Model-Based Robust Control of Directional Drilling Systems

Kremers, Niek Antonius Henricus; Detournay, Emmanuel; Wouw, Nathan van de

doi:10.1109/tcst.2015.2427255

Cited by 47 publications

(21 citation statements)

References 29 publications

(52 reference statements)

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“…This type of actuation can be considered as open‐loop actuation, and the effects of its usage will be studied in this section. It has been shown before (see the works of Kremers et al and van de Wouw et al) that, due to the complex dynamics of the process, using open‐loop actuation can potentially lead to oscillatory behavior (ie, borehole spiraling) of the borehole evolution. Hence, we formulate the generation of a complex 3D borehole geometry as a closed‐loop reference tracking problem.…”

Section: Control Problem Formulationmentioning

confidence: 99%

“…In order to perform simulation studies, we present a parameter set that defines a benchmark system representing a directional drilling system. Using the two‐stabilizer system, the parameters are chosen based on the works of Perneder, Monsieurs, and Kremers …”

Section: Control Problem Formulationmentioning

confidence: 99%

“…All of the aforementioned works rely on the full availability of the measurements of the orientation of the borehole at the bit (ie, full state information), which, in practice, is not possible. Some exceptions are the works of Kremers et al and van de Wouw et al, in which a robust output‐feedback control strategy was proposed. Furthermore, a majority of the considered control approaches focus on two‐dimensional directional drilling models.…”

Section: Introductionmentioning

confidence: 99%

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Robust output‐feedback control of 3D directional drilling systems

Magaña

Monsieurs

Detournay

et al. 2018

Intl J Robust & Nonlinear

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Summary This paper introduces a robust observer‐based output feedback control strategy that enables the generation of complex three‐dimensional borehole trajectories created by directional drilling systems, while avoiding undesired transient behavior. The model‐based controller relies on a set of nonlinear delay differential equations describing the borehole evolution. Herein, only local orientation measurements of the bottom hole assembly of the drilling system are employed. Controller and observer gains are synthesized by optimizing the location of the rightmost pole of the closed‐loop dynamics, using a spectral approach for delay differential equations. Moreover, the strategy is extended to cope with the uncertainty of key system parameters in the directional drilling process. The effectiveness of the designed controller is tested in an illustrative benchmark study.

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Section: Control Problem Formulationmentioning

confidence: 99%

Section: Control Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust output‐feedback control of 3D directional drilling systems

Magaña

Monsieurs

Detournay

et al. 2018

Intl J Robust & Nonlinear

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“…Drilling of complex curved boreholes in order to access unconventional reservoirs of oil and gas is associated with an additional problem of increased drag losses while drilling. To prevent borehole spiraling, a model-based control strategy is developed by (Kremers et al, 2016). Not only it guarantees the stable generation of complex curved boreholes but also needs only limited measurement data.…”

Section: Challenges In Design and Drilling Operationsmentioning

confidence: 99%

Hydraulic vs. Electric: A Review of Actuation Systems in Offshore Drilling Equipment

Pawlus¹,

Choux²,

Hansen³

2016

MIC

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This article presents a survey on actuation systems encountered in offshore drilling applications. Specifically, it focuses on giving a comparison of hydraulic and electric drivetrains along with detailed explanations of their advantages and drawbacks. A significant number of industrial case studies is examined in addition to the collection of academic publications, in order to accurately describe the current market situation. Some key directions of research and development required to satisfy increasing demands on powertrains operating offshore are identified. The impact of the literature and application surveys is further strengthened by benchmarking two designs of a full-scale pipe handling machine. Apart from other benefits, the electrically actuated machine reduces the total power consumption by 70 % compared to its hydraulically driven counterpart. It is concluded that electric actuation systems, among other advantages, in general offer higher efficiency and flexibility, however, in some specific applications (such as energy accumulation or translational motion control) hydraulic powertrains are favorable.

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“…RSS TSP have three stretching pads, which press against the well bore thereby causing the bit to press on the opposite side resulting in a direction change (Niu et al 2013;Wang et al 2014, Marck andDetournay 2016). Steering control algorithm plays an important role in any RSS TSP , and a robust control algorithm is the key factor to achieve the desired control effects (Seifabad and Ehteshami 2013;Hakam et al 2014;Kremers et al 2015).Because many of these techniques are not available to the public, the research papers for control algorithm for RSS TSP are very few in the published literature. Zhang and Yu analyzed the configuration and deviation principle of RSS STP (Zhang 2000).…”

Section: Introductionmentioning

confidence: 99%

Analysis and optimization of control algorithms for RSSTSP for horizontal well drilling

Zhang

Liu

et al. 2018

J Petrol Explor Prod Technol

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Steering control algorithm plays an important role in a rotary steerable system for horizontal well drilling, including the determination of the well trajectory, vibrations, stability, durability among other variables. This work develops a control algorithm for three static push-the-bit rotary steerable systems (RSS TSP ) (TSP is the abbreviation of "three static push-the-bit"). Based on the structure, mechanism, and working process of the RSS TSP , mechanical and mathematical models are proposed to determine the required steering force (amplitude and direction) to move the drill bit from a point to another. Additional equations are constructed to overcome the non-uniqueness and then compute the optimal forces for the three pads to achieve the required steering force. Moreover, a new control algorithm of RSS TSP is developed, considering the steerability, stability, durability, favorable area, unfavorable area, maximum usable magnitude of steering force. The proposed control algorithm is also applied to a new RSS TSP and tested on a GU-693-P102 well for validation. It is found that each pad force changes smoothly, the drilling tool is stable, and the well trajectory is consistent with the design, demonstrating that our proposed control algorithm is robust and effective for RSS TSP for horizontal well drilling.

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Model-Based Robust Control of Directional Drilling Systems

Cited by 47 publications

References 29 publications

Robust output‐feedback control of 3D directional drilling systems

Robust output‐feedback control of 3D directional drilling systems

Hydraulic vs. Electric: A Review of Actuation Systems in Offshore Drilling Equipment

Analysis and optimization of control algorithms for RSSTSP for horizontal well drilling

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