Research Papers

Mixed Uncertainty Analysis of Pole Placement and H Controllers for Directional Drilling Attitude Tracking

[+] Author and Article Information
Martin T. Bayliss

Schlumberger Oilfield,
Stonehouse Technology Center,
Gloucestershire GL10 3SX, UK
e-mail: mbayliss@slb.com

James F. Whidborne

Dynamics, Simulation and Control Group,
School of Aerospace,
Transport and Manufacturing,
Cranfield University,
Cranfield, Bedford MK43 OAL, UK
e-mail: j.f.whidborne@cranfield.ac.uk

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 23, 2015; final manuscript received September 7, 2015; published online October 1, 2015. Assoc. Editor: M. Porfiri.

J. Dyn. Sys., Meas., Control 137(12), 121008 (Oct 01, 2015) (8 pages) Paper No: DS-15-1124; doi: 10.1115/1.4031576 History: Received March 23, 2015; Revised September 07, 2015

This paper describes the design of attitude-hold controllers and their subsequent stability and performance analysis for directional drilling tools as typically used in the oil industry. Based on an input transformation developed in earlier work that partially linearizes and decouples the plant dynamics of the drilling tool, the resulting plant model is used as the basis for both pole placement and optimal H controller designs. A mixed uncertainty stability and performance analysis is then performed on each of the controller designs. Results for a transient simulation of the proposed controller are also presented.

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Fig. 1

Schematic of the main RSS directional drilling components [5]

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Fig. 2

Attitude and steering parameters for the drilling tool [5]

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Fig. 3

Pole-placement control scheme

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Fig. 4

S/T mixed-sensitivity standard form [10]

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Fig. 5

Open-loop plant G1(s) with the integrators factored out of the nominal plant

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Fig. 6

Open-loop plant with integrators factored outside

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Fig. 7

Robust stability MΔ structure

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Fig. 8

Robust performance NΔ structure

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Fig. 9

Internal G′1 uncertainty structure

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Fig. 10

Robust stability μ(M) analysis

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Fig. 11

Robust performance μΔ̂(N) analysis

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Fig. 12

Drilling cycle definition

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Fig. 13

Attitude-tracking transient attitude response, H∞ design

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Fig. 14

Attitude-tracking transient Udls as percentage of Kdls, H∞ design

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Fig. 15

Attitude-tracking transient actuator tool-face response, H∞ design, zoomed view

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Fig. 16

Attitude-tracking transient attitude response, H∞ design, zoomed view



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