System Dynamics and Control of Deep Drilling Systems

深钻系统的系统动力学和控制

• 批准号: RGPIN-2019-04390
• 负责人: Shor, Roman
• 金额: $ 1.97万
• 依托单位: University of Calgary
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=681968
• 关键词: System; Dynamics; Control; Deep; Drilling

Accessing resources deep underground remains a challenge across a variety of industries, including oil and gas extraction and harnessing geothermal energy. For oil and gas resources, easy to access reservoirs are already being exploited and newer targets are in ever more challenging environments and formations. Historically, wells drilled to access reservoirs had simple trajectories either vertical or tangent but modern wells increasingly have complex three-dimensional trajectories with high tortuosity, or snaking of the wellpath. To improve drilling efficiency, reduce failures of drillstring components and to minimize the impact of the drilling process to the environment by reducing drilling times, it is paramount to control the dynamics of the drillstring during the well drilling process. ******The drilling process entails transmission of torque and axial force from the drilling rig at the surface to the drillbit along a thin (7-15cm in diameter), kilometers long drillstring that lies inside a snaking and tortuous wellpath. Downhole sensing is typically limited to near bit sensors, but low bandwidth (~10 bits / second) and high latency (up to 30 seconds) means that traditional closed loop feedback control is highly inefficient for control of bit-rock interaction and drillstring dynamics. To achieve fully closed loop, automated control of the drilling process, reliable real-time, physics-based models of the system dynamics and effective online parameter fitting are necessary. ******Models exist that seek to quantify the effects of borehole inclination and tortuosity on the static behavior of the drillstring; however, the dynamic behavior of the system is only now being fully measured, understood, and quantified. Drillstring modelling has stretched back sixty years, and there have been significant efforts to create comprehensive drillstring models, but these models are computationally complex and are unsuited to real-time optimization or control. The proposed research program seeks to develop a series of feedforward or model predictive control strategies by developing a set of reduced order models of the dynamic behavior of the drillstring system, validating them with high quality calibrated, precise and continuous data recorded in the laboratory and the field, and implementing online fitting of model parameters through machine learning techniques. ******The development of these accurate, validated and computationally efficient models of the drilling system will improve control systems and equipment design and will drive an overall increase in the efficiency of the drilling process. The control systems developed will further increase the efficiency and safety of drilling operations and reduce the carbon footprint of operations by mitigating the adverse effects of coupled vibrations, improving drilling performance and improving wellbore quality.

进入深处的资源仍然是各种行业的挑战，包括石油和天然气提取以及利用地热能。 对于石油和天然气资源，易于使用的水库已经被利用，而新的目标正在越来越具有挑战性。 从历史上看，钻井以获取水库的井有垂直或切线的简单轨迹，但现代井越来越多地具有复杂的三维轨迹，具有高折磨，或者是井路。 为了提高钻井效率，请减少钻串组件的故障，并通过减少钻孔时间来最大程度地减少钻井过程对环境的影响，在井钻孔过程中控制钻string的动力学至关重要。 ******钻孔过程需要沿着薄薄的（直径7-15厘米）的钻机从地面的钻机传播到钻头，在蛇形和曲折的井路中，长钻头长钻。 井下传感通常仅限于接近位传感器，但是低带宽（〜10位 /秒）和高潜伏期（长达30秒）意味着传统的闭环反馈控制对于控制位摇滚相互作用和钻string动力学的控制高度低效率。 为了实现完全封闭的循环，需要对钻井过程进行自动控制，可靠的实时，基于物理的系统动力学模型以及有效的在线参数拟合。 ******存在旨在量化钻孔倾斜度和曲折对钻string静态行为的影响的模型；但是，系统的动态行为直到现在才得到充分测量，理解和量化。 钻串建模已延长了60年，并且已经做出了巨大的努力来创建全面的钻串模型，但是这些模型在计算上是复杂的，并且不适合实时优化或控制。 拟议的研究计划旨在通过开发一组减少钻机系统动态行为的订单模型来开发一系列进发纸器或模型预测控制策略，并通过机器学习技术通过高质量校准，精确且连续的数据来验证它们，并在实验室和领域记录的高质量，精确和连续的数据。 *****这些精确，经过验证和计算高效模型的开发将改善控制系统和设备的设计，并将促进钻井过程效率的总体提高。 开发的控制系统将进一步提高钻井操作的效率和安全性，并通过减轻耦合振动的不利影响，提高钻孔性能并提高井眼质量，从而减少操作的碳足迹。