JACIII Vol.25 No.1 pp. 31-39
doi: 10.20965/jaciii.2021.p0031


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

October 3, 2020
October 14, 2020
January 20, 2021
directional drilling process, trajectory azimuth, tracking control, 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.

Directional drilling trajectory azimuth

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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Last updated on Jun. 03, 2024