Unknown Resistive Torque Estimation of a Rotary Drilling System Based on Kalman Filter

ABSTRACT

Rotary drilling systems are widely used in petroleum engineering to drill oil and gas wells. Control of drilling process is a very important topic because it allows industrials to optimize drilling cost, improve borehole quality, and protect equipment. Many researchers have dealt with the control of rotary drilling systems, wherein, the main difficulty is that the rock-bit interaction term is highly nonlinear, and mathematical models simulate its dynamic but with insufficient fidelity because of the lack of measurement devices for bottom torque for these systems. In order to design an efficient controller, it is mandatory to have the model highly loyal to the rotary drilling system, which can represent the dynamic of the system under the rock-bit interaction term. The objective of this study is to estimate the unknown input torque based on Kalman filter, the estimation has been validated on a test bench. Moreover, it has been noticed that Kalman estimator has better efficiency in comparison to the pole placement method. The algorithm has been implemented on CompactRio using LabView environment and applied to experimental equivalent system to rotary drilling system equipment.

KEYWORDS:

• CompactRio
• Kalman filter
• LabView environment
• rock-bit interaction
• rotary drilling systems
• stick-slip vibrations
• unknown input estimation

Additional information

Notes on contributors

R. Riane

Rami Riane, was born in 1986 in Bouira, Algeria. He holds a magister degree in electrical engineering from Faculty of Hydrocarbons and Chemistry, University M’hamed Bougara of Boumerdes, Algeria. An engineering degree in Automation from the National Polytechnic School of Algiers, Algeria. Now, he is member in Research Laboratory of Applied Automatic, University of Boumerdes. His current research interest development of nonlinear control algorithms and fault diagnosis in oil-well drilling system.

M. Kidouche

Madjid Kidouche, was born in Bordj-Menaiel, Algeria, in 1955. He received his MSc and PhD degrees in electrical engineering from the University of Pennsylvania, USA. He has been with the Department of Automation, University of Boumerdes, Algeria, since 1990. He is a professor in the said institution. Currently, he is supervisor at Laboratory Applied Automation (LAA), Team “'Analysis of Complex Systems” University M’Hamed Bougara of Boumerdes. His current research interest is in the area of control systems, with emphasis on nonlinear and large-scale dynamical systems. Email: [email protected]

R. Illoul

Rachid Illoul, was born in 1959 in Paris, France. He received a Master of Sciences from the University of Wisconsin–Madison USA in 1986 and a PhD from the École Nationale Polytechnique of Algiers in 2009. He is currently an associate professor in Automatics at the École Nationale Polytechnique of Algiers. His current research interests include multiple models systems, control of chemical processes and bioreactors. Email: [email protected]

M. Z. Doghmane

Mohamed Zinelabidine Doghmane, was born in 1985 in Bousàada, Algeria. He holds a PhD degree in electrical engineering from Faculty of Hydrocarbons and Chemistry, University M’hamed Bougara of Boumerdes, magister degree in applied automatic from Department of Automation, University of Boumerdes. An engineering degree from the National Institute of Electrical and Electronics Engineering (ExINELEC) Boumerdes, Algeria. Now, he is working with SONATRACH (Algeria), and he is member in Research Laboratory of Applied Automatic, University of Boumerdes. His current research interest of optimization of control design for complex systems in petroleum engineering. Email: [email protected]