Bilinear modelling and bilinear PI control of directional drilling

Abstract

This paper presents the design of an inclinationand azimuth-hold controllers and their subsequent stability and performance analysis for directional drilling tools as typically used in the oil industry. Using an input transformation developed in earlier work that partially linearizes and decouples the plant dynamics of the directional drilling tool, a bilinear model of the directional drilling tool is developed and is used as the basis for Bilinear PI controller design. Results for a transient simulation of the proposed BPI controller are presented and compared with that of the PI controller of the earlier work. It is presented that BPI controller gives more consistent responses over a broader operating range compared to the PI controller. In addition, the effect of time delay on the feedback measurements with respect to the stability and performance is investigated in the simulations.

Bilinear modelling, control and stability of directional drilling

“…To handle these disturbances, measurement delay and inconsistency of the azimuth responses in the attitude control of the directional drilling tool, this paper, with the extension of some of the works of Panchal et al (2010) and Inyang et al (2016), presents the design of a Bilinear Proportional plus Integral (BPI) controller which automatically holds the attitude of directional drilling tools at the desired attitude, and also significantly reduce the adverse effects of disturbances and measurement delay on stability and performance of directional drilling tools. The BPI controller is considered to provide more consistent azimuth responses over a wider range of directional drilling tool operations.…”