Nonlinear Dynamic Model and Characterization of Coiled Tubing Drilling System Based on Drilling Robot

Jian, Zhao; Liu, Qingyou; Zhu, Hehua; Wang, Zedong; Wen-quan, Liu

doi:10.1007/s42417-020-00246-x

Cited by 11 publications

(6 citation statements)

References 17 publications

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“…Zhao [16][17][18][19] studied two telescopic drilling robots, which are more cutting-edge researches about downhole robots in the field of drilling. The robot is equipped with flow channels for drilling fluid inside.…”

Section: Drilling Technology Of Traction Robot Of Ctmentioning

confidence: 99%

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Research status and development trend of traction robot of coiled tubing

Zhao,

Wang,

Chen

et al. 2023

J. Phys.: Conf. Ser.

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Coiled tubing (CT) is prone to buckling and locking due to axial friction when extending in large displacement directional wells and horizontal wells. The traction robot of CT can provide axial traction, which can fundamentally address the problem of difficult downward entry of CT. The operation principle, size, traction force, traction speed and other technical indicators of the existing more cutting-edge types of traction robots are analyzed, and the critical structural features of traction robots are summarized. The application prospect of drilling bridge plug technology and drilling technology of the traction robot is put forward. The main points of the research on the traction robot are summarized to provide a concise reference for the future development direction.

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Section: Drilling Technology Of Traction Robot Of Ctmentioning

confidence: 99%

“…Robot prototype of isotropic dualslant linkage telescopic drilling and traction robot [16, 17]. (4) Linkage telescopic drilling traction robot As shown in Figure9, a linkage telescopic drilling traction robot is studied by Zhao[18,19] et al…”

mentioning

confidence: 99%

Research status and development trend of traction robot of coiled tubing

Zhao,

Wang,

Chen

et al. 2023

J. Phys.: Conf. Ser.

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“…3n teeth sin β 1 (13) where F 1 is the resultant force of the tooth slope of the friction block of the CTD robot, N.…”

Section: Statics Model Of Friction Block Teeth Of Ctd Robotmentioning

confidence: 99%

“…Research has found that the friction teeth in the supporting mechanism of the drilling robot have a greater impact on its supporting performance. In recent years, some scholars only carried out related mechanical studies on the obstacle crossing performance, nonlinear dynamics, sealing performance, control performance and frictional resistance of drilling robots [12][13][14][15][16]. Further research on the support mechanism only stays in the optimization design of the support mechanism [17,18].…”

Section: Introductionmentioning

confidence: 99%

Static Characteristics of Friction Block Teeth of Coiled Tubing Drilling Robot

et al. 2023

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Conventional downhole traction robots only provide axial traction, while coiled tubing drilling (CTD) robots must not only overcome the axial force but also overcome the reaction torque generated by the drill bit breaking the rock. Therefore, the tooth profile of the friction block of the conventional downhole traction robot cannot achieve effective support under the simultaneous action of the axial load and circumferential load. In this paper, based on the actual reaction torque conditions generated by CTD, a mechanical model of the friction block teeth of the CTD robot under the conditions of axial traction and reverse torque is established. This reveals the influence of different tooth slope angles, axial-included angles and friction coefficients on the mechanical properties. It provides guidelines for the design of the inclination of the tooth slope, the axial angle of the tooth and the friction coefficient of the friction block of the CTD robot. It has scientific and engineering significance for the promotion of downhole robots in drilling engineering.

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“…Taking the rate of change of e t 2 and e t 2 as the input of the fuzzy controller, and with the fuzzy inference, the PID controller change values △ K i , △ K p , △ K d are obtained. u relief is the final output of the PID controller, which is sent to control the relief valve. From the references, 20,21 the dynamic model of coiled tubing drilling robot can be obtained as Assuming that the displacement of the drilling robot is f(t) , the dynamic model of the drilling robot can be further written as The wave equation of WOB is where p 0 is the average WOB, N; p t is the maximum value of WOB fluctuation, N; w is the frequency of WOB fluctuation.…”

Section: Dual-loop Fuzzy Pid Control Algorithmmentioning

confidence: 99%

Control algorithm of weight on bit and rate of penetration based on drilling robot

Jian

Liang

Liu

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part E:

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At present, the traction force and traction speed of the drilling robot cannot be controlled. However, if the speed of the drilling robot is too high, the bit will be damaged because of the shock load. If the speed of the drilling robot is too low, the drilling efficiency will be very low. The existing control system and control algorithm of the drilling robot cannot meet the requirements of the drilling conditions. A control system of the weight on bit and the rate of penetration of the drilling robot was invented. On the basis, a dual-loop fuzzy proportional integral derivative (PID) control algorithm of the pressure difference and flow rate was proposed to control the weight on bit and rate of penetration. Furthermore, the simulation model of the dual-loop fuzzy PID control algorithm was established. It is found that the proposed dual-loop fuzzy PID control algorithm has the characteristics of small overshoot and good tracking. Furthermore, the correctness of the theory was verified by the experiments. The experiments show that the average amplitude of rate of penetration vibration by using adaptive PID controller is less than 50% of that of PID controller. The maximum weight on bit with the adaptive PID controller is only 45.94% of that of the conventional PID controller. The overshoot of the adaptive PID controller is only 24.07% of that of the conventional PID controller. At the same time, the vibration amplitude of the conventional PID controller is obviously larger than that of the adaptive PID controller. The proposed adaptive PID controller in this paper can effectively reduce the vibration of the bit. By reducing the vibration of the bit, the life of the bit can be extended. Finally, it is of great significance to realize the efficient and intelligent drilling process.

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Nonlinear Dynamic Model and Characterization of Coiled Tubing Drilling System Based on Drilling Robot

Cited by 11 publications

References 17 publications

Research status and development trend of traction robot of coiled tubing

Research status and development trend of traction robot of coiled tubing

Static Characteristics of Friction Block Teeth of Coiled Tubing Drilling Robot

Control algorithm of weight on bit and rate of penetration based on drilling robot

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