Control of heave-induced pressure fluctuations in managed pressure drilling

Landet, Ingar Skyberg; Pavlov, Alexey; Aamo, Ole Morten; Mahdianfar, Hessam

doi:10.1109/acc.2012.6314622

Cited by 15 publications

(4 citation statements)

References 14 publications

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“…In this simulation, the heave disturbance is assumed to be predictable. The heave disturbance is given by = (2 /12)[ ], where 2 /12 corresponds closely to the most dominant wave frequency in the North Atlantic, with reference to the JONSWAP spectrum (Landet et al (2012b(Landet et al ( , 2013). The input weight for MPC with future knowledge of heave disturbance is chosen as = 85.…”

Section: Simulation Resultsmentioning

confidence: 99%

Design and Comparison of Constrained MPC With PID Controller for Heave Disturbance Attenuation in Offshore Managed Pressure Drilling Systems

Nikoofard¹,

Johansen²,

Mahdianfar³

et al. 2014

mar technol soc j

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Abstract:This paper presents a constrained finite horizon model predictive control (MPC) scheme for regulation of the annular pressure in a well during managed pressure drilling from a floating vessel subject to heave motion. In addition the robustness of a controller to deal with heave disturbances despite uncertainties in the friction factor and bulk modulus is investigated. The stochastic model describing sea waves in the North Sea is used to simulate the heave disturbances. The results show that the closed-loop simulation without disturbance has a fast regulation response, without any overshoot, and is better than a proportional-integralderivative (PID) controller. The constrained MPC for managed pressure drilling shows further improved disturbance rejection capabilities with measured or predicted heave disturbance. Monte Carlo simulations show that the constrained MPC has a good performance to regulate set point and attenuate the effect of heave disturbance in case of significant uncertainties in the well parameter values.

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Section: Simulation Resultsmentioning

confidence: 99%

Design and Comparison of Constrained MPC With PID Controller for Heave Disturbance Attenuation in Offshore Managed Pressure Drilling Systems

Nikoofard¹,

Johansen²,

Mahdianfar³

et al. 2014

mar technol soc j

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“…It is shown in , a discretized model into five sections captures the main dynamics of Ullrigg well in case of having heave disturbance. The set of nine ordinary differential equations describing flow and pressure dynamics in the annulus can be written as follows :

{\overset{p}{true}}_{1} = \frac{β_{1}}{A_{1} l_{1}} (- q_{1} - v_{d} A_{d}),

{\overset{p}{true}}_{2} = \frac{β_{2}}{A_{2} l_{2}} (q_{1} - q_{2}),

{\overset{p}{true}}_{3} = \frac{β_{3}}{A_{3} l_{3}} (q_{2} - q_{3}),

{\overset{p}{true}}_{4} = \frac{β_{4}}{A_{4} l_{4}} (q_{3} - q_{4}),

{\overset{p}{true}}_{5} = \frac{β_{5}}{A_{5} l_{5}} (q_{4} - q_{c} + q_{italicbpp}),

\overset{q ...}{true}

…”

Section: Modelingmentioning

confidence: 99%

“…In , the results of the previous paper is extended to consider the effect of friction in the annulus and also to the case of estimation and control of heave disturbance with multiple sinusoids. In , two different disturbance rejection strategies, a nonlinear output regulation controller and a linear internal model controller, based on discretized partial differential equations are presented. In , a constrained model predictive controller is designed for handling heave disturbance and output regulation constraints.…”

Section: Introductionmentioning

confidence: 99%

“…As mentioned before, in MPD applications, downhole pressure should be kept within certain upper and lower bounds, which transforms into time‐domain performance objectives for the control system. To satisfy this demand, optimization of peak‐to‐peak gain of the system is considered in this work, which results in improved transient response of closed‐loop system as compared with previous results for example in .…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive output regulation for offshore managed pressure drilling

Mahdianfar

Pavlov

2016

Adaptive Control & Signal

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This paper deals with output regulation problem for an offshore managed pressure drilling system subject to sinusoidal disturbances. The disturbance is caused by the heave motion of the floating drilling rig during pipe connections, and the objective is to maintain a constant pressure at the bottom of the well. The controller for the heave disturbance attenuation consists of three cascaded parts. First, a nonlinear inversion element is applied to invert nonlinearity of choke. Second, an adaptive compensator is designed based on internal model, and certainty equivalence principles for asymptotic rejection of time-varying heave disturbance. Third, an output feedback controller is synthesized for providing stability and improving transient performance of closed-loop system. Robust stability of closed-loop system is analyzed using edge theorem. Simulation results of the combined adaptive output regulator are presented, which show satisfactory set-point tracking and attenuation of the heave disturbance. ‡ Annulus is the space between the drill-pipe and casings. For uncased parts of the well, annulus is the space between the drill-pipe and formation. In Figure 1, the drilling fluid after leaving the drill-bit enters and flows up the annulus. § Rotating control device is used during drilling operations for making a rotating seal around the drill pipe. It isolates the well from the surrounding environment and helps to keep the pressures inside the well confined. ¶ Wellbore is the drilled hole, including the uncased part of the well. || The MPD Heave Lab is a medium scale (900 m well) experimental facility at NTNU, tailor made for testing control strategies for the heave problem.The model described by equations (3)-(9) is in form of a nonlinear strict feedback system, with an unmatched sinusoidal disturbance. By applying the following nonlinear inversion H f D 1 0 0 :

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