Monitoring drilling vibrations based on rotational speed
The disclosure provides a solution for monitoring stick-slip vibrations without using any surface torque measurements. Instead, the disclosure provides a method to monitor stick-slip vibrations based on rotational speed. A stick-slip monitor, a top drive controller and a method of operating a drill string are provided herein that use rotational speed for monitoring stick-slip vibrations. In one example, the method of operating a drill string includes: (1) performing a frequency domain analysis of an RPM signal associated with a top drive that is used to rotate a drill string, and (2) determining a presence of torsional oscillations of the drill string based on the frequency domain analysis of the RPM signal.
1. A method of operating a drill string, comprising:
performing a frequency domain analysis of an RPM signal associated with a top drive that is used to rotate a drill string;
determining a presence of torsional oscillations of the drill string based on the frequency domain analysis of the RPM signal; and
mitigating the torsional oscillations based on the determining by modifying control parameters of a proportional-integral (PI) controller of a top drive controller controlling the drill string, wherein the control parameters are coefficients of a transfer function C of the top drive controller.
2. The method as recited in claim 1 , further comprising changing the RPM signal by iteratively modifying one or more control parameters of a top drive controller, and repeating the performing and determining.
3. The method as recited in claim 2 , further comprising limiting the modifying the one or more control parameters of the top drive controller based on operating limits of the one or more control parameters of the top drive controller.
4. The method as recited in claim 1 , wherein the performing and the determining are automatically initiated during operation of the top drive.
5. The method as recited in claim 1 , wherein the performing and the determining are manually initiated during operation of the top drive.
6. The method as recited in claim 1 , further comprising identifying the torsional oscillations.
7. The method as recited in claim 1 , wherein the frequency domain analysis includes performing a fast Fourier transform (FTT) and the determining the presence of the torsional oscillations is based on detecting a peak in an amplitude of the FFT of the RPM signal.
8. The method as recited in claim 1 , wherein the frequency domain analysis includes performing an auto-correlation analysis and the determining the presence of the torsional oscillations is based on detecting a peak in an amplitude of the auto-correlation analysis of the RPM signal.
9. The method as recited in claim 1 , wherein the top drive controller is a proportional-integral-derivative (PID) controller.
10. A stick-slip monitor for drilling systems, comprising:
an interface configured to receive RPM signals associated with a top drive that is used to rotate a drill string; and
a processor configured to change the RPM signals by iteratively modifying one or more control parameters of a proportional-integral controller of a top drive controller controlling the drill string and determine a presence of torsional oscillations of the drill string based on a frequency domain analysis of the RPM signals, wherein the torsional oscillations are mitigated by the modified control parameters and the control parameters are coefficients of a transfer function C of the top drive controller.
11. The stick-slip monitor as recited in claim 10 , wherein the processor limits the iteratively modifying based on operating limits of the one or more control parameters of the top drive controller.
12. The stick-slip monitor as recited in claim 10 , wherein the processor is configured to automatically change the RPM signals and automatically determine the presence of torsional oscillations during operation of the top drive.
13. The stick-slip monitor as recited in claim 10 , wherein the processor is further configured to identify a frequency of the torsional oscillations.
14. The stick-slip monitor as recited in claim 10 , wherein the processor is configured to perform the frequency domain analysis via a fast Fourier transform (FTT) of the RPM signals and determine the presence of the torsional oscillations by detecting a peak in an amplitude of the FFT of the RPM signals.
15. A top drive controller, comprising:
a speed controller configured to control RPM signals a top drive used to rotate a drill string; and
a processor configured to:
automatically change the RPM signals, perform a frequency domain analysis on the RPM signals, determine a presence of torsional oscillations of the drill string and a frequency thereof based on the frequency domain analysis of the RPM signals; and
mitigate the torsional oscillations based on the determining by modifying control parameters of a proportional-integral (PI) controller of a top drive controller controlling the drill string, wherein the control parameters are coefficients of a transfer function C of the top drive controller.
16. The top drive controller as recited in claim 15 , wherein the processor is further configured to automatically mitigate the torsional oscillations by changing speed control parameters of the speed controller.
17. The top drive controller as recited in claim 16 , wherein the processor is configured to determine torsional oscillations of the drill string at multiple frequencies and automatically mitigate each of the torsional oscillations independently.
18. The drilling system as recited in claim 15 , wherein the processor limits the modifying of the RPMs of the top drive controller based on limits of one or more control parameters of the top drive controller.
19. The drilling system as recited in in claim 15 , wherein the frequency domain analysis includes performing a fast Fourier transform (FTT) and the determining the presence of the torsional oscillations is based on detecting a peak in an amplitude of the FFT of the RPM signals.