• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IFAC PapersOnLine >Tracking Control for Directional Drilling Systems Using Robust Feedback Model Predictive Control
【24h】

Tracking Control for Directional Drilling Systems Using Robust Feedback Model Predictive Control

机译：使用鲁棒反馈模型预测控制的定向钻井系统跟踪控制

获取原文
       
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

A rotary steerable system (RSS) is a drilling technology which has been extensively studied and used for over the last 20 years in hydrocarbon exploration and it is expected to drill complex curved borehole trajectories. RSSs are commonly treated as dynamic robotic actuator systems, driven by a reference signal and typically controlled by using a feedback loop control law. However, due to spatial delays, parametric uncertainties and the presence of disturbances in such an unpredictable working environment, designing such control laws is not a straightforward process. Furthermore, due to their inherent delayed feedback, described by delay differential equations (DDE), directional drilling systems have the potential to become unstable given the requisite conditions. This paper proposes a Robust Model Predictive Control (RMPC) scheme for industrial directional drilling, which incorporates a simplified model described by ordinary differential equations (ODE), taking into account disturbances and system uncertainties which arise from design approximations within the formulation of RMPC. The stability and computational efficiency of the scheme are improved by a state feedback strategy computed offline using Robust Positive Invariant (RPI) sets control approach and model reduction techniques. A crucial advantage of the proposed control scheme is that it computes an optimal control input considering physical and designer constraints. The control strategy is applied in an industrial directional drilling configuration represented by a DDE model and its performance is illustrated by simulations.
机译：旋转可转向系统（RSS）是一种钻井技术，在过去20年中，在碳氢化合物勘探中被广泛研究和使用，预计将钻曲线钻孔轨迹。 RSS通常被视为动态机器人致动器系统，由参考信号驱动并通常通过使用反馈回路控制定律来控制。然而，由于空间延迟，参数不确定性和在这种不可预测的工作环境中存在干扰，设计这种控制法律不是一个直接的过程。此外，由于其固有的延迟反馈，由延迟微分方程（DDE）描述，定向钻井系统具有在必要条件下变得不稳定的可能性。本文提出了一种用于工业定向钻探的鲁棒模型预测控制（RMPC）方案，其包括常微分方程（ODE）描述的简化模型，考虑了从RMPC的配方中的设计近似出现的扰动和系统不确定性。通过稳健的正不变量（RPI）设置控制方法和模型减少技术，通过脱机的状态反馈策略改进了该方案的稳定性和计算效率。所提出的控制方案的关键优势在于考虑物理和设计者的约束，它计算了最佳控制输入。控制策略应用于由DDE模型表示的工业定向钻井配置，并且其性能由仿真说明。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号