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research-article

Online Control of Stick-Slip and Bit Wear in Rotary Steerable Drilling

[+] Author and Article Information
Mahmoud Kamel

MSc. Student, Computer Science Department, King Fahd University of Petroleum & Minerals, 31261 Dhahran, KSA
g201405840@kfupm.edu.sa

Salaheldin Elkatatny

Assistant Professor, Petroleum Department, King Fahd University of Petroleum & Minerals, 31261 Dhahran, KSA; Cairo University, Cairo, Egypt
elkatatny@kfupm.edu.sa

Muhammad Mysorewala

Assistant Professor, Computer Science Department, King Fahd University of Petroleum & Minerals, 31261 Dhahran, KSA
mysorewala@kfupm.edu.sa

Abdulaziz Al-Majed

Associate Professor, Petroleum Department, King Fahd University of Petroleum & Minerals, 31261 Dhahran, KSA
aamajed@kfupm.edu.sa

Moustafa Elshafei

Professor, Computer Science Department, King Fahd University of Petroleum & Minerals, 31261 Dhahran, KSA
elshafei@kfupm.edu.sa

1Corresponding author.

ASME doi:10.1115/1.4038131 History: Received December 10, 2016; Revised September 27, 2017

Abstract

Deviated, horizontal and multilateral wells are drilled to increase the contact area between the well path and the reservoir and as a result, the well productivity will be increased. Directional Steering Systems (DSS) are used to control the direction in non-vertical wells. Rotary Steerable System (RSS) is the current state of art of directional steering systems. In this research, the problem of real time control of autonomous RSS with unknown formation rock strength was presented. The aims of this study are to develop an online control scheme for real time optimization of drilling parameters to (1) maximize rate of penetration, (2) minimize the deviation from the planned well bore trajectory, (3) reduce the stick-slip oscillations, (4) assess the degree of bit wear. Nonlinear model for the drilling operation was developed using energy balance equation, where rock specific energy is used to calculate the minimum power required for a given rate of penetration. A proposed mass spring system was used to represent the phenomena of stick-slip oscillation. The model parameters have been adaptively estimated at each control iteration to tackle any disturbances or variations in the formation properties. The bit wear is mathematically represented using Bourgoyne model. Detailed mathematical formulation and computer simulation were used for evaluation of the performance of the proposed technique based on real well field data. The obtained results showed excellent ability to accommodate the changes in the formation properties. In addition, the rates of bit wear and stick-slip oscillations have been optimized.

Copyright (c) 2017 by ASME
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