Vector Based Kinematic Closed-Loop Attitude Control-System for Directional Drilling

Panchal, Neilkunal; Bayliss, Martin T.; Whidborne, James F.

doi:10.3182/20120531-2-no-4020.00025

Cited by 5 publications

(3 citation statements)

References 6 publications

(9 reference statements)

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“…To obtain u r (ξ ) satisfying (24), it to ensure the satisfaction of the first scalar equation of the vector (24), since by definition if (ξ ) = r (ξ ) then 1 (ξ ) = 1r (ξ ) and 2 (ξ ) = 2r (ξ ). The solution for u r that solves ( 24) is thus given as…”

Section: A Controller Structurementioning

confidence: 99%

Model-Based Robust Control of Directional Drilling Systems

Kremers

Detournay

Wouw

2016

IEEE Trans. Contr. Syst. Technol.

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Section: A Controller Structurementioning

confidence: 99%

Model-Based Robust Control of Directional Drilling Systems

Kremers

Detournay

Wouw

2016

IEEE Trans. Contr. Syst. Technol.

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“…In some existing results, the control of the attitude of drilling tools was mainly studied. Panchal et al [6,7] constructed two models to describe the nonlinear motion of drilling tool attitude, based on which some control approaches [8,9] are further proposed to achieve the better control of drilling tool attitude. Meanwhile, our previous work [10,11] made some modifications to Panchal's models and proposed an improved control strategy and a compensation control method.…”

Section: Introductionmentioning

confidence: 99%

Observer‐based trajectory control for directional drilling process

Cai

Lai

et al. 2021

Asian Journal of Control

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This paper is concerned with observer-based trajectory control of directional drilling system with rotary steering devices. Since the trajectory orientation cannot be measured directly, most of the existing results implicitly assume that the trajectory orientation is equal to the measurement of orientation of the bottom hole assembly (BHA) or the drill bit, which would bring in certain control errors in practice. To avoid such control errors, in this paper, a trajectory control approach is established, which includes a state observer to estimate the trajectory orientation based on the measurement of the BHA orientation. Firstly, the relationship between the trajectory orientation and the BHA orientation is analyzed, and a trajectory evolution model is introduced according to the analysis. Secondly, based on this trajectory evolution model, a variable transformation technique is applied such that a trajectory tracking control problem is formulated. Thirdly, a feedback control strategy is devised based on the estimation of the trajectory orientation for trajectory tracking. Fourthly, stability analysis of the closed-loop system is discussed, and the design of the controller and state observer is done.

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“…Some works on input‐output correlation models have been proposed in the work of Matheus et al; herein, no clear explanation on the evolution of the system dynamics regarding the influence of forces in the model or the controller itself is given. In the works of Panchal et al, controllers are developed based on empirical models of the borehole propagation process, in which a direct link between the force applied by the RSS and the curvature of the borehole is assumed. This approach ignores the (physically relevant) transient behavior of the borehole propagation, which is essential in preventing borehole spiraling.…”

Section: Introductionmentioning

confidence: 99%

Robust output‐feedback control of 3D directional drilling systems

Magaña

Monsieurs

Detournay

et al. 2018

Intl J Robust & Nonlinear

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Summary This paper introduces a robust observer‐based output feedback control strategy that enables the generation of complex three‐dimensional borehole trajectories created by directional drilling systems, while avoiding undesired transient behavior. The model‐based controller relies on a set of nonlinear delay differential equations describing the borehole evolution. Herein, only local orientation measurements of the bottom hole assembly of the drilling system are employed. Controller and observer gains are synthesized by optimizing the location of the rightmost pole of the closed‐loop dynamics, using a spectral approach for delay differential equations. Moreover, the strategy is extended to cope with the uncertainty of key system parameters in the directional drilling process. The effectiveness of the designed controller is tested in an illustrative benchmark study.

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Vector Based Kinematic Closed-Loop Attitude Control-System for Directional Drilling

Cited by 5 publications

References 6 publications

Model-Based Robust Control of Directional Drilling Systems

Model-Based Robust Control of Directional Drilling Systems

Observer‐based trajectory control for directional drilling process

Robust output‐feedback control of 3D directional drilling systems

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