CN-122014203-A - Deviation prevention detection device for drill bit of rock drilling ship and inclined rock drilling method

CN122014203ACN 122014203 ACN122014203 ACN 122014203ACN-122014203-A

Abstract

The invention relates to an anti-deviation detection device for a drill bit of a rock drilling ship and an inclined rock drilling method, which belong to the technical field of marine oil and gas engineering and comprise the following steps of obtaining high-frequency shaking input of a ship body, and mixing posture, bending moment, torque and axial expansion and contraction quantity between a downhole drill rod and the drill bit; based on a system dynamics model and ship body shaking, the equivalent damping of the model is dynamically corrected by utilizing the axial expansion quantity reflecting drilling pressure and contact compactness, the equivalent transverse stiffness of the model is dynamically corrected by utilizing a torque signal reflecting torsional stress and transverse stiffness reduction, the predicted interference is subtracted from the underground mixed attitude, the state estimation is carried out by combining a bending moment signal, the pure real track deviation is output, and a smooth deviation correcting instruction is generated according to the pure real track deviation. The method and the device remarkably improve the prediction precision of underground high-frequency shaking.

Inventors

LIN GAOSHAN
Wu Cantong
XIAO SHIHUI
WANG XIANG
ZHOU MINGMIN
LIN LIBIN
LI GUOHUI
HU JINSHI
LI YONGLIANG
ZHANG CHUNHAO
FENG HAIQIANG
YU BINGFENG
HE LEI

Assignees

中铁二十五局集团第一工程有限公司
中铁二十五局集团有限公司

Dates

Publication Date: 20260512
Application Date: 20251201

Claims (10)

1. An anti-deviation drilling method for a drill bit of a rock drill ship, comprising the steps of: acquiring data, namely acquiring high-frequency shaking input of a ship body by a surface motion reference unit (100) arranged on a drilling feeding mechanism, and synchronously acquiring downhole mixed attitude readings, bending moment and torque signals and axial expansion and contraction by a differential motion sensing nipple (200) connected in series between the tail end of a drill string and a drill bit; The interference prediction is carried out, namely, based on a preset system dynamics model and the hull high-frequency shaking input, the equivalent damping parameter of the model is dynamically corrected by utilizing the axial expansion quantity, the equivalent transverse stiffness parameter of the model is dynamically corrected by utilizing the torque signal, and the predicted underground high-frequency shaking gesture is output as a pure interference component; Decoupling estimation, namely subtracting the predicted underground high-frequency shaking gesture from the underground mixed gesture reading to obtain a preliminary track deviation signal, inputting the preliminary track deviation signal and the bending moment signal into a state estimation algorithm, and outputting pure real track deviation; and generating instructions, namely inputting the pure real track deviation into a controller (300) to generate a smooth deviation rectifying action instruction.
2. An anti-deviation drilling method for a drill bit of a rock drill ship according to claim 1, characterized in that the step of dynamically modifying the equivalent transverse stiffness parameter of the model with the torque signal comprises in particular: according to the torque signal, the current torsion stress level of the drill string is converted; calling the conversion relation between the built-in torsional stress and the transverse rigidity, and calculating the dynamic rigidity reduction coefficient; And reducing the equivalent transverse stiffness parameter in the model by using the dynamic stiffness reduction coefficient.
3. An anti-deviation drilling method for a drill bit of a rock drill ship according to claim 2, wherein the conversion relation between torsional stress and transverse rigidity is obtained through calibration of a land test bed.
4. An anti-deviation drilling method for a rock drill bit according to claim 1, characterized in that the logic of the state estimation algorithm comprises: and when the bending moment signal shows continuous and stable increase, the trust degree of the preliminary track deviation signal is improved.
5. An anti-deviation drilling method for a drill bit of a rock drill ship according to claim 1, characterized in that the system dynamics model is pre-established by means of finite element analysis, based on the drill string material, geometry and boundary conditions.
6. An anti-deviation detection device for a drill bit of a rock drill ship for performing an anti-deviation drilling method for a drill bit of a rock drill ship according to claims 1-5, characterized in that the device comprises: A surface motion reference unit (100) mounted to the drilling feed mechanism for obtaining a hull high frequency sloshing input; the differential motion sensing pup joint (200) is connected in series between the tail end of the drill string and the drill bit and is used for acquiring downhole mixed attitude readings, bending moment and torque signals and axial expansion and contraction quantity; And a controller (300) for receiving data of the surface motion reference unit (100) and the differential motion sensor nipple (200) and performing the steps of interference prediction, decoupling estimation and instruction generation.
7. The anti-deviation detection device for a rock drill bit according to claim 6, characterized in that the surface motion reference unit (100) comprises a set of integrated multi-axis inertial measurement units and motion reference units.
8. The anti-deviation detection device for a drill bit of a rock drill ship according to claim 6, characterized in that the differential motion sensing nipple (200) comprises: an outer housing (210) for connecting to an upper drill string; An inner mandrel (220) passing through the outer housing (210) at its lower end for connection to a drill bit, the inner mandrel (220) being capable of small axial and radial relative displacements within the outer housing (210); an axial displacement sensor group (230) mounted between the outer housing (210) and the inner spindle (220) for measuring the axial expansion and contraction amount; a bending moment and torque sensing set (240) mounted to a surface of the inner mandrel (220) for measuring the bending moment and torque signals; A downhole attitude gauge (250) mounted inside the inner mandrel (220) for measuring the downhole mixing attitude readings.
9. The anti-run out detection apparatus for a rock drill bit according to claim 8, wherein the set of axial displacement sensor (230) is a set of linear variable differential transformers.
10. The anti-run out detection apparatus for a rock-drilling bit according to claim 8, wherein the bending moment and torque sensing set (240) is a plurality of sets of wheatstone bridge strain gauges.

Description

Deviation prevention detection device for drill bit of rock drilling ship and inclined rock drilling method Technical Field The invention relates to the field of marine oil and gas engineering, in particular to an anti-deviation detection device for a drill bit of a rock drilling ship and an inclined rock drilling method. Background With the continuous development of ocean engineering drilling operation, the precision requirement on drilling of a rock drilling ship is remarkably increased, the operation environment of the rock drilling ship is complex, high-frequency shaking generated by wave fluctuation brings a lot of challenges to the drilling process, particularly in the aspects of drilling precision management and track deviation monitoring, currently, a control system or a guiding tool is generally used for trying to stabilize the track of a drill bit, however, in the conventional drilling control method, the high-frequency shaking generated by wave fluctuation of the ship body can seriously mask the real low-frequency track deviation caused by stratum factors, such as a soft and hard stratum interface and stratum inclination angle change, and the control system is difficult to distinguish between the high-frequency interference and the low-frequency deviation signals, and particularly, the conventional method has the following phenomena and defects: The signal-to-noise ratio is low, the data acquired by the actual attitude sensor of the drill bit is the sum of the ship body shaking transmission effect and the actual deviation, namely the mixed attitude reading, wherein the ship body shaking occupies a main energy component with higher frequency, the deviation rectifying action is inaccurate, the control system cannot effectively strip out the high-frequency shaking component from the mixed signal, so that the control system can excessively respond or misjudge the high-frequency shaking to generate an uneven and unstable deviation rectifying action instruction, and the accuracy is reduced, namely the accuracy of drilling track is influenced by the excessive response to the high-frequency interference, and fatigue damage of a drill string is possibly aggravated. Therefore, how to timely and accurately separate the pure real trajectory deviation signal from the downhole mixed attitude reading becomes a critical problem to be solved in the field. The above information disclosed in the above background section is only for enhancement of understanding of the background of the disclosure and therefore it may include information that does not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention The invention aims to provide an anti-deviation detection device for a drill bit of a rock drilling ship and an inclined rock drilling method, so as to solve the problems in the background art, and specifically, the technical scheme of the invention comprises the following steps: Acquiring data, namely acquiring high-frequency shaking input of a ship body by a surface motion reference unit arranged on a drilling feeding mechanism, and synchronously acquiring downhole mixed attitude readings, bending moment and torque signals and axial expansion and contraction by a differential motion sensing nipple connected between the tail end of a drill string and a drill bit in series; The interference prediction is carried out, namely, based on a preset system dynamics model and the hull high-frequency shaking input, the equivalent damping parameter of the model is dynamically corrected by utilizing the axial expansion quantity, the equivalent transverse stiffness parameter of the model is dynamically corrected by utilizing the torque signal, and the predicted underground high-frequency shaking gesture is output as a pure interference component; Decoupling estimation, namely subtracting the predicted underground high-frequency shaking gesture from the underground mixed gesture reading to obtain a preliminary track deviation signal, inputting the preliminary track deviation signal and the bending moment signal into a state estimation algorithm, and outputting pure real track deviation; and generating an instruction, namely inputting the pure real track deviation into a controller to generate a smooth deviation rectifying action instruction. Preferably, the step of dynamically correcting the equivalent transverse stiffness parameter of the model by using the torque signal specifically includes: according to the torque signal, the current torsion stress level of the drill string is converted; calling the conversion relation between the built-in torsional stress and the transverse rigidity, and calculating the dynamic rigidity reduction coefficient; And reducing the equivalent transverse stiffness parameter in the model by using the dynamic stiffness reduction coefficient. Preferably, the conversion relation between the torsional stress and the transverse rigidity is obtained throug