Modeling and Control of Automated Pipe Hoisting in Oil and Gas Well Construction

2015 ◽  
Author(s):  
Parham Pournazari ◽  
Pradeepkumar Ashok ◽  
Eric van Oort
Keyword(s):  
Dynamic Model ◽  
Oil And Gas ◽  
Sliding Mode ◽  
Drill String ◽  
Trajectory Design ◽  
Modeling And Control ◽  
Gas Drilling ◽  
Drilling Operations ◽  
Hoisting System ◽  
And Control

This paper presents a robust control algorithm for automatic hoisting of a drill string in oil and gas drilling operations. We demonstrate an iterative scheme for trajectory design and present a lumped dynamic model of the hoisting system. The trajectory is used along with the dynamic model to design a hybrid sliding mode and gain scheduled PI controller to deal with the frictional nonlinearities of the system. The simulation results demonstrate the feasibility of this approach in optimally performing the pipe hoisting task.

Robust Weight-on-Bit Tracking in Drilling Operations: A Stochastic, Nonlinear Approach

2017 ◽  
Author(s):  
Parham Pournazari ◽  
Benito R. Fernández ◽  
Eric van Oort
Keyword(s):  
Oil And Gas ◽  
Time Estimation ◽  
Gas Drilling ◽  
Nonlinear Approach ◽  
Proposed Model ◽  
Weight On Bit ◽  
Drilling Operations ◽  
Real Time Estimation ◽  
Estimation And Control ◽  
And Control

Accurate control of weight-on-bit (WOB) in oil and gas drilling plays an important role in achieving high rates of penetration (ROP) and minimizing drillstring vibrations. In this paper, we propose a nonlinear, stochastic model of downhole WOB, and provide a framework for estimation, and control of the proposed model. We focus on real-time estimation of modeling and measurement uncertainties, and use these estimates to adapt the controller characteristics accordingly. The presented methodology is simulated for various scenarios, and benchmarked against existing control techniques in the industry.

A Comparative Study of Active Control Methods for Mitigation of Torsional Stick-Slip Vibrations in Drillstring Systems

2020 ◽  
Author(s):  
Fourat Zribi ◽  
Lilia Sidhom ◽  
Mohamed Gharib ◽  
Shady S. Refaat ◽  
Abdelkader Mami
Keyword(s):  
Active Control ◽  
Sliding Mode ◽  
Drill String ◽  
Control Methods ◽  
Stick Slip ◽  
Modeling And Control ◽  
Drilling Parameters ◽  
The Common ◽  
And Control ◽  
Slip Phenomenon

Abstract Drill strings are complex dynamical systems with many uncertain parameters. The drill string interaction with the borehole produces a variety of undesired oscillations. The stickslip phenomenon is the extreme state of torsional vibrations, which causes the drill string to stop rotating and then spin free periodically. This non-uniform rotation may cause the wear of expensive equipment or even catastrophic failures in drill strings. Therefore, it is essential to study the drilling parameters in order to develop appropriate control approach for the suppression of the stick-slip vibration. However, the complexity of the drill string system poses several modeling and control challenges. The drill string model challenges include thermal, physical, electrical, and environmental influences on the stick-slip, simple enough to perform the analysis and control purposes. The control challenges include dealing with the complex dynamics of nonlinear friction, minimize nonlinear torque on the bit, and perform more robust during operating conditions. The control techniques are divided into two major approaches: passive and active control approaches. The passive control approaches include design sophisticated bits (with depth of cut control technology) to limit the reactive torque that might lead to the stick-slip, optimizing the drilling parameters, and using antivibration down hole tools. The active control approaches are on active anti-vibration control methods due to the improvements in the real-time measurement and control systems. Two of the most common active control techniques used in drill string system are proportional-derivative and sliding mode control methods. This paper presents an overview and a comparative study of the common control methods belonging to the common active control methods to mitigate the stick-slip phenomenon in drill string systems. The main objective is to assess the impact of the active control approaches to mitigate the stick-slip phenomenon. First, the common model for drillstring system is presented. Then, the study presents analyses of different drilling parameters, such as the weight on bit (WOB) and associated torque on bit (TOB) that define the bit aggressiveness, which are key in mitigating stick-slip vibration. These parameters have been considered as the comparison factors. Furthermore, this study details the design process of these controllers, and evaluates the performances of the different control systems to track the reference signal of bit velocity taking into account parametric uncertainties. Discussion and recommendation about the drilling parameters optimization are presented. This paper provides the necessary information needed for modeling and control of drillstring systems with minimum stick-slip vibrations. The results show that the adaptive sliding mode controller succeeded to eliminate the stick-slip phenomenon with better robustness to parametric uncertainties and weight on bit variations compared to the other controllers.

scholarly journals Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 71
Author(s):  
Luz M. Sanchez-Rivera ◽  
Rogelio Lozano ◽  
Alfredo Arias-Montano
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Test Bench ◽  
Aerodynamic Coefficients ◽  
Nonlinear Dynamic Model ◽  
Modeling And Control ◽  
Drag And Lift ◽  
And Control ◽  
Dynamics Method ◽  
Indoor And Outdoor

Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

Study of stick–slip suppression and robustness to parametric uncertainty in drill strings containing torsional vibration tool using sliding-mode control

2021 ◽  
pp. 146441932110452
Author(s):  
Jialin Tian ◽  
Jie Wang ◽  
Siqi Zhou ◽  
Yinglin Yang ◽  
Liming Dai
Keyword(s):  
Torsional Vibration ◽  
Complex Dynamics ◽  
Sliding Mode ◽  
Parametric Uncertainty ◽  
Drill String ◽  
Lumped Parameter Model ◽  
Drilling Process ◽  
Drill Bit ◽  
Stick Slip ◽  
Drilling Operations

Excessive stick–slip vibration of drill strings can cause inefficiency and unsafety of drilling operations. To suppress the stick–slip vibration that occurred during the downhole drilling process, a drill string torsional vibration system considering the torsional vibration tool has been proposed on the basis of the 4-degree of freedom lumped-parameter model. In the design of the model, the tool is approximated by a simple torsional pendulum that brings impact torque to the drill bit. Furthermore, two sliding mode controllers, U1 and U2, are used to suppress stick–slip vibrations while enabling the drill bit to track the desired angular velocity. Aiming at parameter uncertainty and system instability in the drilling operations, a parameter adaptation law is added to the sliding mode controller U2. Finally, the suppression effects of stick–slip and robustness of parametric uncertainty about the two proposed controllers are demonstrated and compared by simulation and field test results. This paper provides a reference for the suppression of stick–slip vibration and the further study of the complex dynamics of the drill string.

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

Modeling and control of a mobile manipulator

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 607-613 ◽  
Author(s):  
J. H. Chung ◽  
S. A. Velinsky
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Harmful Effect ◽  
Euler Method ◽  
Friction Model ◽  
Mobile Manipulator ◽  
Wheel Slip ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

Elasto-Plastic Analysis on Wellbore Stability under the Condition of Permeation

2010 ◽  
Vol 156-157 ◽  
pp. 1292-1296
Author(s):  
Jian Bing Sang ◽  
Su Fang Xing ◽  
Chen Hua Lu ◽  
Wen Jia Wang ◽  
Bo Liu
Keyword(s):  
Porous Medium ◽  
Failure Criterion ◽  
Oil And Gas ◽  
Pressure Effect ◽  
Wellbore Stability ◽  
Gas Drilling ◽  
Plastic Analysis ◽  
Key Factor ◽  
Drilling Operations ◽  
Distribution Of Stress

Maintaining the wellbore stability is a key factor for oil and gas drilling operations. In this paper, sock is regarded porous medium. Crevice pressure, effect of permeation and SD effect are considered. The elastic and plastic stresses around the wellbore sock were analysed according to MVM failure criterion. Distribution of stress and displacement was obtained, which can provide theory reference for the wellbore stability.

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