DRIVE ROTARY WELL PUNCTURE SYSTEM USING A SLIDING SHIRT.
BACKGROUND OF THE INVENTIONFIELD OF THE INVENTION This invention relates generally to methods and apparatus for drilling wells, in particular wells for the production of petroleum products, and more specifically relates to an active control rotary steerable drilling system which can be directly connected to a rotary drilling string or that can be connected in a rotary drill string in conjunction with a mud and / or propeller motor and / or flexible substitute joint to allow drilling sections of deviated borehole and drilled holes. This invention also relates to methods and apparatus that allow precise control of the direction of a drilling well being drilled. This invention also relates to an active control rotary steerable drilling system incorporating a hydraulic actuation shaft positioning mechanism for automatic geostationary positioning of the axis of a compensating mandrel and drill bit during rotation of the mandrel. of compensation and drill bit produced by a rotary drill string, mud motor or both. In addition, this invention relates to the elongated elastic anti-rotation blades projecting radially from the sliding collar of the tool to maintain the anti-rotation of the drilling tool with the borehole wall.
Description of associated technology An oil or gas well often has a subsurface section that is drilled directionally, that is, inclined at an angle to the vertical and in which the inclination has a particular heading or azimuth. Although wells with deviated sections can be drilled at any desired location, such as for a "horizontal" wellbore orientation or diverted by-holes from a primary borehole, for example, a significant number of deviated wells are drilled into the marine environment . In this case, several diverted wells are drilled from a single offshore production platform in such a way that the bottoms of the boreholes are distributed over a large area of a producing horizon on which it is typical for the platform to be located on the center and the heads for each of the wells are placed on the platform structure. In circumstances where the well being drilled is of complex trajectory, the capacity provided by the rotary steerable drilling system of this invention to direct the drill bit while the tool collar rotates allows the drilling personnel to easily drive the drill. drilling well that is being drilled from one subsurface oil field to another. The rotary steerable drilling tool of this invention allows the drilling well to be directed both in inclination and azimuth, so that the drill hole being drilled can intersect in a controlled manner two or more subsurface zones of interest. A typical procedure for drilling a directional drilling well is to remove the drill string and drill bit with which the initial vertical section of the well was drilled by conventional rotary drilling techniques and to introduce a mud motor with a crankcase at the end. bottom of the drill string that drives the auger in response to the circulation of drilling fluid. The cranked box provides a bending angle such that the axis below the bending point, which corresponds to the axis of rotation of the bit, has a "tool face" angle with respect to a reference, when viewed from above . The face angle of the tool, or simply the "face of the tool", establishes the azimuth or course in which the deflected section of the borehole will be drilled while the mud motor is operated. Once the face of the tool has been established by slowly rotating the drill string and observing the output of several orientation devices, the mud motor and drill bit are lowered, with the drill string unrotated to maintain the face of the drill. the selected tool, and the"mud pumps" to develop fluid flow through the drill string and the mud motor, thus imparting rotary motion to the output shaft of the mud motor and to the drill bit attached thereto. The presence of the bending angle causes the auger to drill into a curve until the desired inclination of the borehole has been established. To drill a borehole section along the desired inclination and azimuth, the drill string is rotated so that its rotation is superimposed on that of the output shaft of the mud motor; which causes the bending section to simply move in orbit around the axis of the borehole, so that the auger drills straight ahead any inclination and azimuth that have been established. If desired, the same techniques of directional drilling can be used as it approaches the maximum depth of the borehole to bend horizontally and then extend horizontally in or through the production zone. Measurement "MWD" systems during drilling are commonly included in the drill string on the mud motor to observe the progress of the drilling well being drilled, so that corrective actions can be taken if the various parameters of the drilling well are probing indicate a variation with respect to the projected plan. Various problems can occur when borehole sections are drilled with the drill string in non-rotatable mode and with a mud motor operated with the drilling fluid flow. The reactive torsion produced by the operation of a mud motor can cause the face of the tool to change gradually, so that the borehole is not deepening in the desired azimuth. If not corrected, the borehole could be extended to a point too close to another borehole, the borehole could miss the desired "subsurface target" or the borehole may simply be too long due to "deviation" " These undesired factors can produce excessive drilling costs of the borehole and can reduce the drainage efficiency of fluid production from a subsurface formation of interest. Moreover, a non-rotary drilling string could produce more frictional friction, so that there is less control over the "weight on the bit" and the speed of bit penetration may decrease, which can substantially increase drilling costs. Of course, a non-rotary drill string is more likely to get stuck in the borehole than a rotary drill bit, particularly where the drill string extends through a permeable zone that causes significant accumulation of mud scale on the wall of the well of sounding. A patent related to the subject of this invention is US Pat. No. 5,113,953. The '953 patent discloses a directional drilling apparatus and a method in which the drill bit is coupled to the lower end of a drill string through a universal joint, and the auger shaft rotates within the tool collar drilling rig at a speed that is equal to and opposite to the rotation speed of the drill string. This invention is much more advanced than the subject of the "953 patent since the angle of the axis of the auger or mandrel relative to the lasbars of this invention is variable rather than fixed.In addition, the rotary steerable drilling system of this invention it incorporates various position measurement systems and a control that responds to the position signal Other patents of interest related to this invention are patents GB 2 177 738 B, GB 2 172 324 B and GB 2 172 325 B of the United Kingdom. The "738 patent is entitled" Control of drilling courses in the drilling of boreholes "and discloses a control stabilizer 20 with four actuators 44. Actuators are in the form of hoses or flexible hoses that selectively inflate to apply a lateral force to the lastrabarrenas, as shown in 22, in order to deflect the lastrabarrenas and thus alter the course of the drilling well that is being drilled. The '324 patent is of interest to this invention as it features a steerable drilling tool having stabilizers 18 and 20, with a control module 22 positioned therebetween to perform a controlled deflection of the drill pipe 10 and alter the course of the well of drilling that is being drilled. The '325 patent is of interest to this invention as it has a steerable drilling tool having a stabilization box 31 which contains detection means and is kept essentially stationary during drilling by an anti-rotation device 40. The movement of the drill pipe 10 in relation to a wall contact assembly 33 is achieved by applying different pressures, in a controlled manner, to each of four actuators 44. The drill bit is directed detecting the deflection sensitive to the direction of the drill pipe 10. In contrast , this invention directs the drill bit by maintaining in hydraulic form a compensating mandrel, to which the drill bit is connected, in a geostationary position and oriented around a pivot mount inside a sliding collar of the tool while the compensation mandrel It is urged to rotate inside the sliding collar of the h tool. Furthermore, this invention differs from the other techniques in the controllable slurry and propulsion motor assembly of the drilling system and a flexible substitution joint that can be arranged in any convenient assembly to allow the directional control bore to be selectively activated by a Rotary drill string, mud motor or both and to accurately control the weight on the bit and the orientation of the bit during drilling. U.S. Patent 5,265,682 discloses a system for maintaining a downhole instrument assembly in a balance orientation stabilized by an impeller. The stabilized balance instrumentation is used to modulate the fluid pressure to a set of radial pistons that are activated sequentially to urge the auger in a desired direction. The most notable difference between the drill bit steering system of the '682 patent and the concept of this invention is the different means that is used to deflect the bit in the desired direction. Namely, the '682 patent discloses a mechanism using pistons that react against the wall of the borehole to force the auger in a desired lateral direction into the borehole. In contrast, the rotary steerable drilling system of this invention incorporates a sensor-responsive, automatically activated hydraulic system to maintain the bore axis of the drilling system in geostationary relationship and in angular orientation with the sliding collar of the tool to maintain the auger pointing in a desired direction of the borehole. The hydraulic positioning system of the auger shaft positions the auger on its universal joint bearing or steering link inside the sliding collar of the tool to keep it pointed in the desired direction. Within the scope of this invention, there are several position sensors and electronic tooling devices located within the sliding collar thereof, and not in a rotating component, to ensure the accuracy and long service life of the same. COMPENDIUM OF THE INVENTION. A principal feature of this invention is to provide an original drilling system driven by a rotary drilling string or a mud motor connected to a rotary or non-rotary drill string that allows selective drilling of curved sections of the borehole by addressing of the auger that is being rotated by the drill string and the steerable drilling tool; Another feature of this invention is to provide a steerable, active and original control well drilling system equipped with an auger shaft which the lasher bores rotate during drilling operations and which is mounted halfway along its length for the articulation of pivot inside the lastrabarrenas, to achieve a geostationary positioning of the auger and auger axis in relation to the tool collar to continuously aim the auger at the desired angles of inclination and azimuth for the drilling of a curved borehole to a planned goal.
Another feature of this invention is to provide an active, original control, steerable well drilling system equipped with a compensating mandrel or auger shaft that is stationary at a predetermined pitch and course to direct a borehole that is being drilled. drilling towards a predetermined subsurface target; Another feature of this invention is to provide an active, original, controllable, well drilling system having within the tool a hydraulic drilling fluid-driven pump that supplies pressurized fluid for position control of a compensating mandrel through the solenoid-controlled energization of hydraulic positioning pistons that position in a geostationary manner the articulating compensating mandrel to direct the drill bit;Another feature of this invention is to provide a steerable, active and original control well drilling system equipped with built-in electronic feed and position detection and control systems mounted along a non-rotating component of the tool and, for therefore, protected against possible damage induced by rotation; Another feature of this invention is to provide a steerable, active and original control well drilling system equipped with a stabilization collar within which the rotatable components of the steerable drilling tool are rotatably mounted, so that the stabilization is not rotationally driven and, therefore, is free to slide or rotate slowly as a result of internal friction of the tool, which could overcome the friction of the tool collar within the wall of the borehole as the collar of the tool moves along the wall of the borehole during drilling; and Another feature of this invention is to provide a steerable, active and original control well drilling system equipped with a substantially non-rotatable tool collar and elongated, curved, elastic stabilizing ribs that maintain sliding contact with the borehole wall during drilling operations. In brief, the various objects and features of this invention are realized by the provision of a steerable, rotary and active control drilling tool equipped with a rotary drive mandrel that is directly connected to a rotary drive component of the drill string. , such as the output shaft of a rotary motor or a rotary drill string, which is driven by the rotary table of a drilling rig. A compensating mandrel, sometimes also referred to as the auger shaft in this document, is mounted within the sliding collar of the tool by a universal mount or steering pivot joint that the rotary drive mandrel rotates directly for the purpose of punching. A lower section of the compensating mandrel extends from the lower end of the sliding collar of the tool and supplies a connection to which the drill bit is screwed. According to the concept of this invention, the axis of the compensation mandrel is held pointed in a given direction inclined at a variable angle with respect to the axis of the rotary drive mandrel when the latter rotates the compensation mandrel, thus allowing the drill bit drill a curved drill hole in a curve determined by the selected angle. You can drill a straight hole by zeroing the angle between the auger axis and the tool axis. The angle between the axis of the rotary drive mandrel and the axis of the compensating mandrel is maintained by a plurality of hydraulic pistons which are located within the sliding collar of the tool and which are selectively controlled and positioned by sensing solenoid valves to sensors for maintain the axis of the geostationary compensation mandrel and at predetermined angles of inclination and azimuth. further, these predetermined angles of inclination and azimuth are controllably and selectively sensitive to control signals produced on the surface, signals produced by computer, signals produced by sensors or a combination of them. Thus, the rotary steerable drilling tool of this invention is adjustable while it is located inside the well and during drilling to controllably change the angle of the compensating mandrel relative to the sliding collar of the tool, as desired with the In order to controllably control the drill bit that the tool compensation mandrel is rotating. Torque is transmitted from the rotary drive mandrel to the compensation mandrel directly through a hinged drive connection. In addition, a servomechanism controls the hydraulic positioning pistons of the mandrel to ensure that the face of the predetermined tool is maintained in the presence of external disturbances. Because it must always remain geostationary, the compensation mandrel is held in its geostationary position within the sliding collar of the tool by means of hydraulic activation pistons that are mounted inside the sliding collar of the tool. This feature is achieved by the automatic hydraulic actuation controlled by solenoid of the positioning pistons that are sensitive in a precise and controlled way to the signals of the various position sensors and to several forces that tend to alter the orientation of the axis of the sliding collar of the tool and the compensation chuck. To increase the flexibility of the rotary steerable drilling tool and active control, the tool has the ability to selectively incorporate many electronic systems for detection, measurement, feedback and positioning. A three-dimensional positioning system of the tool can employ magnetic sensors to detect the Earth's magnetic field and can use accelerometers and gyroscopic sensors to accurately determine the position of the tool at any time. For control purposes, the rotary steerable drilling tool will typically be equipped with three accelerometers and three magnetometers. Typically, a unique gyroscopic sensor will be incorporated into the tool to provide rotational speed feedback and help stabilize the mandrel, although a plurality of gyroscopic sensors may also be employed without deviating from the spirit and scope of this invention. The signal processing system of the electronics in the tool measures the position in real time while the tool compensation mandrel is rotating. The sensors and the electronic tool processing system also continuously measure the azimuth and the actual angle of inclination as the drill advances, so that immediate corrective actions can be taken in real time, without the need to interrupt the process of drilling. The tool incorporates a position-based control loop using magnetic sensors, accelerometers and gyroscopic sensors to provide position signals that control the axial orientation of the compensation mandrel. In addition, from the point of view of operational flexibility, the tool could incorporate feedback systems, gamma ray detection, resistivity recording, density and porosity recording, sonic recording, well borehole image production, early and surrounding detection and measurement of the inclination in the bit, rotational speed of the bit, vibration, weight on the bit, torsion on the bit and lateral force of the bit, for example. In addition, the electronics and control instrumentation of the rotary steerable drilling tool offers the possibility of programming the tool from the surface to set or change the azimuth and inclination of the tool and to establish or change the ratio of the bending angle between the tool. compensation mandrel and tool collar The electronic memory incorporated into the tool is capable of retaining, use and transmit a complete profile of the borehole and allow the geodirection in the interior of the well, so that it can be used from the beginning to the extended reach drilling. In addition, a substitute joint could be employed with the tool for decoupling the rotary steerable drilling tool from the rest of the bottom of the well assembly and from the drill string and allowing the electronics to direct the rotary steerable drilling system. In addition to other detection and measurement features of this invention, the active control rotary steerable drilling tool may also be equipped with a telemetric induction coil for transmitting the recording and drilling information obtained during drilling operations to a MWD system ( of measurement during drilling) in bidirectional form through the flexible substitute junction and other substitution junctions of measurement. For induction telemetry, the rotary steerable drilling tool could also incorporate an inductor inside the tool collar. This tool can also incorporate transmitters and receivers located in predetermined axial spacing relationship to cause the signals to traverse a predetermined distance through the formation subsurface adjacent to the borehole to measure its resistivity while the drilling activity is taking place. The electronics of the resistivity system of the tool, in addition to the electronics of the different measurement and control systems, is mounted inside the collar of the tool that, as mentioned above, slides along the wall of the well. probe or it could rotate slowly instead of rotating together with the rotating components of the tool. Thus, the electronic system is protected against possible damage induced by rotation while drilling operations are carried out. In the preferred embodiment of this invention a hydraulic pump is included within the sliding collar of the rotary steerable drilling tool to develop hydraulic pressure in the built-in hydraulic system of the tool and allow the operation of the hydraulic activation components. The hydraulic pump is driven by the relative rotation of the rotary drive mandrel with respect to the tubular sliding collar of the tool, either through a direct rotational relationship or a gear train to provide an optimum range of rotational speed of the hydraulic pump relative to the rotational speed of the rotary drive chuck. The pressurized hydraulic fluid is applied in a controlled manner to the piston chambers sensitive to the activation of solenoid valves induced by sensor signals to maintain geostationary the axis of the compensation mandrel and at the desired angles of inclination and azimuth during drilling. The hydraulic pressure produced by the hydraulic pump can also be used in a built-in system that includes Linear Voltage Differential Transformers (LVDT) to measure the radial displacement of the elastic antimalarial blades to identify the precise position of the active control rotary steerable drilling tool with respect to the centerline of the drilling well that is being drilled. LVDT are also used to detect the displacement of the mandrel activation pistons and to produce displacement signals that are processed and used to control the hydraulic activation of the pistons. For mechanical efficiency purposes, according to the preferred embodiment, the positioning system of the compensating mandrel employs a universal support in the form of any universal joint or steering pivot joint suitable to give an efficient support to the compensation mandrel, both in axial direction as torsional, and at the same time minimize the friction in the universal joint. The friction of the universal joint is also minimized by ensuring the presence of lubricating oil in the components thereof and excluding the drilling fluid from the universal juniper, while allowing a significant cyclic steering control movement of the mandrel of compensation in relation to the tool collar and the rotary drive mandrel during drilling. The universal joint can conveniently be in the form of a column-type joint, which is a universal joint incorporating grooves and rings, or a universal joint incorporating a plurality of balls that allow the relative angular positioning of the axis of the compensating mandrel with respect to the Mandrel shaft rotary drive inside and concentric to the tool collar. The electric power for the control and operation of the solenoid valves and the electronic system of the drilling tool is produced by a built-in alternator which is also powered by the rotation of the rotary drive mandrel relative to the sliding collar of the tool. The relative rotation rotates the alternator within a rotary speed range sufficient to produce the electrical energy required by the various electronic systems of the tool. The alternator's electrical output can also be used to maintain the electrical charge of a battery pack that supplies electrical power to operate the built-in electronics and for the operation of other electronic equipment incorporated when the alternator is not being fed by the fluid flow.
BRIEF DESCRIPTION OF THE DRAWINGS For the manner in which the features, advantages and purposes of this invention can be understood in detail, a more particular description of the invention, briefly summarized above, can be obtained by reference to the preferred representation thereof. which is illustrated in the accompanying drawings. However, it should be noted that the accompanying drawings only illustrate a typical representation of this invention and that they should therefore not be considered as limiting its scope, since the invention can be applied to other equally effective representations. In the drawings: Figure 1 is a schematic illustration showing a well being drilled in accordance with this invention and showing deflection of the lower section of the borehole by means of the system and rotary steerable drilling method of active control of the same; Figure 2 is an alternate schematic illustration showing a rotatable steerable drilling tool of this invention connected in a driven relationship to a mud motor; Figure 3 is a sectional view showing the upper section of a rotary steerable drilling system constructed in accordance with the principles of this invention; Figure 4 is a sectional view showing the lower section of the rotary steerable drilling system of Figure 3 and a section of a drill bit connected thereto for drilling; and Figure 5 is a sectional view taken along the line 5-5 of Figure 4 and showing the hydraulic activation positioning pistons of the compensating mandrel and the return elements of the pistons, and also showing with an illustration hydraulic schematic the control loop of the activation system of the hydraulic pistons of the rotary steerable drilling tool.
DESCRIPTION OF THE PREFERRED REPRESENTATION Referring now to the drawings and first to Figure 1, there is shown a borehole 10 which is being drilled with a drill bit 12 connected to the lower end of a drill string 14 which extends upwards. to the surface where it is driven by the turntable 16 of a typical drilling rig (not shown). Typically, the drill string 14 incorporates a drill pipe 18 having one or more drill bits 20 connected thereto in order to apply weight to the drill bit 12. The drill hole 10 is shown having an upper section 22 vertical or substantially vertical and a deflected, curved or horizontal lower section 24 that is being drilled under the control of an active control rotating steerable drilling tool shown generally at 26, which is constructed in accordance with this invention. To allow the necessary flexibility in the lower curve section 24 of the drill hole, a lower section of drill pipe 28 can be used to connect the drill bits 20 to the drill tool 26, so that the drill bits remain in the vertical top section 22 of the borehole 10. The lower section 24 of the borehole 10 will have deviated from the upper vertical section 22 as a result of the directional activity of the drilling tool 26, in accordance with the principles outlined in this document. The drill pipe 28, shown immediately adjacent to the rotary steerable drilling tool, could incorporate a flexible substilut connection that can give the rotary steerable drilling system greater drilling accuracy. According to the usual practice, the pumps on the surface (not shown) circulate fluid or drilling "mud" through the drill string 14 at its outlet by means of nozzles that are defined in the drill bit 12 and said mud returns to the surface through the annular space 30 between the drill string 14 and the wall of the borehole 10. As will be described in detail below, the rotary steerable drilling tool 26 is constructed and arranged to cause a drill bit 12, connected thereto, to drill along a curved path indicated by the control settings of the drilling tool. The angle of the compensating mandrel supporting the drill bit 12 in a controlled angular relationship with respect to the tubular collar of the drilling tool is maintained even though the drill bit and the internal rotary drive mandrel of the drill tool are being rotated. by the drill string, the mud motor or other rotary mechanisms, directing the drill bit to drill a curved section of the borehole. The direction of the drilling tool is achieved selectively from the point of view of the inclination and from the point of view of the azimuth. In addition, the adjustments of the compensating chuck of the rotary steerable drilling tool can be changed in the desired manner, for example by mud pulse telemetry, to make the drill bit selectively alter the course of the drilling well that is being drilled. to direct the drilling well deviated with respect to the X, Y and Z axes to precisely steer the drill bit and precisely control the drill hole being drilled. Figure 2 is a schematic illustration showing the rotatable steerable drilling tool 26 of this invention driven by the output shaft 32, in this case a flexible shaft, of a mud motor 34 which is connected to a non-rotary drill string. 18 or a flexible drill string section 28 and adapted to control the direction by electronically processed acoustic control pulses that are transmitted from the surface through the drilling mud column according to a known technology. For the processing of control pulses, an acoustic pulse processing and control unit 36 is connected within the drill string and electronically connected to the various controllable systems of the rotary steerable drilling system, including the rotary steerable drilling tool. The processing and control unit 36 incorporates an acoustic pulse detection means for detecting the mud pulse telemetry of the acoustic pulse transmission equipment located on the surface and for producing sensitive electronic control signals thereto.
These electronic control signals are then processed in the embedded electronic equipment to supply control signals that can be used to control a wide variety of equipment and systems incorporated in the rotary steerable drilling tool 26. For example, some of the control signals could used to control the direction of the drill bit 12 to correct or change the drilling direction of the drill hole while it is being carried out. Other control signals can be used to activate and deactivate various built-in systems, such as formation resistivity measuring systems, bilateral induction telemetry systems and mud motor control systems. A signal transmission system 38, commonly referred to as a "short path telemetry system" can be connected to the drill string for inductive transmission, indicated schematically at 37, through the formation immediately surrounding the borehole and for the communication of signals to and from the control systems of the rotary steerable drilling tool and, if so desired, to supply training data to the electronic systems of the rotary steerable drilling tool. This system makes it possible to integrate a mud motor between the signal transmission system 38 and the rotary active control drilling tool 26. With reference now to the sectional views of figures 3 and 4, which show respective upper and lower sections of the active control rotary steerable drilling tool 26, which is a preferred embodiment of this invention, the drilling tool 26 is equipped with a tubular sliding collar 40 of the tool which is designed to move in an essentially sliding relationship to the length of the drilling hole that is drilled, either linearly or perhaps slowly rotating due to the internal friction of the drilling tool during the drilling. For example, the sliding collar 40 of the tool can be rotated due to its internal friction a few revolutions per hour while the drill bit is rotating at a much higher speed, such as 50 revolutions per minute, for example. The rotation of the sliding collar 40 of the tool at a very slow speed will not interfere with the mechanical and electronic systems of the rotary steerable drilling tool 26. The rotation of the tool sliding collar is minimized to protect the electronic and electrical systems. sensors contained therein against damage that could be caused by the forces induced by the rotation and to maintain an efficient and stabilized relationship of the tool collar with respect to the drilling well being drilled. The tubular sliding collar 40 of the tool is equipped with stabilizing elements 42 and 44 at the respective upper and lower ends thereof to stabilize and center the collar of the tool during drilling. An antenna for bidirectional induction telemetry is also integrated into the sliding collar of the tool. In addition, to prevent rotation of the rotary steerable drilling tool 26 during drilling, the collar 40 of the tool is also equipped with a plurality, preferably three or more, of elastic, curved and elongated anti-rotation elements, two of which they are shown at 46 and 48, having the respective upper and lower ends disposed in a substantially fixed relationship with the collar 40 of the tool, while the intermediate sections thereof extend outwardly from the tool collar a sufficient distance that they make contact with the borehole wall and are directed back inward, towards the tool collar. A) Yes, the curved elastic antirotation components 46 and 48 make sliding contact with the borehole wall at all times and help to restrict the rotation of the tool collar 40 during drilling to minimize, and in most cases eliminate , the collar of the tool during the drilling. The antirrotection components 46 and 48 also help the stabilizers to centralize the collar 40 of the tool into the borehole. By preventing rotation of the collar 40 of the rotatable steerable drilling layer 26, the elastic antimalarial components allow the use of accelerometers to measure the orientation of the face of the tool, thus eliminating or minimizing the need for bandwidth sensors. large, that is, gyros, in the drilling tool and, therefore, significantly simplifying the built-in electronic systems of the tool. In addition, the relative deflection of the elasticizing components can be measured 46 and 48 and, therefore, the position of the collar 40 of the tool within the borehole. The elastic antirotation members 46 and 48 and the tool collar 40 can be equipped with sets of linear voltage differential transformers (LVDT) type piston and hydraulic cylinder, as shown generally at 50 and 51 in Figure 4, which measure the displacement hydraulic fluid when the anti-rotation components move radially inward and outward as the tool collar temporarily deviates from the centerline of the borehole and produce position signals that are electronically processed and used for Address during drilling. These position signals are used to measure with gauge by measuring the axial displacement of each of the elastic antirotation components. A rotating drive shaft 54, which could be the output shaft of a mud motor, as shown at 32 in FIG. 2, a substitution connection of a drive connection driven by the output shaft of a mud motor, a motor connection of a rotating drill string or any other suitable rotary drive means is exerted towards the tool collar 40 and is rotatable in order to impart drive force to a compensation mandrel 56 which will be described in more detail below . During its rotation, the rotary drive shaft 54 rotates within the tool collar 40, while the rotation of said collar is restricted to the same rotation speed as the rotary drive shaft 54 mediates the sliding and coupled frictional relationship of the component parts. elastic antiroll 46 and 48 with the borehole wall. The roller drive shaft 54 is sealed with respect to the collar 40 of the tool by the seal or packing assembly 57. The seal or packing assembly 57 cooperates with the rotary drive shaft 54 and the collar 40 of the tool to define the upper end in the well of the internal oil chamber 60, which is insulated at its lower end in the well, by means of the seal or packing assembly 58, of the drilling fluid that flows into the interior of the tool through the shaft rotary drive 54. The oil chamber 60 contains an amount of oil or other lubricating and protective fluid medium. The seal or packing assembly 58 also functions to isolate the pressurized hydraulic fluid from the oil chamber 60. The rotary drive shaft 54 defines an internal flow passage 62 through which drilling fluid flows into the drill bit 12. The rotating drive shaft 54 coincides with an elongated rotary drive mandrel 64 which is connected to the rotary drive shaft 54, such as by a threaded connection, and also defines an internal bore 66 which forms part of the drilling fluid flow passage through the drilling tool. The elongated rotary drive mandrel 64 cooperates with the tool collar 40 to define a bearing chamber having thrust flanges and receiving the bearings 52, so that the axial and radial thrust forces are accommodated between the rotary drive mandrel 64 and the tool collar 40 during the drilling operations. The rotary drive mandrel 64 is equipped with a lower tubular drive section 68, through which the seal or packing assembly 58 is received, and which defines a terminal drive connection 70 having an articulated drive connection with a drive sleeve 74. A plurality of spherical drive elements 76 are interposed between the terminal drive connection 70 and the upper end of the drive sleeve 74 and are seated within drive housings defined cooperatively by the terminal drive connection 70 and the upper end of the drive sleeve 74. The bearings 52 hold the rotary drive mandrel 64 and its lower tubular drive section 68 in coaxial relationship with the tool collar 40, while allowing the drive sleeve 74 is articulated, but that the same time maintain its connection of accionamient or to the compensation mandrel 56. The lower end of the actuator sleeve 74 is essentially a duplicate of the upper end thereof. The spherical drive elements 78 captured within the drive receptacles cooperatively defined by the lower end of the actuator sleeve 74 and the upper actuated connection 80 of the compensation mandrel 56 provide a direct drive connection between the actuator sleeve 74 and the actuator sleeve 74. compensation mandrel 56, while allowing a relative articulation between the drive sleeve and the compensation mandrel. Alternatively, a one-piece mandrel with a flexible section could be used in place of the rotary drive mandrel 64, the articulated drive connection and the compensation mandrel 56. The compensation mandrel 56 is mounted for rotation within the collar 40. of the tool for the omnidirectional movement around a directional pivot joint 82 with spherical pivot configuration and function such as that shown in Figure 4 and described below. As an alternative, the steering pivot joint 82 can be of fluted configuration or of any other suitable configuration that allows the omnidirectional movement of the compensating mandrel 56 and, during the rotary drive thereof, will allow the compensating mandrel 56 to be oriented inside. of the collar 40 of the tool to maintain its axis in a geostationary direction with the formation being drilled. As shown in FIG. 4, the steering pivot joint 82 of the compensation mandrel 56 with respect to the collar 40 of the tool is defined by a spherical element 84 integral with or connected to the compensation mandrel 56. The spherical element 84 defines an outer spherical surface 86 that is received within a mandrel support receptacle 88, which is defined within the lower end 90 of the tool collar 40. The mandrel support receptacle 88 defines an inner spherical bearing surface segment having a coincidence relationship with the outer spherical surface 86 of the spherical steering pivot member 84. Thus, the trim mandrel 56 is allowed to tilt. in relation to the lower end 90 of the tool collar 40 around an imaginary pivot point P, while simultaneously rotating to drive the drill bit 12 by the rotary drive connection established between the lower tubular drive section 68 of the mandrel rotary drive 64 and drive sleeve 74. The articulated drive connection which is established at each end of the drive sleeve 74 by the respective spherical actuation elements 76 and 78 allows the pivoting movement of the compensation mandrel 56 around the pivot point P, while maintaining its rotary drive connection. During drilling operations, the pivoting movement of the compensating mandrel 56 relative to the tool collar 40 must be accommodated, while the penetration of drilling fluid is prevented from the internal bore 66 of the rotary drive mandrel 64 and the bore 92 that it extends through the compensation mandrel 56 and is in communication with the internal flow passages of the drill bit 12. According to the representation shown in FIGS. 3 and 4, a flexible bellows seal element 94 establishes a connection sealed with the lower tubular drive section 68 of the rotary drive mandrel 64 and the upper end of the compensation mandrel 56. Thus, as the compensating mandrel 56 moves around its pivot point P, the seal member of bellows 94 maintains an effective seal to prevent the entry of drilling fluid into the oil or hydraulic fluid chambers of the c 40 of the tool. At the lower end of the rotary steerable drilling tool another bellows seal member 96 is connected in sealed relationship with the lower end of the tool collar 40 and also connected to a circular seal detent element 98 which is located around a cylindrical section 100 of the compensating mandrel 56 and is equipped with a circular sealing element 102 located within an internal seal groove of the circular seal detent element 98. As the compensating mandrel is rotated during the activity of perforation, the circular seal relay element 98 remains in non-rolling relationship with respect to the collar 40 of the heel and the sealing element 102 maintains sealing contact with the cylindrical section 100 of the compensating mandrel 56. The bellows seal element flexible 96 maintains a seal between the collar 40 of the tool and the seal retainer element 98 and prevents the entry of fl drilling fluid to the internal oil chamber 61. During drilling, the axis of the compensating mandrel 56 is maintained geostationary as the rotary drive mandrel 64 rotates the compensation mandrel 56. According to this invention, positioning The axial geostationary compensation mandrel 56 is hydraulically established under the control of solenoid valves that are selectively activated in response to appropriate position sensing signals. Referring to Figure 4, a hydraulic pump 104 located within a pump receptacle defined within the tool collar 40 produces the energy induced by the hydraulic pressure to control the position of the compensating mandrel 56. The drive shaft 110 of the pump is supported by the appropriate bearings 106. The hydraulic pump 104 is driven by a rotary drive mechanism 108 responsive to rotation of the rotary drive mandrel 64 relative to the collar 40 of the tool. The rotary drive mechanism 108 could be coupled for rotation driven by the lower tubular drive section 68 of the rotary drive mandrel 64 and could incorporate an internal gear train or transmission to establish a desired rotational relationship of the tubular drive section 68 with the drive shaft 110 of the pump for imparting proper rotation and torque to the driving mechanism of the hydraulic pump 104 and thus supplying the pump with the appropriate hydraulic pressure output and volume to properly move the compensating mandrel 56 as The latter is rotated. The hydraulic fluid of the hydraulic pump 104 is led to a fluid passage 112 which is in communication with an annular hydraulic fluid chamber 114 having an annular piston 116 therein, which is sealed to the walls internal and external cylindricals 118 and 120 of the hydraulic fluid chamber 114 by internal and external circular sealing elements 124 and 126 contained within the respective sealing grooves of the piston 116. One or more compression springs 128 which react against a block of fixed annular manifold 130 with a plurality of valves in its interior push the piston 116 towards the hydraulic pump 104. The arrangement of the annular manifold block 130 is illustrated schematically in figure 5. A return check valve 132, which is a spring-loaded ball check valve, controls the return of the pressurized hydraulic fluid to an hydraulic fluid accumulator annular chamber 134, which feeds the hydraulic pump 104. A pair of solenoid-activated valves 140 and 142 control the admission of pressurized hydraulic fluid to the hydraulic fluid supply passages 144 and 146, respectively. The supply passages 144 and 146 supply pressurized hydraulic fluid to the hydraulic cylinders 148 and 150, respectively, for the activation of the hydraulic pistons 152 and154. The hydraulic pistons 152 and 154 act by means of bearings or other contact components 156 to impart positioning force to the compensation mandrel 56. The pistons 152 and 154 can move independently in response to controlled actuation by position signals of the solenoid valves 140. and 142 for tilting the compensating mandrel 56 about its pivot point P so that said compensating mandrel 56 is oriented as a result of the effect of the pistons. The relative positions of the de-activating pistons 152 and 154 of the compensation mandrel are determined with a detection means and controlled by the solenoid-activated valves 140 and142 in order to maintain the longitudinal axis A of the compensation mandrel 56 in geostationary relationship with respect to the formation being drilled and oriented at specific angles of inclination and azimuth to drill a curved borehole along a predetermined path You have a subsuperficial objective. As shown in particular in FIG. 3, the rotary steerable piercing element of this invention is equipped with an electronic and detection packet generally shown at 160. The electronics and detection package incorporates a control loop that includes a three-axis accelerometer 162 for measuring the orientation of the collar 40 of the tool in relation to the field of gravity. As shown in particular in Figure 5, the cylinder and piston assemblies are equipped with a pair of LVDT 164 and 166 that function to measure the displacement of the pistons 152 and 154 as they move due to the sensitive hydraulic pressure. to the actuation of the solenoid activated valves 140 and 142 or due to the spring-driven return such as that of the return components 168 and 170 having compression springs 172 and 174, which provide a spring-loaded reaction force of the return components 168 and 170 via a mandrel positioning element 176 connected in force transmission mode to the compensation mandrel 56 by a plurality of bearings or contact components 156 that accommodate rotation and pivot articulation of the compensation mandrel , and at the same time allow to activate the positioning of the compensation mandrel 56. The LVDT 164 and 166 measure the positions of each of the The hydraulic pistons 152 and 154 relative to the collar 40 of the tool and transmit these measurement signals via the signal conductors 180 and 182 to a controller 184. The signals of the three-axis accelerometer 162 are also conducted via a signal conductor 186. to the controller 184. The electric power to operate the controller 184 and other electronic components of the rotary steerable drilling tool of this invention is supplied by an alternator 188, shown in Figure 4, which has an alternator or transmission drive coupling. 190 which is driven by the rotary drive mandrel 64 via the lower tubular drive section 68 thereof. The drive coupling of the alternator 190 has an output shaft 192 which is supported within the collar 40 of the housing by a bearing 194 and arranged in drive connection with the alternator 188. The drive or transmission coupling 190 can be of any nature convenient, such as a gear train or belt drive, for example. As shown schematically in Figure 5, the controller 184 supplies control signal outputs for the operation of the solenoids via a signal conductor 196 for controlling the activation of the solenoid-activated valve 140 and a signal output of the solenoid 140. control via the signal conductor 198 to control the activation of the solenoid-activated valve 142. Thus, the solenoid-activated valves 140 and 142 are activated in response to the control signals of the controller 184 which is sensitive to the input of signals from the LVDT 164 and 166 and the accelerometer 162. The signals of the LVDT 164 and 166 identify the controlled deviation of the axis of the compensation mandrel 56 along the X and Y axes; thus, the hydraulic pistons 152 and 154 control the orientation of the axis A of the compensating mandrel 56 within the collar 40 of the tool responsive to the control of the solenoid-activated valves 140 and 142 to hydraulically energize the pistons. The pressure relief valves 210 and 212 establish the pressure control of the hydraulic cylinders 148 and 150. Now, referring again to FIG. 3, the collar 40 of the tool is shown to define an internal annular cavity 214 containing various electronic, control and detection systems. This cavity is insulated from the protective oil medium by means of an insulation jacket 216 whose ends are sealed with respect to the collar 40 of the tool by means of circular sealing elements 218 received within respective seal grooves defined within the end sections of the sleeve. insulation 216. Various electronic components such as a telemetry assembly 220, a central processing unit 222 and a data acquisition assembly 224 are located within the inner annular cavity 214. In addition to the connector 184, a capacitor bank 226 may also be located within the cavity 214 to provide sufficient stored electrical energy for the activation of the solenoids of the valves and to perform other control functions that are suitable for steering control of the rotary steerable drilling tool. The internal oil chamber 228, which is insulated from the environment outside the collar 40 of the tool by a free piston 230 having a sealed relationship with the internal and external cylindrical surfaces 232 and 234 by a circular sealing element 236. The internal oil chamber 228 is balanced with the pressure of the environment by communicating the ambient pressure through a vent hole 238 with the environmental side 240 of the chamber. Thus, the pressure of the protective oil medium within the inner oil chamber 228 is balanced with respect to the ambient pressure regardless of the location of the piercing device within the well. In view of the foregoing, it is evident that this invention is well adapted to meet all the objectives and features set forth above, together with other objectives and features that are inherent in the apparatus disclosed herein. As will be immediately apparent to those with experience in the industry, this invention can easily be produced in other specific ways without deviating from its spirit or essential characteristics. Therefore, this representation should be considered simply as illustrative and not restrictive; the scope of the invention is indicated by the claims instead of the foregoing description and, therefore, all changes occurring within the meaning and range of equivalence of the claims should be considered as part of the invention.