller system model on the FreeCAD animation interface, which is convenient for users to quickly check the chain roller system assembly results.

[0075] The components that determine the geometric parameters of the injection head chain roller model include the frame 311, fixture 312, drive wheel 313, driven wheel 314, extrusion wheel 315, tensioning wheel 316, chain 317, and coiled tubing. Each function button corresponds to the geometric parameter setting interface for its component. Clicking a function button enters the parameter setting process. The OK button in the interface writes the geometric parameters of the current injection head model to the XML file in the model design class. This XML file can then be directly used to build the injection head chain roller model.

[0076] As shown in Figures 13 to 20, the frame parameters include: tensioning wheel hole coordinates, fixture installation coordinates, fixture position coordinates, driving wheel hole coordinates, driven wheel hole coordinates, fixture length, fixture height, and fixture width; the fixture parameters include: extrusion wheel hole coordinates, extrusion wheel length, extrusion wheel width, and extrusion wheel height; the driving wheel parameters include: driving wheel diameter, height, number of teeth, tooth height, and initial phase angle; the driven wheel parameters include: driven wheel diameter and height; the extrusion wheel parameters include: extrusion wheel diameter, height, and number; the tensioning wheel parameters include: tensioning wheel diameter, height, and number; the chain parameters include: chain length, connecting link width, number of chain link groups, axle pin radius, clamping section length, axle pin height, clamping section width, clamping block length, connecting link length, and clamping block diameter; the continuous tube parameters include: continuous tube clamping section length, number of units, continuous tube outer diameter, unit maximum length coefficient, continuous tube inner diameter, and unit minimum length coefficient; the integral parameters include: maximum integral order, integral error, iteration error, etc.

[0077] After the user has modified the parameters, the data can be exported and written into the XML file of the model parameter design class. Only after this step is completed can the chain assembly process be carried out.

[0078] In one embodiment, the drilling trajectory calculation model uses the minimum curvature method to calculate the drilling trajectory. The minimum curvature method assumes that the trajectory between the two measuring points M1 and M2 is a circular arc, so the problem is transformed into a problem of solving a spatial circular arc curve. The parameters θ1 and θ2 represent the inclination angles of the front and rear measuring points respectively, α1 and α2 represent the azimuth angles of the front and rear measuring points respectively, and ΔL represents the depth difference between the front and rear measuring points. The distances between the front and rear measuring points on the three coordinate axes are set to ΔX, ΔY and ΔZ respectively, and ε represents the radian value of the arc. According to the geometric relationship, it can be seen that the following formula is satisfied: ΔX=λ[cos(α1)cos(θ1)+cos(α2)cos(θ2)] ΔY=λ[sin(α1)cos(θ1)+sin(α2)cos(θ2)] ΔZ=λ[sin(θ1)+sin(θ2)]

[0079] in, cosε=sinθ1sinθ2+cosθ1cosθ2cos(α2-α1)

[0080] During operation, the user simply inputs the required least squares parameters to obtain the entire borehole trajectory curve. Nine parameters are required for the borehole trajectory: depth, inclination, azimuth, depth interval, celestial coordinate, northing coordinate, easting coordinate, dogleg angle, and toolface angle. Of these nine parameters, depth, inclination, and azimuth are input, while the remaining six are output. Once the user enters these parameters, the borehole trajectory calculation module calculates the trajectory using the minimum curvature method and reports the results as an array.

[0081] When users input parameters, they typically enter multiple groups, each representing a measuring point. The entire drilling trajectory is planned using these multiple measuring points, and the output parameters correspond to each measuring point. However, to generate and plot a smooth drilling trajectory curve, the number of measuring points entered by the user is insufficient. Therefore, an interpolation algorithm has been added to the drilling trajectory calculation module. This interpolation algorithm interpolates between the measuring points to obtain a denser set of drilling trajectory points. The interpolated curve data is also fed back to the user in the form of an array, and the curve can be plotted in real time. When planning the drilling trajectory, users can generate multiple curves and traverse them to find the optimal drilling trajectory curve. This requires parameter traversal of the drilling trajectory curve. The parameter traversal process traverses the three input parameters: depth, inclination, and azimuth. Traversal of the drilling trajectory curve is achieved by setting the upper and lower bounds of the parameters and the traversal step size.

[0082] When planning a drilling trajectory, users can generate multiple curves and traverse them to find the optimal drilling trajectory curve. This requires parameter traversal of the drilling trajectory curve. The parameter traversal process traverses the three input parameters: depth, inclination, and azimuth. By setting the upper and lower bounds of the parameters and the traversal step size, the drilling trajectory curve can be traversed.

[0083] In one embodiment, the operation interface of the drilling trajectory model includes an injection head chain roller model input interface and a drilling trajectory data input interface. The drilling trajectory data includes nine drilling trajectory parameters. The user can add or delete the number of drilling trajectory measurement points. The drilling trajectory data also includes four other parameters: hole diameter, friction coefficient, continuous pipe length and orifice height. These parameters are initially displayed with default values, and the user can directly modify the data when they have other needs. The drilling trajectory model also includes parameter traversal, trajectory generation, single-case operation and multi-case operation. The parameter traversal button is mainly designed for drilling trajectory parameter traversal. In addition to direct model import, trajectory generation can generate a trajectory after the user data input is completed, regardless of whether parameter traversal is performed. When there is only one set of parameters, the operation interface will generate a drilling trajectory. When parameter traversal is performed, the operation interface will generate all traversal curves and update the data in real time. Single-case operation runs the drilling process with only one drilling trajectory. This single drilling trajectory can be an existing drilling trajectory model imported by the user or a curve generated by the user during non-parametric traversal operations. Single-case operation directly displays the drilling rig control interface. Multi-case operation runs multiple calculation cases generated by the user during parameter traversal. Once started, this process requires no human intervention until the run is completed. This feature makes multi-case operation an automated process, capable of automatically simulating hundreds or even thousands of drilling trajectories.

[0084] The drawn drilling trajectory can be displayed through a real-time updated spatial curve graph. It can be a single drilling trajectory or multiple drilling trajectories obtained through drilling trajectory traversal. Whenever a new drilling trajectory is generated, the drilling trajectory data and the drilling trajectory drawing curve graph will be updated synchronously. The drilling trajectory data will store the data of each drilling trajectory, and the drilling trajectory drawing can retain each drilling trajectory curve during the parameter traversal process, which is convenient for users to view the drilling trajectory distribution of parameter traversal.

[0085] In one embodiment, for example, in an experiment, the traversed parameters are the inclination and azimuth data of the third measuring point, and the traversed parameters can be filled in with 0.0 in the data table. Therefore, the data input for the experiment are (0.0, 0.0, 0.0), (100.0, 0.0, 0.0) and (200.0, 0.0, 0.0). The drilling trajectory parameter traversal interface is a table of traversed parameters. The number of rows in the table represents the number of parameters to be traversed. Each parameter to be traversed contains six values, namely the position of the parameter in the data table (i.e., the number of rows and columns), the minimum value, maximum value and traversal step of the parameter to be traversed, where the maximum and minimum values ​​are a closed interval. The number of parameters to be traversed can be adjusted to generate all drilling trajectory curves in sequence, and the drilling trajectory data and curve graphs can be displayed in real time.

[0086] In one embodiment, the drilling control module includes: a drilling parameter setting module, a drilling model operation module, and a drilling data display module. The drilling parameter setting module mainly inputs the drilling distance and drilling time of the drilling rig. Through these two parameter values, the control system can calculate the target drilling speed and perform drilling speed control; the drilling model operation module includes start, pause, resume, end, animation loading, animation stop, and animation restart functions. The start button is clicked by the user when starting the simulation. Similar to other functional systems, the simulation of the model and the update of the system interface belong to two parallel threads. The real-time refresh of the system interface will not be affected during the operation of the model. Animation loading is to display the post-processing effect of the animation in FreeCAD. This function needs to be executed after the simulation is started. Animation stop allows users to more conveniently analyze the motion status at a certain moment. The animation restart function is to demonstrate the animation of the entire simulation process from the beginning, which allows users to grasp the status information of the model drilling in the entire process from a macro perspective; the drilling data display module displays the drilling pressure, drilling speed, coiled tubing clamping force, and coiled tubing injection force of the drilling process through the LCD data display and instrument panel. As the simulation process progresses, the dial pointer will change in real time to point to the measured value. The user can get an intuitive feeling of the parameters from the dial and obtain accurate data values ​​from the LCD data display; it also displays the drilling depth curve, the user can observe the current drilling depth information in real time. The time axis of the curve changes dynamically. As the simulation runs, the maximum value of the time coordinate axis will gradually increase, and the user can view the entire drilling curve at any time.

[0087] In one embodiment, the simulation operating system for a coiled tubing drilling rig model provided herein can be implemented as a computer program that can be run on a computer device as shown in FIG23 . The computer device's memory can store various program modules that comprise the simulation operating system for the coiled tubing drilling rig model, such as the injector head pointing unit, the drilling rig travel unit, and the drilling rig drilling unit shown in FIG1 .

[0088] Those skilled in the art will appreciate that all or part of the processes in the modules of the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned units. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0089] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

[0091] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A simulation operating system for a coiled tubing drilling rig model, characterized in that: The system comprises: an injection head pointing unit, which is used to obtain pointing parameters and pointing instructions, determine the pointing height, pointing angle and operation time of the injection head pointing model according to the pointing parameters, and control the pointing action of the injection head pointing model according to the pointing instructions; a drilling rig driving unit, which is used to obtain driving parameters and driving instructions, determine the driving direction of the drilling rig chassis model according to the driving parameters, and control the driving action of the drilling rig chassis model according to the driving instructions, wherein the driving parameters at least include the horizontal coordinate and the vertical coordinate of the target point, the turning angle of the drilling rig chassis model and the driving speed of the drilling rig chassis model; a drilling rig drilling unit, which is composed of an injection head chain roller module, The invention is composed of a drilling trajectory module and a drilling control module, wherein the injection head chain rolling module is used to modify the injection head chain rolling model parameters, the drilling trajectory module obtains a drilling trajectory curve based on the injection head chain rolling model and the drilling trajectory parameters, the drilling control module is used to obtain drilling parameters and drilling instructions, determine the drilling pressure, drilling speed, coiled tubing clamping force and coiled tubing injection force of the simulated drilling process according to the drilling parameters, and control the start and stop of the simulated drilling process according to the drilling instructions; a coiled tubing drilling rig model, wherein the coiled tubing drilling rig model simulates the working process of the coiled tubing drilling rig based on the injection head pointing unit, the drilling rig driving unit and the drilling rig drilling unit.

2. The simulation operating system of a coiled tubing drilling rig model according to claim 1, characterized in that: The injection head pointing unit comprises: an injection head pointing model, which at least comprises a pointing frame, a main arm, a synchronization rod, and a hydraulic rod. The main arms are two and are symmetrically arranged on both sides of the pointing frame. One end of the main arm is rotatably connected to the middle end of the pointing frame, and the other end is fixedly connected to the synchronization rod. The hydraulic rod is installed on the main arm to provide power to promote the movement of the main arms and the pointing frames on both sides.

3. The simulation operating system of a coiled tubing drilling rig model according to claim 1, characterized in that: The injection head pointing unit also includes: an injection head pointing operation module, which at least includes a pointing parameter setting module, a pointing model operation module, a running time module and a result display module. The pointing parameter setting module is used to obtain pointing parameters, and the pointing model operation module is used to obtain user simulation operations and to display animation processes. The simulation operations include starting, pausing, resuming and ending; the animation process includes animation loading, animation stopping and animation restarting; the running time module is used to display time; and the result display module is used to display changes in the height value and angle value of the injection head pointing model.

4. The simulation operating system of the coiled tubing drilling rig model according to claim 2, characterized in that: The step of simulating the movement of the injection head pointing to the model includes: determining the target angle, and determining the movement trajectory curve according to the Emilt interpolation algorithm; the movement trajectory curve is: Where t is the time, θ is the angle of the pointing box, and c0, c1, c2, and c3 are parameters.

5. The simulation operating system of a coiled tubing drilling rig model according to claim 1, characterized in that: The drilling rig travel unit includes: a drilling rig chassis model, which has at least tracks, rollers, an injection head pointing model mounting frame, a supporting hydraulic column and a chassis. The rollers are installed on both sides of the chassis to drive the tracks to rotate, and the tracks are used to control the movement of the chassis. The chassis is installed with a supporting hydraulic column to maintain the stability of the chassis. The chassis is installed with an injection head pointing model mounting frame for installing the injection head pointing model.

6. The simulation operating system of a coiled tubing drilling rig model according to claim 1, characterized in that: The drilling rig travel unit also includes: a drilling rig travel operation module, which at least includes a travel parameter setting module, a travel model operation module and a path curve display module. The travel parameter setting module is used to obtain travel parameters. The travel model operation module is used to obtain the user's simulation operation and to display the animation process. The simulation operation includes starting, pausing, resuming and ending; the animation process includes animation loading, animation stopping and animation restarting; the path curve module is used to display the path curve of the drilling rig chassis model and the position of the target point.

7. The simulation operating system of the coiled tubing drilling rig model according to claim 5, characterized in that: The step of simulating the driving direction of the drilling rig chassis model includes: obtaining the center speed of the chassis, the speeds of the left track and the right track; the center speed is the speed at the geometric center of the chassis top view, the left track is the track on the left side of the chassis forward direction, and the right track is the track on the right side of the chassis forward direction; judging the speeds of the three, determining the walking direction of the chassis; obtaining the starting point and the end point of the driving, and determining the driving path curve according to the Bezier curve; the Bezier curve is: B(t)=P0(1-t) 3 +3P1t(1-t) 2 +3P2t 2 (1-t)+P3t 3 In the formula, P0=(x0,y0), P1=(x1,y1), P2=(x2,y2), P3=(x3,y3), where P0 and P3 are the starting point and end point of the driving path curve respectively, and P1 and P2 are the two middle control points respectively.

8. The simulation operating system of the coiled tubing drilling rig model according to claim 1, characterized in that: The injection head chain roller module includes: an injection head chain roller model, which at least has a frame, a clamp, a driving wheel, a driven wheel, an extrusion wheel, a tension wheel, a chain and a continuous pipe, wherein the injection head chain roller model is symmetrically arranged on both sides of the continuous pipe, the frame is fixed to the drilling rig, the clamp, the extrusion wheel and the chain are sequentially installed on the side of the frame close to the continuous pipe, and the tension wheel is installed on the side of the frame away from the continuous pipe, one end of the frame is rotatably connected to the driving wheel, and the other end is rotatably connected to the driven wheel, and the chain rotates in a closed loop to provide clamping force and injection force for continuous pipe drilling; an injection head chain roller model modification module, which at least has geometric parameters, integral parameters, chain assembly and animation loading, wherein the geometric parameters and the integral parameters are used to obtain modification parameters of the injection head chain roller model, the chain assembly is used to display the chain assembly process, and the animation loading is used to display the assembly result.

9. The simulation operating system of a coiled tubing drilling rig model according to claim 1, characterized in that: The drilling trajectory module includes: a drilling trajectory calculation model, which is used to obtain drilling trajectory input parameters and generate a drilling trajectory curve through the minimum curvature method to obtain output parameters, wherein the input parameters include at least sounding, inclination, and azimuth, and the output parameters include at least sounding interval, celestial coordinates, north coordinates, east coordinates, dogleg degree and tool face angle; a drilling trajectory model, which is used to draw the drilling trajectory according to the injection head chain rolling model and the drilling trajectory data, and the drilling trajectory data includes at least the input parameters and the output parameters.

10. The simulation operating system of a coiled tubing drilling rig model according to claim 1, characterized in that: The drilling control module includes: a drilling parameter setting module, which is used to obtain the drilling distance and drilling time of the drilling rig and obtain the drilling speed of the drilling rig; a drilling model operation module, which is used to obtain user simulation operations and to display animation processes, wherein the simulation operations include start, pause, resume and end; the animation process includes animation loading, animation stop and animation restart; a drilling data display module, which is used to display drilling data, wherein the drilling data includes at least drilling depth, drilling pressure, drilling speed, coiled tubing clamping force and coiled tubing injection force.

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