Intelligentization of Rotary Steerable System (RSS) to Improve Tracking of Directional Drilling Planned Trajectory Using Robust

Document Type : Research Paper

Authors

Department of Petroleum Engineering, AmirKabir University of Technology, Tehran, Iran

Abstract

One of the challenges of directional drilling is guiding the bit in the appropriate direction so that it follows the planned path with minimal error. Improving the follow-up of the designed trajectory is especially important when the drilled layer is thin and if the drilling accuracy is low, it causes some problems in the well. In such cases, using smart tools, such as rotary steerable system (RSS) technology, is inevitable. In this paper, the Perneder-Detournay’s analytical method, which models the directional drilling system as a nonlinear delayed system with uncertainty, is used. To date, no proof of stability based on Lyapunov function has been performed to make this system intelligent. The main innovation of the present paper is that it has been able to provide a new formulation for system equations so that it is possible to use the Lyapunov function of delayed systems to prove system stability. For this purpose, in addition to reducing the order of the system, the nonlinear terms of the system have also become indefinite and entered the system. With these two changes, the optimal Lyapunov function for robust control of a linearly delayed system with uncertainty is extracted and by converting the Lyapunov function to linear matrix inequality (LMI) and then solving the LMI using the Mosek solver, the directional drilling system has been made smart and simulated. Finally, the tracking problem for the directional drilling system is solved. At all stages, the force coming from the RSS side is within the operational range of the directional drilling. Comparison of simulation results with previous works shows the improvement of the performance of the proposed intelligence method.

Keywords

References

 
[1]. Carden R S, Grace R D (2007) Directional horizontal drilling manual, petroskills, 1st edition, Tulsa, Oklahoma, Petroskills, LLC. AN OGCI Company, 1-409. ##           
[2]. Panchal N, Bayliss M T, Whidborne J F (2010) Robust linear feedback control of attitude for directional drilling tools, (13th IFAC Symposium on Automation in Mining, Mineral and Metal Processing), IFAC Proceedings, 43, 9: 92-97. ##
[3]. Kremers N A H, Detournay E, Van De Wouw N (2015) Model-based robust control of directional drilling systems, IEEE Transactions on Control Systems Technology, 24, 1: 226-239. ##
[4]. Peymani Y (2007) Smart wells concept, elements and applications, Paper presented at the 2nd Iranian Petroleum and Energy Club Congress, Tehran, Iran. ##
[5]. Geoph P. D. I. CAGC Column: Revised Alberta exploration directives will change the layout of future seismic programs, Official Publication of the Canadian Society of Exploration Geophysics, 1-43. ##
[6]. Schlumberger, Aker Solutions and Subsea 7 Create Joint Venture, Houston, Texas, the USA, 1-27864. ##
[7]. Wu K, Liu Z G, Sun C Y (2018) Robust control for a class of time-delay nonlinear systems via output feedback strategy, International Journal of Control, Automation and Systems, 16, 3: 1091-1102. ##
[8]. Lubinski A, Woods H (1953) Factors affecting the angle of inclination and dog-legging in rotary bore holes, Drilling and Production Practice, American Petroleum Institute, OnePetro. ##
[9]. Perneder L (2013) A three-dimensional mathematical model of directional drilling, University of Minnesota. ##
[10]. Downton G, Hendricks A (1999) New directions in rotary steerable drilling, Journal of Pascal and Francis Bibliographic Databases, 226: 26: 29. ##
[11]. Downton G C, Ignova M (2011) Stability and response of closed loop directional drilling system using lin ear delay differential equations, IEEE International Conference on Control Applications (CCA), IEEE. ##
[12]. Ma T, Li L (2018) Stability criteria on delay-dependent robust stability for uncertain neutral stochastic nonlinear systems with time-delay, Journal of Inequalities and Applications, 1: 1-19. ##
[13]. Matheus J, Ignova M, Hornblower P (2014) A hybrid approach to closed-loop directional drilling control using rotary steerable systems, SPE Latin America and Caribbean Petroleum Engineering Conference, Society of Petroleum Engineers. ##
[14] Zafarian H, Ameri M, Vaghasloo Y A (2021) Error reduction of tracking planned trajectory in a thin oil layer drilling using smart rotary steerable system, Journal of Petroleum Science and Engineering, 196: 107668. ##
[15]. Fridman E (2014) Introduction to time-delay systems: Analysis and control, Springer. ##
[16]. Wen J Y, Kreutz-Delgado K (1991) The attitude control problem, IEEE Transactions on Automatic Control, 36, 10: 1148-1162. ##
[17]. Bryan H H, Cox J, Blackwell D, Slayden F W, Naganathan S (2009) High-dogleg rotary-steerable systems: A step change in drilling process, SPE Annual Technical Conference and Exhibition, Society of Petroleum Engineers. ##
[18]. Boukas E K, Liu Z K (2002) Deterministic and stochastic time-delay systems, Springer Science and Business Media. ##
[19]. Ogata K (2010) Modern control engineering, Prentice hall, Technology and Engineering, 894. ##
[20]. Sun H, Li Z, Hovakimyan N, Başsar T, Downton G (2012) ℒ1 adaptive control for directional drilling systems, IFAC Proceedings, 45, 8: 72-77. ##
[21]. Loukianov A, Léchappé V, Sarkar M K (2017) Robust control for uncertain linear delay systems via sliding mode control, International Journal of Robust and Nonlinear Control, 27, 18: 4825-4845. ##
[22]. Krstic, M. (2009). Delay compensation for nonlinear, adaptive, and PDE systems, Springer, 978-0. ##
Journal of Petroleum Research
Volume 32, 1401-3 - Serial Number 124
September and October 2022
Pages 3-16

Files

Share

How to cite

Statistics