Drilling Control System Using an Equivalent Input Disturbance-Based Control With a Neutral-Type Axial-Torsional Coupled Dynamics Model

2019 ◽  
Vol 141 (12) ◽  
Author(s):  
Chong Ke ◽  
Xingyong Song
Keyword(s):  
Coupling Effect ◽  
Neutral Type ◽  
Drill String ◽  
Hole Drilling ◽  
Type Model ◽  
Drilling Process ◽  
Rock Interaction ◽  
Input Disturbance ◽  
Torsional Coupling ◽  
Equivalent Input Disturbance

Abstract This paper proposed an equivalent input disturbance (EID)-based approach to control the vertical down-hole drilling process. To describe a drill string which is typically long with large axial-to-radius ratio, a neutral-type model is used to accurately capture dynamics of this type of slender string structure. The axial-torsional coupling effect due to drill bit/rock interaction is also included in the model. A new controller is then designed based on the coupled neutral model, and the coupling effect is specifically addressed in the design. To address the uncertainty of the bit/rock interaction, the EID method is used. A new Lyapunov–Krasovskii functional is proposed for the control design. To this end, a series of numerical simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

Finite Element Analysis on Axial-Torsional Coupled Vibration of Drill String

2011 ◽  
Vol 291-294 ◽  
pp. 1952-1956 ◽  
Author(s):  
Xue Liang Bi ◽  
Jian Wang ◽  
Zhan Lin Wang ◽  
Shi Hui Sun
Keyword(s):  
Finite Element ◽  
Coupled Model ◽  
Resonance State ◽  
Drill String ◽  
Hole Drilling ◽  
Drilling Process ◽  
Coupled Vibration ◽  
Element Analysis ◽  
Drilling String ◽  
Rotary Speed

In the drilling process, axial vibration, transverse vibration and torsional vibration happen to drilling string. And the coupled vibration is more complex. In the resonance state, drilling string collides with the wall, which causes serious damage on drilling string in a short time and results in economic loss to the drilling operation. In this paper, the regularity of coupled vibration is analyzed by using finite element method. The model of full-hole drilling strings is established. The distribution regularities of coupled resonant frequency are obtained through computer analysis. The coupled model is more accurate than single vibration model. And the gaps of high rotary speed resonance regions are larger. Resonance state can be avoided by changing rotary speed, and drilling accidents can be reduced.

Modification of the Infinite-Dimensional Neutral-Type Time-Delay Dynamic Model for the Coupled Axial–Torsional Vibrations in Drill Strings With a Drag Bit

2020 ◽  
Vol 15 (8) ◽  
Author(s):  
Shabnam Tashakori ◽  
Gholamreza Vossoughi ◽  
Hassan Zohoor ◽  
Ehsan Azadi Yazdi
Keyword(s):  
Time Delay ◽  
Dynamic Model ◽  
System Analysis ◽  
Dynamic Models ◽  
Neutral Type ◽  
Oscillatory Behavior ◽  
Drill String ◽  
Torsional Vibrations ◽  
Delay Model ◽  
Rock Interaction

Abstract Drill strings are subjected to complex coupled dynamics. Therefore, accurate dynamic modeling, which can represent the physical behavior of real drill strings, is of great importance for system analysis and control. The most widely used dynamic models for such systems are the lumped element models, which neglect the system distributed feature. In this paper, a dynamic model called neutral-type time delay model is modified to investigate the coupled axial–torsional vibrations in drill strings. This model is derived directly from the distributed parameter model by employing the d'Alembert method. Coupling of axial and torsional vibration modes occurs in the bit–rock interface. For the first time, the neutral-type time delay model is combined with a bit–rock interaction model that regards cutting process in addition to frictional contact. Moreover, mistakes made in some of the related previous studies are corrected. The resulting equations of motion are in terms of neutral-type delay differential equations with two constant delays, related to the oscillatory behavior of the system, and a state-dependent delay, induced by the bit–rock interaction. Illustrative simulation results are presented for a representative drill string, which demonstrates intense axial and torsional vibrations that may lead to system failure without a controller.

Study on Mechanism of Hammer Bit and Rock Interaction in Geophysical Prospecting Percussion Drilling

2011 ◽  
Vol 291-294 ◽  
pp. 2266-2271
Author(s):  
Zhi Qiang Huang ◽  
Qin Li ◽  
Yong Tao Fan ◽  
Zhen Qiang Wei ◽  
Hai Yan Zhu
Keyword(s):  
Finite Element ◽  
Effective Stress ◽  
Impact Force ◽  
Coupling Effect ◽  
Oil And Gas Industry ◽  
Drilling Process ◽  
Geophysical Prospecting ◽  
Rock Interaction ◽  
Impact Effect ◽  
Percussion Drilling

Percussion drilling has been widely used in oil and gas industry, yet it still has some shortcomings, such as severe damages to drilling tools, low energy transferring efficiency and low rock-fragmenting efficiency. Thus it is necessary to reveal the mechanism of interactions between the hammer bit and rock in geophysical prospecting percussion drilling. Taking account of the coupling effect of the Weight on Bit (WOB), impact force and rotary torque, this paper constructed a Finite Element Method (FEM) model using the finite element analysis software (ANSYS/LS-DYNA) and conducted a computer simulation of bit-rock interaction under rotating and simple impact effect, which showed the rock-fragmenting process of hammer bit and the curves of volume-time and depth-time of craters as well as the effective stress-time curves of the centre tooth, second-row tooth and peripheral tooth. The results showed that: the percussion drilling process under rotating impact effect is characterized as four fundamental processes; the crater depth mainly depends on impact force rather than rotary torque; the crater created under rotating impact effect is twice the volume of that under impact effect; the effective stress of each tooth changes severely: the stress of second-row tooth is the largest, centre tooth the second, and peripheral tooth the smallest. This study provided a guide for the structural optimization of hammer bit and general applications of percussion drilling.

Design and simulation of a lab-scale down-hole drilling system

2018 ◽  
Vol 233 (8) ◽  
pp. 2591-2598
Author(s):  
Aakash Bajpai ◽  
Masood Ghasemi ◽  
Xingyong Song
Keyword(s):  
Energy Demand ◽  
Large Scale ◽  
Interaction Model ◽  
Drill String ◽  
Lumped Parameter Model ◽  
Hole Drilling ◽  
Systematic Analysis ◽  
Rock Interaction ◽  
Analysis And Design ◽  
Drilling System

As global energy demand rises, so does the need for resources and the means to extract them safely and efficiently by means of, for example, down-hole drilling. These large mechanical rigs often encounter lateral, axial, and torsional vibrations which can cause serious equipment damage and possibly failure. To minimize malignant effects, control algorithms are developed and tested on lab-scale models before implementation on large-scale rig systems. Many previous lab-scale systems artificially reproduce vibrations via inertial masses, shakers, braking systems, etc. However, they do not attempt to match the physical properties or natural response of the drill string. The goal of this research is to naturally reproduce a drilling system’s physical behaviors at lab scale through systematic analysis and design. First, a lumped parameter model is used to model the system dynamics. Through nondimensional stiffness ratios, which dictate the drill string material and geometric selection, the drill string’s elastic nature is reproduced. From this selection, the system parameters are further defined by the maximum allowable forces, derived from a bit–rock interaction model and chosen failure criteria. After development of a dynamics model and outline of design constraints, a systematic method of design and simulation of a customizable lab-scale drilling system is proposed.

scholarly journals Trajectory Azimuth Control Based on Equivalent Input Disturbance Approach for Directional Drilling Process

2021 ◽  
Vol 25 (1) ◽  
pp. 31-39
Author(s):  
Zhen Cai ◽  
Xuzhi Lai ◽  
Min Wu ◽  
Chengda Lu ◽  
Luefeng Chen ◽  
...  
Keyword(s):  
State Space Model ◽  
System Stability ◽  
Linear Matrix ◽  
Drilling Process ◽  
Drill Bit ◽  
Directional Drilling ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Input Disturbance ◽  
Equivalent Input Disturbance

This paper concerns with trajectory azimuth control in directional drilling. The motion process of the drill bit and a series of stabilizers are described, and a state-space model of the trajectory azimuth is constructed. The scheme of the trajectory azimuth control system is designed based on the equivalent input disturbance approach. An internal model is inserted to track the drill bit to improve the quality of the drilling trajectory. A state observer is combined with a low-pass filter to estimate the trajectory azimuth by measuring the azimuth of the bottom hole assembly (BHA). The control parameters can be obtained by the condition of system stability, which is derived in terms of linear matrix inequalities. A typical case is used to illustrate the validity and robustness of our approach.

Statistical Determination of Bit-Rock Interaction and Drill String Mechanics for Automatic Drilling Optimization

2020 ◽  
Author(s):  
Adrian Ambrus ◽  
Benoît Daireaux ◽  
Liv A. Carlsen ◽  
Rodica G. Mihai ◽  
Mohsen Karimi Balov ◽  
...  
Keyword(s):  
Transfer Function ◽  
Dynamic Models ◽  
Drill String ◽  
Model Parameters ◽  
Drilling Process ◽  
Transfer Function Model ◽  
Transient Effects ◽  
Model Approximation ◽  
Function Model ◽  
Rock Interaction

Abstract The ability to predict the response of a drill bit to the topside axial and rotational velocities of the drill-string is a prerequisite for any system aimed at automatically controlling the drilling parameters to optimize the rate of penetration and the overall quality of the well construction process. When drilling with a Polycrystalline Diamond Compact (PDC) bit, even the steady-state response can exhibit complex behavior, characterized by the presence of (at least) three different regimes whose range and parameters depend upon the bit characteristics and the mechanical properties of the formations being drilled. Transient effects significantly complicate the situation, especially when vibrations (axial, rotational or lateral) disturb the drilling process. Often, the root cause of these vibrations lies in the bit-rock interaction itself, while the drill string, through its elasticity and interaction with the borehole wall, may amplify or attenuate these vibrations. Therefore, continuous calibration of the drill string and bit-rock parameters from available surface and downhole measurements is critical for any automated control system relying on dynamic models of the drilling process. We present a calibration procedure whose goal is two-fold: first, to identify the time-varying parameters involved in the bit-rock interaction, and second, to provide a low-order, transfer function model approximation of the drill string axial and rotational dynamics. Our approach is based on particle filter techniques and a refined instrumental variable method for transfer function model estimation, and allows for real-time estimation of the various model parameters. We illustrate its behavior against recorded drilling data, where the proposed methods are shown to capture the different dynamics in place. We explain, in addition, how the calibrated drill string and bit-rock interaction models can be integrated in a framework to identify drilling parameter regions prone to axial or rotational vibrations.

scholarly journals Stochastic modeling for hysteretic bit–rock interaction of a drill string under torsional vibrations

2019 ◽  
Vol 25 (10) ◽  
pp. 1663-1672 ◽  
Author(s):  
Fabio F. Real ◽  
Anas Batou ◽  
Thiago G. Ritto ◽  
Christophe Desceliers
Keyword(s):  
Stochastic Model ◽  
Drill String ◽  
Hysteretic Behavior ◽  
Drilling Process ◽  
Torsional Vibrations ◽  
Stick Slip ◽  
Rock Interaction ◽  
Proposed Model ◽  
The Stability ◽  
Torque On Bit

This paper aims at constructing a stochastic model for the hysteretic behavior of the nonlinear bit–rock interaction of a drill string under torsional vibrations. The proposed model takes into account the fluctuations of the stick–slip oscillations observed during the drilling process. These fluctuations are modeled by introducing a stochastic process associated with the variations of the torque on bit, which is a function of the bit speed. The parameters of the stochastic model are calibrated with field data. The response of the proposed stochastic model, considering the random bit–rock interaction, is analyzed, and statistics related to the stability of the drill string are estimated.

PENGEMBANGAN ALAT UKUR COMPRESSION TESTER

2019 ◽  
Vol 3 (2) ◽  
pp. 111-118
Author(s):  
Bahtiar Wilantara ◽  
Raharjo Raharjo
Keyword(s):  
Pressure Gauge ◽  
Welding Process ◽  
Field Trials ◽  
Ease Of Use ◽  
Hole Drilling ◽  
Measurement Tool ◽  
Drilling Process ◽  
Measuring Instrument ◽  
Digital Compression ◽  
Materials Used

This study aims to develop an analog compression tester measuring instrument into a digital compression tester as a measurement tool that can provide effectiveness and efficiency to users.                     This research is a research and development or R&D. This research was conducted in several steps, namely: problem identification, information gathering, product design, product manufacture, expert validation, product revision, testing, final production. The development of analog compression tester was first validated by material experts, media experts, and 15 students, and 5 students for field trials. The subjects of this study were vocational students at Taman Karya Madya Teknik Kebumen. Data collection techniques used in this study using instruments in the form of a questionnaire. The data analysis technique of this research is descriptive qualitative and quantitative descriptive percentage.                 The results of the development of digital compression tester designs are: 1) the tools and materials used are electric drill, grinding, cutter, goggles, gloves, masks, ruler, acetaminine welding, screwdriver, scissors, digital dial pressure gauge, hose, spark plugs, clamps , and nepel, 2) the manufacturing process that starts from the cutting process, the hole drilling process, the welding process and the process of connecting between components, 3) the workings of digital compression tester design that is reading the pressure or compression of the machine displayed on the monitor digitally using dial pressure digital gauge, 4) the test results obtained from the validation results from: a) material experts at 89% or Eligible; b) media experts at 85% or reasonable; c) response of field trial students in terms of ease of use and reading of 90% or feasible. Thus, the conclusion that the digital compression tester measuring instrument declared feasible to use for measurement.

scholarly journals Kinematics and dynamics analysis of new rotary-percussive PDM drilling tool

2021 ◽  
pp. 146134842198915
Author(s):  
Jialin Tian ◽  
Xuehua Hu ◽  
Liming Dai ◽  
Lin Yang ◽  
Yi Yang ◽  
...  
Keyword(s):  
Drill String ◽  
Structure Design ◽  
Drilling Process ◽  
Analysis Model ◽  
Drilling Tool ◽  
Stick Slip ◽  
Rate Of Penetration ◽  
Bottom Hole ◽  
Bottom Hole Assembly ◽  
The Impact

This paper presents a new drilling tool with multidirectional and controllable vibrations for enhancing the drilling rate of penetration and reducing the wellbore friction in complex well structure. Based on the structure design, the working mechanism is analyzed in downhole conditions. Then, combined with the impact theory and the drilling process, the theoretical models including the various impact forces are established. Also, to study the downhole performance, the bottom hole assembly dynamics characteristics in new condition are discussed. Moreover, to study the influence of key parameters on the impact force, the parabolic effect of the tool and the rebound of the drill string were considered, and the kinematics and mechanical properties of the new tool under working conditions were calculated. For the importance of the roller as a vibration generator, the displacement trajectory of the roller under different rotating speed and weight on bit was compared and analyzed. The reliable and accuracy of the theoretical model were verified by comparing the calculation results and experimental test results. The results show that the new design can produce a continuous and stable periodic impact. By adjusting the design parameter matching to the working condition, the bottom hole assembly with the new tool can improve the rate of penetration and reduce the wellbore friction or drilling stick-slip with benign vibration. The analysis model can also be used for a similar method or design just by changing the relative parameters. The research and results can provide references for enhancing drilling efficiency and safe production.

scholarly journals Temperature monitoring in the subsurface during single lip deep hole drilling

2020 ◽  
Vol 87 (12) ◽  
pp. 757-767
Author(s):  
Robert Wegert ◽  
Vinzenz Guski ◽  
Hans-Christian Möhring ◽  
Siegfried Schmauder
Keyword(s):  
Cutting Parameters ◽  
Drill Hole ◽  
Machining Process ◽  
Hole Drilling ◽  
Drilling Process ◽  
Deep Hole ◽  
Machining Processes ◽  
Deep Hole Drilling ◽  
Feed Force ◽  
Cutting Zone

AbstractThe surface quality and the subsurface properties such as hardness, residual stresses and grain size of a drill hole are dependent on the cutting parameters of the single lip deep hole drilling process and therefore on the thermomechanical as-is state in the cutting zone and in the contact zone between the guide pads and the drill hole surface. In this contribution, the main objectives are the in-process measurement of the thermal as-is state in the subsurface of a drilling hole by means of thermocouples as well as the feed force and drilling torque evaluation. FE simulation results to verify the investigations and to predict the thermomechanical conditions in the cutting zone are presented as well. The work is part of an interdisciplinary research project in the framework of the priority program “Surface Conditioning in Machining Processes” (SPP 2086) of the German Research Foundation (DFG).This contribution provides an overview of the effects of cutting parameters, cooling lubrication and including wear on the thermal conditions in the subsurface and mechanical loads during this machining process. At first, a test set up for the in-process temperature measurement will be presented with the execution as well as the analysis of the resulting temperature, feed force and drilling torque during drilling a 42CrMo4 steel. Furthermore, the results of process simulations and the validation of this applied FE approach with measured quantities are presented.

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