Abstract
In the dynamic point-the-bit rotary steerable system (DPRSS), a high dynamic stiffness toolface control method is desired to ensure the stabilized platform traces the directional command accurately and quickly. A three-loop compound toolface control method using the Model-based Active Disturbance Rejection Control (MADRC) algorithm is presented, and a load torque estimator and an outer housing speed estimator are designed based on system model to obtain the external disturbances. The proposed toolface control method was verified by numerical simulation and DPRSS prototype testing, and its speed loop frequency responses are analyzed. The results reveal that this method is effective in disturbance rejection and robust against parameter uncertainties, and the MADRC shows better performance compared with the conventional ADRC and the proportional-integral (PI) controller. The proposed method has the potential to be used in harsh drilling conditions.
Highlights
Directional drilling technology is the science of deviating a borehole along a predefined path.With the growing demands of new oil and gas drilling technology, the traditional drilling equipment has difficulty in covering these demands
This paper focuses on the dynamic point-the-bit rotary steerable system (DPRSS), its geostationary bit directionstabilized is described by an and angle theunit toolface
This paper focuses on the dynamic point-the-bit rotary steerable system (DPRSS), its the disturbance of the motor speed loop, and the outer housing rotary speed ωh is the disturbance geostationary unit is a motor-driven stabilized platform, and the steering unit is fixed at one end of of the stabilized platform speed loop
Summary
Directional drilling technology is the science of deviating a borehole along a predefined path. The steering other one, named the geostationary unit, is used to determine the toolface while the drilling string is accuracy of DPRSS is determined by the performance of the stabilized platform control system. RSS’, is described by the transfer function, where s is the Laplace operator, L and R are the motor stator having a closed-loop-controlled stabilized platform which is geostationary while the drilling string resistance and inductance, Km is the torque constant, Ke is the coefficient of counter electromotive is rotating [3]. The theoretical model of the stabilized platform is studied, a load torque estimator and an outer housing speed estimator are presented, based on the system model, and the toolface MADRC controller and motor speed MADRC controller are designed.
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