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    • 专利摘要:
    METHOD OF REDUCING DRILLING-SLIPING OSCILLATIONS IN THE DRILLING EQUIPMENT TO DRILL A PROBE IN AN EARTH FORMATION; DEVICE TO REDUCE DRILLING-SLIP OSCILLATIONS IN THE DRILLING EQUIPMENT TO DRILL A PROBE IN AN EARTH FORMATION; ELECTRONIC CONTROLLER TO CONTROL THE ROTATIONAL DRIVING SPEED OF A ROTATIONAL DRIVING SYSTEM IN THE DRILLING EQUIPMENT TO DRILL A PROBE IN AN EARTH FORMATION; AND DRILLING EQUIPMENT TO DRILL A PROBE IN AN EARTH FORMATION. In order to reduce the drilling-slip oscillations in the drilling rig (10) when drilling a rig in a land formation, the drilling rig (10) is modeled (31) by a computational model for computer simulation. The model comprises elements representing a particular physical and mechanical behavior of the drilling equipment (10). In a simulated drilling mode of the drilling rig (10), physical quantities are loaded into the elements, whose quantities represent an initial state of the drilling rig (10) before a transition from the drilling mode to the sliding mode. From a simulation of such a transition, a response time of the rotational speeds of a conduction system (15) and a set of bottom hole (11) of the (...).
    公开号:BR112014009690B1
    申请号:R112014009690-2
    申请日:2012-10-24
    公开日:2021-02-09
    发明作者:André Veltman
    申请人:Cofel Y Experts B.V.；
    IPC主号:
    专利说明:

    TECHNICAL FIELD
    The present invention generally relates to drilling equipment for drilling a probe in an earth formation. More specifically, the present invention relates to a method of and a device and an electronic controller for decreasing drilling-slip oscillations in such drilling equipment when drilling a rig, as well as drilling equipment equipped and operating in accordance with this method. , device or electronic controller. HISTORIC
    The term probe generally designates the result of a drilling operation on the ground, or vertically, horizontally and / or deflected using a drill string, comprising a drill bit at its lower end. At its upper or upper end, the drill string is driven by a surface-driven system, called the top drive system or rotating platform. The top drive system or rotating platform is driven by an electric motor, or
    any other type of driving engine, providing a rotational movement for the drill bit in the probe.
    Typically, the drill string is a very slender structure of a plurality of pipes or pipes, threaded together and can be several hundred or thousands of meters long.
    The bottom of the drill string is called the bottom hole assembly, BHA, and consists of heavier thick-walled pipe tubes, called drill commands, in which the drill bit remains.
    The drilling column is hollow, so that the drilling fluid can be pumped down towards the bottom hole assembly and through nozzles in the drill for lubrication purposes. The drilling fluid is circulated back to the ring, that is, the space between the outer circumference of the drill string and the probe wall, to transport the drill cuts to the surface.
    A probe can be drilled for many different purposes, including extracting water and other liquids (such as oil) or gases (such as natural gas) as part of geotechnical investigation, environmental site assessment, mineral exploration, temperature measurement or as a pilot hole for installing piers or underground units, for example.
    The bottom hole assembly is rigid in the direction of twisting as it is relatively short and thick-walled and in use undergoes lateral deflections due to the compressive force. The drill string is an extremely flexible structure due to its long length and relatively small wall thickness, so that during drilling numerous vibrations are induced in the drill rig and, in particular, in the drill string. In the case of a rotating drill column and bottom hole assembly, torsional, axial and longitudinal or lateral vibrations can also be induced.
    Axial vibrations can cause the drill to rebound, which can damage the drill cutters and supports. Lateral vibrations are very destructive and can create large shocks as the bottom hole assembly impacts the probe wall. Lateral vibrations can drive the system to a vortex of the opposite direction, creating bending moment fluctuations of wide magnitude and high frequency, which result in high fatigue rates of the component and the connection. Imbalance in a composition can cause centrifugally induced bending of the drill string, which can produce a forward vortex and result in wear on one side of the components. Torsional vibrations result, among others, in drilling-sliding movements or oscillations of the drilling column along the probe.
    Drill-slip is a phenomenon caused by frictional forces between the surfaces of the drill bit and / or the drill column making contact with the formation of earth or the inner wall of the probe. The surfaces can alternately adhere or slide over each other, with a corresponding change in the frictional force. In extreme cases, the friction can become so great that the drill bit, that is, the bottom hole assembly, is temporarily stopped completely, called the drilling mode. During drilling mode, the continuous rotational driving speed or the movement of the driving system rotates the drilling column. If the accumulation of torque in the drill string is large enough to overcome friction, the bottom hole assembly begins to rotate again, called the slip mode. This, however, can cause a sudden jump or an increase depending on the step in the angular acceleration of the drill bit movement and can result in excessive wear of the drill bit. The drilling and sliding modes can follow each other quite quickly in an oscillatory manner.
    The drilling-slip is also a great source of problems causing equipment failures if the drilling column, due to the rotating oscillations induced in it, such as accumulating a negative torque, that is, a torque in the opposite direction compared to the rotation direction of the system. driving. When the negative torque exceeds a friction limit, the pipe connections will tend to loosen.
    When drilling-slip occurs, the effectiveness of the drilling process is affected, so that a planned drilling operation can be delayed by a few days, with the risk of fines and the like.
    Thus, in several situations it is necessary to control the effect of drilling-slip oscillations on the drilling equipment, thus reducing the problems defined above as much as possible.
    The decrease in the drilling-slip phenomenon has been the subject of many patent studies and publications. The international patent application WO 2010/063982, for example, suggests the damping of drilling-slip oscillations based on a frequency or transmission line approach of wave propagation, through the operation of the speed controller having its frequency dependent of the reflex coefficient of the torsional waves established at a minimum or close to the frequency of the drilling-slip oscillations.
    A problem with this known approach is that the drilling mode, in which the bottom hole set is at a complete standstill, the frequency approach fails to correctly describe the physical behavior of the drilling rig, according to the speed of the hole set background obviously equals zero. In addition, in practice, the bottom hole assembly rotates at relatively low speeds, which makes approaching the sufficiently accurate sine waveform more difficult, and due to a real drilling system showing a non-linear behavior. SUMMARY
    It is an objective to provide a method of decreasing drilling-slip oscillations in the drilling rig to drill a rig in an earth formation.
    It is another objective to provide a device for reducing drilling-slip oscillations in the drilling rig to drill a rig in a land formation.
    It is also an objective to provide an electronic controller to control the rotational speed of a rotational driving system to reduce drilling-slip oscillations in the drilling rig to drill a rig in a land formation.
    It is also an object of the invention to provide drilling equipment to drill a probe in a ground formation operating according to the method and / or equipped with the device or electronic controller.
    In the present description and claims, the term "decrease" when used in connection with drilling-slip oscillations, should be constructed to include controlling, relieving, reducing, smoothing, calming, relieving and similar meanings, for and including avoiding fluctuations in drilling-sliding.
    In a first aspect, a method of decreasing drilling-slip oscillations in the drilling rig is provided to drill a probe in an earth formation. The drilling rig comprising a drill string having a bottom hole assembly and a coupled upper end and a rotational driving system, and a speed controller for controlling the rotational driving speed of the driving system. The method comprising the steps of: - operating the speed controller so that the driving speed is above a lower driving speed limit when drilling a probe through said drilling rig, wherein the driving speed limit bottom is determined from: - modeling of said drilling equipment by means of an equivalent computational model for computer simulation, - loading of model elements with physical quantities representing an initial state of the drilling equipment causing a transition of the hole set background from drilling mode to sliding mode, - simulation in said loaded model of a transition representative of the transition from the bottom hole set from drilling mode to sliding mode, - recording of the relaxation dynamics in said model simulation step representing the rotational driving speed of the bottom hole set, and - determines relaxation dynamics of the lower driving speed limit as a driving speed for which the rotational driving speed of the bottom hole set is zero.
    The method is based on the concept that drilling-slip oscillations in drilling equipment should be analyzed in the time domain rather than in the frequency domain, in order to take into account the transitions depending on the stage of the drilling mode for the slip mode.
    Through the application of physical quantities to the elements of the computer model representing the actual drilling rig, so that it consents to the initial state of the drilling rig prior to the transition from drilling to sliding mode, transitional effects on the rig drilling can be simulated, measured and visualized.
    Through the application of a response step from the model thus loaded of the drilling rig simulating a release event of the bottom hole set, that is, a sudden transition from the drilling mode to the sliding mode, it was observed that the system typically shows a relaxing time or dynamic behavior of a dynamic system. That is, a transitional phase occurs in which the rotational speed of the bottom hole set undergoes an enlargement followed by a decrease with respect to a fixed state. Punch-slip occurs if the rotational speed of the bottom hole assembly, due to the decrease value, becomes zero or close to zero. It is this recurrence of the rotational speed of the bottom hole assembly becoming zero or close to zero that causes drilling-slip oscillations in the drilling rig.
    By recording the relaxation dynamics in the loaded system from the application of the response step, a minimum rotational speed or critical velocity of the conduction system is determined in which the rotational speed of the bottom hole set equals zero. The rotational speed of the driving system is set to remain above the lower limit or critical speed, so that the rotational speed of the bottom hole set remains above zero.
    With the method according to the invention, the parameters of the speed controller are evaluated and chosen in an optimal way in which the dynamic behavior of the total systems will be more robust, thus decreasing the drilling-slip oscillations when drilling a probe through the drilling equipment.
    In one embodiment, the speed controller is operated in such a way that the driving speed during the fixed operation of the driving system is as low as possible, but above the critical speed. This allows an operator to drill at a low speed while maintaining a relatively high weight on the drill, WOB, while decreasing the drilling-slip and the tourbillon as much as possible, because the latter barely occurs at a relatively low rotational speed of the borehole assembly. background.
    In its simplest realization, the simulation is performed in such a way that the physical quantities that represent the initial state of the drilling rig comprise a pre-spiral drill column in a way of drilling the bottom hole assembly.
    It has been observed that the modeling of the mechanical properties of the driving motor, the drilling column and the bottom hole assembly, as well as the properties of the speed controller can result in a determination of a critical driving speed that is sufficiently accurate to many drilling operations. An even more precise determination of the lower limit of the rotational speed of the conduction system is obtained where the modeling includes a representation of a real earth formation in which the probe is drilled and the drilling fluid or mud used for drilling purposes.
    That is, taking into account the influence of a real earth formation and the drilling fluid or mud on the modeling of a real probe to be drilled, the time behavior of the drilling rig can be even more precisely simulated, resulting in a determination more accurate critical speed and response time for the system as a whole.
    In a first approach, a linear computer simulation model of the drill string can be used.
    It has been found that such a linear model provides practical results with the benefit of less stringent requirements for the computer's processing power and storage capacities. A second linear order model of the drill string satisfies in most cases.
    For the purpose of the present invention, the simulation model can be selected from a range of computer models known for computer simulation of dynamic systems, in order to simulate the dynamics of drilling equipment as precisely as possible.
    In one embodiment, an equivalent electrical circuit diagram is used as a computer simulation model. However, in this way an equivalent nonlinear mechanical model can be used either a state-space model or a dynamic simulation model.
    The step of determining the lower limit of the driving speed as the driving speed for which the rotational driving speed of the bottom hole set is zero, can also include optimization by reiterating the loading, simulation and registration steps using physical quantities adapted and model parameters.
    As will be noticed, each time when extending the drilling column with another section or tubular sections, the dynamics of the drilling equipment and in particular of the drilling column will change. In this way, in order to stay ahead of the drilling-slip phenomenon, the steps of simulating the drilling mode, a slip mode and determining the lower limit of the rotational speed of the driving system are ideally repeated every time after part of the drilling equipment. perforation has been modified. It is evident that the speed controller will be operated according to a value thus determined for the lower limit of the rotational speed of the driving system.
    Those skilled in the art will realize that other modifications to the drilling rig and / or encountering new land formations or when the drill string path during drilling deviates, it may also be necessary to re-establish an updated lower limit of rotational driving speed. Of course, depending on the simulation model used.
    In one embodiment, in which the speed controller comprises a PI controller, having a proportional action, P, and an integral action, I, P and I are established in order to decrease the lower limit of the driving speed when applying the step of answer. The speed controller is operated by applying the integral action established when drilling a probe through the drilling rig.
    It has been observed that the invention allows the driving system to be operated at an even lower critical speed with compensated mechanical inertia combined with decreased integral action, while effectively reducing the occurrence of perforation-slip. In this way, the range of rotational operating speeds of the drilling equipment is increased by this measure.
    The speed controller, in another embodiment, comprises an additional integral action. This additional integral action is established in order to accelerate the establishment of the driving speed of the bottom hole set when applying the response step, in which the speed controller is operated applying the established integral action while drilling a probe through the equipment. drilling.
    This additional integral action helps to accelerate the driving engine when encountering a prolonged drilling situation in which the drill column will rotate faster to create a bottom hole assembly release event in a drilling mode in less time.
    In one embodiment, the additional integral action is established proportional to a spring stiffness or spring constant of the drill string modeled as a torsional spring.
    In another embodiment, compensation for the inertia of the driving system is provided. Inertia compensation operates on the acceleration of the rotational speed of the conduction system when drilling a probe through the drilling equipment. This inertia compensation helps to accelerate the drill string directly after the release event.
    The modeling, loading, simulation, recording and determination steps described above can be performed on a system for separate computer simulation and / or remote drilling equipment, such as an online computer system connected to the speed controller.
    The parameter values for several elements forming the simulation model can be obtained in advance and stored electronically in a table or similar and / or calculated from approximation models for the drilling equipment, as known to those skilled in the art.
    In another aspect, a device is provided for decreasing drilling-slip oscillations in the drilling rig to drill a probe in an earth formation. The drilling rig comprises a drill string having a bottom hole assembly and an upper end coupled to a rotational driving system, and a speed controller for controlling the rotational driving speed of the driving system. The speed controller is arranged to operate the driving system so that the driving speed is above a lower driving speed limit when drilling a probe through the drilling rig.
    The device also comprises a system for computer simulation arranged for: - modeling of drilling equipment using an equivalent computer model for computer simulation, - loading of elements of the model with physical quantities representing an initial state of the drilling equipment causing a transition from the bottom hole set from drilling mode to slip mode, - simulation in the loaded model of a transition representative of the transition from the bottom hole set from drilling mode to slip mode, - recording of relaxation dynamics in the model from the step of response and representation of the rotational driving speed of the bottom hole set, and - determining the relaxation dynamics of the lower driving speed limit as a driving speed for which the rotational driving speed of the set bottom hole is zero.
    The computer simulation system is arranged to apply the method of the invention as disclosed above and can be placed physically separate from the drilling equipment, i.e., the speed controller, such as a remote computer simulation system. The remote computer system can be connected online to the speed controller to control it in order to maintain the rotational speed of the driving system above the determined lower limit.
    The computer simulation system can connect to an electronic library comprising mechanical, electrical and other system data from the actual drilling rig, earth formations, drilling fluids and the like, to determine the lower limit of the rotational speed of the drilling system. driving. A control interface can be provided for input and output of the simulation data to determine the lower limit of the rotational speed by means of a drilling operator, for example.
    In one embodiment of the device, the speed controller comprises a PI controller, having a proportional action P, and an integral action, I and a controller providing an additional integral action for operating the driving system to accelerate the establishment of the driving speed of the bottom hole assembly when drilling a probe by means of drilling equipment, in particular when entering a drilling mode from a slip mode.
    In another embodiment of the device, the speed controller comprises an inertia compensator arranged to operate on the acceleration in the rotational speed of the driving system to provide compensation for the inertia of the driving system when drilling a probe through the drilling equipment, in particular , when entering a drilling mode from the slip mode.
    The inertia compensator provides the mass compensation of the conduction system, so that the drilling column accelerates more quickly after a release event.
    In one embodiment of the device, the speed controller is an electronic controller implemented as a PII controller.
    In another aspect, the invention provides an electronic controller for controlling the rotational driving speed of a rotational driving system in the drilling rig to drill a rig in a land formation, whose drilling rig comprises a drill string having a set of bottom hole and an upper end coupled to the rotational driving system, in which the electronic controller comprises a driving speed limiting device having a memory for storing a lower driving speed limit of the driving speed obtained from the driving method. according to the invention. The speed limiting device is configured to limit the rotational speed of the driving system to be equal to or above the determined critical speed.
    In one embodiment, the electronic controller comprises a PI controller, having a proportional action, P, and an integral action, I, to operate the driving system, and comprising a control unit providing an additional integral action to operate the driving system to accelerate the establishment of the rotational speed or driving speed of the bottom bore assembly, and / or an inertia compensator arranged to operate on the acceleration in the driving speed of the driving system to provide inertia compensation of the driving system, while pierce a probe through drilling equipment, in particular, when entering a drilling mode from a slip mode. The electronic controller as a whole can be called a PII controller.
    The invention also provides drilling equipment to drill a rig in a land formation, the drilling rig comprising a drilling column having a bottom end leading to a bottom hole assembly and an upper end coupled to a rotational driving system, and a device for decreasing drilling-slip oscillations in the drilling rig by controlling the rotational speed of the conduction system, as revealed by the present patent application.
    The drilling rig can be any of the new drilling rig or equipment improved with any of the method, device and electronic controller to decrease the drift-slip oscillations in accordance with the present invention.
    The aspects and advantages mentioned above and others of the invention will be better understood from the detailed description below with reference to the attached drawings.
    In the drawings, similar reference numerals denote identical parts or parts performing an identical or comparable operation or function.
    Although the examples presented refer to a specific computer simulation model using MATLAB ™ as a computer simulation software program, the method, device, electronic controller and drilling equipment disclosed in the summary part of this patent application they are not built as limited to this type of computer simulation software model and program. On the contrary, the invention can be applied to any commercially available computer simulation program to simulate the temporal behavior of a dynamic system, such as CASPOC ™. BRIEF DESCRIPTION OF THE DRAWINGS
    Fig. 1 is a very dynamic representation of the prior art drilling rig for drilling a rig in an earth formation.
    Fig. 2 shows a typical rotational speed vs. the drilling-slip torque curve in the bottom hole assembly of a drilling rig.
    Fig. 3 is an equivalent diagram of the schematic electrical circuit forming a computational model for computer simulation of a drilling-slip condition of the drilling equipment of Fig. 1 according to the invention.
    Fig. 4 shows the simulated temporal behavior of the rotational speed of the driving system and the bottom hole set obtained for the model in Fig. 3 for a transition from drilling mode to sliding mode for tuned system configurations.
    Fig. 5 shows the simulated temporal behavior of the rotational speed of the driving system and the bottom hole set obtained for the model in Fig. 3 for a transition from drilling mode to sliding mode for system configurations according to the invention.
    Fig. 6 shows a simplified flowchart diagram for determining the critical speed according to the invention.
    Fig. 7 shows the simulated temporal behavior of the rotational speed of the driving system and the bottom hole set obtained for the model in Fig. 3 for a transition from drilling to sliding mode, obtained for different system configurations. according to the invention.
    Fig. 8 is an equivalent diagram of the schematic electrical circuit forming a computational model for computer simulation of a drilling-slip condition of the drilling equipment of Fig. 1 according to the invention, comprising additional integral action.
    Fig. 9 shows the simulated temporal behavior of the rotational speed of the driving system obtained for the model in Fig. 8 for a transition from drilling mode to sliding mode of three simulations.
    Fig. 10 shows the simulated temporal behavior of the rotational speed of the bottom hole set obtained for the model in Fig. 8 for a transition from drilling mode to sliding mode of three simulations.
    Fig. 11 is a schematic representation of the drilling rig equipped and operating according to the invention, having an electronic PII controller to control the rotational speed of the driving system. DETAILED DESCRIPTION OF THE FIGURES
    Figure 1 shows, in a very schematic manner, a typical drilling rig 10 from a drilling slot to drill a rig in a ground formation. The cutting tool for drilling these probes is called a drill bit 17 and connects to a bottom hole assembly, BHA, 11 at a lower end 13 of a drill column 12. At an upper end 14 of this, the column hole 12 is coupled to a rotational driving system 15.
    The drill column 12 comprises lengths of hollow pipes or drill pipes, threaded together at the ends. A typical drill string is several kilometers long, such as 0-10 km, and the drill pipe can have an outside diameter of about 100 - 300 mm and a wall thickness of about 10 - 50 mm. BHA 11 consists of heavier pipes that can have an outside diameter of about 250 - 500 mm and a wall thickness of about 100 mm, for example, called drilling commands. The length of the BHA is typically in the range of 100 - 300 m. The drill string 12 is very slender compared to its length.
    Although not shown, in a real drilling operation, the drilling fluid is pumped through the drilling pipes of the drill column 12 towards the drill bit 17 for cooling and lubrication of the drill bit 17. The chips from the drilling operation drilling holes are returned to the surface by means of the drilling fluid flowing through the ring formed between the outer circumference of the drilling column 12 and the probe (not shown).
    The bottom hole set 11 comprises several sensors and transmitters 16 and a directional tool (not shown) to direct the bottom hole set 11 to drill a probe in a certain direction in the formation of earth, such as vertical, horizontal or offset in an angle and, of course, combinations of these.
    The driving system 15 comprises a motor of the rotary driving system 18, also called the top drive system or turntable, for rotating the drilling column 12, the BHA 11 and thus the drill bit 17. Currently the motor of the driving system driving is usually an electric motor, for example, an 800 kW induction motor powered by a power converter. However, the present invention is equally applicable to a synchronous machine, a DC direct current machine, a diesel engine, a hydraulic motor, or the like. Although not explicitly shown, between the engine of the driving system 18 and the drill string 12, a gearbox can connect, having a particular speed reduction or a range of speed reductions.
    In use, at its upper end 14, the drill string 12 is pulled upwards with the drill winches. At the lower end 13, BHA 11 is supported by the drill bit 17 in the earth formation. The thin drill pipes of the drill string 12 are constantly in tension, while the thick-walled bottom of BHA 11 is partially in compression. The tension in the drill pipes prevents the drill pipe section from bending. The torsional rigidity of the drill pipe section is, however, relatively small due to its slender construction. BHA 11 is rigid in the torsional direction, but encounters lateral deflections due to the compressive force acting on the drill bit 17.
    Drill data and information are displayed on a console 19 comprising a display or other data output device (not shown) and an input device, such as a keyboard, touchscreen and the like (not shown) via of which, through an intermediate speed controller 20, a driller can control the rotational speed of the driving system 15 and / or a torque limit for the driving system 15 to control the rotational speed of the drill bit 17.
    In practice, several types of speed controllers 20 have been developed and used, the control operation of which allows for a well-known PI controller, operable to provide a type of proportional action P, and a type of an integral action, I. In the case of an electric driving system motor 18, for example, the speed controller 20 can be arranged to operate on feedback from any or all of the measurement variables, such as driving motor current, rotational speed the driving motor, and fluctuations in the driving motor current and rotational speed. This, for example, to control the flow of energy in the conduction system 15 by controlling either or both of these variables.
    Although the conduction system 15 can operate in different modes, such as a rotary mode and compensation mode, the present invention is directed to the drilling mode, during which the perforator wishes to effectively grind or cut material from an earth formation. or geological formation by pushing and turning the drill bit 17 and rinsing the probe with drilling fluid or mud.
    Experience shows that a relatively constant rotational speed of the drill bit 17 is optimal for effective ground penetration, low drilling wear, almost no turning vibration, good driving conditions for the bottom bore assembly 11. The rotational speeds of common fixed-state drilling are slightly higher than 100 rpm with a driving torque exerted on the drill bit 17 depending on a weight established on the bit, WOB.
    During drilling, as a result of the mechanical contact of the drill string 12 and / or the drill bit 17 with the geological formation in the probe and its surroundings, the drill string 12 and the drill bit 17 encounter fluctuations in the frictional force . The frictional forces on the drill bit 17 and the lower end part 13 of the drill column induce a frictional torque that can cause torsional drill-slip vibrations, due to the torsional flexibility of the drill pipes of the drill column 12 that are mainly expressed as a torsional spring with a particular spring stiffness or spring constant Ks [Nm / rad]. The conduction system 15, due to its significant inertia Jd [kgm2], does not respond immediately to such fluctuations in the frictional force.
    As a result of this, during the fixed operation of the drill bit 17, an increase in friction causes the drill bit 17 to slow down, in the most severe case, the drill bit 17 may be completely immobile. When the drill bit 17 is stopped, or almost stopped, called the drilling mode, the driving system 15, controlled by the speed controller 20, will continue to rotate and drive the drill column 12. Due to the bottom hole assembly 11 rotate widely or not, the spring-type behavior of the drill column 12 causes the drill column 12 to rotate through the torque in the bottom hole assembly 11 increases to a level that exceeds the release friction. At this point in time, the bottom hole assembly 11 and the drill bit 17 begin to rotate again, called the slip mode.
    The non-linear graph shown in Fig. 2 represents, as an example, the friction torque Tb [Nm] on the drill bit as a function of its rotational speed wb [rad / s] during the drill-slip operation of the bit drilling. Due to their illustrative nature, no particular values of the parameters are indicated in fig. two .
    In a complete standstill, that is, in the drilling mode wb = 0, Ts represents the value of the driving torque in which the friction in the drilling mode is overcome, also called the release torque. The torque in the immobile state, at a reasonable rotational speed of the drill bit, is designated Td. A valid assumption is Ts «2 Td. It can be assumed that both Td and Ts depend on the weight on the bit almost linearly.
    From Fig. 2 the drilling-slip dynamics can be predicted. If the drill bit and / or the drill string during fixed operation, ie the torque of the drill bit Td, encounters increased friction, the drill bit decelerates until the driving torque Tb on the drill bit and Ts is reached in which the drill bit comes off. As a result of this, the rotational speed wb of the drill bit fires and the torque on the drill bit decreases until the Td value is much less to overcome friction and the drill bit slows down, so that the drill cycle- slip is repeated.
    Note that the drill bit does not necessarily have to be completely paralyzed, that is, wb = 0 rad / s, but it can also decelerate to angular rotational speeds as low as 0.1 rad / s, for example.
    It has been observed that such drilling-slip oscillations are very detrimental to the operating life of the drill bit, the effectiveness of the drilling operation as a whole and are a major cause for serious vibrations in the drilling equipment, leading to increased damage and risk of unscrewing the drill pipes to form the drill string.
    An important observation is that there is no such thing as a constant drill-slip oscillation frequency. It has been observed that when the speed of the upper end of the drill string is slowly reduced, in the drill-slip mode, the time between the waves of the rotational speed of the subsequent drill bit increases. This can be understood in that when the speed of the upper end decreases, the drill column spins more slowly, so that the time in which the release torque is reached also increases. This nonlinear behavior and the very low rotational speed of the drill bit or bottom hole assembly above and even zero prevents a reliable frequency or wave approach to solve the drill-slip phenomenon.
    Fig. 3 is an equivalent diagram of the schematic electrical circuit comprising electrical elements forming a computational model for computer simulation of a drill-slip condition of the drilling equipment of Fig. 2 according to the invention.
    In the model of Fig. 3, the drill column 12, operating mainly as a torsional spring, is modeled as an inductor L2 with an inductance value L2 = 1 / Ks [H]. The inertia of the conduction system 15 is modeled as a capacitor C1 with a capacitance value C1 = Jd [F]. The inertia of the bottom hole set is modeled as a capacitor C2 with a capacitance value C2 = Jb, where Jb is the inertia of the bottom hole set 11. In the model in Fig. 3a the L2 series of the inductor connects capacitors C1 and C2.
    The speed controller 20 is modeled as a conventional PI controller, comprising a reference speed source w0 represented by a voltage source DC V0, having a voltage value V0 = o0 [V], and series connected to the capacitor connected to the capacitor C1 and inductor L2 by means of an intermediate parallel inductor-resistor circuit, that is, inductor L1 having an inductance value L1 = 1 / KI [H] representing the integral action I, the action equivalent to a KI stiffness [Nms / rad], and resistor R1 having a resistance value R1 [Q] representing the proportional, 1 / P, action equivalent to a damping of Cf [Nms / rad] provided by the speed controller 20.
    In the model or equivalent circuit diagram of Fig. 3, the rotational speed of the conduction system 15, od, equals the voltage V1 through capacitor C1 and the rotational speed of the bottom hole assembly 11, ob, equals the voltage V2 through capacitor C2. The torque Tb exerted on the bottom hole assembly 11 is modeled by a current source I2 having a current value I2 [A].
    In the transition from drilling to sliding mode, in Fig. 3, switch S opens, providing current I2 to flow in capacitor C2. This represents a step in the acceleration of BHA, starting from the standstill. Switch S closes when V2 becomes zero. Switch S opens when the torque, that is, represented by I1, exceeds Td.
    Fig. 4 shows a simulated temporal behavior of the rotational speed of the driving system 15 and the bottom hole set 11 obtained for the model in Fig. 3 for a transition from drilling mode to sliding mode for tuned system configurations. . The time t [s] runs along the horizontal axis and the voltage V [V] or rotational speed runs along the vertical axis. A voltage or rotational speed equal to zero is indicated by a horizontal dotted line 21 in the graph in Fig. 4. In the simulation shown in Fig. 4, the following values apply to the various electrical components in Fig. 3: Vo = 4V / wo = 4rad / s C1 = 2000 F / Jd = 2000 Kgm2 C2 = 500 F / Jd = 500 kgm2 LI = 0.0005 H / KI = 2000 Nm / rad L2 = 0.002 H / Ks = 500 Nm / rad RI = 0 , 0005 Q / Cp = 2 kNms / rad I2 = 5 kA / Td = 5 kNm
    A mud torque of 5 kNm is assumed, represented by an I2 of 5 kA in the equivalent circuit diagram. The earth formation causing the drill-slip mode is modeled by a switch S2 parallel to capacitor C2. A closed position (i.e., conducting current) of this switch S2, simulates a voltage V2 equal to zero, which is equivalent to a zero wb speed of the bottom hole assembly, i.e., a complete stoppage of the drill bit 17.
    The above representations are representative for the drilling rig 10 when drilling a straight vertical probe in a limestone-type earth formation, for example. Those skilled in the art will realize that other configurations are possible, such as a different value for the simulated mud torque, for example.
    According to the invention, the drilling spring 12 is supposed to be pre-spiraled with an initial condition that represents a torque of 10 kNm, just before the drilling mode ends and transitions to the sliding mode. In the tuned electrical model of Fig. 3, this is represented by an initial current Ii of 10 kA charged on inductor L2. This initial current Ii is shown in Fig. 3 by a dot and dash line. In terms of the introductory part, the element L2, that is, the inductor in the model, is charged with a physical quantity, that is, an initial current of 10 kA.
    The transition from drilling to sliding mode is simulated by opening switch S, that is, placing it in its non-current driving position. However, when simulating with a pre-spiral spring, S can be considered open at t = 0, so that no switching operation needs to be simulated.
    From the simulated time behavior of the rotational speed wd = V1 of the conduction system 15, that is, the dashed line in Fig. 4, and the rotational speed wb = V2 of the bottom hole set 11, that is, the solid line in Fig. 4, it will be immediately recognized that after the transition from drilling mode to sliding mode at t = 0, the rotational speed of the bottom hole set 11 crosses zero, indicated by reference numerals 29 and 22 and still reverses the rotational speed, that is, a negative voltage V2 indicated by the reference numeral 23.
    In order to decrease the drilling-slip, the speed of the bottom hole set wb should not approach zero and certainly should not go below zero, as shown by V2 from the relaxation dynamics in Fig. 4.
    If no drilling mode occurs, it will be evident that the rotational speed of the driving system and the rotational speed of the bottom hole set, in the immobile state mode, are equal to the applied reference rotational speed V0.
    Fig. 5 shows a simulated temporal behavior of the rotational speed of the conduction system V1, that is, the dashed line, and the bottom hole set V2, the solid line, obtained for the model in Fig. 3 for a transition from the perforation mode for sliding mode for the same system configurations and loads of the model elements as in Fig. 4, that is, a current of 10 kA applied in the inductor L2. The reference rotational speed w0 of the speed controller 20 is now set at 6 rad / s, that is, V0 = 6V.
    From this simulation, it can be seen that the rotational speed of the bottom hole set, that is, V2, no longer crosses zero and still remains well below zero. The circled point 24 of the graph of V2 during the transitional period in Fig. 5 determines the lower limit or critical rotational speed wc of the conduction system 15 for which the rotational speed of the bottom hole set 11 does not cross the zero line 21.
    With the settings and equivalent circuit diagram defined above, operate the speed controller 20 at a critical rotational speed wc equal to a minimum reference rotational speed w0 = 6 rad / s, for example, the rotational speed wb of the borehole set. bottom 11 is kept high enough to prevent drilling equipment from entering a drill-slip mode.
    The steps for determining the lower limit of the rotational speed of the driving system, i.e. the critical speed, as shown above are illustrated schematically in Fig. 6 by a flow chart diagram 30 of the method according to the invention. The direction of flow is assumed from the top to the end of the sheet. Other directions are indicated by a corresponding arrow.
    As a first step, the drilling rig 10 for drilling a probe in a land formation is modeled by an equivalent computer model for computer simulation, ie, block 31 “Select computer simulation model and apply component values representing the equipment of real drilling ”.
    The drilling rig comprises several parts, including the drill string 12, the bottom hole assembly 11, the rotational driving system 15, and the speed controller 20 to control the rotational speed of the drill bit 17. The The selected model comprises elements representing a real physical and mechanical behavior of this drilling rig 10 and each component of the model is assigned a value that corresponds to the physical and mechanical properties of the part of the drilling rig that the respective component represents. In a preferred embodiment, the model is an equivalent electrical circuit diagram of the type shown in Fig. 3 through which the temporal behavior of the rotational speed of the bottom hole assembly 11 can be determined depending on the operation of the speed controller 20 and the rotational speed of the driving system 15.
    Then, as shown by block 32, “Load elements with initial state of physical quantities”, each component of the model is assigned a value that corresponds to an initial condition. In this case, an initial condition is loaded corresponding to the mechanical and physical state of the drilling rig just before the moment of release of the bottom hole set 11.
    With block 33, “Simulate the termination of the drilling mode”, the moment of release, that is, the termination of the drilling mode is simulated in the model. As disclosed above with reference to Fig. 3, such a simulation may comprise opening the switch S from its closed state, i.e., current conduction state, to an open state or non-current conduction state. This causes a step response behavior in the model equivalent to a change depending on the step of the BHA acceleration. As the speed of the BHA exceeds the speed of the top drive, the torque of the drill string will begin to decrease.
    As illustrated above in Figs. 4 and 5, for example, the simulation model using the appropriate initial conditions is very suitable to simulate the dynamics of the bottom hole set 11, directly after the moment of release. Although a graphic record, for example, of the rotational speed of the bottom hole set and the driving system is shown in these figures, a numerical or other representation of the response can also be provided. Block 34 “Registration of relaxation dynamics from the simulation”.
    From the recorded relaxation dynamics representing the rotational conduction speed of the bottom hole set, the lower limit of the decrease is determined. In a graphical representation of the time response, this is the lowest value of the dynamic curve, that is, the positions 23 and 24 of the V2 curve in Fig. 3. Block 35 “Determine the lower limit of the speed bottom hole set rotational ”.
    The minimum rotational speed or critical speed of the conduction system 15 preventing the rotational speed of the bottom hole set 11 from becoming zero or below zero, is now determined from the determined relaxation dynamics, block 36 “Determine the lower limit of the rotational speed of the driving system from the bottom hole set of the lower limit of the rotational speed.
    The drilling rig, i.e., the speed controller 20 when observing the critical speed as determined above, is operated in such a way that the rotational speed of the driving system 15 remains above the lower limit. Block 37 “Operating the speed controller while observing the lower limit of the rotational speed of the driving system”.
    During drilling, the drill string 12 will be extended by more drill pipes and the direction of the drill bit and material properties of the found earth formation can change and thus, the critical speed of the conduction system.
    Decision block 38 “Has equipment / environment changed ” provides such conditions for change. If so, the “Yes” result of decision block 38, the critical speed will be determined for the changed conditions, that is, steps 31-37. If the change in drilling equipment is still too small to justify a new determination of the critical speed, that is, the “No” result of block 38, the drilling equipment will continue drilling the wave at the established conduction speed, that is, according to block 37.
    A decision to re-determine the critical speed can be based, for example, on the detected values of the drill column length 12, when entering a drilling mode and changing the weight on the drill that was applied to the drill column to have a smooth drilling operation, for example.
    Before or in determining the lower driving speed limit in block 35, 36, an optimization can be applied by reiterating the loading, simulation and registration steps in blocks 32, 33, 34 using the adapted physical quantities and model parameters, as illustrated by decision block 39, “Another optimization ”, generates “Yes”.
    Fig. 7 shows a simulated temporal behavior of the rotational speed of the conduction system V1, that is, the dashed line, and the rotational speed of the bottom hole set V2, the solid line, obtained for the model of Fig. 3 for a transition from drilling mode to sliding mode to the same system configurations as in Fig. 5, however, with a higher value of L1 = 0.001 H, that is, a reduced rigidity of the PI KI controller = 1000 Nm / rad.
    As can be seen, a lower value of KI, that is, a decreased action I provided by the speed controller 20, results in a less excessive dynamic response of the rotational speed of the bottom hole set 11, that is, a very small decrease in the value of the voltage V2 and, thus, a very reduced critical speed of the conduction system 15 to keep the circulated point 25 of the graph of V2 above zero. That is, in the simulation of Fig. 7, a reference rotational speed of about w0 = 3 rad / s is sufficient to avoid a rotational speed of the bottom hole set close to zero or even approaching zero.
    From Fig. 7 it will be noticed that if the speed controller 20 comprises a controller PI, having a proportional action, P, and an integral action, I, decreasing the integral action, the critical speed can be reduced when drilling a probe through of drilling equipment, to effectively reduce drilling-slip oscillations at a reduced rotational speed of operation.
    In practice, however, drilling rig operators try to maintain the most stable drilling operation possible, which implies the least possible adaptations to establish speed controller parameters and the shortest possible drilling rig set-up time for their immobile state. after a moment of release. In addition, operators would like to operate the drilling rig over the widest possible rotational speed range of the driving system, the upper limit of which is determined by the mechanical limitations of the driving system and the lower limit of which is determined by critical speed as defined above.
    In order to obtain both, a reduced set-up time and a wide range of rotational speeds of the driving system by reducing the drilling-slip oscillations, in the equivalent circuit diagram of Fig. 8, an additional integral action of the speed controller is simulated. This additional integral action is represented by an integrator A1, an output from which connects to an adder ∑ the control input of a current source I1, the current I1 from which additional current flowing through inductor L2, that is, the equivalent of the torque in the drill string. For the purpose of modeling, the current measurement through L1 is schematically indicated by the current transformer T.
    The input to integrator A1 equals the current through L1. Integrator A1 controls I1 so that the current through L1 becomes zero on average, assuming the average torque in the column from the integral I action. This additional integral action operates predominantly when the torque in the bottom hole assembly increases, that is, when entering drilling mode.
    When drilling a probe, the speed controller is operated by applying the integral action as simulated in the drilling rig model.
    In another embodiment, also shown schematically in Fig. 8, inertia compensation is implemented, shown by the inertia compensator A2. Inertia compensation A2 operates by accelerating the rotational speed of the conduction system when drilling a probe through the drilling rig. The output of the inertia compensator A2 controls the source of the current I1 through the adder ∑.
    In use, the inertia compensator A2 controls the current I1 proportional to the acceleration of the conduction system 15, that is, the current through C1, multiplied by a factor, effectively diverting capacitor C1 at a load Q that has the effect that the effective capacitance of capacitor C1 is reduced.
    In mechanical terms, a torque proportional to the acceleration of the driving system 15 is injected into the upper end 14 of the drilling column 12. This additional torque effectively reduces the inertia of the driving system 15 as experienced by the drilling column. In this way, the inertia compensator A2 provides the reduction of inertia of the conduction system. A lower inertia will accelerate the top drive more quickly upon release. The drop in tension in the drill string will thus be limited.
    When drilling a probe, the speed controller is operated by applying another additional integral action as simulated in the drilling rig model.
    The effect of the additional integral action can be shown through the response time of the rotational speed of the driving system and the rotational speed of the drilling rig for a plurality of speed controller configurations.
    Fig. 9 shows the response time or relaxation dynamics of the rotational speed of the conduction system and Fig. 10 shows the response time or relaxation dynamics of the bottom hole set.
    The dashed line is the simulated response time for the drilling rig according to the load model in Fig. 3 and a PI speed controller with component configurations: C1 = 2000 F / Jd = 2000 kgm2 C2 = 500 F / Jb = 500 kgm2 L1 = 0.00005 H / KI = 20 kNm / rad L2 = 0.002 H / Ks = 500 Nm / rad R1 = 0.00005 Q / Cp = 20 kNms / rad
    The dashed-dotted line is a simulated response time for drilling equipment in accordance with a method of the prior commercially available technique of controlling the speed controller, known as SOFT TORQUE®, disclosed by US patent document 5,117,926. The relative configurations of the component compared to the circuit diagram are: C1 = 2000 F / Jd = 2000 kgm2 C2 = 500 F / Jb = 500 kgm2 L1 = 0.00005 H / KI = 2000 Nm / rad L2 = 0.002 H / Ks = 500 Nm / rad R1 = 0.0022 Q / Cp = 450 Nms / rad
    The solid line is the simulated response time for the drilling rig according to the model in Fig. 3 and a PII speed controller comprising the additional integral action provided by the integrator A1 and the inertia compensator A2, operative as described above. The effective configurations of the component as a result of the additional integral actions operative at the time of release are: C1 = 500 F / Jd = 500 kgm2 C2 = 500 F / Jb = 500 kgm2 L1 = 0.004 H / KI = 250 Nm / rad L2 = 0.002 H / Ks = 500 Nm / rad R1 = 0.00118 Q / Cp = 850 Nms / rad
    In mechanical terms, the dashed line represents a very rigid conduction system. The dashed-dotted line represents a driving system with feedback based on the motor current (torque) of the driving system, and the solid line represents a compensated driving system according to the invention.
    In both simulations shown in Fig. 9 and Fig. 10, according to the invention, it is assumed that the drill column 12 is pre-spiraled with an initial condition that represents a torque in the bottom hole set of 10 kNm, just before the drilling mode ends and transitions to slip mode. In the tuned electrical model of Fig. 3, this is represented by an initial current of 10 kA in L1 and L2.
    In Fig. 10, the lowest value of the simulated rotational speed of the bottom hole set for three simulations is marked by a circle, indicated by reference numerals 26, 27, 28 for the dashed, dashed-dotted and solid line curves , respectively. As revealed above, these lower values represent the critical velocity of the driving system required to keep these points 26, 27, 28 above zero in the event of a drilling mode release.
    The rigid case, that is, the dashed curve, requires a rotational speed of the conduction system of approximately 19.6 rad / s. The SOFT TORQUE® case has a critical speed of 11.4 rad / s and the compensated case according to the invention only needs a minimum rotational driving speed of 0.6 rad / s to be able to recover from a situation of drilling-slip under the assumptions of the system used.
    From Fig. 9 and Fig. 10, very fast recovery can be seen, that is, very short transitional time of the compensated system according to the invention, that is, the solid line, compared to other configurations. In particular, the action of the additional integrator A1 supports reaching the release torque in the drilling mode much faster without sacrificing critical speed. The inertia compensator A2 helps to accelerate the driving system, as shown in Fig. 9, keeping the critical speed low enough, so that the drilling rig is capable of operating over a wide range of rotational speed.
    Fig. 11 schematically shows a device 40 for reducing drilling-slip oscillations in drilling equipment 10 when drilling a probe in a ground formation according to the invention. In addition to the equipment 10 shown in Fig. 1, a computer simulation system 41 is provided. The simulation system 41 comprises a computer or processing device 42, an input interface 43, such as a keyboard, a touchscreen or the like to select a computer simulation model of the drilling rig and to establish the initial values of the parameter values to simulate the operation of the driving system 15 and the bottom hole assembly 11 of the drilling rig 10. The simulated response time of the drilling rig is provided on an output interface 44, such as a graphic display , a printer or plotter, or a data evaluation module to evaluate the simulated response, to provide the critical speed of the drilling equipment. The simulation model, parameter and initial values and simulated responses and other relevant data to determine the critical speed according to the invention can also be stored and retrieved from a separate database 45, accessible from the simulation system 41. A database 45 can be remote to the simulation system and connected by a communication network 46, for example.
    The simulation system 41 comprises suitable software and hardware arranged to model the drilling rig 10 by means of a computational model for computer simulation; simulating in this model a drilling mode of the bottom hole assembly 11, and applying physical quantities to the model representing an initial state of the drilling rig 10 prior to a slip mode; simulate in the model a sliding mode of the bottom hole set 11 ending the drilling mode, and determine from this sliding mode simulation a lower limit of the rotational speed of the driving system 15 for which the bottom hole set 11 rotates in the same direction, that is, it does not reverse its rotational direction and maintains a rotational speed above zero.
    An electronic controller 50 according to the invention comprises, in addition to the speed controller 20, a speed limiting device 47 having a memory for storing a lower limit, that is, the critical rotational speed of the driving system obtained from the simulation response time through simulation system 41, as defined above. The electronic controller 50 connects to the simulation system 41 via a data connection or telecommunication network 48.
    The electronic controller 50 can be designed as an electronic PI controller or as a PI controller with a control unit 49 providing an additional integral action, operating in accordance with integrator A1 disclosed above. In one embodiment, an inertia compensator 51 is also implemented in the speed controller 50 and arranged to operate dependent on the acceleration of the driving motor 18, as shown by a double line 52, and discussed with reference to Fig. 8. The speed controller speed 50 as a whole can be implemented as a PII controller.
    In the equivalent circuit diagram of Fig. 3, the drill column is modeled by a single L2 inductor, connected as shown. For the purpose of the invention, different sections of the drill string can be modeled by an inductor L having a suitable inductance value and a capacitor C having a suitable capacitance value representing some inertia of the drill string, for example, where the series of inductor L connects to inductor L2 and capacitor C connects from the connection node of L2 and L to the soil or E ground. Such different sections can be modeled, taking into account different properties of earth formation, the path of drilling column in the formation of earth, the mechanical properties of the drilling pipes, etc.
    When loading an initial condition on the elements of the drilling rig model, different initial currents can be applied to the different inductors L, L2,
    A1 and can charge capacitor (s) C according to an initial voltage if necessary.
    In addition, as will be perceived by those skilled in the art, the method, device and electronic controller according to the invention as described above, provide a study of the effect on the operation of the drilling equipment of various parameter settings and initial values and applied physical quantities. This determines the optimum parameter settings of the electronic controller to achieve the desired behavior of the drilling rig when drilling a probe, in particular to decrease drilling-slip oscillations.
    Those skilled in the art will realize that the bottom hole assembly and the driving system can be modeled and the respective circuit elements can be loaded with the appropriate physical quantities, that is, current and load, to simulate a respective initial condition in more ways than one. Details.
    Accordingly, the present invention is not limited to the achievements as disclosed above, and can be modified and augmented by those skilled in the art beyond the scope of the present invention as disclosed in the appended claims without having to apply inventive skills.
    权利要求:
    Claims (20)
    [0001]
    1. METHOD OF REDUCING DRILLING-SLIPING OSCILLATIONS IN THE DRILLING EQUIPMENT (10) TO DRILL A PROBE IN AN EARTH FORMATION, characterized in that said drilling equipment (10) comprises a drilling column (12) having a set bottom hole (11) and an upper end (14) coupled to a rotational driving system (15), and a speed controller (20) to control the rotational driving speed of said driving system (15), the method comprising the steps of: - operating (37) said speed controller (20) so that said driving speed is above a lower driving speed limit when drilling a hole through said drilling equipment (10 ), in which the said lower driving speed limit is determined from: - modeling (30) of said drilling equipment (10) by means of an equivalent computational model for computer simulation, - loading (32) of elements of said model with physical quantities representing an initial state of said drilling equipment (10) causing a transition from said bottom hole set from drilling mode to sliding mode, - simulation (33) in said loaded model of a representative transition of said transition of said bottom hole set (11) from drilling mode to sliding mode, - recording (34) of the relaxation dynamics in said model from said simulation stage and representation of driving speed rotation of said bottom hole set (11), and - determining (36) said relaxation dynamics of said lower driving speed limit as a driving speed for which said rotational driving speed of said hole set background (11) is zero.
    [0002]
    2. METHOD, according to claim 1, characterized in that said simulation step (33) comprises application of a response step of said loaded model representative of said transition of said bottom hole set (11) of the mode drilling to slip mode.
    [0003]
    METHOD, according to any one of the preceding claims, characterized in that said speed controller (20) is operated (37) in such a way that said driving speed during the constant operation of a driving system (15) is as low as possible above the lower driving speed limit.
    [0004]
    Method according to any one of the preceding claims, characterized in that said physical quantities representing said initial state of said drilling equipment (10) comprise a pre-spiral drilling column (12) as a result of a for drilling said bottom hole assembly (11).
    [0005]
    5. METHOD according to any one of the preceding claims, characterized in that said modeling (30) includes the representation of a real earth formation and drilling fluid in which said probe is drilled.
    [0006]
    6. METHOD, according to any one of the preceding claims, characterized in that said model (30) is a diagram of the electrical equivalent circuit, a state-space model or dynamic simulation model.
    [0007]
    Method according to any one of the preceding claims, characterized in that said determination (36) of said lower driving speed limit is repeated (38) after part of said drilling equipment has been modified.
    [0008]
    8. METHOD, according to any one of the preceding claims, characterized in that said speed controller (20) comprises a PI controller, having a proportional action, P, and an integral action, I, m that said Pel are established in order to decrease said lower driving speed limit when applying said response step, and operating said speed controller (20) applying said integral action established when drilling a probe through said drilling equipment (10) .
    [0009]
    9. METHOD, according to claim 8, characterized in that said speed controller (20) comprises an additional integral action (Al; 49), in which said additional integral action is established in order to accelerate the establishment of said driving speed of said bottom hole assembly (11) when applying said response step, and operation of said speed controller (20) applying said integral action when drilling a probe through said drilling equipment (10) .
    [0010]
    10. METHOD, according to claim 9, characterized in that said additional integral action (Al; 49) is established proportionally to a spring stiffness or constant of the spring of said drilling column (12) modeled as a torsion spring .
    [0011]
    A method according to any one of claims 8 to 10, characterized in that said speed controller (20) comprises inertia compensation (A2; 51), said inertia compensation operates on the acceleration in the driving speed said conduction system (15) to provide compensation for the inertia of said conduction system (15) when drilling a probe by means of said drilling equipment (10).
    [0012]
    12. METHOD, according to any one of the preceding claims, characterized in that said stages of modeling (31), loading (32), simulation (33), registration (34) and determination (36) are carried out in a system ( 41) for computer simulation separate from said drilling equipment (10).
    [0013]
    13. DEVICE (40) TO REDUCE DRILLING-SLIP OSCILLATIONS IN DRILLING EQUIPMENT (10) TO DRILL A PROBE IN AN EARTH FORMATION, characterized in that said drilling equipment (10) comprises a drilling column (12) having a bottom hole assembly (11) and an upper end (14) coupled to a rotational driving system (15), and a speed controller (20) to provide a reference torque for said driving system (15 ), wherein said speed controller (20) is arranged to operate said driving system (15) so that said driving speed is above a lower driving speed limit when drilling a probe through the said drilling equipment (10), and further comprising a system (41) for computer simulation arranged for: - modeling (31) of said drilling equipment (10) by means of an equivalent computer model for computer simulation, - carry then (32) the elements of said model with physical quantities representing an initial state of said drilling equipment (10) causing a transition of said bottom hole assembly (11) from drilling mode to sliding mode, - simulation ( 33) in said loaded model of a transition representative of said transition of said bottom hole set (11) from drilling mode to sliding mode, - recording (34) of the relaxation dynamics in said model from said step simulating and representing the rotational driving speed of said bottom hole set (11), and - determining (36) said relaxation dynamics of said lower driving speed limit as a driving speed for which said speed of rotational conduction of said bottom hole set (11) is zero.
    [0014]
    14. DEVICE (40), according to claim 13, characterized in that said speed controller (20) comprises a PI controller, having a proportional action, P, and an integral action, I, and a control unit ( 49) providing an additional integral action to operate said conduction system (15) to accelerate the establishment of said conduction speed of said bottom hole assembly (11) when drilling a probe through said drilling equipment (10) .
    [0015]
    DEVICE (40) according to claim 14, characterized in that said speed controller (20) comprises an inertia compensator (51) arranged to operate on the acceleration in the driving speed of the driving system (15) to provide compensation for the inertia of said conduction system (15) when drilling a probe by means of said drilling equipment (10).
    [0016]
    16. DEVICE (40) according to either of claims 14 or 15, characterized in that said speed controller (20) is an electronic controller implemented as a PII controller.
    [0017]
    17. ELECTRONIC CONTROLLER (50) TO CONTROL THE ROTATIONAL DRIVING SPEED OF A ROTATIONAL DRIVING SYSTEM (15) IN THE DRILLING EQUIPMENT (10) TO DRILL A PROBE IN AN EARTH FORMATION, characterized in that said drilling equipment (10 ) comprises a drilling column (12) having a bottom hole assembly (11) and an upper end (14) coupled to said rotational driving system (15), wherein said electronic controller (50) comprises a driving speed limitation (47) having a memory for storing a lower driving speed limit of said driving speed obtained from the method, as defined in any one of claims 1 to 12.
    [0018]
    18. ELECTRONIC CONTROLLER (50), according to claim 17, characterized in that it comprises a PI controller, having a proportional action, P, and an integral action, I, to operate said conduction system (15), and comprising at least one control unit (49) providing an additional integral action to operate said driving system (15) to accelerate the establishment of said driving speed of said bottom hole assembly (11) when entering a drilling mode from a sliding mode, and an inertia compensator (51) arranged to operate on the acceleration in the driving speed of said driving system (15) to provide inertia compensation of said driving system (15), when drilling a probe by means of said drilling equipment (10).
    [0019]
    19. ELECTRONIC CONTROLLER (50), according to any of claims 17 or 18, characterized in that said electronic controller is implemented as a PII controller.
    [0020]
    20. DRILLING EQUIPMENT (10) FOR DRILLING A PROBE IN AN EARTH FORMATION, characterized in that said drilling equipment (10) comprises a drilling column (12) having a bottom hole assembly (11) and an end upper (14) coupled to a rotational driving system (15), and a device (40) for controlling the rotational driving speed of said driving system (15), as defined in any of claims 13 to 16.
    类似技术:
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    同族专利:
    公开号 | 公开日
    AU2012329620C1|2017-11-23|
    RU2616032C9|2017-07-24|
    HRP20161091T1|2016-10-21|
    US20140284105A1|2014-09-25|
    CN104040111A|2014-09-10|
    EP2776666B8|2016-08-03|
    CA2853276A1|2013-05-02|
    CN104040111B|2017-02-22|
    EP2776666B1|2016-06-01|
    MX2014004985A|2014-10-24|
    AU2012329620B2|2017-08-03|
    WO2013062409A1|2013-05-02|
    RU2616032C2|2017-04-12|
    BR112014009690B8|2021-05-25|
    US10138721B2|2018-11-27|
    JP6156941B2|2017-07-05|
    CA2853276C|2021-03-02|
    JP2014534369A|2014-12-18|
    BR112014009690A2|2018-03-20|
    NL2007656C2|2013-05-01|
    AU2012329620A1|2014-05-15|
    RU2014115864A|2015-12-10|
    EP2776666A1|2014-09-17|
    MX355485B|2018-04-19|
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    法律状态:
    2018-03-27| B15I| Others concerning applications: loss of priority|
    2018-04-24| B12F| Appeal: other appeals|
    2020-05-26| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-08-11| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-12-01| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-02-09| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 24/10/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    2021-05-25| B16C| Correction of notification of the grant|Free format text: REFERENTE AO DESPACHO 16.1 PUBLICADO NA RPI 2614, QUANTO AO NOME DO TITULAR |
    优先权:
    申请号 | 申请日 | 专利标题
    US201161551074P| true| 2011-10-25|2011-10-25|
    NL2007656A|NL2007656C2|2011-10-25|2011-10-25|A method of and a device and an electronic controller for mitigating stick-slip oscillations in borehole equipment.|
    US61/551,074|2011-10-25|
    NL2007656|2011-10-25|
    PCT/NL2012/050739|WO2013062409A1|2011-10-25|2012-10-24|A method of and a device and an electronic controller for mitigating stick-slip oscillations in borehole equipment|
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