钻井机器人的连续油管钻压和钻速控制模型

doi:10.7623/syxb201910010

石油学报 ›› 2019, Vol. 40 ›› Issue (10): 1255-1262.DOI: 10.7623/syxb201910010

钻井机器人的连续油管钻压和钻速控制模型

刘清友^1,2,3, 刘文全¹, 朱海燕², 赵建国¹

1. 西南石油大学机电工程学院四川成都 610500;
2. 西南石油大学油气藏地质及开发工程国家重点实验室四川成都 610500;
3. 成都理工大学油气藏地质及开发工程国家重点实验室四川成都 610059

收稿日期:2019-01-14 修回日期:2019-05-30 出版日期:2019-10-25 发布日期:2019-11-09
通讯作者: 刘清友,男,1965年10月生,1986年获得西南石油大学学士学位,1997年获得西南石油大学博士学位,现为成都理工大学校长,西南石油大学长江学者特聘教授,博士生导师,主要从事石油装备的理论、实验、产品及应用研究。Email:liuqy66@aliyun.com
作者简介:刘清友,男,1965年10月生,1986年获得西南石油大学学士学位,1997年获得西南石油大学博士学位,现为成都理工大学校长,西南石油大学长江学者特聘教授,博士生导师,主要从事石油装备的理论、实验、产品及应用研究。Email:liuqy66@aliyun.com
基金资助:
四川省重点研发项目（19ZDYF0653）、西南石油大学青年科技创新团队（2018CXTD09）资助、国家自然科学基金面上项目（No.51874253）以及国家自然科学基金青年基金（No.51604232）资助。

Research on WOB and ROP control model of coiled tubing based on drilling robot

Liu Qingyou^1,2,3, Liu Wenquan¹, Zhu Haiyan², Zhao Jianguo¹

1. School of Mechanical and Electrical Engineering, Southwest Petroleum University, Sichuan Chengdu 610500, China;
2. State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation, Southwest Petroleum University, Sichuan Chengdu 610500, China;
3. State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation, Chengdu University of Technology, Sichuan Chengdu 610059, China

Received:2019-01-14 Revised:2019-05-30 Online:2019-10-25 Published:2019-11-09

摘要/Abstract

摘要：

连续油管钻井机器人利用机身内外的钻井液压力差作为动力源，可在牵引连续油管的同时加载钻压。以钻井机器人为基础，建立连续油管钻柱动力学模型，并推导出通过钻井液排量控制钻压和钻速的单参数控制数学模型；对钻井机器人引入调速回路，建立具有调速功能的钻柱动力学模型；在溢流阀调定压力大于机身内外压差时，推导出利用钻井液排量和节流阀流通面积两种参数控制钻压、钻速的数学模型，在溢流阀调定压力小于机身内外压差时，推导出利用钻井液排量、节流阀流通面积和溢流阀调定压力3种参数控制钻压、钻速的数学模型；以11.43 cm（4.5英寸）井眼为例，对上述3种数学模型进行了分析。分析结果表明：钻压、钻速随钻井液排量的增加基本呈线性增加，在钻井液排量大于0.005 m³/s时，钻井机器人能够向前爬行，在钻井液排量大于0.005 7 m³/s时，钻头能够正常钻进；调节节流阀流通面积和溢流阀调定压力，可以在一定范围内无级调钻压和钻速；3种控制方法相结合，可以实现小排量、大钻压，及大排量、小钻压等钻井参数的控制。以控制模型为基础，针对不同井下工况建立钻进工艺的专家数据库，以钻井机器人为"大脑"，结合井下随钻测量数据就能够实现闭环控制，自动钻进。

关键词: 连续油管钻井, 钻井机器人, 钻压, 钻速, 控制模型

Abstract:

The coiled tubing drilling robot uses the differential pressure of inside and outside drilling fluid as a power source to load the weight on bit (WOB)while pulling the coiled tubing. Based on the drilling robot, this study establishes the dynamics model of coiled tubing drill string, and further derives the mathematical model of single parameter control for WOB and rate of penetration (ROP)through the control of drilling fluid displacement. A speed regulating circuit is introduced into the drilling robot to establish a dynamics model of drill string with ROP control function. When the set pressure of relief valve is greater than the differential pressure, the mathematical model is derived for the control of WOB and ROP using two parameters of drilling fluid displacement and throttle valve flow area. When the set pressure of relief valve is smaller than the differential pressure, the mathematical model is derived for the control of WOB and ROP using three parameters of drilling fluid displacement, throttle valve flow area and set pressure of relief valve. Taking the 4.5 in borehole as an example, this paper analyzes the above three mathematical models. The results show that the WOB and ROP of coiled tubing drill string linearly increase when the drilling fluid displacement increases. The drilling robot can crawl forward when the drilling fluid displacement is more than 0.005 m³/s, and the bit can drill normally when the drilling fluid displacement is more than 0.005 7 m³/s. The WOB and ROP can be adjusted steplessly within a certain range by adjusting the flow area of throttle valve and the set pressure of relief valve. The control of drilling parameters such as small displacement, large WOB, large displacement and small WOB can be realized by the combination of three control methods. Based on the control model, the expert database of drilling process can be established according to different downhole conditions. Closed-loop control and automatic drilling can be realized with the help of drilling robots and data measured while drilling.

Key words: coiled tubing drilling, drilling robot, weight on bit, rate of penetration, control model

中图分类号:

TE242

刘清友, 刘文全, 朱海燕, 赵建国. 钻井机器人的连续油管钻压和钻速控制模型[J]. 石油学报, 2019, 40(10): 1255-1262.

Liu Qingyou, Liu Wenquan, Zhu Haiyan, Zhao Jianguo. Research on WOB and ROP control model of coiled tubing based on drilling robot[J]. Acta Petrolei Sinica, 2019, 40(10): 1255-1262.

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钻井机器人的连续油管钻压和钻速控制模型

Research on WOB and ROP control model of coiled tubing based on drilling robot

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