The content of the invention
It is an object of the invention to overcome the shortcomings of existing rig model rig model, there is provided a kind of land rig installation behaviourMake simulation system.
The goal of the invention of the present invention is to be achieved through the following technical solutions：A kind of land rig installation operation simulation systemSystem, it includes rig model, front-end operations platform, operation of teacher platform and triple channel ring curtain projection display system.Wherein front end is graspedMaking platform includes Parameters Computer, and the wherein Parameters Computer completes the data acquisition of whole system as distributed host computerWith control, the execution of main control computer and graphic computer completion system main program and the processing and display of ring curtain figure, eachComputer is interconnected by ICP/IP protocol.Front end data acquisition between front-end operations platform and rig model and control bySIEMENS S7-200 PLC are completed, and connect and compose Siemens's PPI networks.PLC communicates use with Parameters Computer dataRS232 agreements.
Wherein front-end operations platform includes cabinet and internal control plate, and the front of described cabinet is provided with the control of driller station frontPanel, a side of cabinet are provided with driller station side control panel, and another side of cabinet is provided with top and drives Mechanical course facePlate and the control panel for buffering fluid cylinder.Wherein power knob, power on button, gas are provided with the control panel of driller station frontHorn switch, anti-collision release button, suspending weight trimmer valve, the pressure of the drill trimmer valve, tongs torque damping device, standpipe pressure damper, drag forBrake cylinder clutch, input shaft are used to brake controlling switch, shift control switch, cat head controlling switch, pneumatic spinner controlling switch, rollerHigh low speed switch, oil cylinder selecting switch, base hydraulic switch, park brake switch and emergency stop switch；Also include displayTable group, wherein the display table group includes bleed pressure table, cooling water pressure table, winch oil pressure gauge, rotating disk oil pressure gauge, TORQTable, Pump pressure meter, tong torque meter, left pincers torque meter, right pincers torque meter, safety tongs pressure gauge, cat head pressure gauge, drilling torqueTable, revolution counter, rotating disk ammeter, backset pressure gauge and pulleying pressure gauge；Assignment is set to open on the control panel of driller station sidePass, generator scram button, rectification scram button, test scram button, PLC/ by-pass switches, electromagnetic eddy current brake are switched, turnedDisk rotating selecting switch, winch rotating selecting switch, No. 1 mud switch pump, No. 2 mud switch pumps, No. 3 slush pumps are openedClose, low pressure alarm switch；
The internal control plate of leading portion operating desk is programmable including the first programmable controller PLC of front-end operations platform 1 and secondController PLC2, above-mentioned programmable controller PLC communicates with Parameters Computer data to be communicated using RS232 agreements, whereinThe CPU module of first programmable controller PLC 1 is switched with power knob, power on button, air horn, is anti-respectively by A/D modulesTouch release button, suspending weight trimmer valve, the pressure of the drill trimmer valve, tongs torque damping device, standpipe pressure damper, drag for brake cylinder clutch,Input shaft be used to brake controlling switch, shift control switch, cat head controlling switch, pneumatic spinner controlling switch, the high low speed switch of roller,Oil cylinder selecting switch, base hydraulic switch, park brake switch and emergency stop switch connection, it is defeated by PLC switching valueInbound port is respectively with assigning switch, generator scram button, rectification scram button, test scram button, PLC/ by-pass switches, electricityMagnetic vortex brake switch, rotating disk rotating selecting switch, winch rotating selecting switch, No. 1 mud switch pump, No. 2 slush pumpsSwitch, No. 3 mud switch pumps, low pressure alarm switch are attached；Each switch on driller's operating desk is gathered by PLC,Knob state is to simulate the elevating control of winch, and the rotating speed of rotating disk controls, the speed regulating control of slush pump；Gather winch clutch simultaneouslyDevice position, winch gear, disk clutch position, rotating disk gear, pump control mechanism position, diesel engine power adjuster position；PrisonSuspending weight, the pressure of the drill, rig bleed pressure, mud density, mud viscosity and mud dehydration these parameters are surveyed, pass through PLC controlSo that driller's operating desk realizes the lift control to derrick/base, the rotating speed control to boring disk and the speed governing control to slush pumpSystem.
Wherein top is driven and is provided with scram button, suspension ring middle position button, reset/mute button, suspension ring on Mechanical course panelRevolution selecting switch, inner blowout preventer switch, hydraulic pressure switch pump, locking pin switch, back-up tong selecting switch, suspension ring tilt selection and openedClose, brake selecting switch, auxiliary operation switch, ventilator selection switch, selection of Motor switch, operating selection switch, direction of rotationSelecting switch；Buffer and left and right fluid cylinder selection handle, fluid cylinder pressure selection handle and fluid cylinder are provided with the control panel of fluid cylinderStretching/retraction joystick；The CPU module of wherein the second programmable controller PLC 2 of the internal control plate of front-end operations platform is led toCross A/D modules to be connected with scram button, suspension ring middle position button, reset/mute button respectively, pass through PLC On-off signal endMouth turns round selecting switch, inner blowout preventer switch, hydraulic pressure switch pump, locking pin switch, back-up tong selecting switch, suspension ring with suspension ring respectivelyInclination selecting switch, brake selecting switch, auxiliary operation switch, ventilator selection switch, selection of Motor switch, operation selection are openedClose, direction of rotation selecting switch is attached and top drive is controlled with realizing.
Wherein buffer and left and right fluid cylinder selection handle, fluid cylinder pressure selection handle and liquid are provided with the control panel of fluid cylinderCylinder stretches out/retracted joystick；The wherein CPU module of the second programmable controller PLC 2 of the internal control plate of front-end operations platformHandle, fluid cylinder pressure is selected to select handle and fluid cylinder to stretch out/retract joystick and connect with left and right fluid cylinder respectively by A/D modulesConnect to be controlled to buffering fluid cylinder.
Rig model includes drilling derrick and base simulator, and wherein derrick is open front type, by main body, A-frame and attachedPart forms, and annex mainly has quadruple board platform, dead line stabilizer, cage ladder.Derrick main body is by upper left section, upper right section, left epimere, the right sideEpimere, lower-left section and bottom right section and back of the body crossbeam, brace, link form an open front shaped steel frame structure, the adjustment of main bodyFixation is completed by two bayonet locks.A-frame is by the portal structures of the composition such as left and right foreleg, left and right back leg and crossbeam, is used forRise and put and rest against derrick.Jack up unit is made up of big lifting rope, high trestle, low trestle and hook block support.Derrick uses peopleCabinet frame raising mode, by the power of drilling floor surface winch, big lifting rope is pulled by fast line, hook, realizes derrick lifting, derrickIn order to make derrick smoothly by being placed on A-frame during raising, while and can makes derrick center of gravity move forward when transferring derrick, fromAnd rely on the derrick dead weight to fall, buffer unit is provided with A-frame, flexible by buffer unit is realized.
Base is mainly made up of base body, jack up unit, hydraulic damping device, and base is using parallel-crank mechanismMotion principle, it is achieved thereby that the low level installation of high countertop fixture.Using winch power, make base from low level using hook blockIntegral lifting is to operating position.Base body is divided into upper, middle and lower-ranking：Upper strata is drilling floor surface part, for installing drilling floor surfaceEquipment, it is made up of pin connection, lower floor is pedestal base part, behind pedestal before left front pedestal and left back pedestal, the right side and the right sidePedestal connects into left and right two parts with pin respectively.Connecting elements between left and right two parts has tie-beam, linkAnd diagonal brace.Intermediate layer is support section, between upper and lower layer, plays support drilling floor surface and rises and put base.Respectively by herringboneFrame foreleg, A-frame back leg, front column, rear column, oblique column composition, are connected with pin with upper and lower layer.A-frame by foreleg andBack leg two parts are formed, and one end of big lifting rope is fixed on A-frame back leg, and A-frame is during whole base raisingPlay a part of support.Big lifting rope both ends are equipped with the collar, separately have 1 group of pulley for participating in raising to be fixed on A-frame back leg.The drilling well model also includes protector group, and wherein protector group includes realizing the rig of drilling derrick crown block anti-collision functionDerrick crown anticollision device, the excessive jack up unit of anti-drilling derrick for realizing the excessive lifting functions of anti-drilling derrick, realize it is anti-drillingThe excessive downward putting device of anti-drilling derrick of the excessive lowering function of motor-pumped well frame, the anti-rig for realizing the excessive lifting functions of anti-rig substructureThe excessive jack up unit of base, the excessive downward putting device of anti-rig substructure for realizing the excessive lowering function of anti-rig substructure, realize it is anti-drillingThe excessive downward putting device of anti-drilling machine hook of the excessive lowering function of machine hook.
For purposes of the present application, the core control machine of drilling derrick/base simulator can be compiled from siemens PLC seriesRange controller, by each physical quantity on S7-200 direct control operation platforms, using parameter machine as host computer, by teacher's control machineEach PL2000 analog machines of winch console and front end are managed collectively.Whole system forms a resource-sharing, task pointThe dcs of load.Communication between each console uses the special PPI communications protocol of Siemens.
S7-200CPU modules in drilling derrick/base simulator are by checking derrick crownblock protector, anti-drilling motor-pumped wellUnder the excessive jack up unit of frame, the excessive downward putting device of anti-drilling derrick, the excessive jack up unit of anti-rig substructure, anti-rig substructure are excessivePut device, the state of anti-drilling machine hook excessive downward putting device realizes corresponding function, during preventing student's maloperation damage boreMotor-pumped well frame/base simulator.
To realize the raising of derrick/base and decentralization and being controlled by driller station, system realizes winch using stepper motorFunction, devise with the controlled step-by-step impulse of high speed in PLC system.Two PTO/PWM generators are devised in S7-200, canTo produce a high-speed pulse string or a pulse-width modulation waveform.One generator is numeral output point Q0.0, another hairRaw device is numeral output point Q0.1.One specified register (SM) position specified is that each generator stores following data：OneIndividual control byte (8), a count value (32 unsigned numbers) and a cycle or pwm value (16 unsigned numbers).PTO/PWM generator shares Q0.0 and Q0.1 with Process image register.When activating PTO or PWM functions on Q0.0 or Q0.1,PTO/PWM generators possess control to output, while common output point function is prohibited.Output waveform is not by process image areaThe influence of state, output point force values or output order execution immediately.When without using PTO/PWM generator functions, to defeatedThe control gone out a little returns to process image register.Process image register determines the starting and ending state of output waveform,The startup and end of waveform are produced with low and high level.Train of pulse PTO operation is according to given PTO pulse numbers and cycle output oneString square wave (dutycycle 50%).PTO can produce single hop train of pulse or multistage train of pulse (using pulse envelope), it is possible to specifyUmber of pulse and cycle.PTO functions allow train of pulse " link " or " queuing ", when current burst output is completed, can hold immediatelyBegin one new train of pulse of output, to ensure the continuity between multiple output pulse strings.
Also there is Parameters Computer, the wherein Parameters Computer has completion hard from PLC acquisitions front end in front-end operations platformAfter part information, the communication module of main control computer is sent information to, the information that wherein communication module also sends over main control computer is led toCross PLC and be transferred to front end hardware and shown.
Teaching job platform has main control computer and graphic computer, and wherein the main control computer has main control module, shouldMain control module is used to be communicated with communication module, obtains hardware device state in real time；The main control computer also includes as followsThe analogue means of multiple rig model rig models：Rig model rig model drilling process analogue means, rig model rigModel simulating overflow device, rig model rig model gas expansion analogue means, rig model rig mold cycle pressure gaugeCalculate drilling derrick/bottom of analogue means, rig model rig model drilling tool lifting analogue means and rig model rig modelRaising/decentralization analogue means of seat, wherein main control module also include following multiple simulation systems：For simulating land rig wellThe device of raising/lowering operation of frame/base, for simulate land rig pull out of hole and drill down operator device, for simulating landThe device of ground auger machine drilling operation, the device for simulating the operation of land rig accident emergency.
Operation of teacher platform is mainly used in teacher and student's operational circumstances is monitored, and auto judge is carried out to operating result,Marking.Wherein main control computer is used for the execution for completing said system main program, and it includes being used to storing and setting analog parameterModule, the module for simulation process program, for controlling figure, calculating and drawing the module of kill-job curve, for achievementEvaluation and student management module, gather headend equipment parameter module, control front-end control platform on display instrument module withAnd executing agency.Graphic computer is used for the processing and display of ring curtain figure, is interconnected between the two by the ICP/IP protocol.
During work：Make front end stage, rig model, operation of teacher platform and triple channel ring curtain Projection Display system firstSystem is both powered up so that land rig installation operation simulation system starts work, and after Parameters Computer startup, automatic running is set" land rig installation operation simulation system parameter program " therein, above-mentioned parameter program is responsible for the state of receiving front-end hardware,Realized in parameter program to primary control program by network transmission after being handled and preferably include " the pressure of the drill ", " suspending weight ", " discharge capacity "Deng the outer aobvious of drilling real-time parameter, and operation setting runnable interface can be entered by program to realize that the equipment of simulation job is initialChemical industry makees and operation setting.After graphic computer start completion, graphic package therein is run, respectively enters following trainingProject is selected：Rig installation animation, derrick lifting simulation, Virtual assemble operation, drilling simulated operation and electronic albums,Selected, can be giveed training into different training project modules on graphic computer by operator.
When carrying out rig installation animation, Virtual assemble operation or electronic albums and demonstrating, by the master in operation of teacher platformControl the execution that computer completes main program, the data transfer that the graph data after processing and module action data are passed through into reservationAgreement sends the graphic computer of processing and the display for ring curtain figure to, and the data in graphic computer are transferred to threewayImage co-registration machine in road ring curtain projection display system, image co-registration machine again distribute to image information caused by graphic computerThree projecting apparatus, and edge fusion is carried out, after geometric correction and color correction, by the figure number after the processing of above-mentioned main programAccording to this and module action data projection with sound, image etc. on engineering annular projection curtain, being easy to and operator carries out man-machine friendshipMutual mode shows that rig uses to engineers and technicians, key operation flow and technical essential during installation and removal withAnd whole drill rig components composition.The system builds the extremely strong visual environment of a sense of reality using virtual Display Technique, allows studentThere is sensation on the spot in person, show that rig is installed to engineers and technicians with intuitive way, the key operation in unloading processFlow and technical essential, so as to solve the problems such as hardly possible is understood existing for existing traditionally on paper specification and understands ambiguity, make explanationThe reading of book is simpler, more vivid, prevents to cause accident to misreading for specification caused by individual understands differenceGeneration.
Carry out derrick lifting simulation and drilling simulated operation when, upon power-up of the system, first to winch, slush pump and turnDisk carries out initialization operation, each valve member on driller station operating desk is returned to initial position, and driller station is operated and derrick mouldType is linked.During actual use, on the one hand received by the analog- and digital- input port collection on PLC and operated on driller stationAnalog quantity and digital quantity signal caused by member's operation, are sent to Parameters Computer, Parameters Computer passes through master by above-mentioned signalThe communication module of control computer enters information into be drawn suitable for outer aobvious in the various analogue means in main control computer with processingSignal, above-mentioned signal sends the graphic computer of processing and the display for ring curtain figure to by Data Transport Protocol, schemesData in shape computer are transferred to the image co-registration machine in triple channel ring curtain projection display system, and image co-registration machine again will figureShape computer-generated image information distributes to three projecting apparatus, and carries out edge fusion, by geometric correction and color correctionAfterwards, by the graph data after the processing of above-mentioned main program and module action data projection on engineering annular projection curtain, so as to completeThe simulation of paired derrick lifting process and drilling operation.On the other hand, using Parameters Computer as host computer, by PLCIt is analog- and digital- to count the high-speed pulse signal that port is exported stepper motor is controlled, and then realize driller station to rigThe raising of model and the control of lowering operation.Therefore operation simulation system of the present invention can simulate rig installation and useIn various operating modes, various possible accidents and the experience of expert are added in training system, people pre-buried by failureTo set failure, simultaneous display related data and parameter, comprehensive training operating personnel.System is built using virtual reality technologyThe extremely strong visual environment of one sense of reality, allows student to have sensation on the spot in person.Pass through drilling repeatedly on stimulating and training systemPractice, student can grasp, be familiar with the hints on operation and technical specification of equipment, improve student to various accident judgements and processingAbility, the generation of human accident is reduced, while training cost can also be reduced, enhancement training efficiency.
Triple channel ring curtain projection display system includes：Projector, engineering annular projection curtain and image co-registration machine.It is wherein describedProjector is three Tai Zhengtou projectors, and three projectors, which with engineering annular projection curtain combination image merge machine and form edge, meltsClose optical projection system.Include Geometry rectification module, edge Fusion Module, color correction module in image co-registration machine.Wherein imageImage information caused by graphic computer is distributed to three projecting apparatus by fusion machine, and carries out edge fusion.The edge fusionTechnology is exactly that the picture for one group of projector carries out imbricate, and shows that does not have a gap by integration technologyMore bright, super large, high-resolution entire picture, the effect of picture is like the picture of a projector.When twoOr during Duo Tai projectors combination one width picture of projection, understand some image overlap, the main function of edge fusion is exactly handleThe lamplight brightness of Liang Tai projectors lap is gradually turned down, and makes the brightness of entire picture consistent.
Wherein Geometry rectification module includes：The Geometry rectification module is used for the geometry for correcting projects images, to protectCard edge fused controlling adapts to a variety of screen configurations, preferably plane configuration, cylinder configuration or spherical configuration, makes to project tombOn picture without geometric distortion.The Geometry rectification module includes following submodules：Utilize longitude and latitude locating module and laser arraySterically defined module is carried out to annular projection's curtain in a manner of dot matrix；Pass through the figure tube side output of computer and annular projectionSpace laser dot-matrix forms the module of equally spaced standard grid on curtain；By intelligent successive acquisitions projected image and input calculatingMachine, and Auto-matching is carried out so as to draw projector image with throwing by the space laser dot matrix on projection screen and standard gridThe module of shadow screen corresponding relation；The mould that nonlinear geometry correction is carried out to the image of output is realized using above-mentioned corresponding relationBlock.
Wherein Fusion Edges module includes：For dividing the image into the image segmentation module of some regular figures, so thatSome regular figures are projected by three projectors respectively, wherein the adjacent pattern edge for being divided into some regular figures is mutualThe width of lap figure is that the overlapped figure in adjacent pattern edge appears in segmentation simultaneously within the 5% of correspondingly-sizedThe edge of adjacent pattern afterwards；For arranging the longitude and latitude locating module of crisscross warp and weft on the entire image, itsMake the color of the warp and weft in each regular figure different, and utilize three projectors by some rule after segmentationThen figure is projected, and regulation projector makes the warp in the overlapped figure in adjacent pattern edge, and parallel is completed overlapping；Gray scaleAdjustment module, the brightness Alpha values for adjusting different projectors are 100% white image, by the photosensitive camera of gray scale to non-Overlapping visuals carries out photoreceptor signal collection, and it is α to set its gray scale, by under the brightness of the overlapped figure in adjacent pattern edgeAdjust, until overlapping gray scale β and non-overlapped figure gray scale are equal or error is gone forward side by side less than 0.5%, then by different projectors oneRow projection；
Wherein color correction module includes：Different projecting apparatus are measured when projecting same brightness color using smart cameraThe module of caused intrinsic brilliance, the photo shot under different brightness is handled to show that the color of every projecting apparatus is reflectedPenetrate the module of relation；Before every projector is shown, the color table of different screen is set, produce the mapping of color value so thatThe same color that different projector projects go out is tried one's best similar module.
Front-end operations platform has Parameters Computer, and wherein the Parameters Computer, which has, completes to obtain front end hardware letter from PLCAfter breath, the communication module of main control computer is sent information to, the information that wherein communication module also sends over main control computer passes through PLCFront end hardware is transferred to be shown.
Teaching job platform has main control computer and graphic computer, and wherein the main control computer has main control module, shouldMain control module is used to be communicated with communication module, obtains hardware device state in real time；The main control computer also includes as followsThe analogue means of multiple rig models：Rig model drilling process analogue means, rig model simulating overflow device, rig modelGas expansion analogue means, rig mold cycle calculation of pressure analogue means, rig model drilling tool lifting analogue means and brillThe raising of drilling derrick/base of machine model/decentralization analogue means, wherein main control module also include following multiple simulation systemsSystem：Device for raising/lowering operation for simulating land rig derrick/base, pull out of hole and lower brill for simulating land rigThe device of operation, the device for simulating land rig drilling operation, the device for simulating the operation of land rig accident emergency；
Land rig operation simulation method includes：For simulating raising/lowering operation of land rig drilling derrick/baseMethod, for simulate land rig pull out of hole and drill down operator method, for simulate the method for land rig drilling operation withAnd the method for simulating the operation of land rig accident emergency.
The above method has advantages below：The top drive drilling simulation of height emulation is realized, enhances teaching, trainingPresence, the training cycle is shortened, result of training is improved, reduces training cost.
Embodiment
Technical scheme is further described below in conjunction with the accompanying drawings：A kind of land rig installation operation simulation system,It includes rig model, front-end operations platform, operation of teacher platform and triple channel ring curtain projection display system.Wherein front-end operationsPlatform includes Parameters Computer, wherein the Parameters Computer as distributed host computer complete the data acquisition of whole system withControl, main control computer and graphic computer complete the execution of system main program and the processing and display of ring curtain figure, each meterCalculation machine is interconnected by ICP/IP protocol.Front end data acquisition and control between front-end operations platform and rig model is by SIEMENSS7-200 PLC are completed, and connect and compose Siemens's PPI networks.PLC communicates with Parameters Computer data uses RS232 agreements,The overall hardware structure diagram of the system is as shown in Figure 1.
Wherein front-end operations platform includes cabinet and internal control plate, and the front of described cabinet is provided with the control of driller station frontPanel, a side of cabinet are provided with driller station side control panel, and another side of cabinet is provided with top and drives Mechanical course facePlate and the control panel for buffering fluid cylinder.Wherein be provided with the control panel of driller station front power knob 8, power on button 7,Air horn switch 6, anti-collision release button 5, suspending weight trimmer valve 19, the pressure of the drill trimmer valve 17, tongs torque damping device 14, standpipe pressureDamper 15, drag for the used brake controlling switch of brake cylinder clutch, input shaft, shift control switch, cat head controlling switch, pneumatic spinner controlMake switch, the high low speed switch of roller, oil cylinder selecting switch, base hydraulic switch, park brake switch and emergency stop switch；Also include display table group, wherein the display table group includes bleed pressure table 2, cooling water pressure table, winch oil pressure gauge 3, rotating disk oilPress table 4, rotary torque indicator 13, Pump pressure meter, tongs torque meter 16, left pincers pressure gauge 9, right pincers torque meter 10, safety tongs pressure gauge12nd, cat head pressure gauge 1, drilling torque table, revolution counter, weight indicator 18, rotating disk ammeter, backset pressure gauge and pulleying pressureTable, concrete structure are arranged as shown in Figure 2；Assignment switch 59, generator scram button are set on the control panel of driller station side21st, rectification scram button 23, test scram button, PLC/ by-pass switches 41, electromagnetic eddy current brake switch 22, rotating disk rotating choosingSelect switch 26-27, winch rotating selecting switch 28-29, No. 1 slush pump of mud switch pump 32,3 of mud switch pump 30,2Switch 34, low pressure alarm switch 39, concrete structure is arranged as shown in Figure 3；
The internal control plate of leading portion operating desk is programmable including the first programmable controller PLC of front-end operations platform 1 and secondController PLC2, above-mentioned programmable controller PLC communicates with Parameters Computer data to be communicated using RS232 agreements, whereinThe CPU module of first programmable controller PLC 1 is switched with power knob, power on button, air horn, is anti-respectively by A/D modulesTouch release button, suspending weight trimmer valve, the pressure of the drill trimmer valve, tongs torque damping device, standpipe pressure damper, drag for brake cylinder clutch,Input shaft be used to brake controlling switch, shift control switch, cat head controlling switch, pneumatic spinner controlling switch, the high low speed switch of roller,Oil cylinder selecting switch, base hydraulic switch, park brake switch and emergency stop switch connection, it is defeated by PLC switching valueInbound port is respectively with assigning switch, generator scram button, rectification scram button, test scram button, PLC/ by-pass switches, electricityMagnetic vortex brake switch, rotating disk rotating selecting switch, winch rotating selecting switch, No. 1 mud switch pump, No. 2 slush pumpsSwitch, No. 3 mud switch pumps, low pressure alarm switch are attached；Each switch on driller's operating desk is gathered by PLC,Knob state is to simulate the elevating control of winch, and the rotating speed of rotating disk controls, the speed regulating control of slush pump；Gather winch clutch simultaneouslyDevice position, winch gear, disk clutch position, rotating disk gear, pump control mechanism position, diesel engine power adjuster position；PrisonSuspending weight, the pressure of the drill, rig bleed pressure, mud density, mud viscosity and mud dehydration these parameters are surveyed, pass through PLC controlSo that driller's operating desk realizes the lift control to derrick/base, the rotating speed control to boring disk and the speed governing control to slush pumpSystem, the wherein control planning of console are as shown in Figure 5.
Wherein top is driven and is provided with scram button 60, suspension ring middle position button 82, reset/mute button on Mechanical course panel70th, suspension ring revolution selecting switch 83, inner blowout preventer switch 87, hydraulic pressure switch pump 61, locking pin switch, back-up tong selecting switch 64,Suspension ring tilt selecting switch 66, brake selecting switch 68, auxiliary operation switch, ventilator selection switch 65, selection of Motor switch 67,Operating selection switch 69, direction of rotation selecting switch 71；Buffer be provided with the control panel of fluid cylinder left and right fluid cylinder selection handle,Fluid cylinder pressure selects handle and fluid cylinder stretches out/retracted joystick, and concrete structure is arranged as shown in Figure 4；Wherein front end is graspedMake the CPU module of the second programmable controller PLC 2 of the internal control plate of platform by A/D modules respectively with scram button, suspension ringMiddle position button, reset/mute button connection, selecting switch, interior anti-is turned round with suspension ring by PLC On-off signal port respectivelySpray apparatus switch, hydraulic pressure switch pump, locking pin switch, back-up tong selecting switch, suspension ring tilt selecting switch, brake selecting switch, auxiliaryHelp Operation switch, ventilator selection switch, selection of Motor switch, operating selection switch, direction of rotation selecting switch to be attached withRealize and top drive is controlled.
Wherein buffer and left and right fluid cylinder selection handle, fluid cylinder pressure selection handle and liquid are provided with the control panel of fluid cylinderCylinder stretches out/retracted joystick；The wherein CPU module of the second programmable controller PLC 2 of the internal control plate of front-end operations platformHandle, fluid cylinder pressure is selected to select handle and fluid cylinder to stretch out/retract joystick and connect with left and right fluid cylinder respectively by A/D modulesConnect to be controlled to buffering fluid cylinder.
Rig model includes drilling derrick and base simulator, and wherein derrick is open front type, by main body, A-frame and attachedPart forms, and annex mainly has quadruple board platform, dead line stabilizer, cage ladder.Derrick main body is by upper left section, upper right section, left epimere, the right sideEpimere, lower-left section and bottom right section and back of the body crossbeam, brace, link form an open front shaped steel frame structure, the adjustment of main bodyFixation is completed by two bayonet locks.A-frame is by the portal structures of the composition such as left and right foreleg, left and right back leg and crossbeam, is used forRise and put and rest against derrick.Jack up unit is made up of big lifting rope, high trestle, low trestle and hook block support.Derrick uses peopleCabinet frame raising mode, by the power of drilling floor surface winch, big lifting rope is pulled by fast line, hook, realizes derrick lifting, derrickIn order to make derrick smoothly by being placed on A-frame during raising, while and can makes derrick center of gravity move forward when transferring derrick, fromAnd rely on the derrick dead weight to fall, buffer unit is provided with A-frame, flexible by buffer unit is realized.
Base is mainly made up of base body, jack up unit, hydraulic damping device, and base is using parallel-crank mechanismMotion principle, it is achieved thereby that the low level installation of high countertop fixture.Using winch power, make base from low level using hook blockIntegral lifting is to operating position.Base body is divided into upper, middle and lower-ranking：Upper strata is drilling floor surface part, for installing drilling floor surfaceEquipment, it is made up of pin connection, lower floor is pedestal base part, behind pedestal before left front pedestal and left back pedestal, the right side and the right sidePedestal connects into left and right two parts with pin respectively.Connecting elements between left and right two parts has tie-beam, linkAnd diagonal brace.Intermediate layer is support section, between upper and lower layer, plays support drilling floor surface and rises and put base.Respectively by herringboneFrame foreleg, A-frame back leg, front column, rear column, oblique column composition, are connected with pin with upper and lower layer.A-frame by foreleg andBack leg two parts are formed, and one end of big lifting rope is fixed on A-frame back leg, and A-frame is during whole base raisingPlay a part of support.Big lifting rope both ends are equipped with the collar, separately have 1 group of pulley for participating in raising to be fixed on A-frame back leg.The drilling well model also includes protector group, and wherein protector group includes realizing the rig of drilling derrick crown block anti-collision functionDerrick crown anticollision device, the excessive jack up unit of anti-drilling derrick for realizing the excessive lifting functions of anti-drilling derrick, realize it is anti-drillingThe excessive downward putting device of anti-drilling derrick of the excessive lowering function of motor-pumped well frame, the anti-rig for realizing the excessive lifting functions of anti-rig substructureThe excessive jack up unit of base, the excessive downward putting device of anti-rig substructure for realizing the excessive lowering function of anti-rig substructure, realize it is anti-drillingThe excessive downward putting device of anti-drilling machine hook of the excessive lowering function of machine hook.
For purposes of the present application, the core control machine of drilling derrick/base simulator can be compiled from siemens PLC seriesRange controller, by each physical quantity on S7-200 direct control operation platforms, using parameter machine as host computer, by teacher's control machineEach PL2000 analog machines of winch console and front end are managed collectively.Whole system forms a resource-sharing, task pointThe dcs of load.Communication between each console uses the special PPI communications protocol of Siemens, and System Working Principle is such asShown in accompanying drawing 6.
S7-200CPU modules in drilling derrick/base simulator are by checking derrick crownblock protector, anti-drilling motor-pumped wellUnder the excessive jack up unit of frame, the excessive downward putting device of anti-drilling derrick, the excessive jack up unit of anti-rig substructure, anti-rig substructure are excessivePut device, the state of anti-drilling machine hook excessive downward putting device realizes corresponding function, during preventing student's maloperation damage boreMotor-pumped well frame/base simulator.
To realize the raising of derrick/base and decentralization and being controlled by driller station, system realizes winch using stepper motorFunction, devise with the controlled step-by-step impulse of high speed in PLC system.Two PTO/PWM generators are devised in S7-200, canTo produce a high-speed pulse string or a pulse-width modulation waveform.One generator is numeral output point Q0.0, another hairRaw device is numeral output point Q0.1.One specified register (SM) position specified is that each generator stores following data：OneIndividual control byte (8), a count value (32 unsigned numbers) and a cycle or pwm value (16 unsigned numbers).PTO/PWM generator shares Q0.0 and Q0.1 with Process image register.When activating PTO or PWM functions on Q0.0 or Q0.1,PTO/PWM generators possess control to output, while common output point function is prohibited.Output waveform is not by process image areaThe influence of state, output point force values or output order execution immediately.When without using PTO/PWM generator functions, to defeatedThe control gone out a little returns to process image register.Process image register determines the starting and ending state of output waveform,The startup and end of waveform are produced with low and high level.Train of pulse PTO operation is according to given PTO pulse numbers and cycle output oneString square wave (dutycycle 50%).PTO can produce single hop train of pulse or multistage train of pulse (using pulse envelope), it is possible to specifyUmber of pulse and cycle.PTO functions allow train of pulse " link " or " queuing ", when current burst output is completed, can hold immediatelyBegin one new train of pulse of output, to ensure the continuity between multiple output pulse strings.
Also there is Parameters Computer, the wherein Parameters Computer has completion hard from PLC acquisitions front end in front-end operations platformAfter part information, the communication module of main control computer is sent information to, the information that wherein communication module also sends over main control computer is led toCross PLC and be transferred to front end hardware and shown.
Teaching job platform has main control computer and graphic computer, and wherein the main control computer has main control module, shouldMain control module is used to be communicated with communication module, obtains hardware device state in real time；The main control computer also includes as followsThe analogue means of multiple rig models：Rig model drilling process analogue means, rig model simulating overflow device, rig modelGas expansion analogue means, rig mold cycle calculation of pressure analogue means, rig model drilling tool lifting analogue means and brillThe raising of drilling derrick/base of machine model/decentralization analogue means, wherein main control module also include following multiple simulation systemsSystem：Device for raising/lowering operation for simulating land rig derrick/base, pull out of hole and lower brill for simulating land rigThe device of operation, the device for simulating land rig drilling operation, the device for simulating the operation of land rig accident emergency.
Operation of teacher platform is mainly used in teacher and student's operational circumstances is monitored, and auto judge is carried out to operating result,Marking.Wherein main control computer is used for the execution for completing said system main program, and it includes being used to storing and setting analog parameterModule, the module for simulation process program, for controlling figure, calculating and drawing the module of kill-job curve, for achievementEvaluation and student management module, gather headend equipment parameter module, control front-end control platform on display instrument module withAnd executing agency.Graphic computer is used for the processing and display of ring curtain figure, is interconnected between the two by the ICP/IP protocol, entirelyThe control system overall construction drawing of system is as shown in Figure 7.
During work：Make front end stage, rig model, operation of teacher platform and triple channel ring curtain Projection Display system firstSystem is both powered up so that land rig installation operation simulation system starts work, and after Parameters Computer startup, automatic running is set" land rig installation operation simulation system parameter program " therein, above-mentioned parameter program is responsible for the state of receiving front-end hardware,Realized in parameter program to primary control program by network transmission after being handled and preferably include " the pressure of the drill ", " suspending weight ", " discharge capacity "Deng the outer aobvious of drilling real-time parameter, and operation setting runnable interface can be entered by program to realize that the equipment of simulation job is initialChemical industry makees and operation setting.After graphic computer start completion, graphic package therein is run, respectively enters following trainingProject is selected：Rig installation animation, derrick lifting simulation, Virtual assemble operation, drilling simulated operation and electronic albums,Selected, can be giveed training into different training project modules on graphic computer by operator.
When carrying out rig installation animation, Virtual assemble operation or electronic albums and demonstrating, by the master in operation of teacher platformControl the execution that computer completes main program, the data transfer that the graph data after processing and module action data are passed through into reservationAgreement sends the graphic computer of processing and the display for ring curtain figure to, and the data in graphic computer are transferred to threewayImage co-registration machine in road ring curtain projection display system, image co-registration machine again distribute to image information caused by graphic computerThree projecting apparatus, and edge fusion is carried out, after geometric correction and color correction, by the figure number after the processing of above-mentioned main programAccording to this and module action data projection with sound, image etc. on engineering annular projection curtain, being easy to and operator carries out man-machine friendshipMutual mode shows that rig uses to engineers and technicians, key operation flow and technical essential during installation and removal withAnd whole drill rig components composition.The system builds the extremely strong visual environment of a sense of reality using virtual Display Technique, allows studentThere is sensation on the spot in person, show that rig is installed to engineers and technicians with intuitive way, the key operation in unloading processFlow and technical essential, so as to solve the problems such as hardly possible is understood existing for existing traditionally on paper specification and understands ambiguity, make explanationThe reading of book is simpler, more vivid, prevents to cause accident to misreading for specification caused by individual understands differenceGeneration.
Carry out derrick lifting simulation and drilling simulated operation when, upon power-up of the system, first to winch, slush pump and turnDisk carries out initialization operation, each valve member on driller station operating desk is returned to initial position, and driller station is operated and derrick mouldType is linked.During actual use, on the one hand received by the analog- and digital- input port collection on PLC and operated on driller stationAnalog quantity and digital quantity signal caused by member's operation, are sent to Parameters Computer, Parameters Computer passes through master by above-mentioned signalThe communication module of control computer enters information into be drawn suitable for outer aobvious in the various analogue means in main control computer with processingSignal, above-mentioned signal sends the graphic computer of processing and the display for ring curtain figure to by Data Transport Protocol, schemesData in shape computer are transferred to the image co-registration machine in triple channel ring curtain projection display system, and image co-registration machine again will figureShape computer-generated image information distributes to three projecting apparatus, and carries out edge fusion, by geometric correction and color correctionAfterwards, by the graph data after the processing of above-mentioned main program and module action data projection on engineering annular projection curtain, so as to completeThe simulation of paired derrick lifting process and drilling operation.On the other hand, using Parameters Computer as host computer, by PLCIt is analog- and digital- to count the high-speed pulse signal that port is exported stepper motor is controlled, and then realize driller station to rigThe raising of model and the control of lowering operation.Therefore operation simulation system of the present invention can simulate rig installation and useIn various operating modes, various possible accidents and the experience of expert are added in training system, people pre-buried by failureTo set failure, simultaneous display related data and parameter, comprehensive training operating personnel.System is built using virtual reality technologyThe extremely strong visual environment of one sense of reality, allows student to have sensation on the spot in person.Pass through drilling repeatedly on stimulating and training systemPractice, student can grasp, be familiar with the hints on operation and technical specification of equipment, improve student to various accident judgements and processingAbility, the generation of human accident is reduced, while training cost can also be reduced, enhancement training efficiency.
Triple channel ring curtain projection display system includes：Projector, engineering annular projection curtain and image co-registration machine.It is wherein describedProjector is three Tai Zhengtou projectors, and three projectors, which with engineering annular projection curtain combination image merge machine and form edge, meltsClose optical projection system.Include Geometry rectification module, edge Fusion Module, color correction module in image co-registration machine.Wherein imageImage information caused by graphic computer is distributed to three projecting apparatus by fusion machine, and carries out edge fusion.The edge fusionTechnology is exactly that the picture for one group of projector carries out imbricate, and shows that does not have a gap by integration technologyMore bright, super large, high-resolution entire picture, the effect of picture is like the picture of a projector.When twoOr during Duo Tai projectors combination one width picture of projection, understand some image overlap, the main function of edge fusion is exactly handleThe lamplight brightness of Liang Tai projectors lap is gradually turned down, and makes the brightness of entire picture consistent.
Wherein Geometry rectification module includes：The Geometry rectification module is used for the geometry for correcting projects images, to protectCard edge fused controlling adapts to a variety of screen configurations, preferably plane configuration, cylinder configuration or spherical configuration, makes to project tombOn picture without geometric distortion.The Geometry rectification module includes following submodules：Utilize longitude and latitude locating module and laser arraySterically defined module is carried out to annular projection's curtain in a manner of dot matrix；Pass through the figure tube side output of computer and annular projectionSpace laser dot-matrix forms the module of equally spaced standard grid on curtain；By intelligent successive acquisitions projected image and input calculatingMachine, and Auto-matching is carried out so as to draw projector image with throwing by the space laser dot matrix on projection screen and standard gridThe module of shadow screen corresponding relation；The mould that nonlinear geometry correction is carried out to the image of output is realized using above-mentioned corresponding relationBlock.
Wherein Fusion Edges module includes：For dividing the image into the image segmentation module of some regular figures, so thatSome regular figures are projected by three projectors respectively, wherein the adjacent pattern edge for being divided into some regular figures is mutualThe width of lap figure is that the overlapped figure in adjacent pattern edge appears in segmentation simultaneously within the 5% of correspondingly-sizedThe edge of adjacent pattern afterwards；For arranging the longitude and latitude locating module of crisscross warp and weft on the entire image, itsMake the color of the warp and weft in each regular figure different, and utilize three projectors by some rule after segmentationThen figure is projected, and regulation projector makes the warp in the overlapped figure in adjacent pattern edge, and parallel is completed overlapping；Gray scaleAdjustment module, the brightness Alpha values for adjusting different projectors are 100% white image, by the photosensitive camera of gray scale to non-Overlapping visuals carries out photoreceptor signal collection, and it is α to set its gray scale, by under the brightness of the overlapped figure in adjacent pattern edgeAdjust, until overlapping gray scale β and non-overlapped figure gray scale are equal or error is gone forward side by side less than 0.5%, then by different projectors oneRow projection；
Wherein color correction module includes：Different projecting apparatus are measured when projecting same brightness color using smart cameraThe module of caused intrinsic brilliance, the photo shot under different brightness is handled to show that the color of every projecting apparatus is reflectedPenetrate the module of relation；Before every projector is shown, the color table of different screen is set, produce the mapping of color value so thatThe same color that different projector projects go out is tried one's best similar module.
A kind of fusion projecting method of triple channel ring curtain projection display system is directed to, applied to above three projectorThe triple channel ring curtain projection display system projected side by side to annular curtain, including following steps：
View picture content to be projected is separated into more sub- project contents, every one projector of sub- project content by step 1.Projected, control the project content of each projector's passage to merge in real time, by each fusion project content using pixel to be singlePosition carries out overlapping and alignment, wherein imbricate project content of the fusion project content between two neighboring projector；
Step 2. carries out nonlinear geometry correction to each projector so that the project content of each projector forms oneEntire image；
Step 3. enters Mobile state adjustment and light intensity to the image at the dynamic play picture splicing of the fusion project contentThe light and shade transition of degree；
Step 4. is decomposed to fusion project content, to the RGB face in each pixel shader point in fusion project contentChrominance signal is filtered, and is screened and is separated, and the luminous intensity equivalent for merging pixel in project content is reduced into non-fused regionThe corresponding percentage of pixel luminous intensity equivalent is between 15% to the 75% of brightness；
Step 5. dynamically adjusts the pixel color of project content, coordinates luminous intensity and color, makes the two being consistent property.
Front-end operations platform has Parameters Computer, and wherein the Parameters Computer, which has, completes to obtain front end hardware letter from PLCAfter breath, the communication module of main control computer is sent information to, the information that wherein communication module also sends over main control computer passes through PLCFront end hardware is transferred to be shown.
Teaching job platform has main control computer and graphic computer, and wherein the main control computer has main control module, shouldMain control module is used to be communicated with communication module, obtains hardware device state in real time；The main control computer also includes as followsThe analogue means of multiple rig models：Rig model drilling process analogue means, rig model simulating overflow device, rig modelGas expansion analogue means, rig mold cycle calculation of pressure analogue means, rig model drilling tool lifting analogue means and brillThe raising of drilling derrick/base of machine model/decentralization analogue means, wherein main control module also include following multiple simulation systemsSystem：Device for raising/lowering operation for simulating land rig derrick/base, pull out of hole and lower brill for simulating land rigThe device of operation, the device for simulating land rig drilling operation, the device for simulating the operation of land rig accident emergency；
What wherein rig model drilling process analogue means included communicating with front end hardware equipment and graphics processing unit leads toBelieve module and drilling process analog module, be to obtain hardware device state, Ran Hou in real time with front end hardware equipment communicationThe mathematical modeling that inside is simulated by related drilling process is with analogic drilling technical process.
Wherein described rig model drilling process analogue means include with lower module with realize drilling process simulate：
(1) headend equipment that can be initialized before operation, state parameter and operation for reading headend equipment are orderedThe communication module of order；The equipment status parameter used in wherein above-mentioned analogue means includes original state parameter, specifically includes fortuneDynamic tubing string internal diameter d0, motion tubing string outside diameter di, hole diameter D, drill string acceleration a drill strings unit mass qiThe length of certain section of drill stringliMud density ρ, fluid sticking coefficient KC, the Fluid Volume Q that arranges of time step Δ t, gravity acceleration g, unit intervalt；DynamicallyParameter includes：Frictional force F caused by brake leverm, tubing string lifting speed VP, the amount of liquid Q that returns out in tubing stringi, lifting drill string lengthLP, slush pump volume flow QP, annular space mean flow rate V1, certain section of drill string density pa, frictional force F of the drill string in wellk；
(2) there is the mathematical modeling of the drilling process simulation pre-established in and for the equipment status parameter according to acquisitionAnd operational order, calculate the drilling process analog module of the work data for realizing drilling process simulation animation；Wherein creep into workThe mathematical modeling of skill simulation includes drilling speed computation model, drill bit than water-horse power computation model；
(3) drilling process analog module communicates initial to exchange according to the first data format of setting with graphics processing unitChange data and work data, the animation that graphics processing unit completes drilling process accordingly show；Wherein graphics processing unit includesFull three-dimensional entity model storehouse, graphic plotting module and vision simulation control module, wherein graphic plotting module is by equipment class figureDrafting module, particle class graphic plotting module, management class graphic plotting module and technique animation drafting module composition, vision simulationControl module is shown by scene initialization module, technique animation control module, hit-treatment module, special efficacy rendering module and parameterModule.
(4) graphics processing unit communicates according to the second data format of setting with drilling process analog module, dynamic to exchangeDraw status information；
(5) it is used for the module for repeating aforesaid operations.
Wherein described drilling speed computation model is：
1), drilling rate model
In formula：
A-- the pressure of the drill indexes
B-- rotating speed indexes
C-- strata pressure indexes
D-- drilling fluid density difference coefficients
kd-- stratum statistics drillability (kd=0.00165H+0.635)
W-- is than the pressure of the drill (KN/mm)
N-- rotating speeds (rpm)
IEI-- effective drill bit is than water-horse power (kw/mm2)
ρm-- actual or design mud density (g/cm3)
ρp-- strata pressure equal yield density (g/cm3)
V-- rate of penetrations (m/h)
Wherein drill bit is than water-horse power model：
2), effective drill bit is than water-horse power model
In formula：
HEI-- effective drill bit is than water-horse power (kw/mm2)
ρm-- actual or design mud density (g/cm3)
Q-- discharge capacities, liter/second
Db-- bit diameter, centimetre
de-- nozzle equivalent diameter, centimetre
(j1, j2, j3Nozzle diameter, centimetre).
Wherein rig model simulating overflow device includes the communication mould to be communicated with front end hardware equipment and graphics processing unitBlock and rig simulating overflow module, it is in order to obtain hardware device state in real time, then internally with front end hardware equipment communicationBy the mathematical modeling of related rig simulating overflow to simulate rig flooding process.
Wherein described rig model simulating overflow device include with lower module with realize drilling well flooding process simulate：
(1) headend equipment that can be initialized before operation, state parameter and operation for reading headend equipment are orderedThe communication module of order；The equipment status parameter used in wherein above-mentioned analogue means includes original state parameter, specifically includes fortuneDynamic tubing string internal diameter d0, motion tubing string outside diameter di, hole diameter D, drill string acceleration a drill strings unit mass qiThe length of certain section of drill stringliMud density ρ, fluid sticking coefficient KC, the Fluid Volume Q that arranges of time step Δ t, gravity acceleration g, unit intervalt；DynamicallyParameter includes：Frictional force F caused by brake leverm, tubing string lifting speed VP, the amount of liquid Q that returns out in tubing stringi, lifting drill string lengthLP, slush pump volume flow QP, annular space mean flow rate V1, certain section of drill string density pa, frictional force F of the drill string in wellk；
(2) there is the mathematical modeling of the rig simulating overflow pre-established in and for the equipment status parameter according to acquisitionAnd operational order, calculate the rig simulating overflow module of the work data for realizing rig simulating overflow animation；Wherein rig overflowsThe mathematical modeling of flow field simulation includes rig flooding process simulation model and closing well flooding process simulation model；
(3) rig simulating overflow module communicates initial to exchange according to the first data format of setting with graphics processing unitChange data and work data, the animation that graphics processing unit completes rig overflow accordingly show；Wherein graphics processing unit includesFull three-dimensional entity model storehouse, graphic plotting module and vision simulation control module, wherein graphic plotting module is by equipment class figureDrafting module, particle class graphic plotting module, management class graphic plotting module and technique animation drafting module composition, vision simulationControl module is shown by scene initialization module, technique animation control module, hit-treatment module, special efficacy rendering module and parameterModule.
(4) graphics processing unit is moved according to the second data format and rig simulating overflow module communication of setting with exchangingDraw status information；
(5) it is used for the module for repeating aforesaid operations.
Wherein rig flooding process simulation model includes following submodel：Gas flow calculates model, every section of mixture lengthComputation model, annular space mixture total length computation model, spillway discharge model and every section of mixture density model in well are spent, respectivelyIt is as follows
(1) gas flow calculates model：
In formula：
Qgs-- corresponding to PbStandard state under gas flow amount, rice3/ the second
PP, Pb-- stratum, shaft bottom effective pressure, kPa
C-- seepage coefficients, rice3/ kPa the second (0.2)
Within the j moment Δ t times：
(2) every section of mixture length computation model：
ΔHmi×(j)(j=1,2,3 ... ... n-1)
ΔHmi×(j)={ Q [P(j)-P(j-1)]+UjQgs(j)ln[P(j)/P(j-1)]}/(gρQ)
In formula：
Q-- mud displacements, rice3/ the second
KPa
P(j)-- jth section mixture base pressure, kPa
P(j-1)-- jth section mixture top pressure, kPa
ρ -- mud density, gram per centimeter3
G-- acceleration of gravity, meter per second2
(3) annular space mixture total length computation model：
(4) spillway discharge in well
(5) every section of mixture density computation model：
-- mud volume fraction in mixture,
Aa-- the overflow segment annular space cross-sectional area, millimeter2
-- natural-gas integration amount in mixture,
ρg-- natural gas density, gram per centimeter3。
Closing well flooding process simulation model includes following submodel：After closing well is stable shaft bottom mixture length computation model withAnd closing well it is stable after the pure gas column in shaft bottom length computation model, be respectively：
Shaft bottom mixture length computation model after closing well is stable：
In formula：
Δ P=g ρ Q Δs t/Aa
Divide the hop count of mixture in n-- annular spaces
(2) length of the pure gas column in shaft bottom after closing well is stable
Hmix(n+1)=Hmix()-Hmix(n)。
What wherein rig model gas expansion analogue means included communicating with front end hardware equipment and graphics processing unit leads toBelieve module and rig gas expansion analog module, be in order to obtain hardware device state in real time, so with front end hardware equipment communicationThe mathematical modeling internally simulated afterwards by related rig gas expansion is to simulate rig gas expansion process.
Wherein rig model gas expansion analogue means is included with lower module to realize that drilling well gas expansion is simulated：
(1) headend equipment that can be initialized before operation, state parameter and operation for reading headend equipment are orderedThe communication module of order；The equipment status parameter used in wherein above-mentioned analogue means includes original state parameter, specifically includes fortuneDynamic tubing string internal diameter d0, motion tubing string outside diameter di, hole diameter D, drill string acceleration a drill strings unit mass qiThe length of certain section of drill stringliMud density ρ, fluid sticking coefficient KC, the Fluid Volume Q that arranges of time step Δ t, gravity acceleration g, unit intervalt；DynamicallyParameter includes：Frictional force F caused by brake leverm, tubing string lifting speed VP, the amount of liquid Q that returns out in tubing stringi, lifting drill string lengthLP, slush pump volume flow QP, annular space mean flow rate V1, certain section of drill string density pa, frictional force F of the drill string in wellk；
(2) there is the mathematical modeling of the rig gas expansion simulation pre-established in and for the equipment state according to acquisitionParameter and operational order, calculate the rig gas expansion simulation mould for the work data for realizing rig gas expansion simulation animationBlock；The mathematical modeling of wherein rig gas expansion simulation includes gaseous state model, gas overflow weight caused by annular spacePressure model and natural gas compressing model；
(3) rig gas expansion analog module is communicated to exchange according to the first data format of setting with graphics processing unitInitialization data and work data, the animation that graphics processing unit completes rig overflow accordingly show；Wherein graphics processing unitIncluding full three-dimensional entity model storehouse, graphic plotting module and vision simulation control module, wherein graphic plotting module is by equipment classGraphic plotting module, particle class graphic plotting module, management class graphic plotting module and technique animation drafting module composition, what comes into a driver'sSimulation Control module is by scene initialization module, technique animation control module, hit-treatment module, special efficacy rendering module and parameterDisplay module.
(4) graphics processing unit communicates according to the second data format of setting with rig gas expansion analog module, to hand overMove picture status information；
(5) it is used for the module for repeating aforesaid operations.
The mathematical modeling of wherein rig gas expansion simulation includes gaseous state model, gas overflow weight is produced in annular spaceRaw pressure model and natural gas compressing model, it is as follows respectively
(1) gaseous state model
In formula：
Ps-- the pressure under standard state, kPa
Vs-- the volume under standard state, rice3
Zs-- the compressed coefficient under standard state
Ts-- the temperature under standard state, ° K
P-- pressure, kPa
V-- gas volumes, rice3
T-- temperature, ° K
Z-- is T in temperature, and pressure is the compressed coefficient under conditions of P
As long as it is aware of the pressure at certain moment, temperature and the compressed coefficient, it is possible to try to achieve gas volume now.
2), gas overflow weight caused pressure model in annular space
According to gas, gas weight is constant in uphill process in annular space, and gas column is tried to achieve in kill-job with the equation of gas stateThe density at moment is：
In formula：ρs, Ps, Ts, Zs-- the gas density under standard state, pressure, temperature and the compressed coefficient, T are represented respectivelys--Gas rises to a certain moment gas column midpoint formation temperature, ° K
Then pressure caused by gas column weight is：
Gas is highly used into gas volume Vx(rice3) and cross-sectional area Aa(rice3) represent, then：
A in formulaaThe cross-sectional area of annular space section, change where gas；But, can be by A for convenience of calculationaValueThe average traversal area of whole annular space is taken as, then pressure caused by gas weight is a constant.Because of the value sheet of this pressureTo be exactly very little, caused error can be disregarded after so simplifying processing.
3), natural gas compressing model
Kenneth is quoted, after the formula that R.Hall is proposed is simplified, obtains following calculation formula to seek ZxValue：
In formula：
Reduced pressure
Reduced temperature
Above formula is an implicit form, and its solution is：First assume an initial compression factor Z0, calculate Pr、Tr, then askGo out W, finally calculate Z again, if | Z-Z0(ε is precision to |≤ε, is typically taken 0.0001), then illustrates the Z assumed0It is exactly requiredCompressibility factor；If | Z-Z0| ＞ ε, then illustrate to need to assume Z again0, then calculate Z.Until | Z-Z0Untill |≤ε meets.
Wherein rig mold cycle calculation of pressure analogue means includes communicating with front end hardware equipment and graphics processing unitCommunication module and rig circulating pressure calculating simulation module, be to obtain hardware device in real time with front end hardware equipment communicationState, then internally by the mathematical modeling of related rig circulating pressure calculating simulation to simulate the circulating pressure mistake of rigJourney.
Wherein described rig mold cycle calculation of pressure analogue means is included with lower module to realize rig circulating pressure mistakeThe simulation of journey：
(1) headend equipment that can be initialized before operation, state parameter and operation for reading headend equipment are orderedThe communication module of order；The equipment status parameter used in wherein above-mentioned analogue means includes original state parameter, specifically includes fortuneDynamic tubing string internal diameter d0, motion tubing string outside diameter di, hole diameter D, drill string acceleration a drill strings unit mass qiThe length of certain section of drill stringliMud density ρ, fluid sticking coefficient KC, the Fluid Volume Q that arranges of time step Δ t, gravity acceleration g, unit intervalt；DynamicallyParameter includes：Frictional force F caused by brake leverm, tubing string lifting speed VP, the amount of liquid Q that returns out in tubing stringi, lifting drill string lengthLP, slush pump volume flow QP, annular space mean flow rate V1, certain section of drill string density pa, frictional force F of the drill string in wellk；
(2) there is the rig circulating pressure calculating simulation model pre-established in and is used to be joined according to the equipment state of acquisitionNumber and operational order, the rig circulating pressure for calculating the work data for realizing rig circulating pressure process simulation animation calculate mouldIntend module；Wherein rig circulating pressure calculating simulation model includes drill bit pressure consumption model, drilling rod internal pressure consumption model, drilling rod outer ringPressure consumption model and the outer annular pressure lost model of drill collar inside space pressure consumption model, drill collar；
(3) rig circulating pressure calculating simulation module according to the first data format and the graphics processing unit of setting communicate withExchange initialization data and work data, the animation that graphics processing unit completes rig circulating pressure process accordingly show；WhereinGraphics processing unit includes full three-dimensional entity model storehouse, graphic plotting module and vision simulation control module, wherein graphic plottingModule is drawn by equipment class graphic plotting module, particle class graphic plotting module, management class graphic plotting module and technique animationModule forms, and vision simulation control module is by scene initialization module, technique animation control module, hit-treatment module, special efficacyRendering module and parameter display module.
(4) graphics processing unit according to setting the second data format and rig circulating pressure calculating simulation module communication,To exchange animated state information；
(5) it is used for the module for repeating aforesaid operations.
Wherein rig circulating pressure calculating simulation model includes drill bit pressure consumption model, drilling rod internal pressure consumption model, drilling rod outer shroudShape space pressure consumes the as follows of model, drill collar inside pressure consumption model and the outer annular pressure lost model of drill collar：
1), drill bit pressure consumption model
In formula：
Pb-- bit pressuredrop, MPa；
ρ -- mud density, gram per centimeter3；
Q-- passes through the mud displacement of bit nozzle, liter/second；
A0-- jet area is accumulated, centimetre2
C-- nozzle orifice coeficients (0.98)
2), drilling rod internal pressure consumption model：
Formula
In formula：
Pl-- drilling rod internal pressure consumes, Mpa；
ρ -- mud density, gram per centimeter3；
η -- mud plastic viscosity, Pa Sec；
D-- drilling rod internal diameters, centimetre；
B-- constants, internal flush drill pipe B=0.51655
Q-- mud flow rates, liter/second；
Lp-- drilling rod overall length, rice.
3), drilling rod outer ring space pressure consumption model
In formula：
Pl-- drilling rod outer ring space pressure consumption, Mpa；
ρ -- mud density, gram per centimeter3；
η -- mud plastic viscosity, Pa Sec；
D, D0-- hole diameter and drilling rod external diameter, centimetre；
Q-- mud flow rates, liter/second；
Lp-- drilling rod overall length, rice.
4), pressure consumption model inside drill collar
In formula：
Pl-- pressure consumption, Mpa inside drill collar；
ρ -- mud density, gram per centimeter3；
η -- mud plastic viscosity, Pa Sec；
dc-- drill collar internal diameter, centimetre；
Q-- mud flow rates, liter/second；
Lc-- drill collar total length, rice.
5), the outer annular pressure lost model of drill collar
In formula：
Pl-- drill collar outer ring space pressure consumption, Mpa；
ρ -- mud density, gram per centimeter3；
η -- mud plastic viscosity, Pa Sec；
D, Dc-- hole diameter and drill collar external diameter, centimetre；
Q-- mud flow rates, liter/second；
Lc-- drill collar total length, rice.
What wherein rig model drilling tool lifting analogue means included communicating with front end hardware equipment and graphics processing unit leads toBelieve module and drilling tool lifting analog module, be with front end hardware equipment communication in order to obtain hardware device state in real time, such as, it is necessary to obtain hook lifting force, the acceleration of drill string, mud density, tubing string lifting speed and motion in the simulation of drilling tool liftingThese parameters of tubing string internal-and external diameter, the mathematical modeling then internally simulated by related drilling tool lifting is to simulate drilling tool lifting mistakeJourney.
Wherein described rig model drilling tool lifting analogue means include with lower module with realize drilling tool lifting simulate：
(1) it is used to read the state parameter of headend equipment and the communication module of operational order；In wherein above-mentioned analogue meansThe equipment status parameter used includes original state parameter, specifically includes motion tubing string internal diameter d0, motion tubing string outside diameter di, hole diameterD, the unit mass q of the acceleration a drill strings of drill stringiThe length l of certain section of drill stringiMud density ρ, fluid sticking coefficient KC, time stepThe Fluid Volume Q that long Δ t, gravity acceleration g, unit interval arranget；Dynamic parameter includes：Frictional force F caused by brake leverm, tubing stringLift speed VP, the amount of liquid Q that returns out in tubing stringi, lifting drill string length LP, slush pump volume flow QP, annular space mean flow rate V1、Certain section of drill string density pa, frictional force F of the drill string in wellk；
(2) there is the drilling tool lifting simulation model pre-established in and is used for the equipment status parameter according to acquisition and operationOrder calculates the rig lifting analog module for the work data for realizing drilling tool lifting simulation animation；Wherein drilling tool lifting simulation mouldType lifts rate pattern when including drill string force model when making a trip, making a trip；
(3) rig lifting analog module communicates initial to exchange according to the first data format of setting with graphics processing unitChange data and work data, the animation that graphics processing unit completes drilling tool lifting accordingly show；Wherein graphics processing unit includesFull three-dimensional entity model storehouse, graphic plotting module and vision simulation control module, wherein graphic plotting module is by equipment class figureDrafting module, particle class graphic plotting module, management class graphic plotting module and technique animation drafting module composition, vision simulationControl module is shown by scene initialization module, technique animation control module, hit-treatment module, special efficacy rendering module and parameterModule.
(4) graphics processing unit is moved according to the second data format and rig lifting simulation module communication of setting with exchangingDraw status information；
(5) it is used for the module for repeating aforesaid operations.
Rate pattern is lifted when wherein drilling tool lifting simulation model includes drill string force model when making a trip, made a trip, itsIn above-mentioned lower brill when drill string force model, lifting rate pattern is respectively when making a trip：
1) drill string force model when, making a trip
Pull out of hole：
Lower brill：
In formula：
F-- hook lifting force newton
Fm-- frictional force caused by brake lever (or brake force) newton
Ff-- buoyancy newton
Ff=ρ (∑ qili)ρa
The acceleration meter per second of a-- drill strings2
qi-- the unit mass kg/m of drill string
li-- the length meter of certain section of drill string
ρ -- mud density gram per centimeter3
ρa-- certain section of drill string density gram per centimeter3
Fk-- frictional force newton of the drill string in well
G-- acceleration of gravity meter per seconds2
2) rate pattern is lifted when, making a trip
Vpt(i)=Vpt(i-1)+aΔt
In formula：
Δ t-- takes time step, second when calculating
Vpt(i)--t(i)Moment drill string speed, meter per second.
Wherein the raising of drilling derrick/base/decentralization analogue means includes and front end hardware equipment and graphics processing unitThe communication module of communication and the raising of drilling derrick/base/decentralization analog module, are in order to real-time with front end hardware equipment communicationHardware device state is obtained, the mathematical modeling then internally simulated by raising/decentralization of related drilling derrick/base is with mouldIntend raising/decentralization process of drilling derrick/base.
Raising/decentralization analogue means of wherein described drilling derrick/base is included with lower module to realize drilling derrick/bottomThe raising of seat/decentralization process simulation：
(1) it is used to read the state parameter of headend equipment and the communication module of operational order；In wherein above-mentioned analogue meansThe equipment status parameter used includes original state parameter, specifically includes motion tubing string internal diameter d0, motion tubing string outside diameter di, hole diameterD, the unit mass q of the acceleration a drill strings of drill stringiThe length l of certain section of drill stringiMud density ρ, fluid sticking coefficient KC, time stepThe Fluid Volume Q that long Δ t, gravity acceleration g, unit interval arranget；Dynamic parameter includes：Frictional force F caused by brake leverm, tubing stringLift speed VP, the amount of liquid Q that returns out in tubing stringi, lifting drill string length LP, slush pump volume flow QP, annular space mean flow rate V1、Certain section of drill string density pa, frictional force F of the drill string in wellk；
(2) there is the mathematical modeling of raising/decentralization simulation of the drilling derrick/base pre-established in and obtained for basisThe equipment status parameter and operational order obtained, calculate the operation number for the raising/decentralization simulation animation for realizing drilling derrick/baseAccording to drilling derrick/base raising/decentralization analog module；The wherein mathematical modulo of the raising of drilling derrick/base/decentralization simulationType includes derrick lifting decentralization model；
(3) raising of drilling derrick/base/decentralization analog module according to setting the first data format and graphics process listTo exchange initialization data and work data, graphics processing unit completes raising/decentralization of drilling derrick/base accordingly for member communicationAnimation show；Wherein graphics processing unit includes full three-dimensional entity model storehouse, graphic plotting module and vision simulation control mouldBlock, wherein graphic plotting module are by equipment class graphic plotting module, particle class graphic plotting module, management class graphic plotting moduleFormed with technique animation drafting module, vision simulation control module is by scene initialization module, technique animation control module, collisionProcessing module, special efficacy rendering module and parameter display module.
(4) graphics processing unit simulates mould according to the second data format of setting and raising/decentralization of drilling derrick/baseBlock communicates, to exchange animated state information；
(5) it is used for the module for repeating aforesaid operations.
The mathematical modeling of the raising of drilling derrick/base/decentralization simulation includes derrick lifting decentralization model, is specially：WellErect a liter decentralization model：
Derrick lifting force analysis：During derrick lifting, overall rotated around bottom coercive mechanism O rises, and overall force analysis is such asUnder：
2F (b+c)+P ε=G1·L1·cos(α+α1)+G2·L2·cos(α+α2)
In formula：
A-- is the arm of force of the fast line pull to pivot point O
B, c-- is respectively the arm of force of the A-frame pulley both sides big lifting rope pulling force to fulcrum O
L1、L2-- the distance of derrick center of gravity and overhead traveling crane center of gravity to fulcrum O
α -- it is derrick lifting angle (0~90 degree)
α1-- for derrick center of gravity and the angle of fulcrum O lines and contour line below derrick
α2-- for overhead traveling crane center of gravity and the angle of fulcrum O lines and contour line below derrick
G1-- conduct oneself with dignity for derrick
G2-- conduct oneself with dignity for overhead traveling crane
P-- is fast line pull
F-- is big lifting rope pulling force
1. arm of force b is calculated with playing lift angle α relational expression：Jack up unit is wherein reduced to a planar motion mechanism, herringboneFrame pulley is reduced to a fixed point.
In formula：
S1、S2-- it is structure preset parameter
When A-- keeps flat for derrick, the angle between big lifting rope
α -- it is derrick lifting angle (0~90 degree)
2. arm of force c is calculated with playing lift angle α relational expression：Derrick side leading block is reduced to a fixed point.
In formula：
S3-- it is structure preset parameter
When B-- keeps flat for derrick, the angle between big lifting rope
α -- it is derrick lifting angle (0~90 degree)
3. arm of force a is calculated with playing lift angle α relational expression：Derrick side leading block is reduced to a fixed point.
In formula：
S4、S5-- it is structure preset parameter
When c-- keeps flat for derrick, the angle between big lifting rope
α -- it is derrick lifting angle (0~90 degree)
4. big lifting rope pulling force F, fast line pull P are calculated with playing lift angle α relational expression：As primary Calculation, sky have ignoredBetween low-angle, the deformation of rope and tourist bus, the gravity of hook.
In formula：
F-- is big lifting rope pulling force F
P-- is fast line pull
α -- it is derrick lifting angle (0~90 degree)
L-- be derrick lifting to α angles when, the length of this section of big lifting rope
H-- is vertical height of the derrick top to ground
S1、S2-- it is structure preset parameter
5. lifting force P is calculated with playing lift angle α relational expression：
In formula：
G1-- conduct oneself with dignity for derrick
G2-- conduct oneself with dignity for overhead traveling crane
P-- is fast line pull
α -- it is derrick lifting angle (0~90 degree)
L-- be derrick lifting to α angles when, the length of this section of big lifting rope
H-- is vertical height of the derrick top to ground
S1、S2、S3、S4、S5-- it is structure preset parameter
Land rig operation simulation method includes：For simulating raising/lowering operation of land rig drilling derrick/baseMethod, for simulate land rig pull out of hole and drill down operator method, for simulate the method for land rig drilling operation withAnd the method for simulating the operation of land rig accident emergency.
Wherein it is used for the method main analog rig for simulating raising/lowering operation of land rig drilling derrick/baseThe raising lowering operation of derrick in installation process, and the raising lowering operation of base, it is desirable to trainee's correctly grasp pairOperating procedure and safety requirements to be answered, accomplishes the completion respective operations of steady safety, it specifically includes following operating procedure,：
(1) derrick lifting operating procedure：As shown in Figure 8, start operation, operate winch and slowly tighten big lifting rope,After lift headframe predetermined altitude, preferably 0.2 meter, checked first, then transfer derrick to occupying stably on support, then willDerrick is promoted to predetermined altitude, after preferably 0.2 meter, carries out quadratic search, then transfers derrick to occupying stably on support, twiceCheck it is qualified after, formal derrick telescoping, first derrick telescoping are to be in 60 degree angles with ground, operation hydraulic cushion oil cylinder, stretchingPredetermined length, preferably 0.48 meter, after being kept for certain time, then derrick telescoping operates hydraulic pressure to being in about 80 degree of angles with groundCushion cylinder is recycled to home position, so that derrick relies on deadweight slowly by surely on A-frame, after derrick is vertical directly, stamping UType card, terminate operation；
(2) base raising operating procedure：As shown in Figure 9, operation, raising base A-frame, in base A-frame are startedBearing pin between the seat of honour and pedestal of dismantling is squeezed into after bearing pin in lower end, when raising base to the seat of honour leaves pedestal predetermined altitude, preferably 0.2Meter Hou, safety inspection is carried out, then transfers the seat of honour, occupied stably to by the seat of honour on pedestal, after passed examination, formal raising base,During raising base, operation hydraulic cushion oil cylinder stretching predetermined length, preferably 0.6 meter, when the seat of honour and ground are in aboutDuring 80 degree of angles, operation hydraulic cushion oil cylinder is retracted, and the seat of honour is slowly occupied stably by deadweight on base A-frame, at the seat of honour and bottomBearing pin is squeezed into seat A-frame upper end, terminates operation；
(3) base lowering operation step：As shown in Figure 10, operation is started, the dismantle seat of honour and base A-frame upper endBearing pin, using cushion cylinder, the seat of honour is pushed away into upright position, the seat of honour is constantly declined by self gravitation, control decrease speed,The seat of honour is occupied stably on pedestal, bearing pin is penetrated between the seat of honour and pedestal, base A-frame lower end bearing pin of then dismantling, utilize winchSlowly decentralization base A-frame terminates operation to initial position；
(4) derrick lowering operation step：As shown in Figure 11, operation, the U to dismantle first between A-frame and derrick are startedType card, using cushion cylinder, derrick is pushed away into upright position, derrick is constantly declined by self gravitation, when derrick drops toPredetermined altitude, at preferably 0.5 meter, after brake stops 5 minutes, then slowly decentralization to derrick is occupied stably on support, terminates operation.
Wherein it is used to simulating land rig to pull out of hole and the method for drill down operator, main analog pulls out of hole and the technique mistake of lower brillJourney, it is desirable to which trainee correctly grasps the technological process to make a trip, accomplishes steadily to make a trip, and it specifically includes following operation stepSuddenly：
(1) normal drill down operator step：As shown in Figure 12, start operation, start to control elevator first, suspension ring is leaned forward, putColumn, by drilling tool is above carried after lower lift ring middle position button, well head is swung to, it is then upper to detain, above carry and remove elevator again, realize under drilling toolPut, load onto wellhead slip, depress winch clutch, elevator of unsnaping, judge whether to continue lower brill, hung if it is, returning to start to controlCard, if it is not, then terminating this subjob；
(2) slacking off operating procedure：As shown in Figure 13, operation is started, in normal going down process, if be hampered,Then connect top to drive, terminate this subjob after punching resistance reaming, be not otherwise hampered, return to normal drill down operator；
(3) normally pull out of hole operating procedure：As shown in Figure 14, start operation, first turn on measuring pump, close on after elevatorDrilling tool is carried, removes wellhead slip, then lifts drilling tool, after slips is moved into well head, lower pillar stand is unloaded after shackle, has been judged whetherBore, returned if continuing to pull out of hole and start operation, otherwise terminate this subjob；
(4) pull out of hole and meet card operating procedure：As shown in Figure 15, operation is started, in normal trip-out process, if meeting card,Then connect top to drive, circulate unfreezing, back reaming, terminate this subjob, normal pull out of hole is returned if card is not met.
The method for being wherein used to simulate land rig drilling operation, main analog typical well operating mode, it is desirable to which training is learnedMember is correct to grasp drilling process flow, accomplishes uniformly to creep into.The drilling technology of bad ground is grasped simultaneously, and it specifically includes followingOperating procedure：
(1) normal drilling connects column operating procedure：As shown in Figure 16, beginning operation, circulating mud, after light pressure running-in justOften drilling, unload top drive and be followed by column, elevator of unsnaping terminates operation；
(2) the drilling operation step jumped off is suppressed：As shown in Figure 17, operation, normal drilling, if not occurring suppressing jump are startedThen normal drilling, drill string is then above carried if there is suppressing to jump, change rotating speed, the pressure of the drill, decentralization drilling, do not weaken if suppressing jump, returnIt is back to and carries drill string, is recycled to and suppresses jump decrease, then jump section reaming to suppressing, terminate operation；
(3) the drilling operation step of high pressure formation：As shown in Figure 18, operation is started, circulating mud is normal to creep into, such asFruit does not occur overflow and then normally crept into, and after then increasing mud density if there is overflow, continues rig, finally terminates operation：
(4) the drilling operation step of low-pressure stratum：As shown in Figure 19, operation is started, circulating mud is normal to creep into, such asFruit does not occur mud leakage, then continues normal drilling, after then increasing mud viscosity if there is mud leakage, continues to creep into, mostAfter terminate operation.
The method for being wherein used to simulate the operation of land rig accident emergency, common failure in main analog drilling processAnd complex situations such as main control software produces accident, it is desirable to for example various instrument of phenomenon that trainee is reflected by simulatorChange judge accident pattern, and correct process accident, it specifically includes following operating procedure：
(1) bit freezing operating procedure is adhered to：As shown in Figure 20, start operation, play drill string, judge whether winch brake has eventBarrier, has continued drill string if no failure, raises and decentralizes drilling tool with being attempted if faulty, connects after top is driven and above carries again, underPut drilling tool twice, then open top turn it is dynamic, above put put after a unfreezing finish, then make top drive stop operating, terminate operation；
(2) heavy yarn bit freezing operating procedure：As shown in Figure 21, operation is started, it is normal to pull out of hole, judge whether heavy yarn bit freezing,If returning to normal trip-out without if, the movable drilling tool if heavy yarn bit freezing, connect top and drive, the circulating mud of small displacement, judgeWhether pump pressure is normal, and circulating mud is returned if abnormal, the huge discharge circulating mud if pump pressure is normal, finally terminates to makeIndustry；
(3) balling-up sticking operating procedure：As shown in Figure 22, start operation, gently press running-in, normal drilling, judge whetherBalling-up sticking, if returning to the normal discharge capacity for pulling out of hole, circulating mud being increased if balling-up sticking without if, high speed reaming, adjustContinue to creep into after the performance of whole mud, finally terminate operation；
(4) die nipple fishing operation step：As shown in Figure 23, start operation, rinse fish head, test fish, judge whetherVisit, if not visiting, return and continue test, if speaking of, draw button, thread making, examination carries drill string, proposes fish, finally terminatesOperation；
(5) junk milling operation step：As shown in Figure 24, start operation, flushing manhole bottom, after milling 2 times, continue millingAfter junk mill breakage, terminate operation.
The above method has advantages below：The top drive drilling simulation of height emulation is realized, enhances teaching, trainingPresence, the training cycle is shortened, result of training is improved, reduces training cost.
Land rig installation operation simulation system also includes rig virtual assembly system, and the virtual assembly system passes through numberInstallation simulation is carried out according to the interactive mode of transmission, the virtual assembly system includes sequential selection module, position selecting moduleAnd assembling process display module；Wherein sequential selection module includes：For the number for the pictorial information for storing each part of rigWherein it is that each part assigns an Item Number and correctly installs item in data array according to array, one showingThe corresponding object item of object correlation and will to perform step the step of issuing display module in real time several；Determined for user defeatedThe button entered, button are communicated with position selecting module；When being installed, present score is produced in system and shouldThe Item Number assembled, judge whether user is determined input to judge the assemble sequence of user's selection by buttonIt is whether correct, be specially：Assuming that present score be 1 when, user selection part Item Number position 1 and pressed determination press, it is necessary to prompt it during button, the outer aobvious text information for lightening a sequential selection mistake, otherwise, when selecting correct justItem Number is passed to position selecting module.
In the selecting module of position, it receives the data inputted from sequential selection module, according to the data of its inputObject is numbered to generate 3 selection positions and be created as an array, and the first of array is classified as object numbering, and second is classified as 3The group of individual transparent substance, the 3rd is classified as the object in itself, and the 4th is classified as the object in particular cases shown, and the 5th is classified as special circumstancesThe object of lower disappearance, the 6th is classified as the correct option in GROUP, and the 7th is classified as number of steps, in addition to uses Row after receiving dataSearch finds out the corresponding row of the numbering and then the Get Row rows extract the 2nd column data (group) and carry out show/HIDE behaviourMake.After have selected Reference, correct option title (data in the 6th row) is extracted from array, judgement is therebetweenIt is no equal.It is if equal：The 2nd column data is extracted from array and is hidden operation, then show goes out the 3rd row.(namely objectItself), the 4th row and the 5th column data are according to circumstances handled, and send the numbering in the 7th row to 3 ring curtain program；If not phaseDeng, pop-up dialogue box, prompting user's selection mistake (can be carried out postponing disappearance in 2 seconds with delayer).
In display module is assembled, need also exist for making an array, array first is classified as object numbering.Second is classified as thingBody phase should assemble animation.3rd is classified as the picture of the last frame number of animation.Receive and find out the numbering with Row Search after dataThe corresponding row and then Get Row row extracts the 2nd column data animation.The first step utilizes video player after taking out corresponding animationPlaying animation, sequential selection module is sent data to using Custom Packet sender after animation finishes, hereNumbering need not be sent, only sends fraction and a mark, fraction is updated after sequential selection module receives and activation determinesButton.Preferably, also include lifting derrick base module in display module is assembled, the module include raising animation,Hydraulic cushion oil cylinder module and job state function display module；Wherein job state function display module is connect using UDPThe Job Overview information that need to be shown is received, is judged by marking decollator to carry out line feed processing, finally with the displaying side of 2D picturesFormula shows corresponding text information in screen；Raising animation uses controllable animation, and derrick base is exported by 3DSMAXRaising decentralization animation.Frame number is carried out to animation in VIRTOOLS and plays control, the data that main control part is transmitted are enteredRow processing, corresponding change operation is carried out to model after being converted into corresponding animation frame number；Hydraulic cushion oil cylinder module is on ring curtainThe displaying that 2 wickets are used as current state is set up, represents left fluid cylinder and right fluid cylinder respectively, by the information for judging job numberTo judge to show the hydraulic cushion oil cylinder of derrick part or base portion in wicket, the module utilizes a summit 3DFRAME to carry out Distance Judgment with hydraulic cylinder, to be convenient for measuring the distance that hydraulic cylinder has stretched out, to judge currently whether may be used alsoCarry out displacement operation.By the way that derrick or base are arranged to moving obstacle, hydraulic cushion oil cylinder is arranged to fixed obstacle,Collision judgment is carried out using the relative program of collision detection, corresponding accident animation is played if reaching accident related request.
The application further relates to the demo system and method for land rig operational manual, wherein land rig operation is saidThe demo system of bright book includes well site entirety demonstration module and internal structure demonstration module；Wherein well site entirety demonstration module is to pacifyDress serial number introduces all parts on well site, and demonstration module is formed by base, derrick forms demonstration module and irrigated areaDemonstration module three parts are formed, and the tissue by way of multiple index, wherein by above-mentioned demonstration module, can be led to each partTwo views are crossed to be demonstrated：Global view and partial view, position of the global view display member in whole well site are localView is the big figure of the part, shows the concrete image and parameter of the part.And internal structure demonstration module then shows rotating disk, twistedThe internal structure of car and the big important and relative complex part of slush pump three, shows by explosive view mode, by all partsForm, position, the function of important inner body explain, so as to allow user to understand its groundwork mechanism.
The application further relates to the generation method of land rig three-dimensional animation, wherein the land rig three-dimensional animation includes bottomThe raising of seat, the installation in derrick and irrigated area, derrick and base, wherein the detailed installation process of 198 each steps of part is included, withAnd the raising process of derrick and base, points for attention and accident animation.Can quickly it be apparent from entirely by watching animationLand rig installs the overall process of raising.
The generation method of above-mentioned three-dimensional animation comprises the following steps：
1. material collection；In rig builder the live collection for carrying out screen and photographic material early stage, the actual peace of rigEach step of dress carries out whole shooting by video camera, and three directions of parts progress to field apparatus are taken pictures, and are collectedThe shape data of all devices.
2. modeling；Work is modeled by the material collected.Early stage, 3D modeling instrument was 3Dsmax, the size of modelMade fully according to the size equal proportion of actual rig object.In order to ensure quality of animation, model imports MAYA from 3Dsmax and enteredRow refinement.Model includes rig floor, well site and environment, and floor sections include：Derrick, winch, top drive, hook, cat head, standpipe pipeRemittance, hydraulic tongs, turnbuckle clamp, tubing tongs, throttling control cabinet, vertical rod box, derrick room, safety slip, drilling rod, oil pipe, drill with ferruleBar, short circuit, drill collar, cock, elevator, check valve, slips, department's control room；Well site part includes：Generating set system, slush pump, mudStock tank, choke manifold, separator, remote console；Environment division includes：Well site natural environment simulation and person model.ItsMiddle floor sections and well site part are modeled by way of Geometric Modeling, are modeled specifically by Hierarchical Model method,It represents that each several part of object forms using attribute structure, and the kinetic-potential of higher level structure must change lower level structureLocus.Such as：Power Tong on drilling platforms, it is made up of the main body of Power Tong, rotating disk, air pressure valve member.PerformingDuring upper button operation, the main body of Power Tong travels forward, and rotating disk concurrently travels forward and rotated.Natural environment is simulated and peopleThing model is then modeled by way of personage models, and personage is modeled firstly the need of person model is established, and includes the skin of personageSkin textures, the foundation of character physical's model.The use of PhotoShop is that personage makes skin paste after the foundation of character physical's modelFigure, after the completion of personage's modeling, bone is established for personage, and weight is distributed to every piece of bone, to determine skin by skeleton motionInfluence degree.It is that the character on platform makes skeleton cartoon according to the needs of graphic package, such as：On unload cat head, on unloadSlips acts, and saves as the form that can be read and individually control.
3. model acts；After the completion of 3D modellings, according to actual rig installation operation code, it is thus identified that installation steps andFlow, proceed by the action adjustment work of 3D models, since first step draw base line figure, the installation kit of each object afterwardsThe action adjustment of crane is included, the action adjustment of animation and upper pin that object is installed in place.
4. model pinup picture and material；The textures and material of model make fully according to the gloss of true rig with color, protectIt is identical with actual conditions to demonstrate,prove each object in animation, then these materials are assigned to the model built up.
5. background is set；The selection of rig infield is carried out in desert in animation, so having selected short rock and sandDesert is used as background.
6. light is set；In order to simulate the illumination under true environment, allow whole rig installation scenario effect of shadow moreTruly, the light permutation of exhibitions up to a hundred has been made in whole scene, for simulating the irradiation of the illumination of sky and the sun.
7. camera lens is set；The position of alignment lenses had both been presented to the part on screen for animation, each in order to ensure to see clearlyThe installation process of part, camera lens are arranged to the part installed of alignment, and during the tiny object of upper pin, camera lens, which furthers, gives spyWrite.
8. integrate；Material collection, modeling, model action, model pinup picture and material, background setting are completed, light is set,After camera lens is set, whole scene is integrated together, both included since draw base line, the installation of each part, to the endThe overall process that the raising of base finishes.
9. render；The scene integrated is started according to the camera lens set to be rendered to picture, the animation of one second is preferred25 pictures are arranged to, photo resolution is preferably arranged to 2560X768.
10. dub, background music and audio；Dub the explanation including each step installation steps and during derrick lifting, backgroundMusic is changed to impassioned in installation process from brisk rhythm in raising.And in part lifting in place, sledgehammer strikes pinPosition is equipped with corresponding audio.
11. the later stage synthesizes；Later stage composite software preferably selects nuke, is synthesized after the picture rendered is imported completeScreen animation, the Chinese and English subtitles of explanation is added below video by nuke, and will dubbed, background music and audio close simultaneouslyInto into video, to complete the generation work of the three-dimensional animation of whole land rig.
The application further relates to a kind of control method of land rig technique animation.Wherein complete the mistake of regulation process operationCheng Zhong, each action that driller's console is made will convert into data signal and pass to main control computer, then be sent by main control computerProtocol data after graphic package obtains parameter, makes specific reflection to graphic package.Embodied in graphic machine various on rig floorThe kinematic parameter of control system, specific action, views selection preferably comprise upward angle of visibility, underground visual angle, preventer visual angle, regarded moreFigure is shown；Above-mentioned control method comprises the following steps：1. model animated steps：Pass through the movement read out from data protocolOr spin data, the script of corresponding object is given, object moves according to obtained speed or order rotates instruction.When not havingWhen obtaining current translational speed or order, animation stops, the message for waiting main control computer to send；2. character animation step：VirtuallyThe behavior of people, which is divided into, determines sexual behaviour and uncertainty behavior.For complex behavior, it is necessary to according to state different on field by recognizingKnow that layer determines to take different action sequences.Main control computer sends instruction, is transmitted by data protocol UDP, VIRTOOLS is solvedRead, play a series of set corresponding character animations after solving read command, animation no longer receives any before finishingAction command, animation can not be interrupted.3. the step of hit-treatment：Using 3DMAX modeling when, except model in itself in addition to also need toThe stealthy barrier dedicated for collision is established, because model is all some irregular polygons in itself, if directly taking mouldType in itself can be because some BUG of the irregularly generation of model, it is special that we establish some with MAX as collision thingCollision body BOX, these BOX can be centered around around the object that can not be passed through, and a marshalling is carried out after these BOX are chosen and is establishedOne GROUP, to complete hit-treatment.
The application further relates to a kind of special efficacy rendering intent of land rig technique animation.Wherein the special efficacy rendering intent includesFollowing steps：(1) the step of adding particle effect：Particle effect, which can be used to simulate liquid, gushs, flame effect.According to differentNeed to be divided into a particle, face particle, these different effects of line particle, such as imitate the point particle effect that liquid is gushed, just needing3D Frame, 3D Frame Z coordinate axle is added in requisition for the direction of injection, adding for it in the place that liquid is gushedAdd some points particle script (Point Particle System), the single particle patch of some particle is drawn out in PhotoShopFigure, formulates the textures, by changing some key parameters in BB, to realize the effect of liquid injection in BB.
(2) the step of adding textures flowing；Textures flowing can imitate the cloud and mist flowing of sky, water flow simulation effect, lead toCross and script (Texture Scroller) created to the MESH layers of the object, formulate corresponding flowing textures, set speed andFlow direction, a water flow effects just complete.
(3) the step of two-dimensional sequence picture playing；Sequence of pictures, which plays, can imitate a variety of continuity effects, such as flame,Current, the various special efficacys of blood, one group of continuous flame effect picture is rendered by video software and imported in VIRTOOS, by makingSequence of pictures is continuously played with MOVIE PLAYER behaviors modules, the continuous fortune of a variety of micro-objects can be shownIt is dynamic.
(4) the step of adding textures special efficacy：It can complete to mix textures, some special substance moulds by the setting of texturesIntend, the effect of Bump Mapping enters edlin to the material of object, and some required effect selections are carried out in Effect；It is logicalAbove-mentioned steps are crossed, realizes and the special efficacy of rig technique animation is rendered.