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.
Observer Design for a Wellbore Drilling System With Downhole Measurement Feedback
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.
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Tian, D., and Song, X. (February 13, 2018). "Observer Design for a Wellbore Drilling System With Downhole Measurement Feedback." ASME. J. Dyn. Sys., Meas., Control. July 2018; 140(7): 071012. https://doi.org/10.1115/1.4038859
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