7,534 research outputs found
Control-Oriented Modeling for Managed Pressure Drilling Automation Using Model Order Reduction
Automation of Managed Pressure Drilling (MPD) enables fast and accurate pressure control in drilling operations. The performance that can be achieved by automated MPD is determined by, firstly, the controller design and, secondly, the hydraulics model that is used as a basis for controller design. On the one hand, such hydraulics model should be able to accurately capture essential flow dynamics, e.g., wave propagation effects, for which typically complex models are needed. On the other hand, a suitable model should be simple enough to allow for extensive simulation studies supporting well scenario analysis and high-performance controller design. In this paper, we develop a model order reduction approach for the derivation of such a control-oriented model for {single-phase flow} MPD {operations}. In particular, a nonlinear model order reduction procedure is presented that preserves key system properties such as stability and provides guaranteed (accuracy) bounds on the reduction error. To demonstrate the quality of the derived control-oriented model, {comparisons with field data and} both open-loop and closed-loop simulation-based case studies are presented
How to recognise a kick : A cognitive task analysis of drillersā situation awareness during well operations
Acknowledgements This article is based on a doctoral research project of the first author which was sponsored by an international drilling rig operator. The views presented are those of the authors and should not be taken to represent the position or policy of the sponsor. The authors wish to thank the industrial supervisor and the drilling experts for their contribution and patience, as well as Aberdeen Drilling School for allowing the first author to attend one of their well control courses.Peer reviewedPostprin
Adaptive PI Control of Bottom Hole Pressure during Oil Well Drilling
acceptedVersionNivƄ
Design, development and control of a managed pressure drilling setup
Drilling in challenging conditions require precise control over hydrodynamic parameters
for safer and efficient operation in oil and gas industries. Automated managed
pressure drilling (MPD) is one of such drilling solution which helps to maintain operational
parameters effectively over conventional drilling technique. The main goal
is to maintain bottomhole pressure between reservoir formation pressure and fracture
pressure with kick mitigation ability. Real life MPD system has to confront nonlinearity
induced by drilling fluid rheology and flow parameters. To obtain a better
understanding of this operation, a lab scale experimental setup has been developed.
Reynolds number and pressure drop per unit length were considered to obtain hydrodynamic
similarity. A vertical concentric pipe arrangement has been used to represent
the drill string and annular casing region. A linearized gain switching proportional integral
(PI) controller and a nonlinear model predictive controller (NMPC) have been
developed to automate the control operation in the experimental setup. A linearizer
has been designed to address the choke nonlinearity. Based on the flow and pressure
criteria, a gain switching PI controller has been developed which is able to control
pressure and flow conditions during pipe extension, pump failure and influx attenuation
cases. On the other hand, a nonlinear Hammerstein-Weiner model has been
developed which assists in bottomhole pressure estimation using pump flow rate and
choke opening. The identified model has been integrated with a NMPC algorithm
to achieve effective control within predefined pressure and flow constraints. Lastly, a
performance comparison has been provided between the linearized gain switching PI
controller and NMPC controller
Advanced control of managed pressure drilling
Automation of managed pressure drilling (MPD) enhances the safety and increases
efficiency of drilling and that drives the development of controllers and observers
for MPD. The objective is to maintain the bottom hole pressure (BHP) within the
pressure window formed by the reservoir pressure and fracture pressure and also to
reject kicks. Practical MPD automation solutions must address the nonlinearities
and uncertainties caused by the variations in mud flow rate, choke opening, friction
factor, mud density, etc. It is also desired that if pressure constraints are violated the
controller must take appropriate actions to reject the ensuing kick. The objectives
are addressed by developing two controllers: a gain switching robust controller and a
nonlinear model predictive controller (NMPC). The robust gain switching controller
is designed using H1 loop shaping technique, which was implemented using high gain
bumpless transfer and 2D look up table. Six candidate controllers were designed in
such a way they preserve robustness and performance for different choke openings and
flow rates. It is demonstrated that uniform performance is maintained under different
operating conditions and the controllers are able to reject kicks using pressure control
and maintain BHP during drill pipe extension. The NMPC was designed to regulate
the BHP and contain the outlet flow rate within certain tunable threshold. The
important feature of that controller is that it can reject kicks without requiring any
switching and thus there is no scope for shattering due to switching between pressure
and flow control. That is achieved by exploiting the constraint handling capability of
NMPC. Active set method was used for computing control inputs. It is demonstrated
that NMPC is able to contain kicks and maintain BHP during drill pipe extension
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