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Modeling And Control Of Oil Well Drilling Tower

Diğer Başlık: Petrol Kuyu Sondaj Kulesi Modelleme Ve Kontrolü

Oluşturulma Tarihi: 03-11-2020

Niteleme Bilgileri

Tür: Tez

Alt Tür: Doktora

Yayınlanma Durumu: Yayınlanmamış

Dosya Biçimi: PDF

Dil: İngilizce

Konu(lar): Teknoloji (Genel),

Yazar(lar): Nam, Amir Nobahar Sadeghi (Yazar),

Emeği Geçen(ler): Özbek, Mehmet Efe (Tez Danışmanı), Arıkan, Kutluk Bilge (Tez Danışmanı),


Yayın Tarihi: 09-01-2020


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Anahtar Kelimeler

Modeling and Controlling of Oil Well Drilling Rig, Cascaded PID Controller, Active Disturbance Rejection Controller, Loop Shaping Controller, Feedback Error Learning Controller, Sliding Mode Controller, Autonomous Drilling, Stick-Slip Vibrations.


Özet

Oil well drilling towers have different operating modes during a real operation, like drilling, tripping, and reaming. Each mode involves certain external disturbances and uncertainties. In this study, the main equipment of the drilling rig is mathematically modeled, and the dynamics of the vertical and rotational motions of drill string and drill bit are derived. The optimum values of the rate of penetration as an economic parameter in drilling process, and weight on bit are extracted, then the speed profile, to derive proper equations for the acceleration, and deceleration rates, while hoisting and lowering, is extracted. Using by the nonlinear model for the modes of the operation, robust and or adaptive control systems are designed. These control strategies include five types of controllers; Cascaded PID, Active Disturbance Rejection Controller, Loop Shaping, Feedback Error Learning, and Sliding Mode Controller. The study presents the design process of these controllers, and evaluates the performances of the proposed control systems to track the reference signal, and reject the uncertain forces including the parametric uncertainties and the external disturbances. This comparison is based on the mathematical performance measures and energy consumption. Based on the realistic conditions or constraints in the field and the optimum values, some architectures are presented to control the weight on bit during drilling process. Finally, the subject of autonomous drilling is reviewed by managing the rate of penetration, in four modes, as ROP mode, WOB mode, Delta P mode, and Torque mode. The measuring and or predicting of the bottom-hole-assembly variables is surveyed and introduced. The torsional modelling of the drill string is fulfilled by dividing its length to some equal sections, then, using the ADRC controller in both vertical and rotational motions, some proper observers to predict the bit rotational speed, rock stiffness and torque on bit, in real-time are designed and presented. The stick-slip vibrations is studied to model and control. The manipulation of the weight on bit, and the increasing of the damping in the BHA, are two solutions proposed to active mitigation of these kind of vibrations. Using these two strategies, the stick phase, stick-slip transient, and the slip phase of the bit are derived and analyzed in some case studies. The practical performance evaluation of the designed Cascade PID, Active Disturbance Rejection, Loop Shaping, Feedback Error Learning and Sliding Mode controllers during the tripping and drilling operations, their practical comparison, and improve the physical rig performance are studied. This purpose is realized by designing and constructing of an experimental drilling setup. The prototype setup is modeled mathematically, and then proper linear and nonlinear models are derived by system identification. The behavior of the controllers and their stabilities are studied during the tripping operation, by loading and unloading a disturbance weight. The effect of input shaping on the system behavior is analyzed consequently. On the other hand, to study the behavior of the controllers during the drilling operation, a driller is added to the prototype setup. Finally, the behavior of two designed architectures in ROP and WOB modes of the autonomous drilling are studied and analyzed practically.


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