Observer Design for a Well-bore Drilling System with Down-hole Measurement Feedback

[+] Author and Article Information
Dongzuo Tian

Department of Mechanical Engineering, College of Engineering, Texas A&M University, College Station, Texas, USA

Xingyong Song

Department of Engineering Technology and Industrial Distribution, Department of Mechanical Engineering, College of Engineering, Texas A&M University, College Station, Texas, USA

1Corresponding author.

ASME doi:10.1115/1.4038859 History: Received August 25, 2017; Revised December 03, 2017


The increasingly complex oil & gas well-bore condition and the need of drilling in more challenging down-hole environments motivate rising research on the drilling control system based on real-time state feedback or measurements from the bottom of the well-bore. However, due to the complex downhole condition and cost-viability, mud pulse telemetry is normally used in this industry to transmit the down-hole 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 down-hole condition, based on the delayed down-hole 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 are shown through numerical results.

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