Research Papers

Observer Design for a Wellbore Drilling System With Downhole Measurement Feedback

[+] Author and Article Information
Dongzuo Tian

Department of Mechanical Engineering,
College of Engineering,
Texas A&M University,
College Station, TX 77843
e-mail: tian.do@tamu.edu

Xingyong Song

Department of Engineering Technology and
Industrial Distribution;
Department of Mechanical Engineering,
College of Engineering,
Texas A&M University,
College Station, TX 77843
e-mail: songxy@tamu.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received August 25, 2017; final manuscript received December 3, 2017; published online February 13, 2018. Assoc. Editor: Mahdi Shahbakhti.

J. Dyn. Sys., Meas., Control 140(7), 071012 (Feb 13, 2018) (10 pages) Paper No: DS-17-1424; doi: 10.1115/1.4038859 History: Received August 25, 2017; Revised December 03, 2017

The increasingly complex oil and gas wellbore condition and the need of drilling in more challenging downhole environments motivate rising research on the drilling control system based on real-time state feedback or measurements from the bottom of the wellbore. However, due to the complex downhole condition and cost-viability, mud pulse telemetry is normally used in this industry to transmit the downhole measurements to the surface, which can cause a large data communication delay as a result of its low bandwidth and slow mud pulse transmission. Since the major drilling control is on the surface, an observer is required to estimate the real-time states of the drilling dynamics as well as the downhole condition, based on the delayed downhole measurement. In this study, we first construct a drilling system dynamics model with coupled axial and torsional dynamics. Then, with the existence of a large output measurement delay, two chain-observer design strategies are introduced for the case of slowly varying control inputs and that of fast-varying control inputs, respectively. The effectiveness of the proposed observer design methods is shown through numerical results.

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Fig. 1

Drill string schematic and model: (a) drill string schematic and (b) drill string model

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Fig. 2

Structure of the chain observer

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Fig. 3

DoC-ϕ˙3 curves of both revised DoC dδ¯ and original DoC d, given δ¯=0.001 and y˙3=0.001 (m/s)

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Fig. 4

True and estimated states of the bit for slowly varying input system using dual-observer with τb = 360 (s) (true state: dashed line; estimated state: solid line)

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Fig. 5

Fb-d and Tb-d curves (original reactions: dashed line; smoothed reactions: solid line)

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Fig. 6

True and estimated states of the bit for fast-varying input system using chain observer with m = 2, τb = 360 (s) (true state: dashed line; estimated state: solid line)

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Fig. 7

Euclidean norm of the observation error for fast-varying input system using chain observer with m = 2, τb = 360 (s)

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Fig. 8

Variation of DoC with m = 2, τb = 360 (s)

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Fig. 9

Real and estimated states of the bit's axial velocity with increased amplitude inputs using both linear and nonlinear observer design approaches with τb = 360 (s) (true state: dashed line; estimated state: solid line): (a) linear observer design and (b) nonlinear observer design



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