Combined Control Mechanism of Weight on Bit and Rate of Penetration with a Downhole Robot in the Coiled-Tubing Drilling Process

SPE Journal ◽  
2021 ◽  
pp. 1-14
Author(s):  
Jianguo Zhao ◽  
Shuo Han ◽  
Qingyou Liu ◽  
Ying Zhang ◽  
Xiaohua Xiao ◽  
...  
Keyword(s):  
Control Method ◽  
Drilling Fluid ◽  
Differential Pressure ◽  
Maximum Pressure ◽  
Control Parameters ◽  
Rate Of Penetration ◽  
Fluid Displacement ◽  
Combined Control ◽  
Weight On Bit ◽  
Downhole Robot

Summary Downhole robots were used to solve the problem of downhole tool transportation in an oil/gas horizontal well. However, current downhole robots do not control the weight on bit (WOB) and rate of penetration (ROP). This paper proposes the combined control method of WOB and ROP using an electric proportional overflow valve (EPOV) and an electric proportional throttle valve (EPTV). First, the mathematical model of the electrohydraulic control of the downhole robot is established. It is found that when the maximum pressure of the EPOV is greater than the differential pressure between the inner and outer of the downhole robot, the control parameters are drilling-fluid displacement and circulation area of the EPTV. When the maximum pressure of the EPOV is less than the differential pressure between the inner and outer of the downhole robot, the control parameters are drilling-fluid displacement, circulation area of the EPTV, and pressure of the EPOV. Moreover, it is found that the relationship of WOB and ROP in the combined control method is a surface rather than a line in a 2D coordinate. Therefore, the downhole robot can be adjusted while drilling at a stable ROP or a stable WOB. Finally, the combined control method of WOB and ROP with the downhole robot proposed in this paper was verified with an experiment. According to the experimental data, it is further found that an EPOV cannot only control WOB and ROP, but also can control the upper limit of WOB fluctuation. Thus, the control of WOB fluctuation can protect the bit from damage and prolong the life of the bit. This paper presents a foundation for the control of WOB and ROP with downhole robots. It has scientific and engineering significance for promoting downhole robots in drilling engineering.

scholarly journals A study on weight-on-bit data correction method of a near-bit measuring tool

2019 ◽  
Vol 11 (1) ◽  
pp. 168781401882151 ◽  
Author(s):  
Xiaofeng Xu ◽  
Yingfeng Meng ◽  
Yonghui Liu ◽  
Yueying Ji
Keyword(s):  
Drilling Fluid ◽  
Drill String ◽  
Measured Data ◽  
Differential Pressure ◽  
Well Testing ◽  
Force Analysis ◽  
The Real ◽  
Axial Forces ◽  
Weight On Bit ◽  
Measuring Tool

The real weight on bit is difficult to observe or estimate in highly deviated wells and extended-reach wells since complex loads are acted on drill string. Near-bit measurement while drilling tools, which are generally used to address this issue, can only measure axial forces based on axial strains instead of the real WOB. Axial forces on near-bit drill string are mainly controlled by buoyancy force of drilling fluid, circulating pressure, and other factors. To some extent, the measured data can be corrected by force analysis. It should be noted that experiments must be conducted to study the influences of differential pressure and temperature on measured WOB data of near-bit measuring tool. This article presents calculating method of real WOB via correction of measured data, based on force analysis of a self-developed near-bit measuring tool and experiments on influences of differential pressure and downhole temperature. Field test indicates that higher deviation angle will lead to a greater difference between real WOB and the indicated value at wellhead. Multi-well testing data verification indicates that this method is effective and reliable in extracting real WOB, and helpful to accurately identify the running state of bottom-hole assembly.

scholarly journals Real-Time Measurement of Drilling Fluid Rheological Properties: A Review

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3592
Author(s):  
Naipeng Liu ◽  
Di Zhang ◽  
Hui Gao ◽  
Yule Hu ◽  
Longchen Duan
Keyword(s):  
Decision Making ◽  
Rheological Properties ◽  
Real Time ◽  
Drilling Fluid ◽  
Time Measurement ◽  
Decision Making Process ◽  
Rate Of Penetration ◽  
The Real ◽  
Real Time Measurement ◽  
Fluid Properties

The accurate and frequent measurement of the drilling fluid’s rheological properties is essential for proper hydraulic management. It is also important for intelligent drilling, providing drilling fluid data to establish the optimization model of the rate of penetration. Appropriate drilling fluid properties can improve drilling efficiency and prevent accidents. However, the drilling fluid properties are mainly measured in the laboratory. This hinders the real-time optimization of drilling fluid performance and the decision-making process. If the drilling fluid’s properties cannot be detected and the decision-making process does not respond in time, the rate of penetration will slow, potentially causing accidents and serious economic losses. Therefore, it is important to measure the drilling fluid’s properties for drilling engineering in real time. This paper summarizes the real-time measurement methods for rheological properties. The main methods include the following four types: an online rotational Couette viscometer, pipe viscometer, mathematical and physical model or artificial intelligence model based on a Marsh funnel, and acoustic technology. This paper elaborates on the principle, advantages, limitations, and usage of each method. It prospects the real-time measurement of drilling fluid rheological properties and promotes the development of the real-time measurement of drilling rheological properties.

Pipe stick problems of deep well drilling

2021 ◽  
Vol 66 (05) ◽  
pp. 192-195
Author(s):  
Rövşən Azər oğlu İsmayılov ◽  
Keyword(s):  
Drilling Fluid ◽  
Drill Pipe ◽  
Drill String ◽  
Differential Pressure ◽  
Drilling Mud ◽  
Fluid Circulation ◽  
Well Drilling ◽  
Deep Well ◽  
Pressure Pipe ◽  
Bottomhole Pressure

The aricle is about the pipe stick problems of deep well drilling. Pipe stick problem is one of the drilling problems. There are two types of pipe stick problems exist. One of them is differential pressure pipe sticking. Another one of them is mechanical pipe sticking. There are a lot of reasons for pipe stick problems. Indigators of differential pressure sticking are increase in torque and drug forces, inability to reciprocate drill string and uninterrupted drilling fluid circulation. Key words: pipe stick, mecanical pipe stick,difference of pressure, drill pipe, drilling mud, bottomhole pressure, formation pressure

scholarly journals A model reference adaptive variable impedance control method for robot

2021 ◽  
Vol 336 ◽  
pp. 03005
Author(s):  
Xinchao Sun ◽  
Lianyu Zhao ◽  
Zhenzhong Liu
Keyword(s):  
Real Time ◽  
Tracking Control ◽  
Control Method ◽  
Impedance Control ◽  
Tracking Error ◽  
Reference Trajectory ◽  
Control Parameters ◽  
Model Reference ◽  
Force Tracking ◽  
Model Reference Adaptive

As a simple and effective force tracking control method, impedance control is widely used in robot contact operations. The internal control parameters of traditional impedance control are constant and cannot be corrected in real time, which will lead to instability of control system or large force tracking error. Therefore, it is difficult to be applied to the occasions requiring higher force accuracy, such as robotic medical surgery, robotic space operation and so on. To solve this problem, this paper proposes a model reference adaptive variable impedance control method, which can realize force tracking control by adjusting internal impedance control parameters in real time and generating a reference trajectory at the same time. The simulation experiment proves that compared with the traditional impedance control method, this method has faster force tracking speed and smaller force tracking error. It is a better force tracking control method.

scholarly journals Stable Dispersed MoS2 Nanosheets in Liquid Lubricant with Enhanced Rate of Penetration for Directional Well

2016 ◽  
Vol 2016 ◽  
pp. 1-8 ◽  
Author(s):  
Fuwei Lu ◽  
Hui Du ◽  
Zhaojun Chen ◽  
Xianbin Zhang ◽  
Houping Gong ◽  
...  
Keyword(s):  
Layer Structure ◽  
Drilling Fluid ◽  
Nitrogen Atmosphere ◽  
Experimental Results ◽  
Reverse Microemulsion ◽  
Mos2 Nanosheets ◽  
Rate Of Penetration ◽  
Liquid Lubricant ◽  
Total Proportion ◽  
Drilling Velocity

MoS2 nanosheets of approx. 100 nm were synthesized by a reverse microemulsion route firstly, then were annealed under nitrogen atmosphere, and were finally modified with 1-dodecanethiol. The prepared MoS2 nanosheets were characterized by XRD, TEM, FTIR, and so forth. Experimental results show that MoS2 nanosheets with the typical layer structure can be easily dispersed in oil lubricant for rate of penetration (ROP) increasing in directional well. The ROP of directional well with the prepared liquid lubricant was 52.9% higher than that of the similar directional wells at least, and the drilling velocity was increased 20% while the total proportion of lubricant in drilling fluid was 1.5%.

Micro-Testing While Drilling for Rate of Penetration Optimization: Experiments and Simulations

2021 ◽  
pp. 1-49
Author(s):  
Magnus Nystad ◽  
Bernt Aadnoy ◽  
Alexey Pavlov
Keyword(s):  
Optimization Method ◽  
Extremum Seeking ◽  
Constraint Handling ◽  
Drilling Process ◽  
Test Results ◽  
Rate Of Penetration ◽  
Drilling Rig ◽  
Model Free ◽  
Drilling Parameters ◽  
Weight On Bit

Abstract The Rate of Penetration (ROP) is one of the key parameters related to the efficiency of the drilling process. Within the confines of operational limits, the drilling parameters affecting the ROP should be optimized to drill more efficiently and safely, to reduce the overall cost of constructing the well. In this study, a data-driven optimization method called Extremum Seeking (ES) is employed to automatically find and maintain the optimal Weight on Bit (WOB) which maximizes the ROP. The ES algorithm is a model-free method which gathers information about the current downhole conditions by automatically performing small tests with the WOB and executing optimization actions based on the test results. In this paper, this optimization method is augmented with a combination of a predictive and a reactive constraint handling technique to adhere to operational limitations. These methods of constraint handling within ES application to drilling are demonstrated for a maximal limit imposed on the surface torque, but the methods are generic and can be applied on various drilling parameters. The proposed optimization scheme has been tested with experiments on a downscaled drilling rig and simulations on a high-fidelity drilling simulator of a full-scale drilling operation. The experiments and simulations show the method's ability to steer the system to the optimum and to handle constraints and noisy data, resulting in safe and efficient drilling at high ROP.

An optimal control method for time-delay feedback control of 1/4 vehicle active suspension under random excitation

2021 ◽  
pp. 146134842110592
Author(s):  
Kaiwei Wu ◽  
Chuanbo Ren ◽  
Yuanchang Chen
Keyword(s):  
Time Delay ◽  
Feedback Control ◽  
Control Method ◽  
Harmonic Excitation ◽  
Random Excitation ◽  
Vehicle Body ◽  
Vehicle Suspension ◽  
Control Parameters ◽  
Damping Effect ◽  
Delay Feedback Control

Time-delay feedback control can effectively broaden the damping frequency band and improve the damping efficiency. However, the existing time-delay feedback control strategy has no obvious effect on multi-frequency random excitation vibration reduction control. That is, when the frequency of external excitation is more complicated, there is no better way to obtain the best time-delay feedback control parameters. To overcome this issue, this paper is the first work of proposing an optimal calculation method that introduces stochastic excitation into the process of solving the delay feedback control parameters. It is a time-delay control parameter with a better damping effect for random excitation. In this paper, a 2 DOF one-quarter vehicle suspension model with time-delay is studied. First, the stability interval of time-delay feedback control parameters is solved by using the Lyapunov stability theory. Second, the optimal control parameters of the time-delay feedback control under random excitation are solved by particle swarm optimization (PSO). Finally, the simulation models of a one-quarter vehicle suspension simulation model are established. Random excitation and harmonic excitation are used as inputs. The response of the vehicle body under the frequency domain damping control method and the proposed control method is compared and simulated. To make the control precision higher and the solution speed faster, this paper simulates the model by using the precise integration method of transient history. The simulation results show that the acceleration of the vehicle body in the proposed control method is 13.05% less than the passive vibration absorber under random excitation. Compared with the time-delay feedback control optimized by frequency response function, the damping effect is 12.99%. The results show that the vibration displacement, vibration velocity, and vibration acceleration of the vehicle body are better than the frequency domain function optimization method, whether it is harmonic excitation or random excitation. The ride comfort of the vehicle is improved obviously. It provides a valuable tool for time-delay vibration reduction control under random excitation.

Braking characteristics integrating open working chamber model and hydraulic control system model in a hydrodynamic retarder

2018 ◽  
Vol 233 (6) ◽  
pp. 1952-1971 ◽  
Author(s):  
Hongbin Mu ◽  
Wei Wei ◽  
Lingxing Kong ◽  
Yulong Zhao ◽  
Qingdong Yan
Keyword(s):  
Control System ◽  
System Integration ◽  
Control Method ◽  
Control Parameters ◽  
Hydraulic Control ◽  
Braking Performance ◽  
Working Chamber ◽  
Braking Torque ◽  
Open Working ◽  
Hydraulic Control System

Hydraulic control system has important influence on the steady and transient braking performance of a hydrodynamic retarder. The braking characteristics of hydrodynamic retarder regulated by hydraulic control system should be investigated first, before designing and making the braking strategy and control method. The accurate and detailed braking characteristics models of open working chamber and hydraulic control system are established, integrated, and validated by steady and dynamic experimental data. Based on full factorial design experimental method, the influence of control parameters on braking performance achieving steady state is analyzed with parameter sensitivity, and the effect of control parameters on braking response characteristics is conducted. Then the influence of different tube lengths between working chamber and hydraulic control system on braking performance is discussed and analyzed. The results show the control pressure and rotor rotational speed both have significant impact on braking characteristics with obvious nonlinear, coupling, and interaction effect. The longer response time of hydraulic control system will be for the larger braking torque. Shortening the tube lengths as much as possible is needed to improve the braking torque, cooling flow rate, and system integration.

Modified Predictive Control for a Class of Electro-Hydraulic Actuator

2016 ◽  
Vol 6 (2) ◽  
pp. 630
Author(s):  
Abdulrahman A.A. Emhemed ◽  
Rosbi Bin Mamat ◽  
Ahmad ‘Athif Mohd Faudzi ◽  
Mohd Ridzuan Johary ◽  
Khairuddin Osman
Keyword(s):  
Simulation Model ◽  
Predictive Control ◽  
Position Control ◽  
Control Method ◽  
Quick Response ◽  
Control Parameters ◽  
System Matrix ◽  
Hydraulic Actuator ◽  
Matrix Formulation ◽  
Control Matrix

<span>Many model predictive control (MPC) algorithms have been proposed in the literature depending on the conditionality of the system matrix and the tuning control parameters. A modified predictive control method is proposed in this paper. The modified predictive method is based on the control matrix formulation combined with optimized move suppression coefficient. Poor dynamics and high nonlinearities are parts of the difficulties in the control of the Electro-Hydraulic Actuator (EHA) functions, which make the proposed matrix an attractive solution. The developed controller is designed based on simulation model of a position control EHA to reduce the overshoot of the system and to achieve better and smoother tracking. The performance of the designed controller achieved quick response and accurate behavior of the tracking compared to the previous study.</span>

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