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Drilling in challenging conditions require precise control over hydrodynamic parameters for safer and efficient operation in oil and gas industries. Automated managed pressure drilling (MPD) is one of such drilling solution which helps to maintain operational parameters effectively over conventional drilling technique. The main goal is to maintain bottomhole pressure between reservoir formation pressure and fracture pressure with kick mitigation ability. Real life MPD system has to confront nonlinearity induced by drilling fluid rheology and flow parameters. To obtain a better understanding of this operation, a lab scale experimental setup has been developed. Reynolds number and pressure drop per unit length were considered to obtain hydrodynamic similarity. A vertical concentric pipe arrangement has been used to represent the drill string and annular casing region. A linearized gain switching proportional integral (PI) controller and a nonlinear model predictive controller (NMPC) have been developed to automate the control operation in the experimental setup. A linearizer has been designed to address the choke nonlinearity. Based on the flow and pressure criteria, a gain switching PI controller has been developed which is able to control pressure and flow conditions during pipe extension, pump failure and influx attenuation cases. On the other hand, a nonlinear Hammerstein-Weiner model has been developed which assists in bottomhole pressure estimation using pump flow rate and choke opening. The identified model has been integrated with a NMPC algorithm to achieve effective control within predefined pressure and flow constraints. Lastly, a performance comparison has been provided between the linearized gain switching PI controller and NMPC controller.
With extraction out of depleted wells more important than ever, this new and developing technology is literally changing drilling engineering for future generations. Never before published in book form, these cutting-edge technologies and the processes that surround them are explained in easy-tounderstand language, complete with worked examples, problems and solutions. This volume is invaluable as a textbook for both the engineering student and the veteran engineer who needs to keep up with changing technology.
If done properly, MPD can improve economics for any well being drilled by reducing a rig's nonproductive time. Written for engineers, drilling managers, design departments, and operations personnel, Managed Pressure Drilling Modeling is based on the author's on experience and offers instruction on planning, designing and executing MPD projects. Compact and readable, the book provides a step by step methods for understanding and solve problems involving variables such as backpressure, variable fluid density, fluid rheology, circulating friction, hole geometry and drillstring diameter. All MPD variations are covered, including Constant Bottomhole Pressure, Pressurized MudCap Drilling and Dual Gradient Drilling. Case histories from actual projects are designed and analyzed using proprietary simulation software online.
Automation of managed pressure drilling (MPD) enhances the safety and increases efficiency of drilling and that drives the development of controllers and observers for MPD. The objective is to maintain the bottom hole pressure (BHP) within the pressure window formed by the reservoir pressure and fracture pressure and also to reject kicks. Practical MPD automation solutions must address the nonlinearities and uncertainties caused by the variations in mud flow rate, choke opening, friction factor, mud density, etc. It is also desired that if pressure constraints are violated the controller must take appropriate actions to reject the ensuing kick. The objectives are addressed by developing two controllers: a gain switching robust controller and a nonlinear model predictive controller (NMPC). The robust gain switching controller is designed using H1 loop shaping technique, which was implemented using high gain bumpless transfer and 2D look up table. Six candidate controllers were designed in such a way they preserve robustness and performance for different choke openings and flow rates. It is demonstrated that uniform performance is maintained under different operating conditions and the controllers are able to reject kicks using pressure control and maintain BHP during drill pipe extension. The NMPC was designed to regulate the BHP and contain the outlet flow rate within certain tunable threshold. The important feature of that controller is that it can reject kicks without requiring any switching and thus there is no scope for shattering due to switching between pressure and flow control. That is achieved by exploiting the constraint handling capability of NMPC. Active set method was used for computing control inputs. It is demonstrated that NMPC is able to contain kicks and maintain BHP during drill pipe extension.
Applied Gaseous Fluid Drilling Engineering: Design and Field Case Studies provides an introduction on the benefits of using gaseous fluid drilling engineering. In addition, the book describes the multi-phase systems needed, along with discussions on stability control. Safety and economic considerations are also included, as well as key components of surface equipment needed and how to properly select equipment depending on the type of fluid system. Rounding out with proven case studies that demonstrate good practices and lessons from failures, this book delivers a practical tool for understanding the guidelines and mitigations needed to utilize this valuable process and technology. Helps readers gain a framework of understanding regarding the basic processes, technology and equipment needed for gaseous fluid drilling operations Highlights benefits and challenges using drilling flow charts, photos of relevant equipment, and table comparisons of available fluid systems Presents multiple case studies involving successful and unsuccessful operations
The IADC Drilling Manual, 12th edition, is the definitive manual for drilling operations, training, maintenance and troubleshooting. The two-volume, 26-chapter reference guide covers all aspects of drilling, with chapters on types of drilling rigs, automation, drill bits, casing and tubing, casing while drilling, cementing, chains and sprockets, directional drilling, downhole tools, drill string, drilling fluid processing, drilling fluids, hydraulics, drilling practices, floating drilling equipment and operations, high-pressure drilling hoses, lubrication, managed pressure drilling and related practices, power generation and distribution, pumps, rotating and pipehandling equipment, special operations, structures and land rig mobilization, well control equipment and procedures, and wire rope. A comprehensive glossary of drilling terms is also included. More than 900 color and black-and-white illustrations, 600 tables and thirteen videos. 1,158 pages. Copyright © IADC. All rights reserved.
Managed Pressure Drilling Operations is a significant technology worldwide and beginning to make an impact all over the world. Often reservoir and drilling engineers are faced with the decision on how best to construct a well to exploit zones of interest while seeking to avoid drilling problems that contribute to reservoir damage or cause loss of hole. The decision to pursue a MPD operation is based on the intent of applying the most appropriate technology for the candidate and entails either an acceptance of influx to the surface or avoidance of influx into the wellbore. In today's exploration and production environment, drillers must now drill deeper, faster and into increasingly harsher environments where using conventional methods could be counter-productive at best and impossible at worst. Managed Pressure Drilling (MPD) is rapidly gaining popularity as a way to mitigate risks and costs associated with drilling in harsh environments. With this book in hand drilling professionals gain knowledge of the various variations involved in managed pressure drilling operations; understand the safety and operational aspects of a managed pressure drilling project; and be able to make an informed selection of all equipment required to carry out a managed pressure drilling operation.
The blowout of the Macondo well on April 20, 2010, led to enormous consequences for the individuals involved in the drilling operations, and for their families. Eleven workers on the Deepwater Horizon drilling rig lost their lives and 16 others were seriously injured. There were also enormous consequences for the companies involved in the drilling operations, to the Gulf of Mexico environment, and to the economy of the region and beyond. The flow continued for nearly 3 months before the well could be completely killed, during which time, nearly 5 million barrels of oil spilled into the gulf. Macondo Well-Deepwater Horizon Blowout examines the causes of the blowout and provides a series of recommendations, for both the oil and gas industry and government regulators, intended to reduce the likelihood and impact of any future losses of well control during offshore drilling. According to this report, companies involved in offshore drilling should take a "system safety" approach to anticipating and managing possible dangers at every level of operation-from ensuring the integrity of wells to designing blowout preventers that function under all foreseeable conditions-in order to reduce the risk of another accident as catastrophic as the Deepwater Horizon explosion and oil spill. In addition, an enhanced regulatory approach should combine strong industry safety goals with mandatory oversight at critical points during drilling operations. Macondo Well-Deepwater Horizon Blowout discusses ultimate responsibility and accountability for well integrity and safety of offshore equipment, formal system safety education and training of personnel engaged in offshore drilling, and guidelines that should be established so that well designs incorporate protection against the various credible risks associated with the drilling and abandonment process. This book will be of interest to professionals in the oil and gas industry, government decision makers, environmental advocacy groups, and others who seek an understanding of the processes involved in order to ensure safety in undertakings of this nature.
The upstream oil and gas industry has witnessed a marked increase in the number of wells drilled in areas with elevated subsurface formation pressures and narrow drilling margins. Managed Pressure Drilling (MPD) techniques have been developed to deal with the challenge of narrow margin wells, offering great promise for improved rig safety and reduced non-productive time. Automation of MPD operations can ensure improved control over wellbore pressure profiles, and there are several commercial solutions currently available. However, these automation efforts seldom take into account the uncertainty and complex dynamics inherent in subsurface environments, and usually assume ideally functioning sensors and actuators, which is rarely the case in real-world drilling operations. This dissertation describes a set of tools and methods that can form the basis for an automation framework for MPD systems, with specific focus on the surface back-pressure technique of MPD. Model-based control algorithms with robust reference tracking, as well as methods for detecting system faults and handling modeling uncertainty, are integrated with a novel multi-phase hydraulics model. The control system and event detection modules are designed using physics-based representations of the drilling processes, as well as models relating uncertain variables in a probabilistic fashion. Validation on high-fidelity simulation models is conducted in order to ascertain the effectiveness of the developed methods.