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

Zhen Cai; Xuzhi Lai; Min Wu; Chengda Lu; Luefeng Chen

doi:10.20965/jaciii.2021.p0031

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JACIII Vol.25 No.1 pp. 31-39

doi: 10.20965/jaciii.2021.p0031

(2021)

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

Zhen Cai^,,, Xuzhi Lai^,,,†, Min Wu^,,, Chengda Lu^,,, and Luefeng Chen^,,

^*School of Automation, China University of Geosciences
No.388 Lumo Road, Hongshan District, Wuhan, Hubei 430074, China

^**Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems
No.388 Lumo Road, Hongshan District, Wuhan, Hubei 430074, China

^***Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education
No.388 Lumo Road, Hongshan District, Wuhan, Hubei 430074, China

^†Corresponding author

Received:

October 3, 2020

Accepted:

October 14, 2020

Published:

January 20, 2021

Keywords:

directional drilling process, trajectory azimuth, tracking control, equivalent input disturbance

Abstract

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.

Directional drilling trajectory azimuth

Cite this article as:

Z. Cai, X. Lai, M. Wu, C. Lu, and L. Chen, “Trajectory Azimuth Control Based on Equivalent Input Disturbance Approach for Directional Drilling Process,” J. Adv. Comput. Intell. Intell. Inform., Vol.25 No.1, pp. 31-39, 2021.

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References

[1] N. Demirer, U. Zalluhoglu, J. Marck, R. Darbe, and M. Morari, “Autonomous Directional Drilling with Rotary Steerable Systems,” Proc. 2019 Amer. Control Conf. (ACC), pp. 5203-5208, 2019.
[2] C. Hansen, M. Stokes, R. Mieting, F. Quattrone, V. Klemme, K. N. Rao, I. Wassermann, and R. Zaeper, “Automated Trajectory Drilling for Rotary Steerable Systems,” Soc. Pet. Eng., SPE-199647-MS, doi: 10.2118/199647-MS, 2020.
[3] C. Zhang, W. Zou, N. Cheng, and J. Gao, “Trajectory tracking control for rotary steerable systems using interval type-2 fuzzy logic and reinforcement learning,” J. Franklin Inst., Vol.355, No.2, pp. 803-826, 2018.
[4] U. Zalluhoglu, H. Gharib, J. Marck, N. Demirer, and R. Darbe, “Steering advisory system for mud motors,” SPE/IADC Drilling Conf. Exhibition, Soc. Pet. Eng., SPE-194077-MS, 2019.
[5] N. Panchal, M. T. Bayliss, and J. Whidborne, “Attitude control system for directional drilling bottom hole assemblies,” IET Control Theory Appl., Vol.6, No.7, pp. 884-892, 2012.
[6] N. Panchal, M. T. Bayliss, and J. F. Whidborne, “Vector based kinematic closed-loop attitude control-system for directional drilling,” IFAC Proc. Vol., Vol.45, No.8, pp. 78-83, 2012.
[7] M. T. Bayliss and J. F. Whidborne, “Mixed uncertainty analysis of pole placement and H_∝ controllers for directional drilling attitude tracking,” J. Dyn. Sys., Meas., Control, Vol.137, No.12, 2015.
[8] M. Bayliss, C. Bogath, and J. Whidborne, “MPC-based feedback delay compensation scheme for directional drilling attitude control,” SPE/IADC Drilling Conf. Exhibition, doi: 10.2118/173009-MS, 2015.
[9] Y. Zhao, U. Zalluhoglu, J. Marck, N. Demirer, and M. Morari, “Model Predictive Control for Mud Motor Operation in Directional Drilling,” Proc. 2019 Amer. Control Conf. (ACC), pp. 5197-5202, 2019.
[10] N. Demirer, U. Zalluhoglu, J. Marck, H. Gharib, and R. Darbe, “A Model Predictive Control Method for Autonomous Directional Drilling,” SPE Ann. Tech. Conf. and Exhibition, doi: 10.2118/195917-MS, 2019.
[11] M. F. Shakib, E. Detournay, and N. V. D. Wouw, “Nonlinear dynamic modeling and analysis of borehole propagation for directional drilling,” Int. J. Nonlin. Mech., Vol.113, pp. 178-201, 2019.
[12] N. A. H. Kremers, E. Detournay, and N. V. D. Wouw, “Model-based robust control of directional drilling systems,” IEEE Trans. Control Syst. Technol., Vol.24, No.1, pp. 226-239, 2016.
[13] J. H. She, M. Fang, Y. Ohyama, H. Hashimoto, and M. Wu, “Improving disturbance-rejection performance based on an equivalent-input-disturbance approach,” IEEE Trans. Ind. Electron., Vol.55, No.1, pp. 380-389, 2008.
[14] F. Gao, M. Wu, J.-H. She, and W. Cao, “Disturbance rejection in nonlinear systems based on equivalent-input-disturbance approach,” Appl. Math. Comput., Vol.282, pp. 244-253, 2016.
[15] Z. Yan, X. Z. Lai, Q. Meng, and M. Wu, “A novel robust control method for motion control of uncertain Single-Link FLexible-Joint manipulator,” IEEE Trans. Syst., Man, Cybern., Syst., pp. 1-8, doi: 10.1109/TSMC.2019.2900502, 2019.
[16] C. Lu, M. Wu, X. Chen, W. Cao, C. Gan, and J.-H. She, “Torsional vibration control of drill-string systems with time-varying measurement delays,” Inf. Sci., Vol.467, pp. 528-548, 2018.
[17] Z. Cai, X. Z. Lai, M. Wu, W. H. Cao, and X. Chen, “Bilinear compensation control for attitude of directional drilling tools,” J. Control Decis., Vol.35, No.7, pp. 1758-1764, 2020 (in Chinese).
[18] U. Zalluhoglu, J. Marck, H. Gharib, and Y. Zhao, “Borehole propagation with undergauged stabilizers: Theory and validation,” J. Dyn. Sys., Meas., Control, Vol.141, No.5, 2019.
[19] L. Perneder, “A three-dimensional mathematical model of directonal drilling,” Ph.D. thesis, University of Minnesota, 2013.
[20] J. Mark and E. Detournay, “Analysis of spiraled-borehole data by use of a noval directional-drilling model,” SPE Drill. Complet., Complet., Vol.29, No.3, pp. 267-278, 2014.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] N. Demirer, U. Zalluhoglu, J. Marck, R. Darbe, and M. Morari, “Autonomous Directional Drilling with Rotary Steerable Systems,” Proc. 2019 Amer. Control Conf. (ACC), pp. 5203-5208, 2019.

[2] [2] C. Hansen, M. Stokes, R. Mieting, F. Quattrone, V. Klemme, K. N. Rao, I. Wassermann, and R. Zaeper, “Automated Trajectory Drilling for Rotary Steerable Systems,” Soc. Pet. Eng., SPE-199647-MS, doi: 10.2118/199647-MS, 2020.

[3] [3] C. Zhang, W. Zou, N. Cheng, and J. Gao, “Trajectory tracking control for rotary steerable systems using interval type-2 fuzzy logic and reinforcement learning,” J. Franklin Inst., Vol.355, No.2, pp. 803-826, 2018.

[4] [4] U. Zalluhoglu, H. Gharib, J. Marck, N. Demirer, and R. Darbe, “Steering advisory system for mud motors,” SPE/IADC Drilling Conf. Exhibition, Soc. Pet. Eng., SPE-194077-MS, 2019.

[5] [5] N. Panchal, M. T. Bayliss, and J. Whidborne, “Attitude control system for directional drilling bottom hole assemblies,” IET Control Theory Appl., Vol.6, No.7, pp. 884-892, 2012.

[6] [6] N. Panchal, M. T. Bayliss, and J. F. Whidborne, “Vector based kinematic closed-loop attitude control-system for directional drilling,” IFAC Proc. Vol., Vol.45, No.8, pp. 78-83, 2012.

[7] [7] M. T. Bayliss and J. F. Whidborne, “Mixed uncertainty analysis of pole placement and H_∝ controllers for directional drilling attitude tracking,” J. Dyn. Sys., Meas., Control, Vol.137, No.12, 2015.

[8] [8] M. Bayliss, C. Bogath, and J. Whidborne, “MPC-based feedback delay compensation scheme for directional drilling attitude control,” SPE/IADC Drilling Conf. Exhibition, doi: 10.2118/173009-MS, 2015.

[9] [9] Y. Zhao, U. Zalluhoglu, J. Marck, N. Demirer, and M. Morari, “Model Predictive Control for Mud Motor Operation in Directional Drilling,” Proc. 2019 Amer. Control Conf. (ACC), pp. 5197-5202, 2019.

[10] [10] N. Demirer, U. Zalluhoglu, J. Marck, H. Gharib, and R. Darbe, “A Model Predictive Control Method for Autonomous Directional Drilling,” SPE Ann. Tech. Conf. and Exhibition, doi: 10.2118/195917-MS, 2019.

[11] [11] M. F. Shakib, E. Detournay, and N. V. D. Wouw, “Nonlinear dynamic modeling and analysis of borehole propagation for directional drilling,” Int. J. Nonlin. Mech., Vol.113, pp. 178-201, 2019.

[12] [12] N. A. H. Kremers, E. Detournay, and N. V. D. Wouw, “Model-based robust control of directional drilling systems,” IEEE Trans. Control Syst. Technol., Vol.24, No.1, pp. 226-239, 2016.

[13] [13] J. H. She, M. Fang, Y. Ohyama, H. Hashimoto, and M. Wu, “Improving disturbance-rejection performance based on an equivalent-input-disturbance approach,” IEEE Trans. Ind. Electron., Vol.55, No.1, pp. 380-389, 2008.

[14] [14] F. Gao, M. Wu, J.-H. She, and W. Cao, “Disturbance rejection in nonlinear systems based on equivalent-input-disturbance approach,” Appl. Math. Comput., Vol.282, pp. 244-253, 2016.

[15] [15] Z. Yan, X. Z. Lai, Q. Meng, and M. Wu, “A novel robust control method for motion control of uncertain Single-Link FLexible-Joint manipulator,” IEEE Trans. Syst., Man, Cybern., Syst., pp. 1-8, doi: 10.1109/TSMC.2019.2900502, 2019.

[16] [16] C. Lu, M. Wu, X. Chen, W. Cao, C. Gan, and J.-H. She, “Torsional vibration control of drill-string systems with time-varying measurement delays,” Inf. Sci., Vol.467, pp. 528-548, 2018.

[17] [17] Z. Cai, X. Z. Lai, M. Wu, W. H. Cao, and X. Chen, “Bilinear compensation control for attitude of directional drilling tools,” J. Control Decis., Vol.35, No.7, pp. 1758-1764, 2020 (in Chinese).

[18] [18] U. Zalluhoglu, J. Marck, H. Gharib, and Y. Zhao, “Borehole propagation with undergauged stabilizers: Theory and validation,” J. Dyn. Sys., Meas., Control, Vol.141, No.5, 2019.

[19] [19] L. Perneder, “A three-dimensional mathematical model of directonal drilling,” Ph.D. thesis, University of Minnesota, 2013.

[20] [20] J. Mark and E. Detournay, “Analysis of spiraled-borehole data by use of a noval directional-drilling model,” SPE Drill. Complet., Complet., Vol.29, No.3, pp. 267-278, 2014.

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

Zhen Cai*,**,***, Xuzhi Lai*,**,***,†, Min Wu*,**,***, Chengda Lu*,**,***, and Luefeng Chen*,**,***

Zhen Cai^,,, Xuzhi Lai^,,,†, Min Wu^,,, Chengda Lu^,,, and Luefeng Chen^,,