Moving horizon estimation in managed pressure drilling using distributed models

2015 American Control Conference (ACC)

2015

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Abstract-The present paper develops an adaptive boundary observer for systems modeled by nonlinear hyperbolic PDEs with limited number of measurements. The design is based on the backstepping method and relies only on one boundary measurement. The observer gains are obtained through solving a first-order hyperbolic system of Goursat-type PDEs. The design is implemented in an estimation problem in managed pressure drilling (MPD), where a state observer and an updatelaw are used to estimate the annular downhole pressure and the rate of lost circulation, respectively. The design is tested against a field scale flow-loop test in Stavanger, Norway by Statoil. The results show that the state observer converges to the actual flow and pressure values and that the update-law accurately estimates the rate of lost circulation.

Section: A Motivation and Previous Workmentioning

confidence: 99%

Adaptive boundary observer for nonlinear hyperbolic systems: Design and field testing in managed pressure drilling

2015 American Control Conference (ACC)

2015

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“…For some cases, the gain for both the controller and the observer, can be computed analytically in terms of the Bessel function (Smyshlyaev and or the Marcum Q-function (Vazquez and Krstic, 2013). It should be mentioned that in oil and gas control problems, the backstepping method has been used for the gas conning problem (Hasan et al, 2010(Hasan et al, , 2012(Hasan et al, , 2013, slugging control (di Meglio, 2011), and drilling automation (Hasan, 2014;Hasan and Imsland, 2014). …”

Section: Previous Workmentioning

confidence: 99%

Infinite-Dimensional Observer for Process Monitoring in Managed Pressure Drilling∗∗Financial support from Statoil ASA and the Norwegian Research Council (NFR project 210432/E30 Intelligent Drilling) is gratefully acknowledged.

2015

IFAC-PapersOnLine

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Utilizing flow rate and pressure data in and out of the mud circulation loop provides a driller with real-time trends for the early detection of well-control problems that impact the drilling efficiency. This paper presents state estimation for infinite-dimensional systems used in the process monitoring of oil well drilling. The objective is to monitor the key process variables associated with process safety by designing a model-based nonlinear observer that directly utilizes the available information coming from the continuous-time online process output measurements at the topside of the well. The observer consists of a copy of the plant plus output injection terms where the gain is computed analytically in terms of the Bessel function of the first kind. The design is tested using data from a real-field drilling commissioning test in the North Sea by Statoil Oil Company. The results show that the design estimates the flow and pressure accurately.

“…Physical systems which can be modeled and transformed into a first-order PDE-ODE cascade systems have attracted considerable attention in research communities because these systems can be used to model various processes such as road traffic [1], gas flow pipeline [2], flow of fluids in transmission lines [3] and in open channels [4], and oil well drilling ( [5], [6]). A typical problem is to estimate the states and the parameters of the systems using a limited number of measurements.…”

Section: Introductionmentioning

confidence: 99%

State estimation for nonlinear hyperbolic PDE-ODE cascade systems

2015 10th Asian Control Conference (ASCC)

Aamo

Krstić

2015

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This paper presents state estimation for a class of nonlinear hyperbolic PDE-ODE cascade systems. The observer is based on the backstepping method and relies only on a single boundary measurement. The observer consists of a copy of the plant plus output injection terms both in the PDEs and the ODEs. Furthermore, both sensing and actuation are located at the same boundary (collocated setup). The observer gains are computed analytically by solving Goursat-type PDEs in terms of modified Bessel functions of the first kind. A field-scale test experiment in a flow-loop test facilities is conducted by Statoil oil company to show the applicability of the observer.