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Research Papers

Design and Experimental Validation of Nonlinear Infinite-Dimensional Adaptive Observer in Automated Managed Pressure Drilling

[+] Author and Article Information
Agus Hasan

Department of Cybernetics Engineering,
Norwegian University of Science
and Technology,
Trondheim 7134, Norway
e-mail: agha@mmmi.sdu.dk

Lars Imsland

Department of Cybernetics Engineering,
Norwegian University of Science
and Technology,
Trondheim 7134, Norway
e-mail: lars.imsland@itk.ntnu.no

Espen Hauge

Research and Technology,
Statoil ASA,
Ranheim 7053, Norway
e-mail: eshau@statoil.com

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 12, 2016; final manuscript received March 21, 2017; published online July 20, 2017. Assoc. Editor: Davide Spinello.

J. Dyn. Sys., Meas., Control 139(11), 111005 (Jul 20, 2017) (12 pages) Paper No: DS-16-1595; doi: 10.1115/1.4036553 History: Received December 12, 2016; Revised March 21, 2017

Utilizing flow rate and pressure data in and out of the fluid circulation loop provides a driller with real-time trends for early detection of well-control problems that impact the drilling efficiency. Due to limited number of sensors and time delay in processing and measurements, the flow rate and pressure along the annulus and drill string need to be estimated. This paper presents state and parameter estimations for infinite-dimensional models used in automated managed pressure drilling (MPD). The objective is to monitor the key process variables associated with process safety by designing a nonlinear adaptive observer that use the available information coming from the continuous-time online process measurements at the outlet of the well. The adaptive observer consists of a copy of the infinite-dimensional model plus output injection terms where the gain is computed analytically in terms of the Bessel function of the first kind. The design is tested using field data from a drilling commissioning test by Statoil ASA, Stavanger, Norway. The results show that the nonlinear adaptive observer estimates the flow rate and pressure of the drilling fluid accurately.

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References

Figures

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Fig. 1

Schematic of an automated MPD system [1]

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Fig. 2

Ullrigg test facility

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Fig. 3

Schematics of the flow-loop

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Fig. 4

The flow-loop facilities: (a) the main pump, (b) the pipes, (c) the bottom hole assembly, and (d) topside measurements

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Fig. 5

Loop profile in XZ-coordinate

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Fig. 6

Measured topside flow rate and pressure

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Fig. 7

Estimated and measured downhole pressure

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Fig. 8

Estimated and measured topside flow rate

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Fig. 9

Pressure estimation at different locations

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Fig. 10

Estimated and measured topside flow rate

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Fig. 11

Estimated and measured downhole pressure

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Fig. 12

Estimated and measured fluid loss

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Fig. 13

Control input U(t)

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Fig. 14

Controlled downhole pressure

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