CN103883255B - A kind of horizontal well landing path control method based on continuous steerable drilling well - Google Patents

Abstract

The invention discloses a kind of horizontal well Landing Control method based on continuous steerable drilling well, the method comprises the following steps: S101, according to deviational survey data, adopts the trajectory parameters of calculation by extrapolation shaft bottom point; S102, on target plane, select position into target spot, calculate the space coordinates of target spot under mouth coordinate system; S103, adopt and comprise the equal continuous circular arc well section of two curvature as casing program; S104, choose the design build angle rate of Landing Control, and then design or select guide drilling tool; The technical data of S105, the trajectory parameters according to shaft bottom point, the trajectory parameters entering target spot and design build angle rate design level well Landing Control; S106, calculating trajectory parameters, and export design result.The control method that the present invention proposes not only can meet double requirements into target position and rarget direction simultaneously, also has that technique is simple, operation is few, efficiency is high, low cost and other advantages.

Description

Horizontal well landing trajectory control method based on continuous steering drilling

Technical Field

The invention relates to the field of oilfield drilling, in particular to a horizontal well landing control method based on continuous steering drilling.

Background

The well track control is a complex multi-disturbance control process, wherein the technical difficulty of the horizontal well landing control scheme is as follows: the dual requirements of target location and target direction need to be met simultaneously to achieve soft landing.

At present, in the horizontal drilling construction process, the closer the drill bit is to the target area, the higher the requirement on the track control of the drill bit is. In the practical application process, the key stage of the horizontal well landing control is that a drill bit is within a range of tens of meters away from a target area window. At the moment, the landing track of the horizontal well is controlled to meet the dual requirements of the target entering position and the target entering direction, the simplest process and procedure are required to be adopted as far as possible, the construction difficulty is reduced, and the well body quality is improved.

At present, the existing soft landing control scheme adopts a well section of 'straight section-curved section-straight section', the drilling tool assembly needs to be frequently replaced when different well sections are drilled, for the five-section well section in the prior art, at least three sets of drilling tool assemblies need to be used, and the drilling speed and the well quality are seriously influenced.

The existing horizontal well landing trajectory control method has the following defects: (1) the landing control scheme of the horizontal well is not organically combined with the target area, so that the landing control scheme is separated from the target entering requirement; (2) the construction process is multiple, the drilling process is complex, and the drilling time efficiency is low.

Disclosure of Invention

The invention provides a novel horizontal well landing control method aiming at the defects of the horizontal well landing control method in the existing drilling construction process.

The horizontal well landing control method based on continuous steering drilling provided by the invention comprises the following steps:

s101, acquiring inclination measurement data of an actual drilling track by using a measurement while drilling instrument, and calculating track parameters of a well bottom point b by using an extrapolation method according to an actually used pilot drilling process, wherein the track parameters comprise a well inclination angle and an azimuth angle of the well bottom point b and space coordinates under a well head coordinate system;

s102, selecting the position of a target point e on a target plane, and calculating the space coordinate of the target point e under a wellhead coordinate system based on the placing posture of the target plane;

s103, adopting a continuous arc well section with two equal curvatures as a well profile to realize continuous guiding control of horizontal well soft landing;

s104, selecting a design build-up rate of the landing control according to the landing control requirement of the horizontal well, and further designing or selecting a guiding well drilling tool;

s105, designing a process technical parameter for horizontal well landing control according to the track parameter of the well bottom point b, the track parameter of the target point e and the design build rate, wherein the process technical parameter comprises a tool face angle and a section length of two arc sections;

and S106, calculating track parameters of each node and each point on the landing track according to the landing control scheme of the horizontal well and the design requirement of the well track, and outputting the design result in a chart form to be used as the basis of the landing control construction of the horizontal well.

According to another aspect of the present invention, in step S102, the spatial coordinates of the targeting point e are calculated according to the following method:

on the target plane, the vertical and horizontal coordinates (x and y) of the target point e are selected by taking the target point t as the origin of coordinates, the vertical direction as the x axis and the horizontal direction as the right axis_e，y_e) According to the spatial coordinates (N) of the target point t_t，E_t，H_t) Target plane coordinates (x) of target point_e，y_e) And normal azimuth angle phi of target plane_zCalculating the space coordinate (N) of the target point_e，E_e，H_e)：

According to another aspect of the present invention, in step S103, the continuous guiding control of the soft landing in the horizontal well is implemented as follows: a well bore profile of 'a first straight line segment, a first circular arc segment, a second circular arc segment and a second straight line segment' is adopted, wherein the two circular arc segments are adjacent and have equal curvature.

According to another aspect of the present invention, in step S104, a design build rate and a steering drilling tool for landing control are selected as follows: the design build-up rate of landing control refers to the build-up rate used in designing a landing trajectory control scheme, namely the curvature of two circular arc sections in the well bore profile, and the build-up rate of the guiding drilling tool is preferably 10% -20% higher than the design build-up rate.

According to the method of another aspect of the present invention, in the step S105, the process technology parameters of the landing trajectory control are designed according to the following steps:

s201, intersecting the borehole tangent line of the starting point and the ending point of the second circular arc segment at a point n, wherein the length from the point n to the starting point and the ending point of the circular arc segment is equal, and the length of the tangent line is u₃Representing and selecting a u₃Initial value u of₃⁰；

S202, according to the space coordinate of the target entering point e, the target entering direction, the initial value of the tangent length of the second circular arc segment and the given segment length delta L of the second straight segment₄And the space coordinate of the tangent intersection point n of the starting point and the tail point of the second arc segment is calculated by adopting the following formula:

s203, establishing a right-hand coordinate system b-xi eta zeta by taking the bottom hole point b as a coordinate origin, wherein the zeta axis points to the tangential direction of a well track, the eta axis is the normal direction of a spatial inclined plane, the zeta axis is perpendicular to the zeta axis and the eta axis and points to the inner normal direction of a land track, and calculating the spatial coordinate of the intersection point n under the bottom hole coordinate system according to the following formula:

wherein,

wherein d is the distance from the bottom hole point (b) to the intersection point n and is the mode of the vector from the bottom hole point (b) to the intersection point n; b is a space inclined plane omega₂A modulus of the normal vector; (a)_N，a_E，a_H) Direction cosine of ξ coordinate axis under the coordinate system O-NEH of well head, (b)_N，b_E，b_H) Direction cosine of η coordinate axis under the coordinate system O-NEH of well head, (c)_N，c_E，c_H) Is the direction cosine of the zeta coordinate axis under a wellhead coordinate system O-NEH; (d)_N，d_E，d_H) Is the directional cosine of the vector n from the bottom hole point (b) to the intersection point under the wellhead coordinate system O-NEH,

s204, according to the space coordinate of the intersection point n in a bottom hole coordinate system and the tangent length of the starting point and the ending point of the second arc segment, for the design build-up rate kappa or the corresponding curvature radius R and the segment length delta L of the first straight segment₁These 2 parameters, one of which is known, can be designed into another parameter:

when the segment length DeltaL of the first straight line segment is known₁Then, the design build-up rate is calculated according to the following formula

When the design build rate κ or the corresponding radius of curvature R is known, the segment length of the first line segment is calculated as follows

S205, calculating the bending angle of the first circular arc section according to the following formula, namely the bending angle of the 2 nd well section on the well profile₂：

S206 and a well inclination angle α at the connection point c of the first circular arc segment and the second circular arc segment_cAnd azimuth angle phi_cCalculated according to the following formula:

s207, calculating the new tangent length u of the second arc segment by adopting the following formula₃：

Wherein cos₃＝cosα_ccosα_e+sinα_csinα_ecos(φ_e-φ_c)；

S208, if the new tangent length u₃And its initial value u₃⁰Satisfy | u₃-u₃⁰L <, wherein, for the required calculation accuracy, the iterative calculation is completed; otherwise, let u₃⁰＝u₃Returning to step S202, repeating the above calculation until the accuracy requirement is met;

when the accuracy requirement is met, calculating the tool face angle omega of the first circular arc section and the second circular arc section (the 2 nd well section and the 3 rd well section on the well profile) according to the following formula₂、ω₃And segment length Δ L₂And Δ L₃：

According to the method of another aspect of the present invention, there is a simplest well profile, the well profile only comprises two circular segments, and the design method still adopts the steps S201-S208, only Δ L₁＝ΔL₄0; the build rate determined at this time is also the minimum design build rate capable of realizing continuous guiding landing control, and can be calculated according to the following formula:

the invention brings the following beneficial effects:

(1) the invention provides an integrated technology for organically combining landing control and a target area of a horizontal well, which can simultaneously meet the dual requirements of a target entering position and a target entering direction;

(2) the continuous guiding landing control technology and the scheme design method have the advantages of simple process, few working procedures, high efficiency, low cost and the like;

(3) under proper conditions, the accurate landing of the horizontal well can be realized by adopting one set of drilling tool assembly, and the method is the horizontal well landing control method with the simplest process and the highest drilling efficiency.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

FIG. 1 is a schematic illustration of the horizontal well landing control concept of the present invention;

FIG. 2 is a schematic illustration of a continuous guided landing control in accordance with an embodiment of the present invention;

FIG. 3 is a flow chart of a technical method for horizontal well continuous steering landing control according to an embodiment of the present invention;

FIG. 4 is a flowchart of a method of designing continuous guided landing control process recipe parameters in accordance with the present invention;

FIG. 5 is a schematic cross-sectional view of the continuous steering landing control well in accordance with the present invention.

Detailed Description

Embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that how to apply technical means to solve technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other as long as they do not conflict with each other, and the technical solutions formed are within the scope of the present invention.

Additionally, the steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions and, although a logical order is illustrated in the flow charts, in some cases, the steps illustrated or described may be performed in an order different than here.

The invention provides a landing trajectory control method based on continuous steering drilling in the construction process of a horizontal well. Fig. 1 shows a schematic diagram of the horizontal well landing control principle of the present invention. As shown in fig. 1, the designed trajectory of the horizontal well usually requires that the actual drilling trajectory has reached the bottom hole point b, i.e. the current drill bit position, through the target point t, and the landing trajectory is the trajectory to be drilled from the bottom hole point b to the target point e. The landing control scheme of the horizontal well is to design a landing track and technical parameters of a drilling process thereof so as to simultaneously meet dual requirements of a target entering position and a target entering direction, namely soft landing is realized.

FIG. 2 is a schematic illustration of the principles of the continuous guided landing control of the present invention. As shown in FIG. 2, in order to satisfy the dual requirements of target location and target direction, the well profile of the well must include at least 2 curved well sections. The invention adopts a well bore profile of 'straight line section-circular arc section-straight line section' to realize the continuous guiding control of the soft landing of the horizontal well. The two arc sections are adjacent and have equal curvature, so that the continuous regulation and control of the well hole direction (including a well inclination angle and an azimuth angle) can be completed without changing a guiding drilling tool midway, and the drilling tool changing and the tripping times are reduced. Meanwhile, the head and tail straight line sections leave room for controlling the track of the well hole so as to make up the influence of uncertainty of deflecting performance of stratums, guiding well drilling tools and the like.

As shown in fig. 1 and 2, for the purpose of explaining the contents of the present invention, the following 3 coordinate systems are established:

firstly, a wellhead coordinate system. An O-NEH coordinate system is established with the well head as the origin of the coordinate system. Wherein, the N axis points to the north direction, the E axis points to the east direction, and the H axis points to the vertical depth direction;

and ② a target point coordinate system. Taking a target point t as an origin, taking an external normal (a drill advancing direction) of a target plane as a z-axis, taking an intersection line of a vertical plane passing through the z-axis and the target plane as an x-axis, taking a high side direction as positive, determining a y-axis according to a right-hand rule, and establishing a coordinate system t-xyz;

③ bottom hole coordinate system, using bottom hole point b as origin, establishing right hand coordinate system b- ξη ζ, where ζ axis points to tangent direction of well track, η axis is space inclined plane Ω₂The ξ axis is perpendicular to the zeta axis and the η axis and points towards the inner normal of the land track.

The following known data are required to implement the invention:

① trajectory parameters of bottom hole point, including spatial coordinates (N) of bottom hole point (b) in coordinate system of well head_b，E_b，H_b) And the borehole direction (α)_b，φ_b)；

② target region parameters including spatial coordinates (N) of the target point (t) in a wellhead coordinate system_t，E_t，H_t) Azimuth angle phi from normal to target plane_z；

③ target entry parameters including coordinates (x) of the target entry point (e) in the target point coordinate system_e，y_e) And a targeting direction (α)_e，φ_e) And the segment length DeltaL of the straight-line segment before target entering (namely the second straight-line segment)₄。

The invention obtains a horizontal well landing control scheme based on continuous steering drilling, and the main technical parameters of the horizontal well landing control scheme comprise:

① design build-up rate kappa (or curvature radius R) of two circular arc segments or segment length DeltaL of first straight line segment₁；

② angle α of the connection point (c) of two circular arc segments_cAnd azimuth angle phi_c；

③ tool face angle (omega) of two circular arc segments₂，ω₃) And segment length (Δ L)₂，ΔL₃)。

In addition, the invention also relates to some intermediate parameters in the implementation process, including the bending angles of the first circular arc segment and the second circular arc segment₂And₃and the space coordinate (N) of the intersection point N of the tangent lines at the starting point and the tail point of the second arc segment_n，E_n，H_n) And the tangent length u of the starting point and the end point of the second arc segment₃And the like.

Example one

Fig. 3 is a flowchart of a technical method for horizontal well continuous steering landing control according to an embodiment of the present invention, where the method includes:

s101, calculating or predicting track parameters of a bottom hole point b according to inclination measurement data of the actual drilling track, wherein the track parameters comprise a well inclination angle, an azimuth angle and a space coordinate of the bottom hole point b.

Specifically, the actual drilling track can be measured while drilling by using instruments such as MWD (measurement while drilling), an inclination measurement calculation method is selected according to the actually used pilot drilling process, and the spatial coordinate (N) of the bottom point of the well is calculated or predicted by adopting an extrapolation method_b，E_b，H_b) And the borehole direction (α)_b，φ_b)。

S102, selecting the coordinate (x) of the target point e under the target point coordinate system on the target plane_e，y_e) And calculating the space coordinate of the target point e under a wellhead coordinate system based on the pre-designed target area parameters.

In the practical application process, the target entering window of the horizontal well is positioned in a vertical plane, and the plane is called a target plane. In this embodiment, the position and the posture of the target plane are predetermined. Due to the planar passage of the targetTarget point t, and the target plane of the horizontal well is placed vertically, so the target point coordinate (N)_t，E_t，H_t) Is known data, and the pose of the target plane can be determined by its normal azimuth angle phi_zTo characterize.

S103, adopting two adjacent arc sections with equal curvature as a well profile to realize continuous guiding control of soft landing of the horizontal well.

In order to satisfy the dual requirements of target entering position and target entering direction, the well profile at least comprises 2 curve well sections. The invention adopts a well bore profile of 'straight line section-circular arc section-straight line section' to realize the continuous guiding control of the soft landing of the horizontal well. The two arc sections are adjacent and have equal curvature, so that the continuous regulation and control of the well hole direction (including a well inclination angle and an azimuth angle) can be completed without changing a guiding drilling tool midway, and the drilling tool changing and the tripping times are reduced. Meanwhile, the head and tail straight line sections leave room for controlling the track of the well hole so as to make up the influence of uncertainty of deflecting performance of stratums, guiding well drilling tools and the like.

And S104, selecting a design build-up rate of the landing control according to the landing control requirement of the horizontal well, and further designing or selecting a guiding drilling tool.

The design build rate of landing control refers to the build rate used in designing a landing trajectory control scheme, i.e., the curvature of two circular arc segments in the well bore profile. If the selected design build-up rate is too high, the friction resistance and the running difficulty of a drill string and a casing string can be increased, and the choice of guiding drilling tools is reduced; if the selected design build-up rate is too low, the regulation and control margin of the landing trajectory can be reduced, and even a control scheme of the landing trajectory cannot be designed.

The design build rate is selected in consideration of the preparation of the existing pilot drilling tool, which may result in failure to implement a landing trajectory control scheme if no suitable pilot drilling tool is available. Generally, the build rate of the pilot drilling tool used is preferably 10% to 20% higher than the design build rate.

And S105, designing technological parameters of horizontal well landing control according to the track parameters of the well bottom point b, the track parameters of the target point e, the design build rate and other data, wherein the technological parameters comprise tool face angles and section lengths of the two arc sections.

In step S105, the trajectory parameters include spatial coordinates and an targeting direction.

And S106, calculating track parameters of each node and each point on the landing track according to the landing control scheme of the horizontal well and the design requirement of the well track, and outputting the design result in a chart form to be used as the basis of the landing control construction of the horizontal well.

In step S102, the following steps may be specifically performed:

the coordinate of the target entry point e under the target point coordinate system is (x)_e，y_e) Knowing the normal azimuth angle phi of the target plane_zThe space coordinate of the target point (t) under a wellhead coordinate system is (N)_t，E_t，H_t) According to the formula

And (e) calculating the space coordinates of the target entering point (e).

Fig. 4 is a flowchart of a method for designing technical parameters of a continuous guiding landing control process according to the present invention, wherein the step S105 may be embodied as the following steps:

s201, intersecting the borehole tangent line of the starting point and the ending point of the second circular arc segment at n points, wherein the lengths from the n points to the starting point and the ending point of the circular arc segment are equal, and the tangent line length is u₃And (4) showing. To perform the iterative calculation, u should be selected₃Initial value u of₃⁰；

S202, according to the space coordinate of the target entry point, the target entry direction, the initial value of the tangent length of the second circular arc segment and the segment length delta L of the second straight-line segment₄I.e. well profileAnd (4) calculating the space coordinate of the tangent intersection point n of the starting point and the tail point of the second circular arc section by adopting the following formula:

s203, according to the conversion relation between the bottom hole coordinate system and the wellhead coordinate system, calculating the space coordinate of the intersection point n under the bottom hole coordinate system according to the following formula:

wherein,

wherein d is the distance from the bottom point b to the intersection point n and is the mode of the vector from the bottom point b to the intersection point n; b is a space inclined plane omega₂A modulus of the normal vector; (a)_N，a_E，a_H) Direction cosine of ξ coordinate axis under the coordinate system O-NEH of well head, (b)_N，b_E，b_H) Direction cosine of η coordinate axis under the coordinate system O-NEH of well head, (c)_N，c_E，c_H) Is the direction cosine of the zeta coordinate axis under a wellhead coordinate system O-NEH; (d)_N，d_E，d_H) Is the direction cosine of the vector n from the bottom hole point b to the intersection point under the wellhead coordinate system O-NEH.

S204, according to the space coordinate of the intersection point n in a bottom hole coordinate system and the tangent length of the starting point and the ending point of the second arc segment, aiming at the design build-up rate kappa (or the corresponding curvature radius R) and the segment length delta L of the first straight segment₁These 2 parameters, one of which is known, can be designed as another parameter.

When the segment length DeltaL of the first straight line segment is known₁Then, the design build rate is calculated according to the following formula:

when the design build rate κ (or corresponding radius of curvature R) is known, the segment length of the first straight line segment is calculated as follows:

s205, calculating the bending angle of the first arc segment according to the following formula, namely the 2 nd well on the well body section

S206 and a well inclination angle α at the connection point c of the first circular arc segment and the second circular arc segment_cAnd azimuth angle phi_cIs calculated according to the following formulaCalculating:

s207, calculating the new tangent length u of the second arc segment by adopting the following formula₃：

Wherein,

s208, if the new tangent length u₃And its initial value u₃⁰Satisfy | u₃-u₃⁰If the value is less than the required calculation precision, the iterative calculation is completed; otherwise, let u₃⁰＝u₃Returning to step S202, the above calculation is repeated until the accuracy requirement is satisfied.

When the accuracy requirement is met, calculating the tool face angle omega of the first circular arc section and the second circular arc section (the 2 nd well section and the 3 rd well section on the well profile) according to the following formula₂、ω₃And segment length Δ L₂And Δ L₃：

FIG. 5 is a schematic cross-sectional view of the continuous steering landing control well in accordance with the present invention. When various uncertain factors have small influence, the head and tail straight line sections can be eliminated, and the simplest well body section is adopted to realize the continuous guiding control of horizontal well landing.The well bore profile only comprises two circular arc sections, the design method still adopts the steps S201-S208, and only needs to take Delta L₁＝ΔL₄It is sufficient if 0. Under the condition of simultaneously meeting the dual requirements of the target entering position and the target entering direction, the build-up rate determined under the condition is also the minimum design build-up rate capable of realizing continuous guiding landing control, and can be calculated according to the following formula:

(18)

example two

The following takes a certain actual horizontal well as an example to specifically explain how the technical principle and steps of the invention realize landing trajectory control.

The target point coordinates of a certain horizontal well are as follows: north coordinate N_t140m, east coordinate E_t242.5m, vertical depth H_t1500m, normal azimuth phi of target plane_zWhen the well is drilled to the well depth of 1551.93m, the well inclination angle α of the well bottom point is calculated through a real drilling track_b70 ° in azimuth phi_b55 ° north coordinate N_b99.03m, east coordinate E_b160.63m, vertical depth H_b1478.88 m. If the coordinate x of the target point is required to be entered_e＝1m、y_e3m, namely the target entry point is positioned 1m above the target point, 3m on the left side, and the target entry oblique angle α_e88 DEG, target-in azimuth phi_eAt 61 deg. and landing directly after deflection, i.e. the length of the second straight segment Δ L₄Trial design a landing trajectory control scheme suitable for continuous pilot drilling, 0.

The design build rate κ is 9 °/30m, and the corresponding radius of curvature R is 190.99 m. According to the principle that the tool build rate is preferably 10-20% higher than the design build rate, a guiding drilling tool with the build rate of about 10 degrees/30 m or even higher is selected.

Calculating the space coordinate (N) of the target point according to the formula (1)_e，E_e，H_e)：

Selecting an initial value u of the tangent length of the second arc segment₃⁰15.00m, calculated according to the formulas (2) to (15) in example one: segment length DeltaL of first arc segment₂9.99m, angle α of the junction of the first and second arc segments_c80.00 DEG and azimuth angle phi_c67.00 degree, bending angle of two arc segments₂＝15.29°、₃9.98 °, and unit coordinate vector a of axis ξ_N＝-0.5124、a_E＝0.6219、a_H＝-0.5922。

Then, according to the formula (16) and the formula (17), the toolface angle and the segment length of the first arc segment are calculated:

and the toolface angle and segment length of the second arc segment:

and finally, calculating node and branch point data of the landing track according to the spatial arc model of the well track, and further drawing a vertical section diagram and a horizontal projection diagram of the landing track. Wherein, the node data of the landing track is shown in table 1.

TABLE 1 node data for landing trajectories of embodiments

If take Δ L₁The calculation is as follows according to the technical method flow of the invention: minimum design build Rate κ_min7.61 °/30 m. If the landing control scheme is designed using this build rate, a well profile as shown in FIG. 5 will be obtained with the nodal data for the landing trajectory shown in Table 2. The well profile only comprises two arc sections, so that the continuous guiding landing control of the horizontal well can be realized by only using one set of drilling tool assembly, and the horizontal well landing control scheme has the advantages of simplest process, minimum working procedures and highest efficiency.

TABLE 2 node data for the simplest landing trajectory of the example

Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. A horizontal well landing control method based on continuous steering drilling is characterized by comprising the following steps:

s101, acquiring inclination measurement data of an actual drilling track by using a measurement while drilling instrument, and calculating track parameters of a well bottom point (b) by using an extrapolation method according to an actually used pilot drilling process, wherein the track parameters comprise a well inclination angle and an azimuth angle of the well bottom point (b) and space coordinates under a wellhead coordinate system;

s102, selecting the position of the target entering point (e) on a target plane, and calculating the space coordinate of the target entering point (e) under a wellhead coordinate system based on the placing posture of the target plane;

s103, adopting a continuous arc well section with two equal curvatures as a well profile to realize continuous guiding control of horizontal well soft landing;

s104, selecting a design build-up rate of the landing control according to the landing control requirement of the horizontal well, and further designing or selecting a guiding well drilling tool;

s105, designing a process technical parameter for horizontal well landing control according to the track parameter of the well bottom point (b), the track parameter of the target point (e) and the design build rate, wherein the process technical parameter comprises a tool face angle and a section length of two arc sections;

and S106, calculating track parameters of each node and each point on the landing track according to the landing control scheme of the horizontal well and the design requirement of the well track, and outputting the design result in a chart form to be used as the basis of the landing control construction of the horizontal well.

2. The method according to claim 1, wherein in step S102, the spatial coordinates of the target entry point (e) are calculated as follows:

on the target plane, the vertical and horizontal coordinates (x) of the target point (e) are selected by taking the target point (t) as the origin of coordinates, taking the vertical direction as the x axis and the horizontal direction as the y axis_e，y_e) According to the spatial coordinates (N) of the target point (t)_t，E_t，H_t) Target plane coordinates (x) of target point_e，y_e) And normal azimuth angle phi of target plane_zCalculating the space coordinate (N) of the target point_e，E_e，H_e)：

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

3. The method of claim 1, wherein in step S103, the continuous guiding control of the horizontal well soft landing is implemented as follows:

a well bore profile of 'a first straight line segment, a first circular arc segment, a second circular arc segment and a second straight line segment' is adopted, wherein the two circular arc segments are adjacent and have equal curvature.

4. The method of claim 3, wherein in step S104, a design build rate and steering well tool for landing control is selected as follows:

the design build-up rate of landing control refers to the build-up rate used in designing a landing trajectory control scheme, namely the curvature of two circular arc sections in the well bore profile, and the build-up rate of the guiding drilling tool is preferably 10% -20% higher than the design build-up rate.

5. The method according to any of claims 2-4, wherein the process technology parameters for landing trajectory control are designed in step S105 according to the following steps:

s201, intersecting the borehole tangent line of the starting point and the ending point of the second circular arc segment at a point n, wherein the length from the point n to the starting point and the ending point of the circular arc segment is equal, and the length of the tangent line is u₃Representing and selecting a u₃Initial value u of₃⁰；

S202, according to the space coordinate of the target entering point (e), the target entering direction, the initial value of the tangent length of the second circular arc segment and the given segment length delta L of the second straight segment₄Wherein Δ L₄For the fourth well section on the well profile, the spatial coordinate of the tangent intersection point n of the starting point and the ending point of the second circular arc section is calculated by adopting the following formula:$\left\{\begin{array}{c}{N}_n=N_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\sin {\mathrm{\&alpha;}}_e\cos {\mathrm{\&phi;}}_e\\ E_n=E_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\sin {\mathrm{\&alpha;}}_e\sin {\mathrm{\&phi;}}_e\\ H_n=H_e-({u_3}^0+\mathrm{\&Delta;}{L}_4)\cos {\mathrm{\&alpha;}}_e\end{array}\right.;$

s203, establishing a right-hand coordinate system b-xi eta zeta by taking the well bottom point (b) as a coordinate origin, wherein the zeta axis points to the tangential direction of the well track, the eta axis is the normal direction of a spatial inclined plane, the zeta axis is vertical to the zeta axis and the eta axis and points to the inner normal direction of a land track, and calculating the spatial coordinate of the intersection point n under the well bottom coordinate system according to the following formula:

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

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

$\begin{array}{c}\left\{\begin{array}{c}{d}_N=(N_n-N_b)/d\\ d_E=(E_n-E_b)/d\\ d_H=(H_n-H_b)/d\end{array}\right.\\ \left\{\begin{array}{c}{c}_N={\mathrm{sin\&alpha;}}_b{\mathrm{cos\&phi;}}_b\\ c_E={\mathrm{sin\&alpha;}}_b{\mathrm{sin\&phi;}}_b\\ c_H={\mathrm{cos\&alpha;}}_b\end{array}\right.\end{array}$

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

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

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

wherein d is the distance from the bottom hole point (b) to the intersection point n and is the mode of the vector from the bottom hole point (b) to the intersection point n; b is a space inclined plane omega₂A modulus of the normal vector; (a)_N，a_E，a_H) Direction cosine of ξ coordinate axis under the coordinate system O-NEH of well head, (b)_N，b_E，b_H) Direction cosine of η coordinate axis under the coordinate system O-NEH of well head, (c)_N，c_E，c_H) Is the direction cosine of the zeta coordinate axis under a wellhead coordinate system O-NEH; (d)_N，d_E，d_H) Is the directional cosine of the vector n from the bottom hole point (b) to the intersection point under the wellhead coordinate system O-NEH,

s204, according to the space coordinate of the intersection point n in a bottom hole coordinate system and the tangent length of the starting point and the ending point of the second arc segment, for the design build-up rate kappa or the corresponding curvature radius R and the segment length delta L of the first straight segment₁These 2 parameters, one of which is known, can be designed into another parameter:

when the segment length DeltaL of the first straight line segment is known₁Then, the design build-up rate is calculated according to the following formula

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

When the design build rate κ or the corresponding radius of curvature R is known, the segment length of the first line segment is calculated as follows

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

S205, calculating the bending angle of the first arc segment according to the following formula₂：

S206, and a well angle α at the connecting point of the first circular arc segment and the second circular arc segment_cAnd azimuth angle phi_cCalculated according to the following formula:

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

s207, calculating the new tangent length u of the second arc segment by adopting the following formula₃：

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

Wherein cos₃＝cosα_ccosα_e+sinα_csinα_ecos(φe-φ_c)；

S208, if the new tangent length u₃And its initial value u₃⁰Satisfy | u₃-u₃⁰L <, wherein, for the required calculation accuracy, the iterative calculation is completed; otherwise, let u₃⁰＝u₃Returning to step S202, repeating the above calculation until the accuracy requirement is met;

when the accuracy requirement is met, calculating the tool face angle omega of the first circular arc segment and the second circular arc segment according to the following formula₂、ω₃And segment length Δ L₂And Δ L₃Wherein the first circular arc section is a second well section on the well section, and the second circular arc section is a third well section on the well section:

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

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

6. the method of claim 5, wherein a simplest well profile exists, wherein the well profile comprises only two circular segments, and wherein the method of designing still using steps S201-S208 requires that Δ L be equal to₁＝ΔL₄0; the build rate determined at this time is also the minimum design build rate capable of realizing continuous guiding landing control, and can be calculated according to the following formula:

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