Method and apparatus for controlling drilling process

Claim 1

A method for controlling drilling process, using two control modes of which one mode is a mode of trial of a rock formation being drilled and the other mode is a drilling mode proper, said formation trial mode being a multicycle mode, and wherein each cycle of said trial mode comprises the steps of: pre-setting values of control signals for controlling drilling process; measuring drilling speed corresponding to said pre-set values of control signals; pre-setting during the first cycle certain approximate values of coefficients of an adaptive model being corrected; computing the drilling speed during the cycle of said trial mode using said pre-set values of control signals and said pre-set approximate values of coefficients of the adaptive model being corrected; comparing said computed drilling speed to said measured drilling speed for one and the same cycle; forming, based on the results of the comparison, a corrected value of a respective coefficient of the adaptive model being corrected; determining, taking into account said corrected coefficients, values of control signals closest to optimum values, which are used as settings for acting on the bit during the next cycle of said trial mode; using corrected coefficients of the adaptive model obtained during the preceding cycle for determining control signals for each next cycle, the values of control signals being determined approximating optimum values for given drilling conditions upon transition to each next cycle; and if the measured drilling speed coincides with the computed drilling speed in two consecutive cycles, forming a signal for changing over from said trial mode to said drilling mode proper, the control signal formed during the last two cycles being the control signal to be used in said drilling mode proper; and if controlled parameters of the process deviate from desired parameters, effecting a change over from said drilling mode proper to said rock formation trial mode.

Claim 2

A method for controlling drilling process, using two control modes of which one mode is a mode of trial of a rock formation being drilled and the other mode is a drilling mode proper, said formation trial mode being a multicycle mode, and wherein each cycle of said trial mode comprises the steps of: pre-setting values of control signals for controlling drilling process; measuring drilling speed corresponding to said pre-set values of control signals; pre-setting during the first cycle certain approximate values of coefficients of an adaptive model being corrected; computing the drilling speed during the cycle of said trial mode using said pre-set values of control signals and said pre-set approximate values of coefficients of the adaptive model being corrected; comparing said computed drilling speed to said measured drilling speed for one and the same cycle; forming, based on the results of the comparison, a corrected value of a respective coefficient of the adaptive model being corrected; determining, taking into account said corrected coefficients, values of control signals closest to optimum values, which are used as settings for acting on the bit during the next cycle of said trial mode; using corrected coefficients of the adaptive model obtained during the preceding cycle for determining control signals for each next cycle, the values of control signals being determined approximating optimum values for given drilling conditions upon transition to each next cycle; and if the measured drilling speed coincides with the computed drilling speed in two consecutive cycles, forming a signal for changing over from said trial mode to said drilling mode proper, the control signal formed during the last two cycles being the control signal to be used in said drilling mode proper; and if controlled parameters of the process deviate from desired parameters, effecting a change over from said drilling mode proper to said rock formation trial mode.

Claim 15

An apparatus for controlling drilling process which is performed by means of a drilling rig having actuating mechanisms, the number of the actuating mechanisms corresponding to the number of control signals for controlling drilling process, said apparatus comprising: a control board for controlling drilling process, having a plurality of inputs and a plurality of outputs; a digital-to-analog converter coupled to a group of outputs selected from said plurality of outputs of said control board, said converter interconnecting said control board and said actuating mechanisms of the drilling rig; a drilling speed pick-up having an output; a bit load pick-up having an output; a timer having an output and coupled to said control board; an electronic computer storing an adaptive model of drilling process, said electronic computer determining values of control signals which are closest to optimum values for given drilling conditions as well as signals for change-over from a trial mode to a drilling mode proper, and vice-versa; a monitoring unit for monitoring values of parameters which has an input and an output, interconnected with said electronic computer and determining a computed value of mechanical drilling speed based on signals of corrected values of coefficients and forming a signal for changing-over for the trial mode or for the drilling mode proper; an averaging unit for discretely averaging drilling speed having inputs and outputs, said inputs of said averaging unit being coupled to said output of said drilling speed pick-up and to said output of said timer; said electronic computer having: an entering unit for sequentially entering data from said control board having inputs and outputs, said inputs of said entering unit being coupled to a group of outputs selected from said plurality of outputs of said control board; a determining unit for determining corrected values of coefficients of the adaptive model having inputs and outputs, respective inputs of said determining unit being coupled to said output of said averaging unit and to said outputs of said entering unit, said determining unit forming signals of corrected values of coefficients of the adaptive model, wherein upon a signal from said averaging unit and upon a signal of the computed value of drilling speed from said monitoring unit a correcting value is determined for each coefficient being corrected, which corrects the value of the signal of the coefficient being corrected fed in a first starting cycle; a first memory having inputs and outputs, respective inputs of said first memory being coupled to respective outputs of said determining unit, respective outputs of said first memory being coupled to said inputs of said determining unit and to said input of said monitoring unit; a data transfer unit having inputs and outputs, said inputs of said second memory being coupled to respective outputs of said data transfer unit for transferring signals of corrected values of coefficients from the output of said first memory to said second memory; a first forming unit for forming drilling process conditions having inputs and outputs, said inputs of said first forming unit being coupled to said outputs of said monitoring unit, an outputs of said first forming unit being coupled to an input of said data transfer unit for enabling operation thereof, said first forming unit matching operation of the apparatus in each mode by pre-setting respective signals; a second forming unit for forming optimum control signals having inputs coupled to said output of said timer and to said outputs of said bit load pick-up and of said bit rotary speed pick-up and outputs coupled to said inputs of said digital-to-analog converter, and forming control signals fed to said actuating mechanisms upon signals of corrected values of coefficients based on signals from the bit rotary speed and bit load pick-ups, said signals being produced from said timer in accordance with the drilling conditions determined by a signal from said first forming unit; and, a correcting unit for correcting coefficients of the adaptive model having inputs coupled to said outputs of said first forming unit and to said outputs of said second memory and outputs coupled to respective inputs of said second forming unit.

Claim 16

An apparatus for controlling drilling process which is performed by means of a drilling rig having actuating mechanisms, the number of the actuating mechanisms corresponding to the number of control signals for controlling drilling process, said apparatus comprising: a control board for controlling drilling process, having a plurality of inputs and a plurality of outputs; a digital-to-analog converter coupled to a group of outputs selected from said plurality of outputs of said control board, said converter interconnecting said control board and said actuating mechanisms of the drilling rig; a drilling speed pick-up having an output; a bit load pick-up having an output; a timer having an output and coupled to said control board; an electronic computer storing an adaptive model of drilling process, said electronic computer determining values of control signals which are closest to optimum values for given drilling conditions as well as signals for change-over from a trial mode to a drilling mode proper, and vice-versa; a monitoring unit for monitoring values of parameters which has an input and an output, interconnected with said electronic computer and determining a computed value of mechanical drilling speed based on signals of corrected values of coefficients and forming a signal for changing-over for the trial mode or for the drilling mode proper; an averaging unit for discretely averaging drilling speed having inputs and outputs, said inputs of said averaging unit being coupled to said output of said drilling speed pick-up and to said output of said timer; said electronic computer having: an entering unit for sequentially entering data from said control board having inputs and outputs, said inputs of said entering unit being coupled to a group of outputs selected from said plurality of outputs of said control board; a determining unit for determining corrected values of coefficients of the adaptive model having inputs and outputs, respective inputs of said determining unit being coupled to said output of said averaging unit and to said outputs of said entering unit, said determining unit forming signals of corrected values of coefficients of the adaptive model, wherein upon a signal from said averaging unit and upon a signal of the computed value of drilling speed from said monitoring unit a correcting value is determined for each coefficient being corrected, which corrects the value of the signal of the coefficient being corrected fed in a first starting cycle; a first memory having inputs and outputs, respective inputs of said first memory being coupled to respective outputs of said determining unit, respective outputs of said first memory being coupled to said inputs of said determining unit and to said input of said monitoring unit; a data transfer unit having inputs and outputs, said inputs of said second memory being coupled to respective outputs of said data transfer unit for transferring signals of corrected values of coefficients from the output of said first memory to said second memory; a first forming unit for forming drilling process conditions having inputs and outputs, said inputs of said first forming unit being coupled to said outputs of said monitoring unit, an outputs of said first forming unit being coupled to an input of said data transfer unit for enabling operation thereof, said first forming unit matching operation of the apparatus in each mode by pre-setting respective signals; a second forming unit for forming optimum control signals having inputs coupled to said output of said timer and to said outputs of said bit load pick-up and of said bit rotary speed pick-up and outputs coupled to said inputs of said digital-to-analog converter, and forming control signals fed to said actuating mechanisms upon signals of corrected values of coefficients based on signals from the bit rotary speed and bit load pick-ups, said signals being produced from said timer in accordance with the drilling conditions determined by a signal from said first forming unit; and, a correcting unit for correcting coefficients of the adaptive model having inputs coupled to said outputs of said first forming unit and to said outputs of said second memory and outputs coupled to respective inputs of said second forming unit.

Claim 46

An apparatus for controlling drilling process performed by means of a drilling rig having actuating mechanisms, the number of mechanisms corresponding to the number of controlled parameters of the drilling process, the apparatus comprising: a control board for controlling drilling process having a plurality of inputs and a plurality of outputs; a digital-to-analog converter coupled to a group of outputs selected from said plurality of outputs of said control board and interconnecting said control board and said actuating mechanisms of the drilling rig; a drilling speed pick-up having an output; a bit load pick-up having an output; a bit rotary speed pick-up having an output; a timer having an output and coupled to said control board; an electronic computer storing an adaptive model of drilling process, said computer determining values of control signals for given drilling conditions which are close to optimum values and also signals for transition from a trial mode to a drilling mode proper, and vice versa; a monitoring unit for monitoring values of parameters of the adaptive model having an input and an output which is coupled to said electronic computer, and comprising: a functional circuit for raising to power having outputs, a first input and a second input which is coupled to said output of said bit rotary speed pick-up; a first signal multiplying circuit having outputs, a first input and a second input which is coupled to said outputs of said bit load pick-up; a second signal multiplying circuit having outputs and inputs coupled to said output of said first multiplying circuit and to said output of said functional circuit; a dividing circuit having a first input to which is coupled said output of said second multiplying circuit, a second input and an output; an adder having a first input, a second input and an output; a shift voltage source; a variable resistor coupled to said shift voltage source and coupled to said first input of said adder; said output of said adder being coupled to said second input of said dividing circuit; a third signal multiplying circuit having an input and an output which is coupled to said second input of said adder; a comparator having a first input coupled to said output of said dividing circuit, a second input and an output; a switching circuit having a first input coupled to said output of said comparator, a second input and an output; said first inputs of said functional circuit and first multiplying circuit, said second inputs of said dividing circuit, comparator and switching circuit being the inputs of said monitoring unit and said outputs of said dividing circuit and of said switching circuit being the outputs thereof; an averaging unit for discretely averaging drilling speed having inputs and an output, said inputs of said averaging unit being coupled to said output of said drilling speed pick-up and to said output of said timer, and said averaging unit comprising: a circuit for reading a signal corresponding to drilling speed from the envelope thereof, having an input which is the input of the averaging unit and an output; and a switch member having an input coupled to said output of said circuit for reading the signal, a control input coupled to said output of said timer and an output at which is formed a signal corresponding to the averaged drilling speed; said electronic computer comprising: an entering unit for sequentially entering data from said control board having inputs and outputs, said inputs of said entering unit being coupled to a group of outputs selected from said plurality of outputs of said control board; a determining unit for determining corrected values of coefficients of the adaptive model having a first circuit for correcting the coefficient corresponding to the drillability of rock, having inputs which are coupled to respective outputs of said averaging unit for discretely averaging drilling speed, of said monitoring unit for monitoring values of parameters and of said entering unit for sequentially entering data and which transfers signals corresponding to values of coefficients of the adaptive model in the preceding cycle; a second circuit for correcting the coefficient corresponding to bit rotary speed, having inputs which are coupled to respective outputs of said averaging unit for discretely averaging drilling speed, of said monitoring unit for monitoring values of parameters and of said entering unit for sequentially entering data and which transfers signals corresponding to values of coefficients of the adaptive model in the preceding cycle; said unit for determining corrected values having outputs which are the outputs of said first and second correcting circuits; a first memory having inputs and outputs, said respective inputs of said first memory being coupled to respective outputs of said determining unit, respective outputs of said first memory being coupled to said inputs of said first and second circuits for correcting coefficients and to said input of said monitoring unit; a data transfer unit having inputs and outputs, said inputs of said data transfer unit being coupled to respective outputs of said first memory; a second memory having inputs and outputs, said inputs of said second memory being coupled to respective outputs of said data transfer unit, a first forming unit for forming drilling process conditions comprising: an OR gate having inputs, which are the inputs of the first forming unit for forming conditions and which are coupled to respective outputs of said monitoring unit for monitoring values of parameters, and outputs which are the outputs of the first forming unit and which are coupled to said inputs of said data transfer unit, a first AND gate having inputs coupled to respective outputs of said monitoring unit for monitoring values of parameters and an output; a second AND gate having a first input coupled to said output of said first AND gate, a second input combined with a respective input of said OR gate and coupled to a respective output of said monitoring unit for monitoring values of parameters and an output which is the output of the first forming unit for forming conditions and which is coupled to a respective input of said data transfer unit; a second forming unit for forming optimum control signals comprising: a unit for determining the type of the bit wear having a first group of inputs, a second group of inputs and outputs, said first group of inputs being coupled to said output of said timer and to said outputs of said bit load pick-up and of said bit rotary speed pickup, said second group of inputs being coupled to said outputs of said control board; a unit for computing optimum control signals if the bit wear consists in the wear of its bearings, having outputs and inputs which are coupled to said output of said timer, to said outputs of said control board, to said outputs of said unit for determining the type of the bit wear and to said outputs of said monitoring unit for monitoring values of parameters, respectively; a unit for computing optimum control signals if the bit wear consists in the wear of its teeth, having outputs and inputs which are coupled to said outputs of said control board, to said outputs of said unit for determining the type of the bit wear and to said outputs of the monitoring unit for monitoring values of parameters, respectively; and a commutation circuit having inputs coupled to said outputs of said units for computing optimum settings and outputs which are the outputs of the second forming unit for forming optimum control signals at which are formed control signals for controlling said actuating mechanisms of the drilling rig; and a correcting unit for correcting coefficients of the adaptive model having inputs coupled to said outputs of said first forming unit and to said outputs of said second memory and outputs coupled to respective inputs of said units for computing optimum settings in case the bit wear consists in the wear of its bearing and teeth.

Claim 47

An apparatus for controlling drilling process performed by means of a drilling rig having actuating mechanisms, the number of mechanisms corresponding to the number of controlled parameters of the drilling process, the apparatus comprising: a control board for controlling drilling process having a plurality of inputs and a plurality of outputs; a digital-to-analog converter coupled to a group of outputs selected from said plurality of outputs of said control board and interconnecting said control board and said actuating mechanisms of the drilling rig; a drilling speed pick-up having an output; a bit load pick-up having an output; a bit rotary speed pick-up having an output; a timer having an output and coupled to said control board; an electronic computer storing an adaptive model of drilling process, said computer determining values of control signals for given drilling conditions which are close to optimum values and also signals for transition from a trial mode to a drilling mode proper, and vice versa; a monitoring unit for monitoring values of parameters of the adaptive model having an input and an output which is coupled to said electronic computer, and comprising: a functional circuit for raising to power having outputs, a first input and a second input which is coupled to said output of said bit rotary speed pick-up; a first signal multiplying circuit having outputs, a first input and a second input which is coupled to said outputs of said bit load pick-up; a second signal multiplying circuit having outputs and inputs coupled to said output of said first multiplying circuit and to said output of said functional circuit; a dividing circuit having a first input to which is coupled said output of said second multiplying circuit, a second input and an output; an adder having a first input, a second input and an output; a shift voltage source; a variable resistor coupled to said shift voltage source and coupled to said first input of said adder; said output of said adder being coupled to said second input of said dividing circuit; a third signal multiplying circuit having an input and an output which is coupled to said second input of said adder; a comparator having a first input coupled to said output of said dividing circuit, a second input and an output; a switching circuit having a first input coupled to said output of said comparator, a second input and an output; said first inputs of said functional circuit and first multiplying circuit, said second inputs of said dividing circuit, comparator and switching circuit being the inputs of said monitoring unit and said outputs of said dividing circuit and of said switching circuit being the outputs thereof; an averaging unit for discretely averaging drilling speed having inputs and an output, said inputs of said averaging unit being coupled to said output of said drilling speed pick-up and to said output of said timer, and said averaging unit comprising: a circuit for reading a signal corresponding to drilling speed from the envelope thereof, having an input which is the input of the averaging unit and an output; and a switch member having an input coupled to said output of said circuit for reading the signal, a control input coupled to said output of said timer and an output at which is formed a signal corresponding to the averaged drilling speed; said electronic computer comprising: an entering unit for sequentially entering data from said control board having inputs and outputs, said inputs of said entering unit being coupled to a group of outputs selected from said plurality of outputs of said control board; a determining unit for determining corrected values of coefficients of the adaptive model having a first circuit for correcting the coefficient corresponding to the drillability of rock, having inputs which are coupled to respective outputs of said averaging unit for discretely averaging drilling speed, of said monitoring unit for monitoring values of parameters and of said entering unit for sequentially entering data and which transfers signals corresponding to values of coefficients of the adaptive model in the preceding cycle; a second circuit for correcting the coefficient corresponding to bit rotary speed, having inputs which are coupled to respective outputs of said averaging unit for discretely averaging drilling speed, of said monitoring unit for monitoring values of parameters and of said entering unit for sequentially entering data and which transfers signals corresponding to values of coefficients of the adaptive model in the preceding cycle; said unit for determining corrected values having outputs which are the outputs of said first and second correcting circuits; a first memory having inputs and outputs, said respective inputs of said first memory being coupled to respective outputs of said determining unit, respective outputs of said first memory being coupled to said inputs of said first and second circuits for correcting coefficients and to said input of said monitoring unit; a data transfer unit having inputs and outputs, said inputs of said data transfer unit being coupled to respective outputs of said first memory; a second memory having inputs and outputs, said inputs of said second memory being coupled to respective outputs of said data transfer unit, a first forming unit for forming drilling process conditions comprising: an OR gate having inputs, which are the inputs of the first forming unit for forming conditions and which are coupled to respective outputs of said monitoring unit for monitoring values of parameters, and outputs which are the outputs of the first forming unit and which are coupled to said inputs of said data transfer unit, a first AND gate having inputs coupled to respective outputs of said monitoring unit for monitoring values of parameters and an output; a second AND gate having a first input coupled to said output of said first AND gate, a second input combined with a respective input of said OR gate and coupled to a respective output of said monitoring unit for monitoring values of parameters and an output which is the output of the first forming unit for forming conditions and which is coupled to a respective input of said data transfer unit; a second forming unit for forming optimum control signals comprising: a unit for determining the type of the bit wear having a first group of inputs, a second group of inputs and outputs, said first group of inputs being coupled to said output of said timer and to said outputs of said bit load pick-up and of said bit rotary speed pickup, said second group of inputs being coupled to said outputs of said control board; a unit for computing optimum control signals if the bit wear consists in the wear of its bearings, having outputs and inputs which are coupled to said output of said timer, to said outputs of said control board, to said outputs of said unit for determining the type of the bit wear and to said outputs of said monitoring unit for monitoring values of parameters, respectively; a unit for computing optimum control signals if the bit wear consists in the wear of its teeth, having outputs and inputs which are coupled to said outputs of said control board, to said outputs of said unit for determining the type of the bit wear and to said outputs of the monitoring unit for monitoring values of parameters, respectively; and a commutation circuit having inputs coupled to said outputs of said units for computing optimum settings and outputs which are the outputs of the second forming unit for forming optimum control signals at which are formed control signals for controlling said actuating mechanisms of the drilling rig; and a correcting unit for correcting coefficients of the adaptive model having inputs coupled to said outputs of said first forming unit and to said outputs of said second memory and outputs coupled to respective inputs of said units for computing optimum settings in case the bit wear consists in the wear of its bearing and teeth.