Skip to the main content

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

Full text: croatian pdf 1.301 Kb

page 69-76

downloads: 144

cite

Download JATS file

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: 742 *

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

1. 

, author. 2020."Drilling Technologies Brochure". AKER SOLUTIONS". http://www.akersolutions.com():

2. 

CANUDAS-DE-WIT C.; ; RUBIO F.R.; ; CORCHERO M.A. , authors. 2008."D-OSKIL: A New Mechanism for Controlling Stick-Slip Oscillations in Oil Well Drillstrings". IEEE Transactions on Control Systems Technology. 16(6):1177–1191

3. 

, author. 2020."". CROSCO NATIONAL 402 1000 HP Drilling Rig. https://crosco.com/services/drilling/():

4. 

DEUR J.; ; PAVKOVIĆ H.D. , authors. 2011."Fundamentals of Electrical Drive Controls. - In UNESCO-EOLSS Joint Committee (Ed.)". UNESCO Encyclopedia of Life Support Systems, Ch. 6.39.21, EOLSS Publishers, Oxford, UK. ():

5. 

FOSS B. , author. 2012."Process Control in Conventional Oil and Gas Fields – Challenges and opportunities". Control Engineering Practice. 20(10):1058–1064

6. 

KAISER M.J.; ; SNYDER B.F. , authors. 2013."The Offshore Drilling Industry and Rig Construction in the Gulf of Mexico". Lecture Notes in Energy 8, Springer-Verlag, London, UK. ():

7. 

KAHRAMAN S.; ; BILGIN N.; ; FERIDUNOGLU C. , authors. 2003..: Dominant Rock Properties Affecting the Penetration Rate of Percussive Drills. International Journal of Rock Mechanics and Mining Sciences. 40(5):711–723

8. 

LEONHARD W. , author. 1996.Control of Electrical Drives. 2nd ed. Springer-Verlag, Berlin. ():

9. 

LYONS W.C.; ; PLISGA G.J. , authors. 2005.Standard handbook of petroleum and natural gas engineering. 2nd ed., Houston, Texas, Gulf Professional Publishing. ():

10. 

, author. 2020. NATIONAL OILWELL VARCO: Wildcat ADS Automated Drilling System . http://www.nov.com241(1-4):798–803

11. 

PAVKOVIĆ D.; ; ŠPRLJAN P.; ; CIPEK M.; ; KRZNAR M. , authors. 2021.Cross-Axis Control System Design for Borehole Drilling based on Damping Optimum Criterion and utilization of Proportional-Integral Controllers. Optimization and Engineering, Optimization and engineering. 22(1):51–81

12. 

PAVKOVIĆ D.; ; MILUTINOVIĆ M.; ; KRANJČEVIĆ N.; ; DEUR J. , authors. 2014.Development of Oil-Drilling Weight-on-Bit Control System Based on an Electromechanical Drum Brake Actuator. Project Report, Faculty of Mechanical Enginerering and Naval Architecture, University of Zagreb, Zagreb. ():

13. 

POWER D.J.; ; Glaser G.P. , authors. 2006.Automatic Drilling System. US Patent No. 7059427. ():

14. 

RAY J. , author. 2006.Well Drilling Control System. US Patent No. 6994172. ():

15. 

ŠPRLJAN P.; ; PAVKOVIĆ D.; ; CIPEK M.; ; KLAIĆ M.; ; STAROVEŠKI T.; ; KOLAR D. , authors. 2020.Automation Systems Design and Laboratory Prototyping Aimed at Mature Petroleum Drilling Rig Retrofitting. Tehnički vjesnik/Technical Gazette. 27(1):229–236

16. 

WU S.; ; LI J.; ; LIU L. , authors. 2010.Modeling and Compound Control of Disk Brake Automatic Drilling System. Proceedings of 2nd International Conference on Computer Engineering and Technology . 3():45–49

17. 

ZHAO Q.; ; WANG F.; ; WANG W.; ; DENG H. , authors. 2007.Adaptive Fuzzy Control Technology for Automatic Oil Drilling System. In Proceedings of the IEEE International Conference on Automation and Logistics . ():

This display is generated from NISO JATS XML with jats-html.xsl. The XSLT engine is libxslt.