AU2020102666A4

AU2020102666A4 - Coupled multibody dynamic approach on directional drilling system in oil rigs

Info

Publication number: AU2020102666A4
Application number: AU2020102666A
Authority: AU
Inventors: Balamurugan Adhithan; Shahnawaz Alam; M. R. Arun; Elavarasan G.; Anantkumar Jotiram Gujar; Mahesh Kumar Gupta; Padmavathy N. S.; G. Singaravel; Netravati U. M.
Original assignee: Gujar Anantkumar Jotiram Dr; N S Padmavathy Mrs; Singaravel G Dr; U M Netravati Dr
Current assignee: Gujar Anantkumar Jotiram Dr; N S Padmavathy Mrs; Singaravel G Dr; U M Netravati Dr
Priority date: 2020-10-11
Filing date: 2020-10-11
Publication date: 2021-01-14
Anticipated expiration: 2028-10-11

Abstract

COUPLED MULTIBODY DYNAMIC APPROACH ON DIRECTIONAL DRILLING SYSTEM IN OIL RIGS Abstract: Mining is a vital and very primary way for geothermal and geo-resources energy exploitation. But the selection of optimal functional parameters is a complex issue that is based on the multiple parameters in drilling gas and oil wells. The numerical modeling should take into account the following parameters: 1. Physical and mechanical processes which include hydraulics, friction, and cutting. 2. Different modes of vibrations. The numerical simulation has been enabled as the computational science progress in drill string dynamics. This is found as a useful tool to soothe and understand the deleterious vibrations. Drilling is found to be the most common operation that is performed in almost all manufacturing companies. Thus improving the performance of the drilling machine can cut the cost for tool breakage and machine cycle time. There are numerous parameters involved in the design of the drilling machines. This includes spindle speed, number of phases, feed speed, cutting force, etc. This invention involves the development of the new method to model gas drainage. Here we assume drill pipes as the flexible bodies and the drill hole wall, the drill bit joint as rigid bodies. This invention also aims in the development of a balanced, optimistic, and co-ordinated structure by regulating the proportional integral derivative (PID) controller using the fuzzy logic and PSO (Particle Swarm Optimization) algorithm. This invention also uses the coupling dynamics mainly in particular for the improvement of performance in drilling machines. 11 P a g e COUPLED MULTIBODY DYNAMIC APPROACH ON DIRECTIONAL DRILLING SYSTEM IN OIL RIGS Diagrams: Earth Surface Drill String Stabilizer Bottom Hole Assembly Drill Bit Figure 1: Inclined Well's wellbore structure. 1| P a g e

Description

COUPLED MULTIBODY DYNAMIC APPROACH ON DIRECTIONAL DRILLING SYSTEM IN OIL RIGS Diagrams:

Earth Surface

Drill String

Stabilizer

Bottom Hole Assembly

Drill Bit

Figure 1: Inclined Well's wellbore structure.

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COUPLED MULTIBODY DYNAMIC APPROACH ON DIRECTIONAL DRILLING SYSTEM IN OIL RIGS

Description Field of the Invention: This invention involves the development of a new method to model the gas drainage drilling machine which reduces the probability of failure due to gas drainage while drilling holes in the coal mines.

Background of the Invention: In recent years, there is being more attention paid to deep and super-deep well drilling technologies. They are the vital and very primary way for geothermal and geo-resources energy exploitation. But the selection of optimal functional parameters is a complex issue that is based on the multiple parameters in drilling gas and oil wells. The numerical modeling should take into account the following parameters: 1. Physical and mechanical processes which include hydraulics, friction, and cutting. 2. Different modes of vibrations. The numerical simulation has been enabled as the computational science progress in drill string dynamics. This is found as a useful tool to soothe and understand the deleterious vibrations. The pipe racking manipulator is as important as the other advanced equipment that is needed for the better performance of the deep and super-deep well drilling technologies. The equipment automation level and efficiency of the drilling are improved by using a pipe racking manipulator.

Dong et al proposed a hydraulic system design applied with pump-controlled technology. These are designed to improve the tunnel drilling rig's performance. They also provided a brief analysis of the hydraulic system's basic circuits and work conditions. Their proposed two pump control methodology is compared for work conditions and characteristics. The proposed method is found to have some disadvantages which were also indicated in this paper. They presented the importance of the hydraulic system controlled through the pump by analyzing the hydraulic system controlled using the valve. From the results, they concluded that the theoretical value obtained showed that the proposed model provides a whole technology level promotion for tunnel drilling rigs.

Pogorelov et al developed a drill string dynamic model which is using a rigid-flexible multi-body system. They also discussed the model parameter's influence on calculation timing and accuracy in simulation. They analyzed several transient drill string dynamics problems to have the output of uniform diameter in wellbores. The results produced for theoretical and practical values for the static and dynamic buckling problems are close enough. They developed specialized software to simulate the linear vibration, bottom hole assembly static, and transient dynamic problems. These analyses were based on the UM (Universal Mechanism) software. Thus the simulation results

11 P a g e obtained have proven that the proposed rigid-flexible multibody system for the drill string model is more feasible.

Wang et al presented a manipulator system for pipe racking. This acts as a vital link for drilling platform automation. The three-dimensional models of the system are established and imported into the ADAMS to establish the rigid-flexible coupling model. This helps the new pipe racking manipulator type to reflect the dynamic conditions correctly. They analyzed the motion output response, change in tension of the main connecting rod, and many more parameters using ADAMS. The results obtained made them conclude that the main connecting rod's elastic deformation has a very important impact on the performance of the whole system. This paper provides simplified mathematical calculations for dynamic characterization, dynamic parameter optimization, and control designs. Thus it reduces the strenuousness of the work and improves practical stability.

Cheng et al demonstrated the drilling process automation as three types of hierarchical loops: 1. Drilling state control loop: controls the attitude of the bit, 2. the trajectory control loop: controls WOB (weight on bit), and 3. Motor and actuator control loop. The drilling state control loop is made up of three sub-loops. They are 1. the downhole loop, 2. the surface loop, and the hybrid loop. These loops are analyzed using auto-driller systems. The control system for the multibody dynamics model is developed and simulated. They simulated the load and dynamic response of the drill string. The simulation result based on the real-time full hole drilling concluded that the proposed methodology is a more dominant drilling automation system.

Liu et al examined the large converter's dynamic response in the braking process. They built the converter transmission system's rigid-flexible coupling model based on the multi-body dynamics software Recurdyn, finite element methodology, and the rigid-flexible coupling theory. They studied the pattern of speed change of rotational damping, driving motor, and braking time of the system. The results obtained by simulation proved that the proposed rigid-flexible coupling model has more impact on the simulation efficiency compared to any other traditionally available methods. Under certain conditions, the increase in the braking period and the driving motor's rotational damping reduces the furnace's torsional vibration. Based on the theoretical analysis and simulation results, they concluded that 1. Braking period change had a significant effect on doubling the torsional vibration amplitude. 2. Furnace rotation's joint damping had a direct effect on the amplitude of descent of torsional vibration. 3. The quadratic acceleration curve resulted in the minimum torsional vibration amplitude in the converter.

Zhao et al presented an overview of the directional and vertical drilling technologies and their recent developments. There are few classifications on the main drilling technologies. They are horizontal drilling, directional drilling, extended reach drilling, and vertical drilling. They also

2 1P a g e discussed the major scope of these drilling technologies. They concluded and inferred the following from their research and analysis: 1. the drilling technology has reached a vast development from the cable to the automated advanced drilling technologies. 2. The present and evolved technologies in drilling tend to focus more on providing a stable machine to drill longer and deeper wells. For this, they have to have a high focus on the high temperature and pressure produced from the ultra-deep wells. 3. The directional and vertical drilling technologies have advanced from digitalized to intelligent zed, but still, it is not able to face the real-time industrial needs. Moreover, this development has been a successful methodology in the process of petroleum extraction such as gas and oil exploration and production.

Feifei et al developed a new type of remote control for the coal mining tunnel drilling rig. The drilling machine control can understand the drilling process with the help of mechanical and electrical integration. They can also able to discover the remote control and state monitoring of the drilling process. The field results showed that the control rig was able to achieve high accuracy of automatic loading and unloading driller and automation of the drill. They were implemented using the condition monitoring system and video monitoring system. The proposed development of this control system leads to the reduced labor load and increased the safety of the labor while operating the drilling machines in the gas drainage. They also provided technical support for future working faces.

Objective of the Invention:

1. This invention involves the development of the new method to model gas drainage. Here we assume drill pipes as the flexible bodies and the hole wall, the drill bit joint as rigid bodies.

2. This invention also aims in the development of a balanced, optimistic, and co-ordinated structure by regulating the proportional integral derivative (PID) controller using the fuzzy logic and PSO (Particle Swarm Optimization) algorithm.

3. This invention also uses the coupling dynamics mainly in particular for the improvement of performance in drilling machines.

Summary of the Invention:

In recent years, there is being more attention paid to deep and super-deep well drilling technologies. Deep well are nothing but the longer and deeper holes dug into the earth for the exploitation and extraction of the valuable resources from it. The valuable resources obtained from the mining include petroleum, coal, metals, gemstones, rock salt, limestone, etc. Thus mining is necessary to procure any material that cannot be produced by human beings. The mining is done

31Page in two ways: 1. Surface mining, 2. Underground mining. The surface is only the removal of bedrocks to obtain the ore materials. Underground mining is the one that involves digging tunnels and shafts into the earth to obtain the inhume ore materials. Large drills are used to get samples for analysis and research purposes. They are the vital and very primary way for geothermal energy and geo-resources exploitation. But the selection of optimal functional parameters is a complex issue that is based on the multiple parameters in drilling gas and oil wells.

The numerical modeling should take into account the following parameters: 1. Physical and mechanical processes which include hydraulics, friction, and cutting. 2. Different modes of vibrations. The numerical simulation has been enabled as the computational science progress in drill string dynamics. This is found as a useful tool to soothe and understand the deleterious vibrations. The pipe racking manipulator is as important as the other advanced equipment that is needed for the better performance of the deep and super-deep well drilling technologies. The equipment automation level and efficiency of the drilling are improved by using a pipe racking manipulator.

Drilling is found to be the most common operation that is performed in almost all manufacturing companies. Thus improving the performance of the drilling machine can cut the cost for tool breakage and machine cycle time. There are numerous parameters involved in the design of the drilling machines. This includes spindle speed, number of phases, feed speed, cutting force, etc.

The development of energy technology has put a high burden on the improvement of environmental protection, security, efficiency, and rate of penetration (ROP). The proposed control technology using the wellbore trajectory is an intelligent based technology which is an important requirement for safety and efficient operation and performance. Complex structured drilling well has been used in modem-day mining which is an impact of the development in the drilling technology. These complex structured drilling wells will have complex factors affecting its performance, which had to be taken into consideration while developing the control technology. The main focus of the good bore is an analysis of the factors influencing such as the comparative analysis, complex good structure, and the experimental results. The existing traditional method of designing the well structure has more errors practically when compared with their experimental data. This happens predominantly in the complex drilling well structures. The causes of this phenomenon are believed to be the borehole damping discontinuity, randomness, and radial vibration of the drill string center.

The minimum and maximum of the objective function's constraints are calculated by a numerical method called an optimization algorithm. The optimization algorithm is emerging rapidly among researchers in recent years in the manufacturing industries. The evolution in the calculation methodology merged with artificial intelligence (Al) to provide a new method called computational intelligence (CI). The conventional methods include ZN and modified ZN. The

4 1P a g e modem and advanced optimization tools include Fuzzy and Particle Swarm Optimization (PSO). Their features can produce more acute results with added stability. This invention involves the development of more optimization algorithm for improving the performance of the drilling machines when compared with the existing optimization algorithm. This invention involves the designing of FLC (fuzzy logic controller). This is nothing but a PSO tuned PID controller and a fuzzy tuned PID controller.

The wellbore ambit is obtained from the theoretical values resulted from the consistent actual situation. The foundation of the wellbore ambit control, positioning compensation, and reliability are provided from the judgment of the key factors. The coupling held between the wellbore ambit and the drill string's radial vibration is not considered during the design of the wellbore ambit. Neglecting the above factor in the design of the wellbore ambit trajectory leads to major errors and deviation in the results obtained in the real-time application compared to the theoretical computations. This impacts the performance and the safety of the usage of the wellbore trajectory.

The wellbore ambit determination is based on the result obtained by intercoupling between the bottom hole, drill string, and the borehole wall. Thus the coupling needs to analyze the necessary important factor before performing the coupling process. This invention is based on the coupling dynamics and multi-directional vibration of the drill string. The factors that are considered during the process of drilling are 1. Interaction between the drill string and the borewell hole, 2. Interaction between the borehole and the stabilizer, and 3. The drill bit force.

Detailed description of the Invention:

The development of energy technology has put a high burden on the improvement of environmental protection, security, efficiency, and rate of penetration (ROP). The proposed control technology using the wellbore trajectory is an intelligent based technology which is an important requirement for safety and efficient operation and performance. Complex structured drilling well has been used in modem-day mining which is an impact of the development in the drilling technology. These complex structured drilling wells will have complex factors affecting its performance, which had to be taken into consideration while developing the control technology.

The main focus of the wellbore is an analysis of the factors influencing such as the comparative analysis, complex well structure, and the experimental results. The wellbore ambit is obtained from the theoretical values resulted from the consistent actual situation. The foundation of the wellbore ambit control, positioning compensation, and reliability are provided from the judgment of the key

51Page factors. The coupling held between the wellbore ambit and the drill string's radial vibration is not considered during the design of the wellbore ambit.

Factors are influencing the complex downhole situation. Thus the mechanical analysis of the bit becomes the vital tool for the bit ambit prediction in the drilling process. The wellbore ambit computation process is established after the analysis of the drill bit force. The function of the frictional moment is determined by numerous factors including the mechanical properties of the drilled rock composition, pressure at drill bit nozzle, bit material, diameter, bit structure, WOB, and drilling fluid composition.

The value of the factors influencing may vary during the drilling process. This makes the construction of the universal fiction moment very difficult. The universal factors are not necessary to find and it can be limited to some typical and general scenarios and its corresponding conditions during the drilling process. The extreme values of these universal functions make changes that impact the stability of the drilling system.

The Particle Swarm Optimization (PSO) can be used to tune the PID controller to embellish the performance of the drilling machines. This optimization is found to be the solution for the non linear problems. The task on the PSO has reached its peak in the modem days. It has become more reliable due to the following reasons: 1. High performance, 2. Ease to function and, 3. Reduced computational cost. The fuzzy control is used to reduce the complex designing of the drilling machines. The name fuzzy means reasoning. Thus they involve the human prediction as to the estimated value than the exact value. The fuzzy logic can be implemented into the PID controller to have a better performance during the non-linearity observed in the system. On the other hand, the steady-state performance in the non-linear systems can be achieved with the help of the PID controllers. The PID parameters can be tuned effectively for the control system incorporation based on the fuzzy control features that include: feasibility and robustness.

Figure 1 shows the inclined well structure of the wellbore ambit. Thus we may conclude with the factors that need to be considered at the time of drilling are represented by the drilling route provided by the drill bit. Tus the factors that need to be taken into consideration while drilling is: 1. Borehole wall and stabilizer interaction, 2. the borehole wall and string of the drill interaction, and 3. Drill bit force.

The drill bit is normal for a few seconds from the obtained results. The weight on bit (WOB), torsional and longitudinal vibrations with or without coupling have the same variation. The variation is not so obvious, thus the factors for the longitudinal and torsional vibration should be changed to velocity and displacement. The drill bit enters into the stick phase when there is a change in the friction between the borehole wall and the drill bit, consequently resulting in the maximum weight on bit and torque. This decreases the axial velocity of the drilling very rapidly.

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There is a change in the angular displacement and angular velocity of the torsional vibration when the drill bit starts into the complex structure with reduced drill speed/ability. From the results obtained, it is clear that the weight on the bit and the torque reaches a maximum when the friction and strength of the drill bit increase leading to a rapid decrease in the angular velocity of the torsional vibration. The displacement of the torsional vibration remains unchanged though the drill bit is in the stick phase. During the initial phases of slip, the drill bit's longitudinal velocity and the angular velocity keep fluctuating but the torque accumulated on the drill bit is released rapidly. Thus at the further progress of the drill bit, the speed remains to be stable. The longitudinal force and the torsional vibration also remains stable during the phase of drilling. When the drilling enters into the stick phase i.e. the complex structures, the drill bit tends to produce a stable and constant rotational angular velocity weakening the stick-slip vibration.

The torsion influence becomes small as there is a coupling between the torsional and longitudinal vibration of the drill string. But the natural frequency of the radial vibration is affected by the longitudinal vibrations resulting in a change in the radial vibration. It is found that the calculated values are more similar to the drill systems with coupling when compared with the drilling systems without coupling.

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Claims

COUPLED MULTIBODY DYNAMIC APPROACH ON DIRECTIONAL DRILLING SYSTEM IN OIL RIGS

Claims:

This invention involves the development of a new method to model the gas drainage drilling machine which reduces the probability of failure due to gas drainage while drilling holes in the coal mines and it includes the following claims: 1. This invention involves the development of the coupling dynamic model of torsional vibration and longitudinal vibration.
2. Based on the energy method, the invention provides a numerical solution method.
3. The results of the vibration for longitudinal displacement, weight on bit, velocity, angular displacement, and angular velocity of the torsional vibration and torque have been obtained and analyzed.
4. From claim 1, the radial vibration fluctuates by increasing and decreasing which is the result of an increase in the longitudinal vibration displacement. This also reduces the range of the torsional vibrational torque. But the torsional vibration and the longitudinal vibration has a great impact on one another.
5. The longitudinal vibration which is a consequence of the influence on the radial vibration leads to structure quality change, stiffness which consequently affects the wellbore ambit.
6. The change in the axial measurement leads to variation in the radial vibration's natural frequency. This impacts reduced amplitude and resonating probability.
7. This invention involves the development of PSO tuned PID controllers to improve the performance of the drilling systems. This provides the researchers with the advantage of the reduction in the controller design ways and by providing a systematic approach.
8. The performance of the PSO tuned PID controllers is found to be more improved than the traditional PID controllers and any other traditional methods like ZN and modified ZN methods for optimization.
9. The fuzzy tuned PID controllers also provided the desired performance when it comes to the non-linear systems.
10. The obtained results show that the PSO tuned PID controllers shows better performance when compared to the Fuzzy logic control tuned PID controllers in the drilling machines.
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COUPLED MULTIBODY DYNAMIC APPROACH ON DIRECTIONAL 11 Oct 2020

DRILLING SYSTEM IN OIL RIGS Diagrams: 2020102666

Figure 1: Inclined Well’s wellbore structure.

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Figure 2: Enhanced PSO-PID controller drilling machine for high performance.

Figure 3: Enhanced Fuzzy-PID controller drilling machine for high performance.

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