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Nafta i Plin, Vol. 42. No. 172. - 173., 2022.

Original scientific paper

Retrofitting design of an automated drilling system using the legacy mechanical brake and test results from Crosco's N-402 drilling rig

Danijel Pavković
Mihael Cipek
Matija Krznar
Zadravko Kučan
Pavle Šprljan
Josip Mišković

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Abstract

A notable portion of contemporary deep drilling rigs are still equipped with manually-operated lever-based draw-works (hoist) drum mechanical brake actuators, which are used for weight-on-bit (WoB) and rate-of-penetration (RoP) control. In order to meet increasingly stringent requirements on the WoB/RoP control performance, including completely automatic vertical drilling operation (auto-drilling), such mature drilling systems need to be retrofitted with a suitable brake actuator servo mechanism, along with appropriate WoB/RoP control strategy. To this end, this paper presents the development of a weight-on-bit and penetration rate control system based on electrical servomotor-based draw-works brake actuator. The control system has been arranged in the so-called cascade control system structure, wherein the superimposed control loop based on the proportional-integral (PI) WoB controller is commanding the inner RoP PI controller, which in turn provides a position reference to the brake lever mechanism servo-actuator. The proposed WoB/RoP control system has been implemented on industrial control hardware that has been subsequently installed and thoroughly tested on the CROSCO oilfield services Ltd. N-402 land drilling rig.

Keywords

Weight-on-bit and rate-of-penetration control; draw-works system retrofitting; proportional-integral controller; field testing

Hrčak ID:

288023

URI

https://hrcak.srce.hr/288023

Publication date:

21.9.2022.

Article data in other languages: croatian

Visits: 327 *

Publication date: 21 September 2022

Volume: 42

Issue: 172. - 173.

Pages: 69-76

DOI:

Article Information (continued)

Categories:

Subject: Stručni rad

Categories:

Subject: Professional Paper

Keywords:

Keyword: regulacija sile nasjeda i brzine prodiranja bušaćeg alata

Keyword: nadogradnja sustava dizalice bušaćeg niza

Keyword: proprocionalno-integralni regulator

Keyword: ispitivanje na terenu

Keywords:

Keyword: Weight-on-bit and rate-of-penetration control

Keyword: draw-works system retrofitting

Keyword: proportional-integral controller

Keyword: field testing

Dizajn automatskog bušača kroz nadogradnju postojeće mehaničke kočnice i rezultati ispitivanja na Crosco-voj bušaćoj garnituri N-402

Translated Title (en): Retrofitting design of an automated drilling system using the legacy mechanical brake and test results from Crosco's N-402 drilling rig

[ORCID] Danijel Pavković[1]

Email: Danijel.Pavkovic@fsb.hr

 

Fakultet strojarstva i brodogradnje Sveučilišta u Zagrebu Faculty of Mechanical Engineering and Naval Architecture Ul. Ivana Lučića 5, 10000, Zagreb

[ORCID] Mihael Cipek[1][2]

 

Fakultet strojarstva i brodogradnje Sveučilišta u Zagrebu Faculty of Mechanical Engineering and Naval Architecture Ul. Ivana Lučića 5, 10000, Zagreb

[ORCID] Matija Krznar[2][3]

 

Fakultet strojarstva i brodogradnje Sveučilišta u Zagrebu Faculty of Mechanical Engineering and Naval Architecture Ul. Ivana Lučića 5, 10000, Zagreb

[ORCID] Zadravko Kučan[3][4]

 

Nev-El, d.o.o. Zagreb Nev-El, d.o.o. Zagreb Slavonska avenija 20, 10000 Zagreb

[ORCID] Pavle Šprljan[4][5]

 

Proton EL, d.o.o. Proton EL, d.o.o. Radnička cesta 177, 10000, Zagreb

[ORCID] Josip Mišković[5][6]

 

CROSCO naftni servisi, d.o.o. CROSCO, Integrated Drilling and Well Services Co., Ltd. Lovinčićeva ulica 6B 10000 Zagreb

Author notes:

Correspondence to: [*] Danijel Pavković, Fakultet strojarstva i brodogradnje Sveučilišta u Zagrebu, Ul. Ivana Lučića 5, 10000, Zagreb Danijel.Pavkovic@fsb.hr

Abstract

Značajan dio bušaćih postrojenja koja su danas u upotrebi i dalje je opremljen mehaničkim sustavima upravljanja silom nasjeda bušaćeg alata (WoB) i njegovom brzinom prodiranja (RoP) zasnovanim na polužnom mehanizmu kočnice vitla dizalice kojim upravlja ljudski operater. Kako bi se zadovoljili sve stroži zahtjevi u pogledu izvedbe WoB/RoP sustava upravljanja, uključujući potpuno automatski rad (automatsko bušenje), takve „zrele“ pogonske sustave za upravljanje procesom bušenja potrebno je nadograditi odgovarajućim servo mehanizmom polužnog aktuatora kočnice, zajedno s odgovarajućim WoB/RoP regulacijskom strategijom. Stoga se u ovom radu predstavlja razvoj sustava za kontrolu WoB/RoP zasnovan na elektromotornom servoaktuatoru kočnice pogona vitla dizalice bušaćeg niza. Sveukupni upravljački sustav organiziran je u takozvanu kaskadnu strukturu regulacije, sa nadređenom regulacijskom petljom sa proporcionalno-integralnim (PI) regulatorom sile nasjeda, koji zadaje komandu brzine prodiranja PI regulatoru na nižoj razini koji regulira brzinu prodiranja, a koji pak zadaje referencu položaja servopogonu polužnog mehanizma aktuatora kočnice. Predloženi sustav regulacije WoB/RoP implementiran je na industrijskom upravljačkom hardveru, koji je potom instaliran i detaljno ispitan na kopnenoj bušaćoj garnituri N-402 tvrtke CROSCO, naftni servisi, d.o.o.

Translated Abstract

A notable portion of contemporary deep drilling rigs are still equipped with manually-operated lever-based draw-works (hoist) drum mechanical brake actuators, which are used for weight-on-bit (WoB) and rate-of-penetration (RoP) control. In order to meet increasingly stringent requirements on the WoB/RoP control performance, including completely automatic vertical drilling operation (auto-drilling), such mature drilling systems need to be retrofitted with a suitable brake actuator servo mechanism, along with appropriate WoB/RoP control strategy. To this end, this paper presents the development of a weight-on-bit and penetration rate control system based on electrical servomotor-based draw-works brake actuator. The control system has been arranged in the so-called cascade control system structure, wherein the superimposed control loop based on the proportional-integral (PI) WoB controller is commanding the inner RoP PI controller, which in turn provides a position reference to the brake lever mechanism servo-actuator. The proposed WoB/RoP control system has been implemented on industrial control hardware that has been subsequently installed and thoroughly tested on the CROSCO oilfield services Ltd. N-402 land drilling rig.

Uvod

Značajan dio bušaćih postrojenja koja su danas u upotrebi i dalje je opremljen mehaničkim sustavima upravljanja silom nasjeda bušaćeg alata (WoB) i njegovom brzinom prodiranja (RoP) zasnovanim na polužnom mehanizmu kočnice vitla dizalice kojim upravlja ljudski operater. Kako bi se zadovoljili sve stroži zahtjevi u pogledu izvedbe WoB/RoP sustava upravljanja, uključujući potpuno automatski rad (automatsko bušenje), takve „zrele“ pogonske sustave za upravljanje procesom bušenja potrebno je nadograditi odgovarajućim servo mehanizmom polužnog aktuatora kočnice, zajedno s odgovarajućim WoB/RoP regulacijskom strategijom. Stoga se u ovom radu predstavlja razvoj sustava za kontrolu WoB/RoP zasnovan na elektromotornom servoaktuatoru kočnice pogona vitla dizalice bušaćeg niza. Sveukupni upravljački sustav organiziran je u takozvanu kaskadnu strukturu regulacije, sa nadređenom regulacijskom petljom sa proporcionalno-integralnim (PI) regulatorom sile nasjeda, koji zadaje komandu brzine prodiranja PI regulatoru na nižoj razini koji regulira brzinu prodiranja, a koji pak zadaje referencu položaja servopogonu polužnog mehanizma aktuatora kočnice. Predloženi sustav regulacije WoB/RoP implementiran je na industrijskom upravljačkom hardveru, koji je potom instaliran i detaljno ispitan na kopnenoj bušaćoj garnituri N-402 tvrtke CROSCO, naftni servisi, d.o.o.

Metode

Metode korištene u izradi rada.

Rezultati

Tekst rezultata

Rasprava

Tekst

References

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