Method and control system for directional drilling
View Patent ↗A method and control system for directional drilling are described. A drill string motor is commanded to rotate at a constant speed in a forward direction and the constant speed in a reverse direction for a first duration and a second duration, respectively, for at least one oscillation cycle. The difference between an averaged absolute angle of the drill string and a target rotation angle for the drill string is maintained near zero by adjusting the length of the durations as necessary. The target rotation angle can be changed based on measurement while drilling data obtained during drilling operations. Advantageously, friction between the drill string and bore hole is reduced, leading to an increase in the drilling penetration rate.
1. A method for reducing friction in a bore hole during directional drilling, the method comprising commanding a motor to rotate a drill string at a constant speed in a forward direction and the constant speed in a reverse direction for a first duration and a second duration, respectively, for at least one oscillation cycle wherein an averaged absolute angle of the drill string is substantially the same as a target rotation angle for the drill string.
2. The method of claim 1 wherein the constant speed is maintained by closed loop speed control.
3. The method of claim 1 wherein the first duration and the second duration are equal durations.
4. The method of claim 1 further comprising modifying the target rotation angle for the drill string in response to measurement while drilling data.
5. The method of claim 1 further comprising:
determining the averaged absolute angle of the drill string for the at least one oscillation cycle;
determining a difference between the averaged absolute angle and the target rotation angle;
adjusting the first duration and the second duration in response to the difference; and
commanding the motor to rotate the drill string at the constant speed in the forward direction and the reverse direction for the adjusted first duration and the adjusted second duration, respectively, for at least one subsequent oscillation cycle.
6. The method of claim 5 wherein determining the averaged absolute angle comprises integrating data indicative of the absolute rotation angle of the motor sampled at a plurality of times during the at least one oscillation cycle.
7. The method of claim 5 wherein determining the averaged absolute angle comprises determining a maximum absolute rotation angle and a minimum absolute rotation angle for each of a plurality of oscillation cycles.
8. The method of claim 5 wherein the adjustments comprise an increase to one and a decrease to the other of the first and second durations.
9. The method of claim 8 wherein the adjustments are of equal magnitude.
10. A control system for directional drilling comprising:
a rotation sensor providing rotation data in response to a rotation angle of a drill string;
an absolute angle estimator in communication with the rotation sensor to receive the rotation data and determine an absolute rotation angle of the drill string in response thereto;
an oscillation control module in communication with the absolute angle estimator and having a closed loop speed controller, the oscillation control module commanding the drill string motor to rotate at, a constant speed in a forward direction and the constant speed in a reverse direction for a first duration and a second duration, respectively, for at least one oscillation cycle; and
an operator control panel in communication with the oscillation control module and adapted to receive measurement while drilling data, the operator control panel having at least one user input device for an operator to adjust the first duration and the second duration for at least one subsequent oscillation cycle.
11. The control system of claim 10 wherein the oscillation module provides a signal to the operator control panel and wherein the operator control panel has a display to present the absolute rotation angle of the drill string to an operator in response to the signal.
12. The control system of claim 10 further comprising at least one measurement while drilling sensor in communication with the operator control panel.
13. A control system for directional drilling comprising:
a rotation sensor providing rotation data in response to a rotation angle of a drill string;
an absolute angle estimator in communication with the rotation sensor to receive the rotation data and determine an absolute rotation angle of the drill string in response thereto;
an error module configured to receive a target rotation angle and measurement while drilling data and to generate an error signal in response to a difference therebetween, the measurement while drilling data indicating the orientation of a toolface of a drilling tool; and
an oscillation control module in communication with the absolute angle estimator and the error module and having a closed loop speed controller, the oscillation control module commanding the drill string motor to rotate at a constant speed in a forward direction and the constant speed in a reverse direction for a first duration and a second duration, respectively, for at least one oscillation cycle wherein the first duration and the second duration are responsive to the error signal.
14. The control system of claim 13 further comprising an operator control panel in communication with the oscillation control module and the error module, the operator control module providing at least one user input device to enable an operator to adjust the first duration and the second duration and to input a target rotation angle.
15. The control system of claim 14 wherein the operator control panel has a display to present the absolute rotation angle of the drill string to an operator.
16. The control system of claim 14 further comprising at least one measurement while drilling sensor in communication with the operator control panel.