CN103883255A - Horizontal well landing path control method based on continuously-oriented well drilling - Google Patents

Abstract

The invention discloses a horizontal well landing path control method based on continuously-oriented well drilling. The method includes the steps: S101, adopting an extrapolation method to calculate path parameters of well bottom points according to inclinometry data; S102, selecting a position of a target spot on a target plane, and calculating space coordinates of the target spot under a wellhead coordinate system; S103, taking two continuous arc well sections equal in curvature to serve as a profile of a well body; S104, selecting a design angle building hole rate for landing control to further design or select out orientation well drilling tools; S105, designing technical data for horizontal well landing control according to the path parameters of the well bottom points, path parameters of the target spot and the design angle building hole rate; S106, calculating path parameters and outputting design results. The horizontal well landing path control method based on continuously-oriented well drilling can meet dual requirements on target position and target direction and has the advantages of simple technology, less procedure, high efficiency, low cost and the like.

Description

A kind of horizontal well landing path control method based on continuous steerable drilling well

Technical field

The present invention relates to oil drilling field, relate in particular to a kind of horizontal well Landing Control method based on continuous steerable drilling well.

Background technology

Hole trajectory control is complicated many disturbances control procedure, and wherein the technological difficulties of horizontal well Landing Control scheme are: need to meet the double requirements into target position and rarget direction, to pull off a soft landing simultaneously.

In horizontal drilling work progress, drill bit is nearer apart from the distance of target area at present, requires higher for the TRAJECTORY CONTROL of drill bit.In actual application, the critical stage of horizontal well Landing Control is, in the scope of drill bit apart from tens of meters of target area windows.Now the landing path of level of control well not only will meet the double requirements into target position and rarget direction, also needs to adopt the simplest technique and operation as far as possible, reduces difficulty of construction, improves wellbore quality.

At present, existing soft landing control program adopts " straightway-curved section-straightway-curved section-straightway " casing program, in the time creeping into different well section, need to change continually drilling assembly, for five-part form casing program of the prior art, at least need to use three cover drilling assembly, make a trip four times, had a strong impact on bit speed and wellbore quality.

There is following defect in existing horizontal well landing path control method: (1) does not organically combine Landing Control scheme and the target area of horizontal well, causes Landing Control scheme and enter target requirement to be separated; (2) working procedure is many, drilling technology complexity, and drilling well timeliness is low.

Summary of the invention

The present invention is directed to the deficiency of the horizontal well Landing Control method occurring in existing wellbore construction process, proposed a kind of Landing Control method of new horizontal well.

Horizontal well Landing Control method based on continuous steerable drilling well provided by the invention comprises the following steps:

S101, employing steering tool obtain real deviational survey data of boring track, by the actual steerable drilling technique using, adopt the trajectory parameters of calculation by extrapolation shaft bottom point b, described trajectory parameters comprises hole angle, azimuth and the mouth coordinate of the described shaft bottom point b space coordinates under being;

S102, on target plane, select the position into target spot e, based on the placing attitude of target plane, calculate the space coordinates of target spot e under mouth coordinate system;

S103, adopt and comprise continuous circular arc well section that two curvature is equal as casing program, realize the continuous steerable control of horizontal well soft landing;

S104, according to the Landing Control requirement of horizontal well, choose the design build angle rate of Landing Control, and then design or select guide drilling tool;

S105, according to the trajectory parameters of described shaft bottom point b, enter the trajectory parameters of target spot e and the technical data of described design build angle rate design level well Landing Control, described technical data comprises tool face azimuth and the segment length of two arc sections;

S106, according to horizontal well Landing Control scheme and well track designing requirement, calculate the trajectory parameters of each node and branch on landing path, and with diagrammatic form output design result, as the foundation of horizontal well Landing Control construction.

Method according to a further aspect of the invention, in described step S102, enters the space coordinates of target spot e described in calculating in accordance with the following methods:

On target plane, taking target spot t as the origin of coordinates, upwards as x axle, level are to the right as y axle, select (the x of coordinate in length and breadth into target spot e taking vertical _e, y _e), according to the space coordinates (N of target spot t _t, E _t, H _t), enter the target plane coordinate (x of target spot _e, y _e) and the azimuth angle of normal φ of target plane _z, calculate the space coordinates (N into target spot _e, E _e, H _e):

$\left\{\begin{array}{c}{N}_e=N_t-y_e\sin {\mathrm{\φ}}_z\\ E_e=E_t+y_e\cos {\mathrm{\φ}}_z\\ H_e=H_t-x_e\end{array}\right..$

Method according to a further aspect of the invention, in described step S103, realize as follows the continuous steerable control of horizontal well soft landing: adopt " the first straightway-the first arc section-the second arc section-the second straightway " casing program, wherein adjacent the and curvature of two arc sections equates.

Method according to a further aspect of the invention, in described step S104, choose as follows design build angle rate and the guide drilling tool of Landing Control: the design build angle rate of Landing Control refers to the build angle rate using in the time of design landing path control program, be the curvature of two arc sections in described casing program, guide drilling tool build angle rate should be higher than design build angle rate 10%～20%.

Method according to a further aspect of the invention designs in accordance with the following steps the technical data of landing path control in described step S105:

The well tangent line of S201, the second arc section point at the whole story meets at a n, and some n arrives the equal in length of this circular arc point at the whole story, its tangential length u ₃represent, and choose a u ₃initial value u ₃ ⁰;

S202, according to described in enter space coordinates, rarget direction, the second arc section tangential length initial value of target spot e and the segment length of the second straightway of providing, adopt following formula to calculate the second arc section to put the whole story space coordinates of point of intersection of tangents n:

$\left\{\begin{array}{c}{N}_n=N_e-({u_3}^0+\mathrm{\Δ}{L}_4)\sin {\mathrm{\α}}_e\cos {\mathrm{\φ}}_e\\ E_n=E_e-({u_3}^0+\mathrm{\Δ}{L}_4)\sin {\mathrm{\α}}_e\sin {\mathrm{\φ}}_e\\ H_n=H_e-({u_3}^0+\mathrm{\Δ}{L}_4)\cos {\mathrm{\α}}_e\end{array}\right.;$

S203, taking shaft bottom point b as the origin of coordinates, set up right-handed coordinate system b-ξ η ζ, wherein, ζ axle points to the tangential direction of well track, η axle is the normal direction of Space Oblique plane, ξ axle is perpendicular to ζ axle and η axle and point to the inter normal direction of landing path, is calculated as follows the space coordinates of described intersection point n under the coordinate system of shaft bottom:

$\left\{\begin{array}{c}{\mathrm{\ξ}}_n\\ {\mathrm{\η}}_n\\ {\mathrm{\ζ}}_n\end{array}\right\}=\left[\begin{array}{ccc}{a}_N& a_E& a_H\\ b_N& b_E& b_H\\ c_N& c_E& b_H\end{array}\right]\left\{\begin{array}{c}{N}_n-N_b\\ E_n-E_b\\ H_n-H_b\end{array}\right\}$

Wherein, $d=\sqrt{{(N_n-N_b)}^2+{(E_n-E_b)}^2+{(H_n-H_b)}^2}$

$\left\{\begin{array}{c}{d}_N=(N_n-N_b)/d\\ d_E=(E_n-E_b)/d\\ d_H=(H_n-H_b)/d\end{array}\right.$

$\left\{\begin{array}{c}{c}_N=\sin {\mathrm{\α}}_b\cos {\mathrm{\φ}}_b\\ c_E=\sin {\mathrm{\α}}_b\sin {\mathrm{\φ}}_b\\ c_H=\cos {\mathrm{\α}}_b\end{array}\right.$

$b=\sqrt{{(c_E{d}_H-d_E{c}_H)}^2+{(c_H{d}_N-d_H{c}_N)}^2+{(c_N{d}_E-d_N{c}_E)}^2}$

$\left\{\begin{array}{c}{b}_N=(c_E{d}_H-d_E{c}_H)/b\\ b_E=(c_H{d}_N-d_H{c}_N)/b\\ b_H=(c_N{d}_E-d_N{c}_E)/b\end{array}\right.$

$\left\{\begin{array}{c}{a}_N=b_E{c}_H-c_E{b}_H\\ a_E=b_H{c}_N-c_H{b}_N\\ a_H=b_N{c}_E-c_N{b}_E\end{array}\right.;$

The tangential length of S204, space coordinates according to described intersection point n under the coordinate system of shaft bottom and the second arc section point at the whole story, for segment length's Δ L of design build angle rate κ or corresponding radius of curvature R and the first straightway ₁these 2 parameters, known one, can design another parameter:

As segment length's Δ L of known the first straightway ₁time, calculate as follows design build angle rate

$\left\{\begin{array}{c}R=\frac{{{\mathrm{\ξ}}_n}^2+{({\mathrm{\ζ}}_n-\mathrm{\Δ}{L}_1)}^2-{\left({u_3}^0\right)}^2}{2{\mathrm{\ξ}}_n}\\ \mathrm{\κ}=\frac{5400}{\mathrm{\πR}}\end{array}\right.$

In the time of Known designs build angle rate κ or corresponding radius of curvature R, calculate as follows the segment length of the first straightway

$\mathrm{\Δ}{L}_1={\mathrm{\ζ}}_n-\sqrt{{\left({u_3}^0\right)}^2-{{\mathrm{\ξ}}_n}^2+2R{\mathrm{\ξ}}_n};$

S205, the following formula of basis calculate the angle of bend of described the first arc section:

Hole angle and the azimuth at S206, described the first arc section and the second arc section tie point place, be calculated as follows:

$\left\{\begin{array}{c}\cos {\mathrm{\α}}_c=c_H\cos {\mathrm{\ϵ}}_2+a_H\sin {\mathrm{\ϵ}}_2\\ \tan {\mathrm{\φ}}_c=\frac{c_E\cos {\mathrm{\ϵ}}_2+a_E\sin {\mathrm{\ϵ}}_2}{c_N\cos {\mathrm{\ϵ}}_2+a_N\sin {\mathrm{\ϵ}}_2}\end{array}\right.;$

S207, adopt following formula to calculate the new tangential length of described the second arc section:

$u_3=R\tan \frac{{\mathrm{\ϵ}}_3}{2}$

Wherein, cos ε ₃=cos α _ccos α _e+ sin α _csin α _ecos (φ _e-φ _c);

If S208 is described new tangential length u ₃and initial value u ₃ ⁰meet | u ₃-u ₃ ⁰| < ε, wherein, the computational accuracy that ε is requirement, completes iterative computation; Otherwise, make u ₃ ⁰=u ₃, turn back to step S202, repeat above-mentioned calculating, until meet required precision;

When meeting after required precision, be calculated as follows tool face azimuth and the segment length of described the first arc section and the second arc section:

$\left\{\begin{array}{c}\tan {\mathrm{\&omega;}}_2=\frac{a_N\sin {\mathrm{\&phi;}}_b-a_E\cos {\mathrm{\&phi;}}_b}{a_H}\sin {\mathrm{\&alpha;}}_b\\ \mathrm{\&Delta;}{L}_2=\frac{\mathrm{\&pi;}}{180}R{\mathrm{\&epsiv;}}_2\end{array}\right.$

$\left\{\begin{array}{c}\tan {\mathrm{\&omega;}}_3=\frac{\sin ({\mathrm{\&phi;}}_e-{\mathrm{\&phi;}}_c)}{\cos {\mathrm{\&alpha;}}_c[\cos ({\mathrm{\&phi;}}_e-{\mathrm{\&phi;}}_c)-\frac{\tan {\mathrm{\&alpha;}}_c}{\tan {\mathrm{\&alpha;}}_e}]}\\ \mathrm{\&Delta;}{L}_3=\frac{\mathrm{\&pi;}}{180}R{\mathrm{\&epsiv;}}_3\end{array}\right..$

, there is a casing program the simplest in method according to a further aspect of the invention, described casing program only comprises two arc sections, and its method for designing still adopts described step S201-S208, only need make Δ L ₁=Δ L ₄=0; The build angle rate now determined is also the minimal design build angle rate that can realize continuous steerable Landing Control, can be calculated as follows:

${\mathrm{\&kappa;}}_{\min }=\frac{5400}{\mathrm{\&pi;}}\frac{2{\mathrm{\&xi;}}_n}{{{\mathrm{\&xi;}}_n}^2+{{\mathrm{\&zeta;}}_n}^2-{u_3}^2}.$

The present invention has brought following beneficial effect:

(1) the present invention proposes the integrated technique that horizontal well Landing Control and target area organically combine, can meet the double requirements into target position and rarget direction simultaneously;

(2) proposed continuous steerable Landing Control technology and Design Method, had that technique is simple, operation is few, efficiency is high, low cost and other advantages;

(3) under suitable condition, adopting a set of drilling assembly just can realize the accurate landing of horizontal well, is the horizontal well Landing Control method that technique is the simplest, drilling efficiency is the highest.

Other features and advantages of the present invention will be set forth in the following description, and partly from manual, become apparent, or understand by implementing the present invention.Object of the present invention and other advantages can be realized and be obtained by specifically noted structure in manual, claims and accompanying drawing.

Brief description of the drawings

Fig. 1 is horizontal well Landing Control principle schematic of the present invention;

Fig. 2 is the principle schematic of the continuous steerable Landing Control of one embodiment of the invention;

Fig. 3 is the technical flow figure of the horizontal well continuous steerable Landing Control that provides of the embodiment of the present invention;

Fig. 4 is the method flow diagram of design continuous steerable Landing Control technical data of the present invention;

Fig. 5 is the most succinct continuous steerable Landing Control casing program schematic diagram of the present invention.

Detailed description of the invention

Describe embodiments of the present invention in detail below with reference to accompanying drawing, to the present invention, how application technology means solve technical problem whereby, and the implementation procedure of reaching technique effect can fully understand and implement according to this.It should be noted that, only otherwise form conflict, each feature in various embodiments of the present invention and each embodiment can mutually combine, and the technical scheme forming is all within protection scope of the present invention.

In addition, can in the computer system such as one group of computer executable instructions, carry out in the step shown in the flow chart of accompanying drawing, and, although there is shown logical order in flow process, but in some cases, can carry out shown or described step with the order being different from herein.

The invention provides the landing path control method based on continuous steerable drilling well in horizontal well construction process.Fig. 1 has shown horizontal well Landing Control principle schematic of the present invention.As shown in Figure 1, the designed path of horizontal well often requires by target spot t, and real brill track has bored and reached shaft bottom point b, i.e. current bit location, and landing path is to start to bore from shaft bottom point b the track to be bored reaching into target spot e.The Landing Control scheme of horizontal well will be designed landing path and drilling technology parameter thereof exactly, makes it meet the double requirements into target position and rarget direction simultaneously, pulls off a soft landing.

Fig. 2 is the principle schematic of continuous steerable Landing Control of the present invention.As shown in Figure 2, meet the double requirements into target position and rarget direction, its casing program at least needs to comprise 2 curve well sections simultaneously.The present invention adopts " straightway-arc section-arc section-straightway " casing program, realizes the continuous steerable control of horizontal well soft landing.Wherein the adjacent and curvature of two arc sections equates, therefore just can complete the continuous regulation and control of (comprising hole angle and azimuth) of well direction without changing guide drilling tool midway, has reduced replacing drilling assembly and the number of times that makes a trip.Meanwhile, two straightways of head and the tail are allowed some leeway to hole trajectory control, to make up the probabilistic impact of the deflecting such as stratum, guide drilling tool performance.

As illustrated in fig. 1 and 2, for the ease of setting forth content of the present invention, set up following 3 coordinate systems:

1. mouth coordinate system.Initial point using well head as coordinate system, sets up O-NEH coordinate system.Wherein, N axle points to direct north, and E axle points to due east direction, and H axle vertical points to vertical depth direction downwards;

2. target coordinate system.Taking target spot t as initial point, taking the exterior normal (drill bit advancing direction) of target plane as z axle, to cross the vertical plane of z axle and the intersection of target plane as x axle and to get high edge direction for just, determine y axle according to right-hand rule, set up coordinate system t-xyz;

3. shaft bottom coordinate system.Taking shaft bottom point b as initial point, set up right-handed coordinate system b-ξ η ζ.Wherein, ζ axle points to the tangential direction of well track, and η axle is Space Oblique plane Ω ₂normal direction, ξ axle is perpendicular to ζ axle and η axle and point to the inter normal direction of landing path.

Implement the present invention and need following given data:

1. the trajectory parameters of shaft bottom point, comprises the space coordinates (N of shaft bottom point (b) under mouth coordinate system _b, E _b, H _b) and well direction (α _b, φ _b);

2. target area parameter, comprises the space coordinates (N of target spot (t) under mouth coordinate system _t, E _t, H _t) and the azimuth angle of normal φ of target plane _z;

3. enter target parameter, include the coordinate (x of target spot (e) under target coordinate system _e, y _e) and rarget direction (α _e, φ _e) and enter segment length's Δ L of straightway (i.e. the second straightway) before target ₄.

The present invention is by the horizontal well Landing Control scheme obtaining based on continuous steerable drilling well, and its important technological parameters comprises:

1. the design build angle rate κ (or radius of curvature R) of two arc sections or segment length's Δ L of the first straightway ₁;

2. the hole angle α of two arc section tie points (c) _cwith azimuth φ _c;

3. tool face azimuth (the ω of two arc sections ₂, ω ₃) and segment length (Δ L ₂, Δ L ₃).

In addition, the present invention also relates to some intermediate parameters in implementation process, comprises the angle of bend ε of the first arc section and the second arc section ₂and ε ₃, the second arc section puts the space coordinates (N of the point of intersection of tangents n whole story _n, E _n, H _n), second arc section whole story point tangential length u ₃deng.

Embodiment mono-

Fig. 3 is the technical flow figure of the horizontal well continuous steerable Landing Control that provides of the embodiment of the present invention, and the method comprises:

S101, according to real deviational survey data of boring track, calculate or the trajectory parameters of prediction shaft bottom point b, comprise hole angle, azimuth and the space coordinates of described shaft bottom point b.

Particularly, can utilize the real track that bores of the instrument measurement while drilling such as MWD, the steerable drilling process choice deviational survey computational methods that use according to reality, adopt calculation by extrapolation or dope the space coordinates (N of shaft bottom point _b, E _b, H _b) and well direction (α _b, φ _b).

S102, on target plane, select the coordinate (x of target spot e under target coordinate system _e, y _e), the target area parameter based on pre-designed, calculates the space coordinates of target spot e under mouth coordinate system.

In actual application, the target window that enters of horizontal well is positioned at vertical plane, and this plane is referred to as target plane.In the present embodiment, the position of target plane and placing attitude are in advance given.Because target plane is by target spot t, and the target plane of horizontal well is vertical placement, so target coordinate (N _t, E _t, H _t) be given data, and the placing attitude of target plane can be with its azimuth angle of normal φ _zcharacterize.

S103, adopt and comprise two adjacent and arc sections that curvature is equal as casing program, realize the continuous steerable control of horizontal well soft landing.

Will meet the double requirements into target position and rarget direction, its casing program at least needs to comprise 2 curve well sections simultaneously.The present invention adopts " straightway-arc section-arc section-straightway " casing program, realizes the continuous steerable control of horizontal well soft landing.Wherein the adjacent and curvature of two arc sections equates, therefore just can complete the continuous regulation and control of (comprising hole angle and azimuth) of well direction without changing guide drilling tool midway, has reduced replacing drilling assembly and the number of times that makes a trip.Meanwhile, two straightways of head and the tail are allowed some leeway to hole trajectory control, to make up the probabilistic impact of the deflecting such as stratum, guide drilling tool performance.

S104, according to the Landing Control requirement of horizontal well, choose the design build angle rate of Landing Control, and then design or select guide drilling tool.

The design build angle rate of Landing Control refers to the build angle rate using in the time of design landing path control program, the i.e. curvature of two arc sections in described casing program.If the design build angle rate of choosing is too high, can increases the frictional resistance of drill string and casing string and be lowered to difficulty, and reducing the choice of guide drilling tool; If the design build angle rate of choosing is too low, can reduce the regulation and control leeway of landing path, even cannot design the control program of landing path.

Choose design build angle rate and also should consider the preparation of existing guide drilling tool, if do not have suitable guide drilling tool available, can cause implementing landing path control program.Conventionally the guide drilling tool build angle rate, using should be higher than design build angle rate 10%～20%.

S105, according to the trajectory parameters of described shaft bottom point b, enter the data such as trajectory parameters and described design build angle rate of target spot e, the technical data of design level well Landing Control, described technical data comprises tool face azimuth and the segment length of two arc sections.

In step S105, trajectory parameters comprises space coordinates and rarget direction.

S106, according to horizontal well Landing Control scheme and well track designing requirement, calculate the trajectory parameters of each node and branch on landing path, and with diagrammatic form output design result, as the foundation of horizontal well Landing Control construction.

In above-mentioned steps S102, can be specially:

The coordinate of the described target spot e of entering under target coordinate is is (x _e, y _e), the azimuth angle of normal φ of known target plane _z, the space coordinates of target spot (t) under mouth coordinate system is (N _t, E _t, H _t), according to formula

$\left\{\begin{array}{c}{N}_e=N_t-y_e\sin {\mathrm{\&phi;}}_z\\ E_e=E_t+y_e\cos {\mathrm{\&phi;}}_z\\ H_e=H_t-x_e\end{array}\right.---\left(1\right)$

Calculate the space coordinates into target spot (e).

Fig. 4 is the method flow diagram of design continuous steerable Landing Control technical data of the present invention, can be specially following steps at above-mentioned steps S105:

S201, second arc section whole story point well tangent line meet at n point, and equal in length to this circular arc point at the whole story of n point, its tangential length u ₃represent.For implementing iterative computation, should choose a u ₃initial value u ₃ ⁰;

S202, according to described in enter the segment length of space coordinates, rarget direction, the second arc section tangential length initial value and second straightway of target spot, adopt following formula to calculate the second arc section to put the whole story space coordinates of point of intersection of tangents n:

$\left\{\begin{array}{c}{N}_n=N_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\sin {\mathrm{\&alpha;}}_e\cos {\mathrm{\&phi;}}_e\\ E_n=E_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\sin {\mathrm{\&alpha;}}_e\sin {\mathrm{\&phi;}}_e\\ H_n=H_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\cos {\mathrm{\&alpha;}}_e\end{array}\right.;---\left(2\right)$

S203, according to the transformational relation between shaft bottom coordinate system and mouth coordinate system, be calculated as follows the space coordinates of described intersection point n under the coordinate system of shaft bottom:

$\left\{\begin{array}{c}{\mathrm{\&xi;}}_n\\ {\mathrm{\&eta;}}_n\\ {\mathrm{\&zeta;}}_n\end{array}\right\}=\left[\begin{array}{ccc}{a}_N& a_E& a_H\\ b_N& b_E& b_H\\ c_N& c_E& b_H\end{array}\right]\left\{\begin{array}{c}{N}_n-N_b\\ E_n-E_b\\ H_n-H_b\end{array}\right\}---\left(3\right)$

Wherein, $d=\sqrt{{(N_n-N_b)}^2+{(E_n-E_b)}^2+{(H_n-H_b)}^2}---\left(4\right)$

$\left\{\begin{array}{c}{d}_N=(N_n-N_b)/d\\ d_E=(E_n-E_b)/d\\ d_H=(H_n-H_b)/d\end{array}\right.---\left(5\right)$

$\left\{\begin{array}{c}{c}_N=\sin {\mathrm{\&alpha;}}_b\cos {\mathrm{\&phi;}}_b\\ c_E=\sin {\mathrm{\&alpha;}}_b\sin {\mathrm{\&phi;}}_b\\ c_H=\cos {\mathrm{\&alpha;}}_b\end{array}\right.---\left(6\right)$

$b=\sqrt{{(c_E{d}_H-d_E{c}_H)}^2+{(c_H{d}_N-d_H{c}_N)}^2+{(c_N{d}_E-d_N{c}_E)}^2}---\left(7\right)$

$\left\{\begin{array}{c}{b}_N=(c_E{d}_H-d_E{c}_H)/b\\ b_E=(c_H{d}_N-d_H{c}_N)/b\\ b_H=(c_N{d}_E-d_N{c}_E)/b\end{array}\right.---\left(8\right)$

$\left\{\begin{array}{c}{a}_N=b_E{c}_H-c_E{b}_H\\ a_E=b_H{c}_N-c_H{b}_N\\ a_H=b_N{c}_E-c_N{b}_E\end{array}\right.---\left(9\right)$

The tangential length of S204, space coordinates according to described intersection point n under the coordinate system of shaft bottom and the second arc section point at the whole story, for segment length's Δ L of design build angle rate κ (or corresponding radius of curvature R) and the first straightway ₁these 2 parameters, known one, can design another parameter.

As segment length's Δ L of known the first straightway ₁time, calculate as follows design build angle rate:

$\left\{\begin{array}{c}R=\frac{{{\mathrm{\&xi;}}_n}^2+{({\mathrm{\&zeta;}}_n-\mathrm{\&Delta;}{L}_1)}^2-{\left({u_3}^0\right)}^2}{2{\mathrm{\&xi;}}_n}\\ \mathrm{\&kappa;}=\frac{5400}{\mathrm{\&pi;R}}\end{array}\right.---\left(10\right)$

When Known designs build angle rate κ (or corresponding radius of curvature R), calculate as follows the segment length of the first straightway:

$\mathrm{\&Delta;}{L}_1={\mathrm{\&zeta;}}_n-\sqrt{{\left({u_3}^0\right)}^2-{{\mathrm{\&xi;}}_n}^2+2R{\mathrm{\&xi;}}_n}---\left(11\right)$

S205, the following formula of basis calculate the angle of bend of described the first arc section:

Hole angle and the azimuth at S206, described the first arc section and the second arc section tie point place, be calculated as follows:

$\left\{\begin{array}{c}\cos {\mathrm{\&alpha;}}_c=c_H\cos {\mathrm{\&epsiv;}}_2+a_H\sin {\mathrm{\&epsiv;}}_2\\ \tan {\mathrm{\&phi;}}_c=\frac{c_E\cos {\mathrm{\&epsiv;}}_2+a_E\sin {\mathrm{\&epsiv;}}_2}{c_N\cos {\mathrm{\&epsiv;}}_2+a_N\sin {\mathrm{\&epsiv;}}_2}\end{array}\right.---\left(13\right)$

S207, adopt following formula to calculate the new tangential length of described the second arc section:

$u_3=R\tan \frac{{\mathrm{\&epsiv;}}_3}{2}---\left(14\right)$

Wherein,

cosε ₃＝cosα _ccosα _e+sinα _csinα _ecos(φ _e-φ _c) （15）

If S208 is described new tangential length u ₃and initial value u ₃ ⁰meet | u ₃-u ₃ ⁰| < ε (wherein, the computational accuracy that ε is requirement), completes iterative computation; Otherwise, make u ₃ ⁰=u ₃, turn back to step S202, repeat above-mentioned calculating, until meet required precision.

When meeting after required precision, be calculated as follows tool face azimuth and the segment length of described the first arc section and the second arc section:

$\left\{\begin{array}{c}\tan {\mathrm{\&omega;}}_2=\frac{a_N\sin {\mathrm{\&phi;}}_b-a_E\cos {\mathrm{\&phi;}}_b}{a_H}\sin {\mathrm{\&alpha;}}_b\\ \mathrm{\&Delta;}{L}_2=\frac{\mathrm{\&pi;}}{180}R{\mathrm{\&epsiv;}}_2\end{array}\right.---\left(16\right)$

$\left\{\begin{array}{c}\tan {\mathrm{\&omega;}}_3=\frac{\sin ({\mathrm{\&phi;}}_e-{\mathrm{\&phi;}}_c)}{\cos {\mathrm{\&alpha;}}_c[\cos ({\mathrm{\&phi;}}_e-{\mathrm{\&phi;}}_c)-\frac{\tan {\mathrm{\&alpha;}}_c}{\tan {\mathrm{\&alpha;}}_e}]}\\ \mathrm{\&Delta;}{L}_3=\frac{\mathrm{\&pi;}}{180}R{\mathrm{\&epsiv;}}_3\end{array}\right.---\left(17\right)$

Fig. 5 is the most succinct continuous steerable Landing Control casing program schematic diagram of the present invention.When the impact of various uncertain factors hour, can cancel two straightways of head and the tail, and adopt the simplest casing program to realize the continuous steerable control that horizontal well lands.This casing program only comprises two arc sections, and its method for designing still adopts described step S201-S208, only need get Δ L ₁=Δ L ₄=0.Meet at the same time under the condition of target position and rarget direction double requirements, the build angle rate that this situation is determined is also the minimal design build angle rate that can realize continuous steerable Landing Control, can be calculated as follows:

${\mathrm{\&kappa;}}_{\min }=\frac{5400}{\mathrm{\&pi;}}\frac{2{\mathrm{\&xi;}}_n}{{{\mathrm{\&xi;}}_n}^2+{{\mathrm{\&zeta;}}_n}^2-{u_3}^2}---\left(18\right)$

Embodiment bis-

Taking certain real standard well, as example illustrates, how know-why of the present invention and step realize landing path control below.

The target coordinate of certain horizontal well is: northern coordinate N _t=140m, eastern coordinate E _t=242.5m, vertical depth H _t=1500m, the azimuth angle of normal φ of target plane _z=60 °.In the time creeping into well depth 1551.93m, calculate and know through real brill track: the hole angle α of shaft bottom point _b=70 °, azimuth φ _b=55 °, northern coordinate N _b=99.03m, eastern coordinate E _b=160.63m, vertical depth H _b=1478.88m.If require into target coordinate x _e=1m, y _e=-3m, enters target spot and is positioned at target spot top 1m, left side 3m, enters target hole angle α _e=88 °, enter target azimuth φ _e=61 °, after deflecting, directly land, i.e. segment length's Δ L of the second straightway ₄=0, examination design is applicable to the landing path control program that continuous steerable creeps into.

Choose design build angle rate κ=9 °/30m, corresponding radius of curvature R=190.99m.Press instrument build angle rate suitable

Higher than the principle of design build angle rate 10%～20%, should select build angle rate is the even higher guide drilling tool in 10 °/30m left and right.

By formula (1), calculate to such an extent that enter the space coordinates (N of target spot _e, E _e, H _e):

Choose the initial value u of the second arc section tangential length ₃ ⁰=15.00m, according to formula (2)～(15) in embodiment mono-, calculate: segment length's Δ L of the first arc section ₂=9.99m, the hole angle α of the tie point of the first arc section and the second arc section _c=80.00 ° and azimuth φ _c=67.00 °, the angle of bend ε of two arc sections ₂=15.29 °, ε ₃=9.98 °, and the unit coordinate vector a of ξ axle _n=-0.5124, a _e=0.6219, a _h=-0.5922.

Then,, according to formula (16) and formula (17), calculate to obtain tool face azimuth and the segment length of the first arc section:

And the tool face azimuth of the second arc section and segment length:

Finally, can calculate node and the branch data of landing path according to the space circular arc model of well track, and then vertical cross section and the horizontal projection that can draw landing path.Wherein, the node data of landing path is in table 1.

The node data of table 1 embodiment landing path

If get Δ L ₁=0, by technical flow of the present invention, calculate: minimal design build angle rate κ _min=7.61 °/30m.If adopt this build angle rate to design Landing Control scheme, by the casing program obtaining as shown in Figure 5, the node data of its landing path is in table 2.This casing program only comprises two arc sections, therefore only needs to use a set of drilling assembly just can realize the continuous steerable Landing Control of horizontal well, be technique the most simply, minimum, the most effective horizontal well Landing Control scheme of operation.

Table 2 embodiment is the node data of succinct landing path

Although the disclosed embodiment of the present invention as above, the embodiment that described content just adopts for the ease of understanding the present invention, not in order to limit the present invention.Technician in any the technical field of the invention; do not departing under the prerequisite of the disclosed spirit and scope of the present invention; can do any amendment and variation what implement in form and in details; but scope of patent protection of the present invention, still must be as the criterion with the scope that appending claims was defined.

Claims (6)

1. the horizontal well Landing Control method based on continuous steerable drilling well, is characterized in that, comprises the following steps:

S101, employing steering tool obtain real deviational survey data of boring track, by the actual steerable drilling technique using, adopt the trajectory parameters of calculation by extrapolation shaft bottom point (b), described trajectory parameters comprises the space coordinates under hole angle, azimuth and the mouth coordinate system of described shaft bottom point (b);

S102, on target plane, select the position into target spot (e), based on the placing attitude of target plane, calculate the space coordinates of target spot (e) under mouth coordinate system;

S103, adopt and comprise continuous circular arc well section that two curvature is equal as casing program, realize the continuous steerable control of horizontal well soft landing;

S104, according to the Landing Control requirement of horizontal well, choose the design build angle rate of Landing Control, and then design or select guide drilling tool;

S105, according to the trajectory parameters of described shaft bottom point (b), enter the trajectory parameters of target spot (e) and the technical data of described design build angle rate design level well Landing Control, described technical data comprises tool face azimuth and the segment length of two arc sections;

S106, according to horizontal well Landing Control scheme and well track designing requirement, calculate the trajectory parameters of each node and branch on landing path, and with diagrammatic form output design result, as the foundation of horizontal well Landing Control construction.

2. the method for claim 1, is characterized in that, in described step S102, enters the space coordinates of target spot (e) described in calculating in accordance with the following methods:

On target plane, taking target spot (t) as the origin of coordinates, upwards as x axle, level are to the right as y axle, select (the x of coordinate in length and breadth into target spot (e) taking vertical _e, y _e), according to the space coordinates (N of target spot (t) _t, E _t, H _t), enter the target plane coordinate (x of target spot _e, y _e) and the azimuth angle of normal φ of target plane _z, calculate the space coordinates (N into target spot _e, E _e, H _e):

$\left\{\begin{array}{c}{N}_e=N_t-y_e\sin {\mathrm{\&phi;}}_z\\ E_e=E_t+y_e\cos {\mathrm{\&phi;}}_z\\ H_e=H_t-x_e\end{array}\right..$

3. the method for claim 1, is characterized in that, in described step S103, realizes as follows the continuous steerable control of horizontal well soft landing:

Adopt " the first straightway-the first arc section-the second arc section-the second straightway " casing program, wherein adjacent the and curvature of two arc sections equates.

4. method as claimed in claim 3, is characterized in that, in described step S104, chooses as follows design build angle rate and the guide drilling tool of Landing Control:

The design build angle rate of Landing Control refers to the build angle rate using in the time of design landing path control program, i.e. the curvature of two arc sections in described casing program, and guide drilling tool build angle rate should be higher than design build angle rate 10%～20%.

5. the method as described in any one in claim 2-4, is characterized in that, designs in accordance with the following steps the technical data of landing path control in described step S105:

The well tangent line of S201, the second arc section point at the whole story meets at a n, and some n arrives the equal in length of this circular arc point at the whole story, its tangential length u ₃represent, and choose a u ₃initial value u ₃ ⁰;

S202, according to described in enter space coordinates, rarget direction, the second arc section tangential length initial value of target spot (e) and the segment length of the second straightway of providing, adopt following formula to calculate the second arc section to put the whole story space coordinates of the point of intersection of tangents (n):

$\left\{\begin{array}{c}{N}_n=N_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\sin {\mathrm{\&alpha;}}_e\cos {\mathrm{\&phi;}}_e\\ E_n=E_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\sin {\mathrm{\&alpha;}}_e\sin {\mathrm{\&phi;}}_e\\ H_n=H_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\cos {\mathrm{\&alpha;}}_e\end{array}\right.;$

S203, taking shaft bottom point (b) as the origin of coordinates, set up right-handed coordinate system b-ξ η ζ, wherein, ζ axle points to the tangential direction of well track, η axle is the normal direction of Space Oblique plane, ξ axle is perpendicular to ζ axle and η axle and point to the inter normal direction of landing path, is calculated as follows the space coordinates of described intersection point n under the coordinate system of shaft bottom:

$\left\{\begin{array}{c}{\mathrm{\&xi;}}_n\\ {\mathrm{\&eta;}}_n\\ {\mathrm{\&zeta;}}_n\end{array}\right\}=\left[\begin{array}{ccc}{a}_N& a_E& a_H\\ b_N& b_E& b_H\\ c_N& c_E& b_H\end{array}\right]\left\{\begin{array}{c}{N}_n-N_b\\ E_n-E_b\\ H_n-H_b\end{array}\right\}$

Wherein, $d=\sqrt{{(N_n-N_b)}^2+{(E_n-E_b)}^2+{(H_n-H_b)}^2}$

$\left\{\begin{array}{c}{d}_N=(N_n-N_b)/d\\ d_E=(E_n-E_b)/d\\ d_H=(H_n-H_b)/d\end{array}\right.$

$\left\{\begin{array}{c}{c}_N=\sin {\mathrm{\&alpha;}}_b\cos {\mathrm{\&phi;}}_b\\ c_E=\sin {\mathrm{\&alpha;}}_b\sin {\mathrm{\&phi;}}_b\\ c_H=\cos {\mathrm{\&alpha;}}_b\end{array}\right.$

$b=\sqrt{{(c_E{d}_H-d_E{c}_H)}^2+{(c_H{d}_N-d_H{c}_N)}^2+{(c_N{d}_E-d_N{c}_E)}^2}$

$\left\{\begin{array}{c}{b}_N=(c_E{d}_H-d_E{c}_H)/b\\ b_E=(c_H{d}_N-d_H{c}_N)/b\\ b_H=(c_N{d}_E-d_N{c}_E)/b\end{array}\right.$

$\left\{\begin{array}{c}{a}_N=b_E{c}_H-c_E{b}_H\\ a_E=b_H{c}_N-c_H{b}_N\\ a_H=b_N{c}_E-c_N{b}_E\end{array}\right.;$

The tangential length of S204, space coordinates according to described intersection point (n) under the coordinate system of shaft bottom and the second arc section point at the whole story, for segment length's Δ L of design build angle rate κ or corresponding radius of curvature R and the first straightway ₁these 2 parameters, known one, can design another parameter:

As segment length's Δ L of known the first straightway ₁time, calculate as follows design build angle rate

$\left\{\begin{array}{c}R=\frac{{{\mathrm{\&xi;}}_n}^2+{({\mathrm{\&zeta;}}_n-\mathrm{\&Delta;}{L}_1)}^2-{\left({u_3}^0\right)}^2}{2{\mathrm{\&xi;}}_n}\\ \mathrm{\&kappa;}=\frac{5400}{\mathrm{\&pi;R}}\end{array}\right.$

In the time of Known designs build angle rate κ or corresponding radius of curvature R, calculate as follows the segment length of the first straightway

$\mathrm{\&Delta;}{L}_1={\mathrm{\&zeta;}}_n-\sqrt{{\left({u_3}^0\right)}^2-{{\mathrm{\&xi;}}_n}^2+2R{\mathrm{\&xi;}}_n};$

S205, the following formula of basis calculate the angle of bend of described the first arc section:

Hole angle and the azimuth at S206, described the first arc section and the second arc section tie point place, be calculated as follows:

$\left\{\begin{array}{c}\cos {\mathrm{\&alpha;}}_c=c_H\cos {\mathrm{\&epsiv;}}_2+a_H\sin {\mathrm{\&epsiv;}}_2\\ \tan {\mathrm{\&phi;}}_c=\frac{c_E\cos {\mathrm{\&epsiv;}}_2+a_E\sin {\mathrm{\&epsiv;}}_2}{c_N\cos {\mathrm{\&epsiv;}}_2+a_N\sin {\mathrm{\&epsiv;}}_2}\end{array}\right.;$

S207, adopt following formula to calculate the new tangential length of described the second arc section:

$u_3=R\tan \frac{{\mathrm{\&epsiv;}}_3}{2}$

Wherein, cos ε ₃=cos α _ccos α _e+ sin α _csin α _ecos (φ _e-φ _c);

If S208 is described new tangential length u ₃and initial value u ₃ ⁰meet | u ₃-u ₃ ⁰| < ε, wherein, the computational accuracy that ε is requirement, completes iterative computation; Otherwise, make u ₃ ⁰=u ₃, turn back to step S202, repeat above-mentioned calculating, until meet required precision;

When meeting after required precision, be calculated as follows tool face azimuth and the segment length of described the first arc section and the second arc section:

$\left\{\begin{array}{c}\tan {\mathrm{\&omega;}}_2=\frac{a_N\sin {\mathrm{\&phi;}}_b-a_E\cos {\mathrm{\&phi;}}_b}{a_H}\sin {\mathrm{\&alpha;}}_b\\ \mathrm{\&Delta;}{L}_2=\frac{\mathrm{\&pi;}}{180}R{\mathrm{\&epsiv;}}_2\end{array}\right.$

$\left\{\begin{array}{c}\tan {\mathrm{\&omega;}}_3=\frac{\sin ({\mathrm{\&phi;}}_e-{\mathrm{\&phi;}}_c)}{\cos {\mathrm{\&alpha;}}_c[\cos ({\mathrm{\&phi;}}_e-{\mathrm{\&phi;}}_c)-\frac{\tan {\mathrm{\&alpha;}}_c}{\tan {\mathrm{\&alpha;}}_e}]}\\ \mathrm{\&Delta;}{L}_3=\frac{\mathrm{\&pi;}}{180}R{\mathrm{\&epsiv;}}_3\end{array}\right..$

6. the method as described in any one in claim 2-5, is characterized in that, has a casing program the simplest, and described casing program only comprises two arc sections, and its method for designing still adopts described step S201-S208, only need make Δ L ₁=Δ L ₄=0; The build angle rate now determined is also the minimal design build angle rate that can realize continuous steerable Landing Control, can be calculated as follows:

${\mathrm{\&kappa;}}_{\min }=\frac{5400}{\mathrm{\&pi;}}\frac{2{\mathrm{\&xi;}}_n}{{{\mathrm{\&xi;}}_n}^2+{{\mathrm{\&zeta;}}_n}^2-{u_3}^2}.$

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