CN116464433A - Drilling fluid continuous wave smooth phase modulation method and system - Google Patents

Drilling fluid continuous wave smooth phase modulation method and system Download PDF

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Publication number
CN116464433A
CN116464433A CN202211061782.0A CN202211061782A CN116464433A CN 116464433 A CN116464433 A CN 116464433A CN 202211061782 A CN202211061782 A CN 202211061782A CN 116464433 A CN116464433 A CN 116464433A
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China
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driving motor
continuous wave
wave signal
determining
drilling fluid
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Inventor
周博涛
苏义脑
王家进
艾维平
窦修荣
毛为民
王鹏
贾衡天
樊懿锋
魏志刚
王磊
郭贤伟
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China National Petroleum Corp
CNPC Engineering Technology R&D Co Ltd
Beijing Petroleum Machinery Co Ltd
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China National Petroleum Corp
CNPC Engineering Technology R&D Co Ltd
Beijing Petroleum Machinery Co Ltd
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Priority to CN202211061782.0A priority Critical patent/CN116464433A/en
Publication of CN116464433A publication Critical patent/CN116464433A/en
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
    • E21B47/14—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves
    • E21B47/18—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves through the well fluid, e.g. mud pressure pulse telemetry
    • E21B47/20—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves through the well fluid, e.g. mud pressure pulse telemetry by modulation of mud waves, e.g. by continuous modulation

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Remote Sensing (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Geophysics (AREA)
  • Acoustics & Sound (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention provides a drilling fluid continuous wave smooth phase modulation method and system, wherein the method comprises the following steps: determining a target continuous wave signal according to underground information acquired by an underground sensor; determining a required rotation angle of a driving motor in a current carrier period corresponding to downhole information according to a preset modulation rule; determining the rotating speed change trend of the driving motor in the current carrier period corresponding to the downhole information according to a preset speed planning method; under the condition of ensuring that the phase of the continuous wave signal changes according to the established traditional rule, the modulation rule and the speed planning method are combined, the rotating speed of the driving motor is smoothed, and meanwhile, the motion continuity of the driving motor is ensured; according to the target continuous wave signal, the required rotation angle of the driving motor and the change trend of the rotation speed of the driving motor, the rotation speed of the driving motor in the whole process is planned through a pressure wave modulation equation, and then the relation between the waveform phase and the rotation speed and the position of the rotor in the shear valve is established, so that the driving motor control in the drilling fluid continuous wave generator is realized.

Description

Drilling fluid continuous wave smooth phase modulation method and system
Technical Field
The invention relates to a drilling fluid continuous wave smooth phase modulation method and system.
Background
With the development of automated drilling technology, it is required to acquire as much downhole information as possible in real time, so that measurement while drilling technology becomes a key to be realized. The current measurement while drilling technology is limited by lower information uploading rate, and effective help is difficult to provide for on-site decision making, so that the underground information transmission technology becomes a key point of research. In the underground information transmission technology, the drilling fluid continuous wave transmission mode belongs to frequency band transmission, has relatively high speed, strong anti-interference capability and wide application prospect, and is most widely applied to measurement while drilling technology. One of the keys for implementing continuous wave information transmission is modulation of continuous wave signals, and the existing continuous wave signal modulation modes mainly include Amplitude-Shift Keying (ASK), frequency-Shift Keying (FSK) and Phase-Shift Keying (PSK), wherein PSK can achieve higher bandwidth utilization rate, and modulation is simple, which is beneficial to improving signal transmission rate, so that the application is wider.
Disclosure of Invention
The inventor of the invention discovers that the shear valve type drilling fluid continuous wave modulation method based on phase shift keying in the prior art has the problems that the rotation speed of the shear valve is suddenly changed in the process of changing the phase of the drilling fluid signal, and the rotation of the shear valve stops to wait for the phase change of the signal. In view of the above problems, the embodiments of the present invention provide a method and a system for continuous wave smooth phase modulation of drilling fluid to solve or partially solve the above problems, and the technical solutions provided by the present invention are as follows:
In a first aspect, an embodiment of the present invention provides a drilling fluid continuous wave smooth phase modulation method, including:
determining a target continuous wave signal according to underground information acquired by an underground sensor;
determining a required rotation angle of a driving motor in a current carrier period corresponding to the downhole information according to a preset modulation rule;
determining the rotating speed change trend of the driving motor in the current carrier period corresponding to the underground information according to a preset speed planning method;
according to the target continuous wave signal, the required rotation angle of the driving motor and the rotation speed change trend of the driving motor, the rotation speed result of the driving motor at each moment is determined through the following pressure wave modulation equation:
wherein s (t) is a target continuous wave signal value at different moments, A is a continuous wave signal amplitude, n is the number of blades of the shear valve,for the initial rotation angle of the driving motor, and taking the maximum opening of the shear valve as the zero position point, +.>For driving the motor at various moments of rotation,/->Initial phase for continuous wave signal;
and controlling the driving motor to drive the rotor of the shear valve to rotate relative to the stator according to the rotating speed results of the driving motor at all times, and generating a drilling fluid continuous wave signal.
In one or some embodiments, the determining, according to a preset modulation rule, a rotation angle required by the driving motor in a current carrier period corresponding to the downhole information includes:
Coding the downhole information to obtain corresponding coded data;
and determining the rotation angle required by the driving motor in the current carrier period corresponding to the coded data according to the preset modulation rule.
In one or some embodiments, the determining, according to the preset modulation rule, a rotation angle required by the driving motor in a current carrier period corresponding to the encoded data includes:
according to the preset modulation rule, determining a continuous wave signal phase difference in a current carrier period corresponding to the coded data;
and determining the required rotation angle of the driving motor corresponding to the continuous wave signal phase difference in the current carrier period according to the preset modulation rule.
In one or some embodiments, the preset modulation rules include a first preset modulation rule and a second preset modulation rule, where the first preset modulation rule is a first mapping relation between the code data and the phase offset of the continuous wave signal, and the second preset modulation rule is a second mapping relation between the phase offset of the continuous wave signal and the rotation angle required by the driving motor;
the determining, according to the preset modulation rule, a rotation angle required by the driving motor in the current carrier period corresponding to the encoded data includes:
Determining the phase offset of the continuous wave signal corresponding to the coded data according to the first mapping relation;
and determining the required rotation angle of the driving motor corresponding to the phase offset of the continuous wave signal according to the second mapping relation.
In one or some embodiments, the encoded data comprises current encoded data and last encoded data, and the current encoded data and the last encoded data are both binary data;
the determining, according to the preset modulation rule, a rotation angle required by the driving motor in the current carrier period corresponding to the encoded data includes:
if the current encoder data and the last encoded data are both 0, the offset of the continuous wave signal relative to the carrier signal phase is 0, and the required rotation angle of the driving motor is determined by the following formula:
if the current encoder data and the last encoded data are both 1, the offset of the continuous wave signal relative to the carrier signal phase is pi, and the required rotation angle of the driving motor is determined by the following formula:
if the current encoder data is different from the last encoded data, determining the required rotation angle of the driving motor by the following formula:
wherein n is the number of blades of the shear valve，For the offset of the last continuous wave signal relative to the carrier signal phase, +. >Is the offset of the current continuous wave signal relative to the carrier signal phase.
In one or some embodiments, the encoded data includes current encoded data and last encoded data;
the determining the rotation speed change trend of the driving motor in the current carrier period corresponding to the downhole information according to a preset speed planning method comprises the following steps:
acquiring current coded data and last coded data;
and determining the rotating speed change trend of the driving motor in the current carrier period according to a preset speed planning method based on the current coding data and the last coding data.
In one or some embodiments, the determining, based on the current encoded data and the last encoded data, a trend of a change in a rotation speed of the driving motor in a current carrier period according to a preset speed planning method includes:
if the current coding data and the last coding data are both 0, the starting rotating speed of the driving motor and the ending rotating speed of the driving motor are both 0, and the rotating speed of the driving motor is increased and then reduced by an S curve;
if the current coding data and the last coding data are both 1, the starting rotating speed of the driving motor and the ending rotating speed of the driving motor are both not 0, and the driving motor is required to pass through a zero rotating speed point, the rotating speed of the driving motor is firstly reduced to 0 by an S curve, and the driving motor is reversely accelerated by the S curve after reaching the zero rotating speed point;
If the last encoded data is 0, the current encoded data is 1, the initial rotating speed of the driving motor is 0, the ending rotating speed of the driving motor is not 0, and the driving motor accelerates with an S curve;
if the last encoded data is 1, the current encoded data is 0, the initial rotating speed of the driving motor is not 0, the ending rotating speed of the driving motor is 0, and the driving motor moves in a S curve in a decelerating way.
In a second aspect, an embodiment of the present invention provides a drilling fluid continuous wave smoothing phase modulation parameter determining apparatus, including:
the target continuous wave signal determining module is used for determining a target continuous wave signal according to underground information acquired by an underground sensor;
the required rotation angle determining module of the driving motor is used for determining the required rotation angle of the driving motor in the current carrier period corresponding to the underground information according to a preset modulation rule;
the driving motor rotating speed change trend determining module is used for determining the rotating speed change trend of the driving motor in the current carrier period corresponding to the downhole information according to a preset speed planning method;
the driving motor rotating speed result determining module is used for determining the rotating speed result of the driving motor at each moment according to the target continuous wave signal, the required rotating angle of the driving motor and the rotating speed change trend of the driving motor through the following pressure wave modulation equation:
Wherein s (t) is a target continuous wave signal value at different moments, A is a continuous wave signal amplitude, n is the number of blades of the shear valve,for the initial rotation angle of the driving motor, and taking the maximum opening of the shear valve as the zero position point, +.>For driving the motor at various moments of rotation,/->Is the initial phase of the continuous wave signal.
In a third aspect, an embodiment of the present invention provides a drilling fluid continuous wave smooth phase modulation system, including a continuous wave signal generator and a drilling fluid continuous wave smooth phase modulation parameter determining device as described above, where the continuous wave signal generator is connected to the drilling fluid continuous wave smooth phase modulation parameter determining device;
the continuous wave signal generator comprises a controller, a driving motor and a shear valve;
and the controller is used for controlling the driving motor to drive the rotor of the shear valve to rotate relative to the stator according to the rotating speed results of the driving motor at all times determined by the drilling fluid continuous wave smooth phase modulation parameter determining device so as to generate a drilling fluid continuous wave signal.
In one or some embodiments, the shear valve includes a coaxially disposed stator and rotor having the same number of vanes and the same opening angle of the valve ports.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a drilling fluid continuous wave smoothing phase modulation method as described above.
In a fifth aspect, embodiments of the present invention provide an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a drilling fluid continuous wave smoothing phase modulation method as described above when executing the program.
Based on the technical scheme, the invention has the following beneficial effects compared with the prior art:
according to the drilling fluid continuous wave smooth phase modulation method provided by the embodiment of the invention, a target continuous wave signal is determined according to underground information acquired by an underground sensor; determining a required rotation angle of a driving motor in a current carrier period corresponding to downhole information according to a preset modulation rule; determining the rotating speed change trend of the driving motor in the current carrier period corresponding to the downhole information according to a preset speed planning method; under the condition of ensuring that the continuous wave signal phase changes according to the established traditional rule, the method for planning the preset speed is combined with the preset modulation rule, so that the rotating speed of the driving motor is smoothed, meanwhile, the continuity of the motion of the driving motor is ensured, and the speed stability of the driving motor in the oscillating shear valve type continuous wave generator is improved; according to the target continuous wave signal, the required rotation angle of the driving motor and the change trend of the rotation speed of the driving motor, the rotation speed result of the driving motor at each moment is determined through a pressure wave modulation equation, the smooth rotation of the driving motor is realized by adopting a preset speed planning method, the rotation speed of the driving motor in the whole process is planned through the pressure wave modulation equation, and then the relation between the waveform phase and the rotation speed and the position of the rotor in the shear valve is established, so that the driving motor control in the drilling fluid continuous wave generator is realized.
According to the drilling fluid continuous wave smooth phase modulation method provided by the embodiment of the invention, the driving motor is controlled to drive the rotor of the shear valve to rotate relative to the stator according to the rotating speed results of the driving motor at each moment, so that drilling fluid continuous wave signals are generated, the change of the continuous wave signal phase under the condition of smooth change of the rotating speed of the driving motor is realized, and the problem of direct jump of the signal phase when the symbol phase changes during continuous wave signal phase modulation is solved.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures do not depict a proportional limitation unless expressly stated otherwise.
FIG. 1 is a schematic flow chart of a continuous wave smooth phase modulation method for drilling fluid according to an embodiment of the present invention;
FIG. 2 is a table showing the mapping of symbol and continuous wave signal phase provided by the present invention;
FIG. 3a is a schematic diagram of an oscillating shear valve stator according to an embodiment of the present invention;
FIG. 3b is a diagram of an oscillating shear valve rotor according to an embodiment of the present invention;
FIG. 4 is a graph showing the angular-time relationship of the driving motor according to the present invention;
FIG. 5 is a graph showing the rotational speed versus time of a rotor of a drive motor according to the present invention;
FIG. 6 is a schematic diagram of a continuous wave waveform during smooth modulation according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a device for determining continuous wave smoothing phase modulation parameters of drilling fluid according to the present invention;
FIG. 8 is a schematic diagram of a continuous wave smooth phase modulation system for drilling fluid according to the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, if not in conflict, the features of the embodiments of the present invention may be combined with each other, which are all within the protection scope of the present invention. In addition, while functional block division is performed in a device diagram and logical order is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart. Furthermore, the words "first," "second," "third," and the like as used herein do not limit the data and execution order, but merely distinguish between identical or similar items that have substantially the same function and effect.
In the underground information transmission technology such as the oil drilling underground information transmission technology, the drilling fluid continuous wave transmission mode belongs to frequency band transmission, has relatively high speed, strong anti-interference capability and wide application prospect, and therefore, the drilling fluid continuous wave transmission mode is most widely applied to the measurement while drilling technology. The drilling fluid continuous wave information transmission system is mainly divided into an oscillation shear valve type and a rotary valve type according to a continuous wave signal generation mode, wherein the oscillation shear valve type continuous wave information transmission system (hereinafter referred to as a continuous wave information transmission system) has the characteristics of high signal transmission rate and strong robustness, and has better application prospect. The system mainly comprises an underground sensor, an underground waveform generation unit, a drilling fluid channel and a ground signal receiving and processing unit, wherein the core component of the underground waveform generation unit is an oscillating shear valve type continuous wave signal generator (hereinafter referred to as a continuous wave generator), and mainly comprises a shear valve, a driving motor and a signal modulation and control module, wherein the shear valve comprises a pair of stators and rotors. When the continuous wave information transmission system works, underground information is measured and coded by the underground sensor and then is converted into preset data such as binary data and is transmitted to the signal modulation and control module in the underground waveform generation unit, the module generates modulation information according to a signal modulation mode and controls the driving motor to drive the rotor to swing back and forth relative to the stator, so that the circulation path of drilling fluid is periodically blocked, regular drilling fluid pressure fluctuation is formed at the upstream of the stator, the pressure fluctuation is called continuous wave, the process of converting the preset data such as binary data into continuous wave is called continuous wave signal modulation, then the continuous wave is transmitted to the ground through a drilling fluid channel, and the ground signal receiving and processing unit receives the continuous wave and restores the continuous wave into underground information. It can be seen that one of the keys to achieve continuous wave information transmission is the modulation of the continuous wave signal. Based on this, the embodiment of the invention provides a drilling fluid continuous wave smoothing phase modulation method, wherein smoothing represents continuous conduction of a rotation angle and a rotation speed curve of a driving motor in a continuous wave signal phase change process, as shown in fig. 1, and the method comprises the following steps:
S101, determining a target continuous wave signal according to underground information acquired by an underground sensor;
in the step S101, data of downhole information collected by the downhole sensor, such as a well inclination angle, a azimuth angle, a weight on bit, a torque, etc., is obtained, and the downhole information is converted into data of a preset number system, such as binary system, so as to convert the downhole information into a string of code symbols. And superposing the carrier signals based on the binary data to obtain continuous wave signal phases, and determining target continuous wave signals.
S102, determining a rotation angle required by a driving motor in a current carrier period corresponding to the downhole information according to a preset modulation rule;
in the step S102, a relationship between the data of the preset number system and the phase of the continuous wave signal of the drilling fluid is established according to a preset modulation rule, and the phase of the continuous wave signal of the drilling fluid is changed by changing the rotation angle required by the driving motor according to the target continuous wave signal. The data of the preset number system, such as binary data, is divided into symbols, and a symbol-symbol phase mapping table is established as shown in fig. 2, specifically, a one-to-one correspondence relationship between the symbol-continuous wave signal phase offset and the rotation angle of the rotor relative to the initial position, that is, the rotation angle required by the driving motor is established. Therefore, the required rotation angle of the driving motor can be determined according to the received code symbol. The rotation angle required by the driving motor is gradually reached through the rotation of the driving motor, so that the phase of the continuous wave signal is continuously changed, and the problem of direct phase jump when the symbol phase is changed during phase modulation is solved.
S103, determining the rotation speed change trend of the driving motor in the current carrier period corresponding to the underground information according to a preset speed planning method;
in step S103, according to preset number system data corresponding to the downhole information, a corresponding trend of the rotation speed change of the driving motor is determined based on the preset number system data by a preset speed planning method, and under the condition of ensuring that the continuous wave signal phase changes according to a preset traditional rule, the rotation speed of the driving motor is smoothed, meanwhile, the motion continuity of the driving motor is ensured, and the speed stability of the driving motor in the oscillating shear valve type continuous wave generator is improved.
S104, determining the rotating speed result of the driving motor at each moment according to the target continuous wave signal, the required rotating angle of the driving motor and the rotating speed change trend of the driving motor through the following pressure wave modulation equation:
wherein s (t) is a target continuous wave signal value at different moments, A is a continuous wave signal amplitude, n is the number of blades of the shear valve,for the initial rotation angle of the driving motor, and taking the maximum opening of the oscillating shear valve as a zero position point, +.>For driving the motor at various moments of rotation,/->Initial phase for continuous wave signal;
in the step S104, the target continuous wave signal is substituted into the pressure wave modulation equation, and the rotational speed result of each moment of the driving motor in the carrier period is obtained according to the required rotational angle of the driving motor and the rotational speed variation trend of the driving motor, so that the driving motor rotates by a corresponding angle under the condition of smooth speed variation. And planning the rotation speed of the driving motor in the whole process through the pressure wave modulation equation, and further establishing the relation between the waveform phase and the rotation speed and the position of the rotor in the oscillating shear valve so as to realize the control of the driving motor in the drilling fluid continuous wave generator.
And S105, controlling the driving motor to drive the rotor of the shear valve to rotate relative to the stator according to the rotating speed results of the driving motor at all times, and generating drilling fluid continuous wave signals.
In the step S105, since the oscillating shear valve is directly driven by the driving motor, the rotational speed of the driving motor is the rotational speed of the shear valve, and the driving motor drives the rotor of the shear valve to rotate relative to the stator according to the rotational speed results of the driving motor at each time, thereby generating drilling fluid pressure waves above the stator according to the preset modulation rule, modulating preset system data into the drilling fluid pressure waves, wherein the generated drilling fluid pressure waves are continuous pressure waves, and the generated drilling fluid continuous wave signals are target continuous wave signals.
According to the drilling fluid continuous wave smooth phase modulation method, provided by the embodiment of the invention, under the condition that the continuous wave signal phase is ensured to change according to the established traditional rule by combining the modulation rule and the speed planning method, the rotating speed of the driving motor is smoothed, meanwhile, the continuity of the motion of the driving motor is ensured, and the speed stability of the driving motor in the oscillating shear valve type continuous wave generator is improved; according to the target continuous wave signal, the required rotation angle of the driving motor and the rotation speed change trend of the driving motor, the rotation speed result of the driving motor at each moment is determined through a pressure wave modulation equation, smooth rotation of the driving motor between coding symbols is realized through speed planning, the rotation speed of the driving motor in the whole process is planned through the pressure wave modulation equation, and then the relation between the waveform phase and the rotation speed and the position of the rotor in the shear valve is established, so that the driving motor control in the drilling fluid continuous wave generator is realized.
According to the drilling fluid continuous wave smooth phase modulation method provided by the embodiment of the invention, the physical process of drilling fluid continuous wave generation is comprehensively considered, a phase modulation mode is adopted between coded symbols, so that the change of the continuous wave signal phase under the condition of smooth change of the rotation speed of a driving motor is realized, and the problem of direct jump of the rotation speed during the change of the symbol phase during the phase modulation is solved.
In one or some embodiments, the determining, in step S102, the rotation angle required for driving the motor in the current carrier period corresponding to the downhole information according to the preset modulation rule specifically includes:
s1021, coding the downhole information to obtain corresponding coded data;
in the step S1021, the downhole information is encoded and converted into data of a preset number system, so as to obtain corresponding encoded data, which may be binary data, for example, and the downhole information may be converted into data of a different number system according to actual needs.
And S1022, determining the rotation angle required by the driving motor in the current carrier period corresponding to the coded data according to the preset modulation rule.
In step 1022, according to the encoded data corresponding to the downhole information, the required rotation angle of the corresponding driving motor may be determined according to the preset modulation rule.
In one embodiment, in step S1022, the determining, according to the preset modulation rule, the rotation angle required for driving the motor in the current carrier period corresponding to the encoded data specifically includes:
s10221a, determining a continuous wave signal phase difference in a current carrier period corresponding to the coded data according to the preset modulation rule;
s10222a, determining a required rotation angle of the driving motor corresponding to the phase difference of the continuous wave signals in the current carrier wave period according to the preset modulation rule.
In one embodiment, the preset modulation rule includes a first preset modulation rule and a second preset modulation rule, as shown in fig. 2, where the first preset modulation rule is a first mapping relationship between the code data and the phase offset of the continuous wave signal, and the second preset modulation rule is a second mapping relationship between the phase offset of the continuous wave signal and the rotation angle required by the driving motor;
the determining, according to the preset modulation rule, the rotation angle required for driving the motor in the current carrier period corresponding to the encoded data in step S1022 specifically includes:
s10221b, determining the continuous wave signal phase offset corresponding to the coded data according to the first mapping relation;
In step S10221b, according to the map shown in fig. 2, if the encoded data is 0, the phase shift amount of the continuous wave signal is 0, and if the encoded data is 1, the phase shift amount of the continuous wave signal is pi.
S10222b, determining the required rotation angle of the driving motor corresponding to the phase offset of the continuous wave signal according to the second mapping relation.
In step S10222b, according to the map shown in fig. 2, if the rotation angle required for the drive motor is 0 ° or 60 ° for the encoded data of 0, the rotation angle required for the drive motor is 30 ° for the encoded data of 1.
The existing continuous wave signal modulation modes mainly include Amplitude-Shift Keying (ASK), frequency-Shift Keying (FSK) and Phase-Shift Keying (PSK), wherein PSK can achieve higher bandwidth utilization rate, and the modulation is simple, which is beneficial to the improvement of signal transmission rate, so that the application is wider. Taking BPSK modulation as an example, the conventional signal modulation method based on binary phase shift keying (Binary Phase Shift Keying, BPSK) is to make the phase of the continuous wave signal suddenly change at the detection point, and if the modulated waveform has a discontinuity in phase, the rotational speed of the rotor needs to be suddenly changed at the discontinuity point, but the rotational speed is continuous due to the existence of the moment of inertia of the rotor. Because the rotor of the oscillating shear valve swings reciprocally relative to the stator, the rotor is required to rotate reversely after rotating for a certain angle, and therefore, a rotor rotating speed curve has double zero points. The rotary valve is continuously rotated, and a rotary valve type signal modulation method based on continuous rotation cannot be applied to reciprocating oscillation, so that the conventional rotary valve type continuous wave generator signal modulation method cannot be applied to a shear valve type continuous wave signal generator. Meanwhile, if a mode of waiting for the phase change of the continuous wave signal at the rotating speed zero point of the rotor is adopted to realize signal modulation, the signal transmission rate can be obviously reduced. In summary, the method for modulating the phase of the continuous wave signal under the condition of continuous and smooth motion of the motor is provided, and has important significance for realizing high-speed stable transmission of the continuous wave signal.
In one embodiment, in order to smoothly change the rotation speed of the driving motor in the continuous wave signal phase change process, the invention adopts a speed planning method to design the rotation speed of the driving motor. Taking binary phase shift keying modulation as an example, when binary data 0 is sent, the offset of the phase of a continuous wave signal relative to a carrier signal is 0, and at the moment, the flow area of drilling fluid in a shear valve area is maximum, and the amplitude of the continuous wave signal is minimum; when binary data 1 is sent, the phase offset of the continuous wave signal relative to the carrier signal is pi, at the moment, the flow area of drilling fluid in a shear valve area is minimum, and the amplitude of the continuous wave signal is maximum.
The coded data comprises current coded data and last coded data, and the current coded data and the last coded data are binary data;
the determining, according to the preset modulation rule, the rotation angle required by the driving motor in the current carrier period corresponding to the encoded data in step S1022 includes:
if the current encoder data and the last encoded data are both 0, the offset of the continuous wave signal relative to the carrier signal phase is 0, and the required rotation angle of the driving motor is determined by the following formula:
if the current encoder data and the last encoded data are both 1, the offset of the continuous wave signal relative to the carrier signal phase is pi, and the required rotation angle of the driving motor is determined by the following formula:
If the current encoder data is different from the last encoded data, determining the required rotation angle of the driving motor by the following formula:
wherein n is the number of blades of the shear valve,for the offset of the last continuous wave signal relative to the carrier signal phase, +.>Is the offset of the current continuous wave signal relative to the carrier signal phase.
In the embodiment of the invention, the offset of the continuous wave signal phase and the rotation angle required by the driving motor in the current carrier period are calculated by comparing the current encoded data, namely binary data currently transmitted by the encoder, with the last encoded data, namely binary data transmitted by the encoder last time.
In one embodiment, the encoded data includes current encoded data and last encoded data;
the determining, according to the preset speed planning method, the trend of the rotation speed change of the driving motor in the current carrier period corresponding to the downhole information in the step S103 specifically includes:
s1031, current coding data and last coding data are obtained;
in step S1031, the last encoded data, which is the binary data transmitted last by the encoder, and the current encoded data, which is the binary data transmitted currently by the encoder, are acquired.
S1032, determining a speed change trend corresponding to the rotation angle required by the driving motor according to a preset speed planning method based on the current coding data and the last coding data.
In step S1032, according to the current encoded data and the last encoded data, a speed variation trend of the driving motor is planned to enable the driving motor to rotate by a corresponding required rotation angle under the condition of smooth speed variation. The preset speed planning method can be set according to actual needs, so long as the rotation speed of the driving motor can be changed smoothly.
In one embodiment, the rotation speed of the driving motor is then planned according to the required rotation angle of the driving motor, so that the driving motor rotates by a corresponding angle under the condition of smooth change of the speed, for example, the rotation speed of the driving motor is planned by adopting an S-curve, and the planning method is as follows:
the determining, in step S1032, a speed change trend corresponding to the rotation angle required by the driving motor according to a preset speed planning method based on the current encoded data and the last encoded data includes:
if the current coding data and the last coding data are both 0, the starting rotating speed of the driving motor and the ending rotating speed of the driving motor are both 0, and the rotating speed of the driving motor is increased and then reduced by an S curve;
if the current coding data and the last coding data are both 1, the starting rotating speed of the driving motor and the ending rotating speed of the driving motor are both not 0, and the driving motor is required to pass through a zero rotating speed point, the rotating speed of the driving motor is firstly reduced to 0 by an S curve, and the driving motor is reversely accelerated by the S curve after reaching the zero rotating speed point;
If the last encoded data is 0, the current encoded data is 1, the initial rotating speed of the driving motor is 0, the ending rotating speed of the driving motor is not 0, and the driving motor accelerates with an S curve;
if the last encoded data is 1, the current encoded data is 0, the initial rotating speed of the driving motor is not 0, the ending rotating speed of the driving motor is 0, and the driving motor moves in a S curve in a decelerating way.
It should be noted that the planning method is only one specific embodiment of the present invention, and in other embodiments, other manners may be adopted, and any method capable of making the rotation speed of the driving motor smoothly change is within the scope of the embodiments of the present invention.
As a specific implementation manner, the stator and rotor structures of the oscillating shear valve provided by the embodiment of the invention are shown in fig. 3a and 3b respectively. The stator and the rotor both comprise 6 evenly distributed blades, and the projection of the rotor blades 11 on the stator at the initial moment can completely coincide with the stator blades 9. The opening angles of the stator valve port 10 and the rotor valve port 12 are 22.5 degrees. When in installation, the stator is arranged at the upstream of the rotor, the stator and the rotor blades are concentric, and the gap between the stator and the rotor blades is 2mm. When the projection of the rotor blade 11 on the stator is completely overlapped with the stator blade 9, the overflow area of the drilling fluid at the oscillating shear valve is maximum, the amplitude value of the drilling fluid pressure generated at the upstream of the stator is minimum, and the phase of the continuous wave signal is 0; when the projection of the rotor blade 11 on the stator completely blocks the stator valve port 10, the overflow area of the drilling fluid at the oscillating shear valve is minimum, the amplitude of the drilling fluid pressure wave generated upstream of the stator is maximum, and the phase of the continuous wave signal is pi.
The mapping table of the preset modulation rule, that is, the symbol 13, the phase offset 14 of the continuous wave signal, and the rotation angle 15 of the rotor relative to the initial position is shown in fig. 2. The phase offset 14 of the continuous wave signal is the phase of the continuous wave signal at the detection time, the initial position of the rotor is the position of the rotor when the projection of the rotor blade 11 on the stator at the start operation time of the oscillating shear valve is completely overlapped with the stator blade 9, and the rotation angle 15 of the rotor relative to the initial position is the rotation angle of the rotor relative to the initial position at the detection time. Taking Binary Phase Shift Keying (BPSK) as an example, according to the BPSK modulation rule, the phase offset of a continuous wave signal corresponding to a symbol 0 is 0, and the phase offset of a continuous wave signal corresponding to a symbol 1 is pi. The continuous wave generator is assumed to work, the phase of the continuous wave signal is 0, the stator and rotor blades axially coincide, and the flowing area of drilling fluid is maximum. When symbol 0 is sent, after the carrier cycle time is finished, the stator and the rotor still keep axial superposition to ensure that the drilling fluid flow area is maximum, for the oscillating shear valve structure in the embodiment, the rotor blade rotates 0 degrees or 60 degrees relative to the initial position, when symbol 1 is sent, the amplitude of the drilling fluid pressure wave formed upstream of the stator is maximum, the flow area of the drilling fluid in the valve area is minimum, the rotor blade completely blocks the valve port of the stator, and the rotor blade rotates 30 degrees relative to the initial position.
In order to further describe the drilling fluid continuous wave smooth phase modulation method provided by the embodiment of the invention, the embodiment of the invention takes the transmission data as binary data as an example to describe the rotation angle of a driving motor, namely a shear valve, the rotation speed of a rotor and the waveform of the drilling fluid continuous wave in the drilling fluid continuous wave smooth phase modulation process:
the variation of the oscillating shear valve rotor angle with time when the binary data is "0110" is shown in fig. 4. The motion characteristics of the oscillating shear valve show that the rotor angle is smoothly changed between 0 and 60 degrees. The rotor rotation angle is defined to be increased to be rotated in the forward direction, the rotation angle is defined to be reduced to be rotated in the reverse direction, when binary data are transmitted to be 0, the rotor rotation angle is smoothly changed by 60 degrees in a carrier period T, at the moment, the projection of a rotor blade on a stator is still coincident with the stator blade, the flowing area of drilling fluid is maximum, the phase of a continuous wave signal is unchanged, and a rotor rotation angle change curve is shown as 16 in the figure. Binary data 1 is then sent, since the rotor has reached the maximum rotation angle, and thus rotated in reverse according to curve 17, through 30 ° of one carrier cycle, where the projection of the rotor blades onto the stator coincides with the stator valve port, the drilling fluid flow area is minimum, the continuous wave signal amplitude is maximum, and the signal phase is shifted by pi. The binary data 1 is then sent, and the rotor is rotated in reverse and then in forward direction, as it does not return to the original position, and finally reaches a 30 ° angle of rotation, the angle of rotation change curve being shown at 18. And then sending binary data 0, wherein the phase of the continuous wave signal is required to be shifted by 0, the amplitude is minimum, the flowing area of drilling fluid is maximum, and the rotor does not reach the maximum rotation angle, so that the rotor only needs to rotate for 30 degrees in the forward direction within one carrier cycle time, and the rotation angle change curve is shown as 19.
The change of the rotor speed of the oscillating shear valve with time when the binary data is "0110" is shown in fig. 5, in which the rotor speed of the shear valve is planned by using an S-curve. When binary data 0 is transmitted, the rotor finally needs to rotate 60 degrees to ensure that the projection on the stator coincides with the stator blades, and the rotor rotates reversely, and the rotating speed is 0 after the rotor rotates 60 degrees, so that the rotating speed of the rotor changes according to a curve 20. Binary data 1 is then sent, and the rotor is reversed by 30 ° to ensure minimum flow area of the drilling fluid as it reaches the rotational limit, where the rotational speed profile is shown in curve 21. The binary data 1 is then sent, the rotor is first decelerated back to 0 and then accelerated forward, ensuring that the shear valve position is unchanged and the speed is changed as in curve 22. Finally, binary data 0 is sent, the rotor is decelerated according to curve 23, and finally the rotor reaches the position with the rotation angle of 60 degrees.
The drilling fluid continuous wave waveform when the transmitted binary data is "0110" is shown in fig. 6. When data 0 is transmitted, the waveform is shown as curve 24, when data 1 is transmitted, the waveform is shown as curve 25, when data 1 is transmitted, the waveform is shown as curve 26, when data 0 is transmitted, the waveform is shown as curve 27, and when the carrier period is finished, the signal phase can reach the preset value.
Example two
Based on the same inventive concept, an embodiment of the present invention provides a drilling fluid continuous wave smooth phase modulation parameter determining device, as shown in fig. 7, including:
a target continuous wave signal determining module 201, configured to determine a target continuous wave signal according to downhole information acquired by a downhole sensor;
the driving motor required rotation angle determining module 202 is configured to determine a driving motor required rotation angle in a current carrier period corresponding to the downhole information according to a preset modulation rule;
the driving motor rotation speed change trend determining module 203 is configured to determine a driving motor rotation speed change trend in a current carrier period corresponding to the downhole information according to a preset speed planning method;
the driving motor rotation speed result determining module 204 is configured to determine a driving motor rotation speed result at each time according to the target continuous wave signal, the required rotation angle of the driving motor, and the driving motor rotation speed variation trend, by using the following pressure wave modulation equation:
wherein s (t) is a target continuous wave signal value at different moments, A is a continuous wave signal amplitude, n is the number of blades of the shear valve,for the initial rotation angle of the driving motor, and taking the maximum opening of the oscillating shear valve as a zero position point, +. >For driving the motor at various moments of rotation,/->Is the initial phase of the continuous wave signal.
According to the drilling fluid continuous wave smooth phase modulation parameter determining device provided by the embodiment of the invention, the rotation speed of the driving motor in the whole process is planned through the preset modulation rule, the preset speed planning method and the pressure wave modulation equation based on the target continuous wave signal corresponding to the downhole information, so that the relation between the waveform phase and the rotation speed and the position of the rotor in the shear valve is established, and the driving motor control in the drilling fluid continuous wave generator is realized conveniently. And subsequently, according to the determined rotating speed results of the driving motor at all times, controlling the driving motor to drive a rotor of the shear valve to rotate relative to the stator, generating continuous waves above the stator according to a modulation rule, and modulating binary data into drilling fluid continuous wave signals so as to generate the target continuous wave signals. For specific implementation, reference may be made to the description related to the continuous wave smooth phase modulation method of drilling fluid in the first embodiment, which is not repeated here.
The embodiment of the invention also provides a drilling fluid continuous wave smooth phase modulation system, as shown in fig. 8, comprising a continuous wave signal generator and the drilling fluid continuous wave smooth phase modulation parameter determining device, wherein the continuous wave signal generator is connected with the drilling fluid continuous wave smooth phase modulation parameter determining device;
The drilling fluid continuous wave smooth phase modulation parameter determining device comprises an encoder 1 and a modulator 2;
the encoder 1 is used for determining a target continuous wave signal according to downhole information acquired by a downhole sensor and transmitting the target continuous wave signal to the modulator 2;
the modulator 2 is used for determining the rotating speed change trend of the driving motor in the current carrier period corresponding to the downhole information according to a preset speed planning method; and determining the rotation speed result of the driving motor at each moment according to the target continuous wave signal, the required rotation angle of the driving motor and the rotation speed change trend of the driving motor through the following pressure wave modulation equation, and transmitting the rotation speed result to the controller 3:
wherein s (t) is a target continuous wave signal value at different moments, A is a continuous wave signal amplitude, n is the number of blades of the shear valve,for the initial rotation angle of the driving motor, and taking the maximum opening of the oscillating shear valve as a zero position point, +.>For driving the motor at various moments of rotation,/->Initial phase for continuous wave signal;
the continuous wave signal generator comprises a controller 3, a driving motor 4 and a shear valve 5;
and the controller 3 is used for controlling the driving motor 4 to drive the rotor of the shear valve 5 to rotate relative to the stator according to the rotating speed results of the driving motor at each moment determined by the modulator 2, and generating drilling fluid continuous wave signals.
In one or some embodiments, the shear valve includes a coaxially disposed stator and rotor having the same number of vanes and ports at the same opening angle, as shown in fig. 3a and 3 b.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the drilling fluid continuous wave smooth phase modulation method according to the embodiment one.
The embodiment of the invention also provides an electronic device 6, as shown in fig. 9, which comprises a memory 7, a processor 8 and a computer program stored in the memory 7 and capable of running on the processor 8, wherein the processor 8 implements the drilling fluid continuous wave smooth phase modulation method according to the embodiment one when executing the program.
The apparatus or device embodiments described above are merely illustrative, wherein the unit modules illustrated as separate components may or may not be physically separate, and the components shown as unit modules may or may not be physical units, may be located in one place, or may be distributed over a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or as part of the contribution to the relevant art in the form of a software product, which may be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform the methods described in the various embodiments or portions of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be appreciated by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims (12)

1. A drilling fluid continuous wave smooth phase modulation method, comprising:
determining a target continuous wave signal according to underground information acquired by an underground sensor;
determining a required rotation angle of a driving motor in a current carrier period corresponding to the downhole information according to a preset modulation rule;
determining the rotating speed change trend of the driving motor in the current carrier period corresponding to the underground information according to a preset speed planning method;
according to the target continuous wave signal, the required rotation angle of the driving motor and the rotation speed change trend of the driving motor, the rotation speed result of the driving motor at each moment is determined through the following pressure wave modulation equation:
wherein s (t) is a target continuous wave signal value at different moments, A is a continuous wave signal amplitude, n is the number of blades of the shear valve,for the initial rotation angle of the driving motor, and taking the maximum opening of the shear valve as the zero position point, +.>For driving the motor at various moments of rotation,/->Initial phase for continuous wave signal;
and controlling the driving motor to drive the rotor of the shear valve to rotate relative to the stator according to the rotating speed results of the driving motor at all times, and generating drilling fluid continuous wave signals.
2. The method for modulating the continuous wave smooth phase of the drilling fluid according to claim 1, wherein the determining the rotation angle required by the driving motor in the current carrier period corresponding to the downhole information according to the preset modulation rule comprises:
Coding the downhole information to obtain corresponding coded data;
and determining the rotation angle required by the driving motor in the current carrier period corresponding to the coded data according to the preset modulation rule.
3. The method for continuous wave smooth phase modulation of drilling fluid according to claim 2, wherein determining the rotation angle required by the driving motor in the current carrier period corresponding to the encoded data according to the preset modulation rule comprises:
according to the preset modulation rule, determining a continuous wave signal phase difference in a current carrier period corresponding to the coded data;
and determining a required rotation angle of the driving motor corresponding to the phase difference of the continuous wave signals in the current carrier wave period according to the preset modulation rule.
4. The drilling fluid continuous wave smooth phase modulation method according to claim 2, wherein the preset modulation rules comprise a first preset modulation rule and a second preset modulation rule, the first preset modulation rule is a first mapping relation for establishing coded data and continuous wave signal phase offset, and the second preset modulation rule is a second mapping relation for establishing continuous wave signal phase offset and a rotation angle required by a driving motor;
The determining, according to the preset modulation rule, a rotation angle required by the driving motor in the current carrier period corresponding to the encoded data includes:
determining the phase offset of the continuous wave signal corresponding to the coded data according to the first mapping relation;
and determining the required rotation angle of the driving motor corresponding to the phase offset of the continuous wave signal according to the second mapping relation.
5. The drilling fluid continuous wave smoothing phase modulation method of claim 2, wherein the encoded data comprises current encoded data and last encoded data, and the current encoded data and the last encoded data are both binary data;
the determining, according to the preset modulation rule, a rotation angle required by the driving motor in the current carrier period corresponding to the encoded data includes:
if the current encoder data and the last encoded data are both 0, the offset of the continuous wave signal relative to the carrier signal phase is 0, and the required rotation angle of the driving motor is determined by the following formula:
if the current encoder data and the last encoded data are both 1, the offset of the continuous wave signal relative to the carrier signal phase is pi, and the required rotation angle of the driving motor is determined by the following formula:
If the current encoder data is different from the last encoded data, determining the required rotation angle of the driving motor by the following formula:
wherein n is the number of blades of the shear valve,for the offset of the last continuous wave signal relative to the carrier signal phase, +.>Is the offset of the current continuous wave signal relative to the carrier signal phase.
6. The drilling fluid continuous wave smoothing phase modulation method of claim 2, wherein the encoded data comprises current encoded data and last encoded data;
the determining the change trend of the rotation speed of the driving motor in the current carrier period corresponding to the downhole information according to a preset speed planning method comprises the following steps:
acquiring current coded data and last coded data;
and determining the rotating speed change trend of the driving motor in the current carrier period according to a preset speed planning method based on the current coding data and the last coding data.
7. The continuous wave smooth phase modulation method of drilling fluid according to claim 6, wherein determining the trend of the rotation speed of the driving motor in the current carrier period according to the preset speed planning method based on the current encoded data and the last encoded data comprises:
if the current coding data and the last coding data are both 0, the starting rotating speed of the driving motor and the ending rotating speed of the driving motor are both 0, and the rotating speed of the driving motor is increased and then reduced by an S curve;
If the current coding data and the last coding data are both 1, the starting rotating speed of the driving motor and the ending rotating speed of the driving motor are both not 0, and the driving motor is required to pass through a zero rotating speed point, the rotating speed of the driving motor is firstly reduced to 0 by an S curve, and the driving motor is reversely accelerated by the S curve after reaching the zero rotating speed point;
if the last encoded data is 0, the current encoded data is 1, the initial rotating speed of the driving motor is 0, the ending rotating speed of the driving motor is not 0, and the driving motor accelerates with an S curve;
if the last encoded data is 1, the current encoded data is 0, the initial rotating speed of the driving motor is not 0, the ending rotating speed of the driving motor is 0, and the driving motor moves in a S curve in a decelerating way.
8. A drilling fluid continuous wave smoothing phase modulation parameter determining device, comprising:
the target continuous wave signal determining module is used for determining a target continuous wave signal according to underground information acquired by an underground sensor;
the required rotation angle determining module of the driving motor is used for determining the required rotation angle of the driving motor in the current carrier period corresponding to the underground information according to a preset modulation rule;
the driving motor rotating speed change trend determining module is used for determining the rotating speed change trend of the driving motor in the current carrier period corresponding to the underground information according to a preset speed planning method;
The driving motor rotation speed result determining module is used for determining the rotation speed result of the driving motor at each moment according to the target continuous wave signal, the required rotation angle of the driving motor and the rotation speed change trend of the driving motor through the following pressure wave modulation equation:
wherein s (t) is a target continuous wave signal value at different moments, A is a continuous wave signal amplitude, n is the number of blades of the shear valve,for the initial rotation angle of the driving motor, and taking the maximum opening of the shear valve as the zero position point, +.>For driving the motor at various moments of rotation,/->Is the initial phase of the continuous wave signal.
9. A drilling fluid continuous wave smooth phase modulation system, comprising a continuous wave signal generator and the drilling fluid continuous wave smooth phase modulation parameter determination device according to claim 8, wherein the continuous wave signal generator is connected with the drilling fluid continuous wave smooth phase modulation parameter determination device;
the continuous wave signal generator comprises a controller, a driving motor and a shear valve;
and the controller is used for controlling the driving motor to drive the rotor of the shear valve to rotate relative to the stator according to the rotating speed results of the driving motor at all times determined by the drilling fluid continuous wave smooth phase modulation parameter determining device so as to generate a drilling fluid continuous wave signal.
10. A drilling fluid continuous wave smoothing phase modulation system according to claim 9, wherein the shear valve comprises a coaxially disposed stator and rotor having the same number of vanes and valve ports of the same opening angle.
11. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the drilling fluid continuous wave smoothing phase modulation method of any one of claims 1-7.
12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the drilling fluid continuous wave smooth phase modulation method of any one of claims 1-7 when the program is executed.
CN202211061782.0A 2022-09-01 2022-09-01 Drilling fluid continuous wave smooth phase modulation method and system Pending CN116464433A (en)

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CN202211061782.0A CN116464433A (en) 2022-09-01 2022-09-01 Drilling fluid continuous wave smooth phase modulation method and system

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Application Number Priority Date Filing Date Title
CN202211061782.0A CN116464433A (en) 2022-09-01 2022-09-01 Drilling fluid continuous wave smooth phase modulation method and system

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CN116464433A true CN116464433A (en) 2023-07-21

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