The main focus of this thesis is aspects in the development of a system for prevention of stick-slip oscillations in drill strings that are used for drilling oil wells. Stick-slip is mainly caused by elasticity of the drill string and changing frictional forces at the bit; static frictional forces are higher than the kinetic frictional forces which make the bit act in a manner where it sticks and then slips, called stick-slip. Stick-slip leads to excessive bit wear, premature tool failures and a poor rate of penetration. A model predictive controller (MPC) should be a suitable remedy for this problem; MPC has gained great success in constrained control problems where tight control is needed. Friction is a highly nonlinear phenomenon and for that reason is it obvious that a nonlinear model is preferred to be used in the MPC to get prime control. Obviously it is of great importance that the internal model used in the MPC is of a certain quality, and as National Oilwell Varco (NOV) has developed a nonlinear drill string model in Simulink, it will be useful to check over this model. This model was therefore verified with a code-to-code comparison and validated using logging data provided from NOV. As the model describing the dynamics of the drill string is somewhat large, a nonlinear model reduction is needed due to the computational complexity of solving a nonlinear model predictive control problem. This nonlinear model reduction is based on the technique of balancing the empirical Gramians, a method that has proven to be successful for a variety of systems. A nonlinear drill string model has been reduced and implemented to a nonlinear model predictive controller (NMPC) and simulated for different scenarios; all proven that NMPC is able to cope with the stick-slip problem. Comparisons have been made with a linear MPC and an existing stick-slip prevention system, SoftSpeed, developed by National Oilwell Varco.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:ntnu-9112 |
| Date | January 2010 |
| Creators | Johannessen, Morten Krøtøy, Myrvold, Torgeir |
| Publisher | Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, Institutt for teknisk kybernetikk |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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