Method to optimize drilling efficiency while reducing stick slip
Reducing or eliminating stick-slip and vibrations downhole may include controlling top drive torque in order to adjust drill bit angular speed in a manner that prevents, eliminates, or reduces stick-slip and vibration. Control methods and systems may include solving one or more optimization problems including an objective function. The objective function may be subject to conditions including a physical model of the drilling system. The objective function may be minimized without reference to a model, but instead by reference to estimated stick-slip frequency based upon a drill bit angular speed profile. In addition, actual downhole measurements for use in control methods and systems, such as drill bit angular speed, may be estimated using an observer.
1. A method of controlling a top drive coupled to a drill bit via a drill string during a drilling process, comprising:
generating a first control signal based at least in part upon a bit angular speed set-point, a first bit angular speed, and an optimization problem comprising an objective function at a first state, and one or more first state constraints to which the objective function at the first state is subject,
wherein the one or more first state constraints comprise a model of dynamics between input torque to the top drive and resulting bit angular speed;
controlling the top drive based at least in part upon the first control signal so as to rotate the drill bit at a second bit angular speed;
updating the model based at least in part upon operating data associated with any one or more of the top drive, drill bit, and drill string so as to obtain an updated model;
generating a second control signal based at least in part upon the bit angular speed set-point, the second bit angular speed, and the optimization problem comprising the objective function at a second state and one or more second state constraints to which the objective function at the second state is subject,
wherein the one or more second state constraints comprise the updated model; and
controlling the top drive based at least in part upon the second control signal so as to rotate the drill bit at a third bit angular speed.
2. The method of claim 1 wherein the objective function comprises one or more terms, wherein each term is associated with a multiplicative weighting factor, and further wherein each term describes a physical aspect of a system comprising the top drive and the drill bit.
3. The method of claim 2 wherein the objective function comprises a stick-slip reducing term associated with a first weighting factor; a torque input term associated with a second weighting factor; and a drilling energy efficiency term associated with a third weighting factor.
4. The method of claim 3 further comprising updating one or more of the first, second, and third weighting factors based at least in part upon one or more operating conditions associated with the drill bit such that the objective function at the second state comprises an updated first weighting factor, an updated second weighting factor, and an updated third weighting factor.
5. The method of claim 4 wherein the one or more of the first, second, and third weighting factors is updated such that the rate of change of the one or more of the first, second, and third weighting factors is restricted to satisfy a Lyapunov function to ensure stability.
6. The method of claim 4 wherein the operating conditions comprise weight-on-bit and bit angular speed.
7. The method of claim 6 wherein the one or more of the first, second, and third weighting factors are updated so as to modify the objective function's emphasis on any one or more of drilling efficiency and stick-slip prevention.
8. The method of claim 1 wherein generating the first control signal comprises finding the minimum solution of the objective function at the first state; and wherein generating the second control signal comprises finding the minimum solution of the objective function at the second state.
9. The method of claim 1 further comprising:
further updating the updated model based at least in part upon the operating data associated with any one or more of the top drive, drill bit, and drill string so as to obtain a subsequently updated model,
generating a subsequent control signal based at least in part upon the bit angular speed set-point, the second bit angular speed, and the optimization problem at a subsequent state, wherein the optimization problem at a subsequent state is subject to one or more subsequent state constraints, the one or more subsequent state constraints comprising the subsequently updated model;
iteratively repeating further updating the updated model and generating the subsequent control signal during the drilling process so as to compute a series of control signals; and
controlling the top drive based upon the series of control signals.
10. The method of claim 1 wherein any one or more of the first, second, and third bit angular speeds is estimated by an observer.
11. A method of controlling a top drive coupled to a drill bit via a drill string during a drilling process, comprising:
estimating a first stick-slip frequency based at least in part upon a first profile of angular speed of the drill bit over a first time period;
generating a first control signal based at least in part upon the estimated first stick-slip frequency and an objective function having one or more gradient directions, such that the first control signal decreases the value of the objective function along any one or more of the one or more gradient directions;
controlling the top drive based at least in part upon the first control signal so as to rotate the drill bit at a second profile of angular speed over a second time period;
estimating a second stick-slip frequency based at least in part upon the second profile of angular speed over the second time period;
generating a second control signal based at least in part upon the estimated second stick-slip frequency and the objective function, such that the second control signal decreases the value of the objective function along any one or more of the one or more gradient directions;
controlling the top drive based at least in part upon the second control signal so as to rotate the drill bit at a third profile of angular speed over a third time period.
12. The method of claim 11 wherein estimating the first stick-slip frequency comprises performing a Fourier transform of the first profile of angular speed of the drill bit over the first time period so as to obtain a first Fourier transformed signal and performing frequency domain analysis on the first Fourier transformed signal so as to determine the first stick-slip frequency, and
wherein estimating the second stick-slip frequency comprises performing a Fourier transform of the second profile of angular speed of the drill bit over the second time period so as to obtain a second Fourier transformed signal and performing frequency domain analysis on the second Fourier transformed signal so as to determine the second stick-slip frequency.
13. The method of claim 12 wherein the first control signal comprises one or more Fourier coefficients.
14. The method of claim 13 wherein generation of the first control signal is further based at least in part upon a sinusoidal signal added to the Fourier coefficients.
15. The method of claim 11 wherein the objective function comprises one or more terms, each of which describes a physical aspect of a system comprising the top drive and the drill bit.
16. The method of claim 15 wherein the objective function comprises a stick-slip reducing term, a torque input term, and a drilling energy efficiency term.
17. A system comprising:
a top drive coupled to a drill bit by a drill string;
a top drive actuator coupled to the top drive; and
a controller communicatively coupled to the top drive actuator, wherein the controller comprises
at least one processing resource,
an interface unit capable of transmitting a control signal to the top drive actuator, and
a computer-readable medium comprising executable instructions that, when executed, cause the at least one processing resource to
receive a drill bit angular speed set-point signal and a drill bit angular speed signal,
generate a first control signal based at least in part upon the drill bit angular speed set-point signal, the drill bit angular speed signal, and a minimizing solution to an objective function at a first state, wherein the objective function comprises one or more terms, each of which describes one or more physical dynamics of any one or more of the top drive, drill bit, and drill string, and
cause the interface unit to transmit the first control signal to the top drive actuator;
wherein the top drive applies an amount of torque to the drill string in response to the first control signal.
18. The system of claim 17 wherein the first control signal is generated based further at least in part upon a model predictive control algorithm.
19. The system of claim 18 wherein the objective function is subject to one or more constraints, the one or more constraints comprising a model of dynamics between input torque to the top drive and resulting bit angular speed.
20. The system of claim 19 wherein the objective function comprises a stick-slip reducing term associated with a first weighting factor; a torque input term associated with a second weighting factor; and a drilling energy efficiency term associated with a third weighting factor.
21. The system of claim 20 wherein the computer-readable medium further comprises executable instructions that, when executed, cause the at least one processing resource to
update one or more of the first, second, and third weighting factors after the top drive applies the amount of torque to the drill string, so as to obtain any one or more of a first updated weighting factor, a second updated weighting factor, and a third updated weighting factor, wherein the one or more of the first, second, and third weighting factors is updated based at least in part upon one or more operating conditions associated with the drill bit,
generate a second control signal based at least in part upon the bit angular speed set-point signal, the drill bit angular speed signal, and a minimizing solution to the objective function at a second state, the objective function at the second state comprising any one or more of the first updated weighting factor, the second updated weighting factor, and the third updated weighting factor, and
cause the interface unit to transmit the second control signal to the top drive actuator.
22. The system of claim 19 wherein the computer-readable medium further comprises executable instructions that, when executed, cause the at least one processing resource to
update the model of dynamics between input torque to the top drive and resulting bit angular speed, based at least in part upon operating data associated with any one or more of the top drive, drill bit, and drill string, so as to obtain an updated model,
generate a second control signal based at least in part upon the bit angular speed set-point signal, the drill bit angular speed signal, and a minimizing solution to the objective function at a second state, the objective function at the second state being subject to one or more second state constraints, the second state constraints comprising the updated model, and
cause the interface unit to transmit the second control signal to the top drive actuator.
23. The system of claim 17 wherein the first control signal is generated based further at least in part upon an extremum seeking control algorithm.
24. The system of claim 23 wherein the computer-readable medium further comprises executable instructions that, when executed, cause the at least one processing resource to
estimate a first stick-slip frequency based at least in part upon a first profile of angular speed of the drill bit over a first time period, and
generate the first control signal based further at least in part upon the estimated first stick-slip frequency.
25. The system of claim 24 wherein the executable instructions, when executed, cause the at least one processing resource to estimate the first stick-slip frequency by
performing a Fourier transform of the first profile of angular speed of the drill bit over the first time period so as to obtain a first Fourier transformed signal, and
performing frequency domain analysis on the first Fourier transformed signal so as to determine the first stick-slip frequency.
26. The system of claim 25 further comprising executable instructions that, when executed, cause the at least one processing resource to
estimate a second stick-slip frequency, wherein the second stick-slip frequency is estimated based at least in part upon a second profile of angular speed of the drill bit over a second time period, the second time period beginning after the top drive applies the amount of torque to the drill string in response to the first control signal,
generate a second control signal based at least in part upon the bit angular speed set-point signal, the second profile of angular speed of the drill bit, and the estimated second stick-slip frequency, and
cause the interface unit to transmit the second control signal to the top drive actuator.