Robust Dynamic Toolface Calculation for Automatic Steering Control with Rotary Steerable Systems Under Extreme Conditions

Ramakrishnan, G.; Demirer, Nazlı; Tilley, Jim

doi:10.2523/iptc-21366-ms

Cited by 2 publications

(1 citation statement)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Fred Florence studied the implementation of drilling systems automation-Halifax workshop summary: Industry standards, business models, and next steps [24]. Ganesh Ramakrishnan proposed robust dynamic tool face calculation for automatic steering control with rotary steerable systems under extreme conditions [25]. Steve Jones studied a fully mechanical vertical drilling system that delivers RSS performance in vertical drilling applications while providing an economical alternative to conventional rotary steerable This article has been accepted for publication in IEEE Access.…”

Section: Introductionmentioning

confidence: 99%

Random Weighting Adaptive Estimation of Model Errors on Attitude Measurement for Rotary Steerable System

Gao

Chen

2022

IEEE Access

View full text Add to dashboard Cite

During drilling, a rotary steerable system (RSS) is affected by vibration, rotation, and other random noises. This paper presents a random weighting adaptive estimation of model errors on attitude measurement for RSS drilling tools. The algorithm is used to estimate the covariance matrix of the dynamic model errors and the state prediction vectors for RSS tools, to reduce the effect of abnormal noises of the dynamic model on the estimation of state parameters. The random weighting estimations of observation's systematic error and covariance matrices of observation error vectors to control the effect of observation model noises anomaly on state parameter estimation, enhance the use efficiency of the latest observation information, indirectly weaken the impact of model error on state parameter vector, and improve the accuracy of attitude calculation of RSS. Experimental results and comparison analysis demonstrate that the proposed algorithm achieves better outcomes than the Kalman filtering and Extended Kalman filtering. The maximum solution error is controlled at 0.15°, and the tool face angle error is less than 3°. It cannot only control the covariance matrix of the observation error vector and predicted residual vector, but it can also effectively resist the disturbances of kinematic model error. It also can improve the dynamic measurement accuracy of attitude parameters, and solves the problem of uncertainty in dynamic attitude measurement of rotary steerable drilling tools.

show abstract

Section: Introductionmentioning

confidence: 99%

Random Weighting Adaptive Estimation of Model Errors on Attitude Measurement for Rotary Steerable System

Gao

Chen

2022

IEEE Access

View full text Add to dashboard Cite

show abstract

Decentralized Active Control of Distributed Damping Subs for Stick-Slip Reduction in Drilling

Nüsse,

Ambrus,

Aamo

2024

Day 1 Tue, March 05, 2024

View full text Add to dashboard Cite

Torsional stick-slip vibrations are a significant cause of drill string damage and failure. Using damping subs distributed along the drill string has been demonstrated in both simulations and laboratory experiments as a viable solution to reduce stick-slip in drilling. The effectiveness in mitigating stick-slip can be further improved through active control of the damping strength of one or several subs. This paper evaluates a control scheme, which relies only on local downhole measurements, for various operating conditions simulated with a drill string mechanics model. Damping subs with sleeves supported on bearings and incorporated eddy current brakes are installed along the drill string, adding viscous damping to the system to mitigate torsional vibrations. The damping amount is proportional to the relative rotational speed between the sleeve and the pipe, and therefore maximized when the sleeves are non-rotating. However, if the braking force surpasses the static friction holding the sleeve in place, the sleeve slips and reduces its braking abilities. To counteract this, an On-Off-based control scheme with proportional control (P-Off controller) is implemented at the level of each sub to manipulate the value of its damping coefficient. The Off condition is triggered when local measurements indicate slipping of the sleeve. Simulations of various drilling scenarios conducted with a coupled axial and torsional drill string model show that the P-Off controller can reduce stick-slip in the system in both off-bottom and on-bottom conditions. The results indicate that the average damping coefficient, and implicitly the torque added to the system, can be greatly reduced compared to a passive damping system, consisting of the same number and positioning of subs but with constant damping coefficients. Also, the settling time of the downhole rotational speed is significantly reduced compared to the passive system. The control scheme is decentralized as it relies only on local knowledge, such as pipe rotational speed inferred from an inertial measurement unit, to estimate the top drive revolutions per minute (RPM) setpoint. Therefore, communication with the surface or with neighboring subs is not a requirement for the control implementation. The controller also shows robustness against variations in the top drive RPM and noisy downhole measurements, which is important for a real-world application. The presented approach differs from existing downhole torsional vibration damping solutions, as it does not rely on a single tool placed inside or near the bottom-hole assembly, but on several subs distributed along the drill string, with their damping strength adjusted directly downhole in a decentralized manner.

show abstract

Robust Dynamic Toolface Calculation for Automatic Steering Control with Rotary Steerable Systems Under Extreme Conditions

Cited by 2 publications

References 12 publications

Random Weighting Adaptive Estimation of Model Errors on Attitude Measurement for Rotary Steerable System

Random Weighting Adaptive Estimation of Model Errors on Attitude Measurement for Rotary Steerable System

Decentralized Active Control of Distributed Damping Subs for Stick-Slip Reduction in Drilling

Contact Info

Product

Resources

About