Trajectory Tracking and Rate of Penetration Control of Downhole Vertical Drilling System

2018 ◽  
Vol 140 (9) ◽  
Author(s):  
Masood Ghasemi ◽  
Xingyong Song
Keyword(s):  
Trajectory Tracking ◽  
High Speed ◽  
Control Design ◽  
Second Phase ◽  
Drilling Process ◽  
Stick Slip ◽  
Rock Interaction ◽  
Rate Of Penetration ◽  
Modeling Uncertainties ◽  
Drilling System

This paper investigates a nonlinear control design for trajectory tracking and rate of penetration (ROP) control of the vertical downhole drilling process. The drilling system dynamics are first built incorporating the coupled axial and torsional dynamics together with a velocity-independent drill bit–rock interaction model. Given the underactuated, nonlinear, and nonsmooth feature of the drilling dynamics, we propose a control design that can prevent significant downhole vibrations, enable accurate tracking, and achieve desired rate of penetration. It can also ensure robustness against modeling uncertainties and external disturbances. The controller is designed using a sequence of hyperplanes given in a cascade structure. The tracking control is achieved in two phases, where in the first phase the drilling system states converge to a high-speed drilling regime free of stick–slip behavior, and in the second phase, the error dynamics can asymptotically converge. Finally, we provide simulation results considering different case studies to evaluate the efficacy and the robustness of the proposed control approach.

Evaluation of Derived Controllable Variables for Predicting Rop Using Artificial Intelligence in Autonomous Downhole Rotary Drilling System

2021 ◽  
Author(s):  
Kingsley Williams Amadi ◽  
Ibiye Iyalla ◽  
Yang Liu ◽  
Mortadha Alsaba ◽  
Durdica Kuten
Keyword(s):  
Real Time ◽  
Specific Energy ◽  
Penetration Rate ◽  
Drilling Process ◽  
Stick Slip ◽  
Conservation Of Energy ◽  
Rate Of Penetration ◽  
Mechanical Specific Energy ◽  
Drilling Parameters ◽  
Drilling System

Abstract Fossil fuel energy dominate the world energy mix and plays a fundamental role in our economy and lifestyle. Drilling of wellbore is the only proven method to extract the hydrocarbon reserves, an operation which is both highly hazardous and capital intensive. To optimize the drilling operations, developing a high fidelity autonomous downhole drilling system that is self-optimizing using real-time drilling parameters and able to precisely predict the optimal rate of penetration is essential. Optimizing the input parameters; surface weight on bit (WOB), and rotary speed (RPM) which in turns improves drilling performance and reduces well delivery cost is not trivial due to the complexity of the non-linear bit-rock interactions and changing formation characteristics. However, application of derived variables shows potential to predict rate of penetration and determine the most influential parameters in a drilling process. In this study the use of derived controllable variables calculated from the drilling inputs parameters were evaluated for potential applicability in predicting penetration rate in autonomous downhole drilling system using the artificial neutral network and compared with predictions of actual input drilling parameters; (WOB, RPM). First, a detailed analysis of actual rock drilling data was performed and applied in understanding the relationship between these derived variables and penetration rate enabling the identification of patterns which predicts the occurrence of phenomena that affects the drilling process. Second, the physical law of conservation of energy using drilling mechanical specific energy (DMSE) defined as energy required to remove a unit volume of rock was applied to measure the efficiency of input energy in the drilling system, in combination with penetration rate per unit revolution and penetration rate per unit weight applied (feed thrust) are used to effective predict optimum penetration rate, enabling an adaptive strategize which optimize drilling rate whilst suppressing stick-slip. The derived controllable variable included mechanical specific energy, depth of cut and feed thrust are calculated from the real- time drilling parameters. Artificial Neutral Networks (ANNs) was used to predict ROP using both input drilling parameters (WOB, RPM) and derived controllable variables (MSE, FET) using same network functionality and model results compared. Results showed that derived controllable variable gave higher prediction accuracy when compared with the model performance assessment criteria commonly used in engineering analysis including the correlation coefficient (R2) and root mean square error (RMSE). The key contribution of this study when compared to the previous researches is that it introduced the concept of derived controllable variables with established relationship with both ROP and stick-slip which has an advantage of optimizing the drilling parameters by predicting optimal penetration rate at reduced stick-slip which is essential in achieving an autonomous drilling system. :

scholarly journals Kinematics and dynamics analysis of new rotary-percussive PDM drilling tool

2021 ◽  
pp. 146134842198915
Author(s):  
Jialin Tian ◽  
Xuehua Hu ◽  
Liming Dai ◽  
Lin Yang ◽  
Yi Yang ◽  
...  
Keyword(s):  
Drill String ◽  
Structure Design ◽  
Drilling Process ◽  
Analysis Model ◽  
Drilling Tool ◽  
Stick Slip ◽  
Rate Of Penetration ◽  
Bottom Hole ◽  
Bottom Hole Assembly ◽  
The Impact

This paper presents a new drilling tool with multidirectional and controllable vibrations for enhancing the drilling rate of penetration and reducing the wellbore friction in complex well structure. Based on the structure design, the working mechanism is analyzed in downhole conditions. Then, combined with the impact theory and the drilling process, the theoretical models including the various impact forces are established. Also, to study the downhole performance, the bottom hole assembly dynamics characteristics in new condition are discussed. Moreover, to study the influence of key parameters on the impact force, the parabolic effect of the tool and the rebound of the drill string were considered, and the kinematics and mechanical properties of the new tool under working conditions were calculated. For the importance of the roller as a vibration generator, the displacement trajectory of the roller under different rotating speed and weight on bit was compared and analyzed. The reliable and accuracy of the theoretical model were verified by comparing the calculation results and experimental test results. The results show that the new design can produce a continuous and stable periodic impact. By adjusting the design parameter matching to the working condition, the bottom hole assembly with the new tool can improve the rate of penetration and reduce the wellbore friction or drilling stick-slip with benign vibration. The analysis model can also be used for a similar method or design just by changing the relative parameters. The research and results can provide references for enhancing drilling efficiency and safe production.

Robust Control of Time-Delay Systems With Application to a Supercavitating Vehicle

2008 ◽  
Author(s):  
Xiaofeng Mao ◽  
Qian Wang
Keyword(s):  
Time Delay ◽  
Memory Effect ◽  
High Speed ◽  
Control Design ◽  
Stability Control ◽  
Delay Systems ◽  
Friction Drag ◽  
Surrounding Water ◽  
Supercavitating Vehicle ◽  
Modeling Uncertainties

Traditional underwater vehicles are limited in speed due to dramatic friction drag on the hull. A supercavitating vehicle exploits supercavitation to induce a gaseous cavity that contains most part of the vehicle and separates the vehicle hull from its surrounding water. Thus friction drag is substantially reduced. A supercavitating underwater vehicle can achieve very high speed, but also poses technical challenges in stability, control, and maneuvering due to various characteristics such as instability in open-loop dynamics, nonlinearity, cavity memory effect, etc. Among the existing literature on the control design for supercavitating vehicles, the cavity memory effect is often neglected to simplify system dynamics. In this paper, we take into account the cavity memory effect and model the supercavitating vehicle as a time-delay Quasi-Linear-Parameter-Varying system. Then a robust controller is designed to handle the switched, time-delay dependent behavior of the vehicle. The uncertainties considered in the presented control design include both parameter and planing force modeling uncertainties.

scholarly journals Wheeled mobile robot design with robustness properties

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774525 ◽  
Author(s):  
Yung Yue Chen ◽  
Yung Hsiang Chen ◽  
Chiung Yau Huang
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Control Design ◽  
Wheeled Mobile Robot ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Modeling Uncertainties ◽  
Nonlinear Robust

A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling uncertainties. The main contribution of this investigation is as follows. Under the effects of modeling uncertainties, an effective control design which can quickly converge tracking errors between the controlled wheeled mobile robot and the desired trajectory is derived mathematically. Generally, it is difficult to develop a nonlinear robust control design for the trajectory tracking problem of wheeled mobile robots due to the complexity and nonlinearity of the wheeled mobile robots’ dynamics. Fortunately, based on a series analysis for the tracking error dynamics of the controlled wheeled mobile robot, one promising solution is obtained. For verifying the trajectory tracking performance of this proposed method, two scenarios are utilized in the simulations and the practical tests.

Optimizing Directional Drilling While Simultaneously Maximizing the Whole Life Value of the Well

2021 ◽  
Author(s):  
John Martin Clegg
Keyword(s):  
Performance Indicator ◽  
Production Equipment ◽  
Drilling Process ◽  
Directional Drilling ◽  
Time Curve ◽  
Rate Of Penetration ◽  
Drilling Parameters ◽  
Drilling System ◽  
The Impact

Abstract Increasingly complex wells and longer laterals present new challenges for wellbore placement and wellbore quality. There is a growing understanding of the impact of well placement and wellbore quality on the overall value of the well and on the economics of completions and production. This paper looks at how requirements have evolved and will evolve beyond simply "getting to TD" as quickly as possible and how emerging technologies can help. There is already an undercurrent of opinion that completions and production are sometimes compromised to maximize rate of penetration, but with some controversy about the exact value and how easy it is to attribute cause. This paper reviews how directional drilling practice has evolved over 100 years, and how the wellbore quality that results from the directional drilling process can be a driver for the overall value of the well. Specifically, it draws on a number of key references to examine how tortuosity doesn't just have an influence on drilling but also how it can adversely impact completions, reliability of production equipment and even production rates. The paper proposes that we consider the whole-life value of the well as a key performance indicator as we drill. It emphasises that we must cease to focus solely on rate of penetration and the depth-time curve. The paper shows, with examples, how modern directional drilling systems can address tortuosity and improve wellbore quality. It presents an unbiased view of the industry from an independent viewpoint, exploring how directional drilling has been partially automated over the years and examining the state of the art in current automated directional drilling systems. It proposes the need for a modern directional drilling system not just in terms of drilling parameters but also in terms of automation of geometric and, ultimately, geologic aspects of directional drilling. The paper is intended to break down the silos that can exist between drilling, completions and production functions, and to help the industry to think about the long-term consequences of performance when specifying future directional drilling equipment.

On the Mechanics of Chip Segmentation In Machining

1981 ◽  
Vol 103 (1) ◽  
pp. 33-51 ◽  
Author(s):  
R. Komanduri ◽  
R. H. Brown
Keyword(s):  
Free Surface ◽  
Shear Zone ◽  
High Speed ◽  
Void Formation ◽  
Cutting Process ◽  
Large Strains ◽  
Second Phase ◽  
Forward Movement ◽  
Stick Slip ◽  
Partial Fracture

The mechanics of chip segmentation, during machining of a cold rolled steel has been investigated from a phenomenological point of view using a high speed movie camera and an explosive quick stop device. The latter was used for obtaining chip root samples at various stages of segmentation for subsequent examination in the Optical and Scanning Electron Microscope (SEM). The chip segmentation process is found to arise as a result of instabilities in the cutting process and is further augmented by the dynamic response of part of the machine tool structure. This process involves a slow forward movement of the plastic boundary in the primary shear zone forming a ramp on the free surface of the chip followed by a rapid return of the plastic boundary back towards the tool forming a step on the chip segment as a result of partial fracture at the free surface. This process is characterized by large strains, low shear angles that oscillate cyclically and stick-slip friction on the rake face. The instability in the cutting process is proposed to be due to the negative stress—strain characteristics of certain materials at large strains, as Walker and Shaw [1] proposed, involving void formation around second phase particles, their propagation into microcracks in the primary shear zone and coalescence of these cracks leading to partial fracture. Evidence for this has been obtained in this investigation.

scholarly journals Micrometer Level Control Design of Piezoelectric Actuators: Fuzzy Approach

2021 ◽  
Author(s):  
Yung-Yue Chen ◽  
Sang-Tac Gieng ◽  
Wen-Yang Liao ◽  
Te-Chuan Huang
Keyword(s):  
Trajectory Tracking ◽  
Design Problem ◽  
Optimization Technique ◽  
Tracking Error ◽  
Fuzzy Model ◽  
Control Design ◽  
Piezoelectric Actuators ◽  
Linear Matrix ◽  
Level Control ◽  
Modeling Uncertainties

AbstractIn this investigation, a fuzzy-based micrometer level control design with a guaranteed trajectory tracking performance for piezoelectric actuators which naturally have hysteresis effects is proposed. Nominal dynamics of the controlled piezoelectric actuators are described by adopting Takagi and Sugeno fuzzy models initially. Via interpolating Takagi and Sugeno local fuzzy model, a robust fuzzy-based controller is developed to eliminate hysteresis, modeling uncertainties and external disturbances. Meanwhile, the tracking error is expected to be reduced as small as possible with respect to all bounded desired trajectories. This proposed fuzzy-based controller has an easy to implement control structure. The trajectory tracking design problem of piezoelectric actuators of this study is transferred to a linear matrix inequality problem, and based on the convex optimization technique, the solution of the trajectory tracking design problem of piezoelectric actuators can be solved efficiently. From the simulation results, it is obvious that this proposed fuzzy-based control design possesses robustness property and can converge tracking errors to zero in micrometer level.

scholarly journals Hybrid sliding PID controller for torsional vibrations mitigation in rotary drilling systems

2021 ◽  
Vol 22 (1) ◽  
pp. 146
Author(s):  
Chafiaa Mendil ◽  
Madjid Kidouche ◽  
Mohamed Zinelabidine Doghmane
Keyword(s):  
Pid Controller ◽  
Sliding Mode ◽  
Research Work ◽  
Drilling Process ◽  
Torsional Vibrations ◽  
Rotary Drilling ◽  
Stick Slip ◽  
Dynamical Interaction ◽  
Drilling System ◽  
Slip Phenomenon

During the drilling process, the drilling system devices can be exposed to several types of phenomena incited by lateral, axial, and torsional vibrations. The latter can lead to severe damages if they are not efficiently controlled and quickly mitigated. This research work is focused on the torsional vibrations, which are stimulated by the nonlinear dynamical interaction between the geological rocks and the drill bit. Wherein, a model with three degrees of freedom was designed to demonstrate the severity of the stick-slip phenomenon as consequence of torsional vibrations. The main objective of this study was to design a robust controller based on hybridizing a conventional PID controller with sliding mode approach in order to mitigate rapidly the torsional vibrations. Moreover, a comparative study between PI, PID and sliding mode controllers allowed us to emphasize the effectiveness of the new hybrid controller and improve the drilling system performances. Furthermore, the chattering phenomenon in the sliding surface was overcome by using the saturation function rather than the sign function. The obtained results proved the usefulness of the proposed controller in suppressing the stick-slip phenomenon for smart industrial drilling systems.

Using Dynamics Measurements While Drilling to Detect Lithology Changes and to Model Drilling Dynamics

2007 ◽  
Author(s):  
Hanno Reckmann ◽  
Pushkar Jogi ◽  
Christian Herbig
Keyword(s):  
Dynamic Behavior ◽  
Slip Rate ◽  
Element Model ◽  
Stick Slip ◽  
Rock Interaction ◽  
Rate Of Penetration ◽  
System A ◽  
Drilling Parameters ◽  
Weight On Bit ◽  
Made In

As a result of bit-rock interaction, downhole weight-on-bit, downhole torque, instantaneous downhole rotational speed and bit motion (acceleration and rate of penetration) are directly affected by the formations being drilled. Since these measurements react differently to different lithologies, and assuming that drilling problems do not effect these measurements, any changes in the measurements in some way will reflect changes in the properties of the lithology. If, based on these measurements, the lithology is assumed to have certain properties, then it is possible to derive models for the interaction between bit, formation and drillstring. With these models it is possible to simulate the dynamic behavior of the system including phenomena like stick-slip. Rate of penetration has long been used as a lithology indicator, and drilling models have been developed using surface measured drilling parameters to infer changes in lithology. With the advent of MWD measurements, significant improvements were made in the mathematical models by involving downhole torque. The model derived parameters were shown to be related to rock strength (drilling and shear strength) and proved to be good indicators of formation changes. Similar expressions in the form of simple bit models can be used in combination with a finite element model of the drillstring to simulate the dynamic behavior of the complete system. A significant improvement in this analysis can be affected by introducing measurements from the dynamics tool, such as instantaneous torque, weight and rotation rate, as well as the bit acceleration. These measurements provide not only static but also dynamic data which can be used to validate simulations and the underlying models. The present analysis explores the use of the dynamic measurements and the application of some drilling models in analyzing formation changes while drilling, and the use of these data and models in simulating drilling dynamics.

scholarly journals Stochastic modeling for hysteretic bit–rock interaction of a drill string under torsional vibrations

2019 ◽  
Vol 25 (10) ◽  
pp. 1663-1672 ◽  
Author(s):  
Fabio F. Real ◽  
Anas Batou ◽  
Thiago G. Ritto ◽  
Christophe Desceliers
Keyword(s):  
Stochastic Model ◽  
Drill String ◽  
Hysteretic Behavior ◽  
Drilling Process ◽  
Torsional Vibrations ◽  
Stick Slip ◽  
Rock Interaction ◽  
Proposed Model ◽  
The Stability ◽  
Torque On Bit

This paper aims at constructing a stochastic model for the hysteretic behavior of the nonlinear bit–rock interaction of a drill string under torsional vibrations. The proposed model takes into account the fluctuations of the stick–slip oscillations observed during the drilling process. These fluctuations are modeled by introducing a stochastic process associated with the variations of the torque on bit, which is a function of the bit speed. The parameters of the stochastic model are calibrated with field data. The response of the proposed stochastic model, considering the random bit–rock interaction, is analyzed, and statistics related to the stability of the drill string are estimated.

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