Single Trip Curve-Lateral Drilling with High Dogleg RSS

2021 ◽  
Author(s):  
Jim Tilley ◽  
Nazli Demirer ◽  
Paul Bond ◽  
Andrew Penman ◽  
Lotfi Hamoudi ◽  
...  
Keyword(s):  
Control System ◽  
Attitude Control ◽  
High Rate ◽  
Control Mode ◽  
Actuation System ◽  
Directional Control ◽  
Attitude Tracking ◽  
Control Command ◽  
Corrective Control ◽  
Drilling Time

Abstract This paper discusses the design of an attitude controller embedded in a high dogleg, fully-rotating rotary steerable system (RSS). While drilling with a high dogleg capable RSS at high rate of penetration (ROP), directional control may become challenging along tangent sections, thus, making it difficult to drill vertical, curve, and lateral sections within a single trip with low tortuosity. To ensure tight inclination and azimuth control along tangent sections with high dogleg RSS, we introduce an on-board robust attitude control system and discuss its performance over several curve-lateral case studies drilled at high ROPs. The downhole navigation and control system consists of a multiplicity of accelerometers, a magnetometer, and gyroscopes that are used to precisely measure borehole attitude via sophisticated sensor fusion algorithms. The attitude measurements representing borehole direction in a three-dimensional frame are fed back to the controller, which communicates a corrective control command to a high-bandwidth actuation system to minimize deviation from the target attitude. This corrective control command is generated by an advanced control method that is optimized to provide good attitude tracking performance and necessary robustness against potential formation pushes during high ROP drilling. Several case histories from wells drilled using the automatic attitude control feature of the high dogleg RSS will be shared in the paper and discussed in detail. The cases include single-trip curve-lateral runs from onshore North America (Marcellus Shale) drilled at high ROPs. The entirety of the lateral sections of these wells, each longer than 10,000 ft, are drilled with the automatic attitude control mode. While generating consistently over 12°/100ft dogleg severity in curve sections, the RSS was able to drill smooth lateral sections with an average of over 200 ft/hr ROP and by keeping the average dogleg severity at approximately 1.2°/100ft. The attitude-hold controller enables the high dogleg capable RSS to drill smooth vertical sections, tangents, and extended laterals, along with the curve sections, in just a single run. This technology has the potential to offer cost savings on several fronts: (1) reducing non-drilling time due to tripping in and out between different sections of the well; (2) allowing for drilling at an increased ROP by maintaining tight directional control and, therefore, reducing the drilling time; and (3) increasing operational efficiency by shifting the steering decision-making process to the downhole given target attitude.

Analysis and Attitude Control of Spacecraft with Input Uncertainty

2011 ◽  
Vol 268-270 ◽  
pp. 2041-2047
Author(s):  
Sheng Qi Chen ◽  
Jun Zhou
Keyword(s):  
Control System ◽  
Nonlinear Equations ◽  
Attitude Control ◽  
Equations Of Motion ◽  
Variable Structure ◽  
Integral Form ◽  
Control Mode ◽  
Attitude Control System ◽  
Non Linear ◽  
Command Signals

A moving mass control of rotating spacecraft is a kind of new control mode, it differs from other control modes because it generates an angle of attack and an angle of sideslip directly from the mass motion.The nonlinear equations of motion for rotating Maneuverable Spacecraft are derived. the variable structure attitude controller is presented according to the nonlinear equations, It’s based on two-timescale separation and with two loops, faster loop and slower loop respectively. Inertial uncertainties and aerodynamic moment uncertainties are considered simultaneously, In order to track the command signals perfectly, the sliding surface is of integral form, results of the simulation shows that this kind of attitude control system is potentially practical and robust in the presence of inertial uncertainties of guided missile and uncertainties of aerodynamic moments. Compared with the common attitude control system, it has the following advantages:(1) non linear model is directly controlled,(2)it has robust. Because the non-linear factor is considered, it has the practical use for the engineering field.

scholarly journals A Nonlinear Second-order Spacecraft Attitude Tracking Control Model for Control System Stabilization

2018 ◽  
Vol 198 ◽  
pp. 05007
Author(s):  
Xiaoyi Wang
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Tracking Control ◽  
Angular Rate ◽  
Control Model ◽  
Second Order ◽  
Spacecraft Attitude ◽  
Order Model ◽  
Attitude Tracking ◽  
Attitude Tracking Control

A control model for the direct parameter approach for spacecraft attitude tracking is presented in this paper. First of all, the spacecraft attitude tracking control model is built up by the error equation of the second-order nonlinear quaternion-based attitude system. A problem of control system stabilization is raised based on the control model. Compared with other control models, the second-order can offer the advantages of noapproximation and clear control states. The basic spacecraft control model has to focus on to the two variables which are angular rate and attitude quaternion, however, the new attitude control problem is only with respect to one variable which is the spacecraft attitude quaternion. Therefore, the second-order model is simpler and clear than basic first-order model.

In-orbit results from the attitude determination and control system of ALSAT-2B

2021 ◽  
pp. 1-26
Author(s):  
H. Benzeniar
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Attitude Determination ◽  
Lessons Learned ◽  
Control Mode ◽  
Star Tracker ◽  
Orbit Control ◽  
Space Agency ◽  
Pyramidal Configuration ◽  
And Control

ABSTRACT The Algerian Space Agency has been active in the field of microsatellite engineering for more than 15 years and has successfully developed microsatellites under several know-how transfer technology programs, six to date. This paper presents the flight results and lessons learned from the attitude determination and control system (ADCS) flown on the ALSAT-2B satellite, an Earth observation microsatellite, by analysing the behaviour of the satellite from the initial attitude acquisition through the coarse pointing mode then the nominal mode, where the payload is first tested, and finally the orbit control mode. The spacecraft was launched on 26 September 2016 and placed into a 670km Sun-synchronous orbit with a solar local time at an ascending node of 22:15. The ADCS performance presented here mainly focuses on the launch and early operation results. ALSAT-2B includes four reaction wheels in a pyramidal configuration, three gyros, three Sun sensors, three magneto-torquers, one magnetometer, and one star tracker for agile and accurate attitude control. In addition, a propulsion system based on four 1N hydrazine thrusters is also used on board the microsatellite. The main new development in this platform compared with previous ones of the same type is the fusion of the star tracker and measurements by the three gyroscopes into one gyrostellar estimator that was implemented for the first time on ALSAT-2B, and the pyramidal configuration of the wheels, aiming to increase the angular momentum. The results obtained from the early launch operations for different ADCS modes are very encouraging and fulfil all the requirements set during design and testing. Currently, the satellite has accomplished its fourth year in orbit and is still operational and producing high-quality images.

L1 neural network adaptive fault-tolerant controller for unmanned aerial vehicle attitude control system

2021 ◽  
pp. 095441002098409
Author(s):  
Yan Zhou ◽  
Huiying Liu ◽  
Huijuan Guo ◽  
Jing Li
Keyword(s):  
Neural Network ◽  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Attitude Control System ◽  
Attitude Tracking ◽  
Nonlinear Uncertainties ◽  
Aerial Vehicle

In this article, a L1 neural network adaptive fault-tolerant controller is exploited for an unmanned aerial vehicle attitude control system in presence of nonlinear uncertainties, such as system uncertainties, external disturbances, and actuator faults. A nonlinear dynamic inversion controller with sliding mode control law is designed as the outer-loop controller to track the attitude angles quickly and accurately which reduces dependence on model accuracy. A L1 neural network adaptive controller of the inner loop is introduced to compensate the nonlinear uncertainties and have a good attitude tracking. The radial basis function neural network technique is introduced to approximate a lumped nonlinear uncertainty and guarantee the stability and transient performance of the closed-loop system, instead of converting it to a half-time linear system by the parametric linearization method. Simulation results demonstrate the effectiveness of the proposed controller.

scholarly journals Waypoint following dynamics of a quaternion error feedback attitude control system

2021 ◽  
pp. 095441002110109
Author(s):  
Mark Karpenko ◽  
Julie K. Halverson ◽  
Rebecca Besser
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Angular Rate ◽  
Space Station ◽  
Reference Trajectory ◽  
Error Feedback ◽  
Attitude Control System ◽  
Attitude Tracking ◽  
Lunar Reconnaissance Orbiter ◽  
Z Domain

Closed-loop attitude steering is a concept for implementing an attitude trajectory by using a conventional quaternion error feedback controller to track the time-varying attitude reference, rather than to simply regulate to a desired orientation. This is done by sampling the reference input and executing the maneuver as a sequence of closely spaced regulating commands that are read out from the spacecraft’s command buffer. The idea has been employed in practice to perform zero-propellant maneuvers on the International Space Station and minimum-time maneuvers on NASA’s TRACE space telescope as well as NASA’s Lunar Reconnaissance Orbiter (LRO). A challenge for operational implementation of the idea is the limited capacity of a space vehicle’s command storage buffer, which is normally not designed with attitude tracking in mind. One approach to mitigate the problem is to downsample-and-hold the attitude commands so that the attitude control system (ACS) regulates to a series of waypoints. This article explores the waypoint following dynamics of a quaternion error feedback control law for such an approach. It is shown that downsample-and-hold induces a ripple between downsamples that causes the satellite angular rate to significantly overshoot the desired limit. Analysis in the z-domain is carried out in order to understand the phenomenon. An interpolating Chebyshev-type filter is proposed that allows the desired attitude trajectory to alternatively be encoded in terms of a small set of filter coefficients. Using the interpolating filter, the continuous-time reference trajectory can be reconstructed and issued at the ACS rate but with significantly reduced memory requirements. The ACS of the LRO is used as an example to illustrate the behavior of a practical ACS.

scholarly journals Modeling the angular momentum control of small spacecraft with a magnetic attitude control system

2019 ◽  
Vol 484 (4) ◽  
pp. 415-419
Author(s):  
V. M. Kulkov ◽  
Yu. G. Egorov ◽  
S. O. Firsyuk ◽  
V. V. Terentyev ◽  
A. O. Shemyakov
Keyword(s):  
Angular Momentum ◽  
Control System ◽  
Attitude Control ◽  
Experimental Studies ◽  
Control Mode ◽  
System Control ◽  
Attitude Control System ◽  
Electromagnetic System ◽  
Small Spacecraft ◽  
Magnetic Attitude Control

The problem of modeling the angular momentum control modes of small spacecraft using electromagnetic systems interacting with the Earth’s magnetic field is considered. The electromagnetic system control law has been constructed for various compositions of measurable parameters. A set of scale factors has been formed to investigate the angular momentum control mode of dynamically similar models. Based on a dynamical test stand, we have carried out experimental studies to model the angular motion dynamics of small spacecraft with a magnetic attitude control system.

Double Fail-Safe Attitude Control System for Artificial Meteor Microsatellite ALE-1

2021 ◽  
Vol 19 (1) ◽  
pp. 9-16
Author(s):  
Shinya FUJITA ◽  
Yuji SATO ◽  
Toshinori KUWAHARA ◽  
Yuji SAKAMOTO ◽  
Yoshihiko SHIBUYA ◽  
...  
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Attitude Control System ◽  
Fail Safe

Flight performance of the LES-8/9 three-axis attitude control system

1980 ◽  
Author(s):  
F. FLOYD ◽  
C. MUCH ◽  
N. SMITH ◽  
J. VERNAU ◽  
J. WOODS
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Flight Performance ◽  
Attitude Control System
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