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Research Papers

Trajectory Tracking and Rate of Penetration Control of Downhole Vertical Drilling System

[+] Author and Article Information
Masood Ghasemi

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

Xingyong Song

Assistant Professor
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 September 18, 2017; final manuscript received February 4, 2018; published online March 30, 2018. Assoc. Editor: Mahdi Shahbakhti.

J. Dyn. Sys., Meas., Control 140(9), 091003 (Mar 30, 2018) (11 pages) Paper No: DS-17-1475; doi: 10.1115/1.4039365 History: Received September 18, 2017; Revised February 04, 2018

This paper investigates a nonlinear control design for trajectory tracking and rate of penetration (ROP) control of the vertical downhole drilling process. The drilling system dynamics are first built incorporating the coupled axial and torsional dynamics together with a velocity-independent drill bit–rock interaction model. Given the underactuated, nonlinear, and nonsmooth feature of the drilling dynamics, we propose a control design that can prevent significant downhole vibrations, enable accurate tracking, and achieve desired rate of penetration. It can also ensure robustness against modeling uncertainties and external disturbances. The controller is designed using a sequence of hyperplanes given in a cascade structure. The tracking control is achieved in two phases, where in the first phase the drilling system states converge to a high-speed drilling regime free of stick–slip behavior, and in the second phase, the error dynamics can asymptotically converge. Finally, we provide simulation results considering different case studies to evaluate the efficacy and the robustness of the proposed control approach.

Copyright © 2018 by ASME
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References

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Figures

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Fig. 1

A vertical drilling system: (a) the schematic representation, (b) the lumped parameter model describing the axial dynamics, and (c) the lumped parameter model describing the torsional dynamics

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Fig. 2

The time history of the drill bit's axial and torsional velocities subject to a constant hook load equivalent to −5 m/s2 and under controlled torsional dynamics (ν2 = 10 rad/s)

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Fig. 4

The time history of the torsional velocities normalized with respect to the desired torsional velocity

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Fig. 5

The time history of the axial displacement errors

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Fig. 6

The time history of the torsional displacement errors

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Fig. 7

The time history of the controlling hook load and top rotatory torque normalized with respect to the desired force and torque on the bit, respectively

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Fig. 8

The projection of the phase portrait into the (ωi,θi), i = 1, 2, 3, planes. Convergence of torsional velocity error ωi at different initial conditions is exhibited. The initial conditions of (ωi(0), θi(0)), i = 1, 2, 3, for each set are indicated with different markers.

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Fig. 10

The RMS of the steady-state torsional vibrations at the drill bit in the presence of external Gaussian white noise

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Fig. 11

The RMS of the steady-state axial vibrations at the drill bit for the perturbed drilling model with parametric uncertainties

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Fig. 12

The RMS of the steady-state torsional vibrations at the drill bit for the perturbed drilling model with parametric uncertainties

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Fig. 3

The time history of the axial velocities normalized with respect to the desired axial velocity

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Fig. 9

The RMS of the steady-state axial vibrations at the drill bit in the presence of external Gaussian white noise

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Fig. 13

The RMS of the steady-state axial vibrations at the drill bit for different desired drilling regimes

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Fig. 14

The normalized RMS of the steady-state axial vibrations at the drill bit for different desired drilling regimes

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Fig. 15

The RMS of the steady-state torsional vibrations at the drill bit for different desired drilling regimes

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