Technical Description

SoftSpeed™II

RIG/PLANT REFERENCE REFERENCE DESCRIPTION

Salamah H:B366 S01L5463 Soft Speed
ADDITIONAL CODE SDRL CODE TOTAL PGS
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© Copyright NOV Inc. - 2023

CLIENT DOCUMENT NUMBER DOCUMENT NUMBER REV

S01L5463-TD-001 1
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REVISION HISTORY

1 15-Sep-2023 For Information HAMD DGD MEKA

0 9-Oct-2014 For Information FSC DGD TB
Rev Date (dd.mm.yyyy) Reason for issue Prepared Checked Approved

CHANGE DESCRIPTION

Revision Change description

1 Updated SoftSpeed™II
0 First revision
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TABLE OF CONTENTS

1 INTRODUCTION ............................................................................................................... 5
1.1 Purpose................................................................................................................... 5
1.2 Regulations, Specifications and Standards ............................................................. 5
1.3 Abbreviations and definitions .................................................................................. 5
1.4 References.............................................................................................................. 6
2 SYSTEM ............................................................................................................................ 7
2.1 General Description ................................................................................................ 7
3 CONTROL SYSTEM ......................................................................................................... 8
3.1 Control System Overview........................................................................................ 8
3.2 SoftSpeed™II Controller and Software ................................................................... 8
3.3 Design Constraints .................................................................................................. 8
3.3.1 Stick-slip mitigation ...................................................................................... 8
3.3.2 Simplified Tally............................................................................................. 9
3.3.3 Normal Operation Mode............................................................................... 9
3.4 Topology ................................................................................................................. 9
3.5 Function ID Explanation ........................................................................................ 10
3.6 Overview of functions ............................................................................................ 10
3.6.1 Tally simplification (NOV-SS-TallySimp) .................................................... 10
3.6.2 Stick Slip period analyzer (NOV-SS-PeriodAnalyzer) ................................ 10
3.6.3 Auto/manual tuning mode (NOV-SS-TuningMode) .................................... 10
3.6.4 Stick-slip severity indication (NOV-SS-StickSlipDisp) ................................ 11
3.6.5 Estimated bit speed (NOV-SS-BitSpeedEst) ............................................. 11
3.6.6 Trend display (NOV-SS-Trend).................................................................. 11
3.6.7 Stick-slip mitigation (NOV-SS-Mitigation)................................................... 11
3.6.8 Smart Ramp (NOV-SS-SmartRamp) ......................................................... 12
3.6.9 Phase Trigger (NOV-SS-PhaseTrigger) .................................................... 12
3.6.10 Stability Detector (NOV-SS-StabilityDetector) ......................................... 12
3.6.11 Interface with TD...................................................................................... 12
3.6.12 Interface with SDI (NOV-SS-SdiTally)...................................................... 12
3.6.13 Logging (NOV-SS-Logging) ..................................................................... 12
4 SAFETY FUNCTIONS .................................................................................................... 13
4.1 Safe Activation (NOV-SS-SafeOperation) ............................................................. 13
4.2 Temporary deactivation (NOV-SS-TempDeactivate) ............................................ 13
5 CONTROL SYSTEM INTERFACES ............................................................................... 14
5.1 Human Machine Interface Description (NOV-SS-HMI) ......................................... 14
5.1.1 Manual tally (NOV-SS-ManTally) ............................................................... 15
5.1.2 Messages (NOV-SS-Message).................................................................. 15
5.2 Non-Human Machine Interface Description .......................................................... 16
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5.2.1 Communication interface for SoftSpeed™II ............................................... 16

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1 INTRODUCTION

1.1 Purpose
The purpose of this document is to provide a general description of SoftSpeed™II. It will
also serve as an introduction to the operating instructions and present a selection of use
cases.
National Oilwell Varco is responsible for the implementation of the SoftSpeed™II as
detailed in this document, including software development, testing and documentation.
National Oilwell Varco also provides all necessary project administration and technical
services to fulfil the requirements of this Technical Description according to relevant
specifications.

1.2 Regulations, Specifications and Standards

NOV is certified according to NS-EN ISO 9001:2015 and work according to NS-ISO/IEC
90003:2014 (Software engineering - Guidelines for the application of ISO 9001:2008 to
computer software)”.
The scope of work described in this document shall meet the requirements of the
following documents or standards:
Client purchase order. Refer to Scope of Delivery/Contract.

1.3 Abbreviations and definitions

The following abbreviations may be used in the documents and drawings making up the
technical description:
AC Alternating Current
BHA Bottom Hole Assembly
DC Direct Current
DCN Drilling Control Network
DP Drill Pipe
FB Function with memory
FC Function block without memory
HMI Human Machine Interface
I/O Input / Output
ID Inner Diameter
IEC International Electrotechnical Commission
ISO International Organization for Standardization
NOV National Oilwell Varco
OD Outer Diameter
Operator The person assigned the responsibility of physically operating and
maintaining the equipment.
PIB Product Information Bulletin
PLC Programmable Logic Controller
ROP Rate of penetration
RPM Revolutions Per Minute
SBC Single Board Computer
SDI Smart Drilling Instrumentation
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TD Top Drive
TDD Technical Design Document
VFD Variable Frequency Drive
WOB Weight-on-bit
NOVOS NOV operating system
SMI Smart Machine Interface

1.4 References
References are made to the following documents and drawings:

Ref. Document Number Title

Number
1. S01L5460-OPM-001 Operation Manual, Cyberbase System HMI
2. S01L5456-TDO-002 Technical Document, Cyberbase System Keypads
3. S01L5456-SID-001-01 System Topology Diagram, Drilling Control Network
Topology
4. S01L5463-COM-001 Commissioning Procedure – SoftSpeed™II
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2 SYSTEM

2.1 General Description

Stick-slip oscillations are severe, cyclic variations of the drill string twist and torque,
driven by non-linear bit torque and well bore friction. The bit and bottom hole assembly
(BHA) toggles between a sticking phase with zero rotational speed and a slip phase
where the BHA reaches severe peak levels, typically 2-3 times the mean speed. Stick-
slip is recognized as a major cause of drilling inefficiency and non-productive time due
to excessive bit wear, premature tool failure, drill string fatigue and poor ROP.
NOV’s SoftSpeed™II uses the latest and patent pending technology to cure and prevent
torsional stick-slip oscillations of the drill string. Revision II improves performance and
can mitigate stick-slip over a wide range of conditions, including extremely long wells
where competitive systems normally fail. Although the system is more advanced, the
inputs are simplified by using auto-tuning features to ease operation. It also provides bit
speed estimation based on drive torque and string geometry. Enhancing an NOV Top
Drive with SoftSpeed™II provides safe, reliable, and highly improved drilling operations
in the toughest conditions.
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3 CONTROL SYSTEM

3.1 Control System Overview

SoftSpeed™II consists of software for stick-slip mitigation analysis and human machine
interface (HMI). The SoftSpeed™II software is normally integrated into the Top Drive
Machine Controller. The HMI Display is added either into an existing HMI system or as a
standalone Operator Panel.
SoftSpeed™II requires the following interfaces:
• Interface with Sdi™ set up in the TD PLC

The performance of SoftSpeed™II is highly dependent on the accuracy of the input tally
information as well as speed and torque signals. This allows SoftSpeed™II to calculate
the optimal parameters for mitigating stick-slip. In addition, the tuning of SoftSpeed™II
must be calibrated during commissioning before use in drilling operations.

3.2 SoftSpeed™II Controller and Software

The software is based upon the NOV SoftSpeed™II template, and is designed for the
Siemens SIMATIC S7 300 PLC using standard S7 v5.6. The Softspeed™II codebase is
implemented into the TD PLC. The control system is developed using NOV standard
libraries for the Siemens S7 PLC family. No 3rd party code is used in the control
system.

3.3 Design Constraints

3.3.1 Stick-slip mitigation

SoftSpeed™II is designed to detect and mitigate torsional vibrations, defined as stick-
slip. The system is not designed to remove lateral, axial or other modes of vibrations.
The objective is to maintain a nearly constant bit/BHA speed while drilling.

Operating range is 2-15 seconds stick-slip period (0.5 – 0.067 Hz). SoftSpeed™II is
designed to work closer to natural torsion vibrations, and performs best when the
observed stick-slip period is below a factor of 1.3 from the natural torsional vibration
period at any given depth. If stick-slip period substantially exceeds the natural period
with long sticking intervals, drilling window must be optimized (i.e. increase of mean
speed, adjust WOB etc.) so that SoftSpeed™II can actively mitigate stick-slip situations.

3.3.1.1 Weight on Bit oscillations

SoftSpeed™II uses surface torque to measure stick-slip frequency and calculate
optimal tuning. WOB fluctuations induce surface torque oscillation that is not caused by
torsion, thus WOB fluctuations may interfere with SoftSpeed™II stick-slip calculations.

3.3.1.2 Active / Passive Heave Compensation

Some rigs have heave compensation system to compensate for sea waves, WOB
fluctuations caused by the heave compensation may interfere with SoftSpeed™II
calculations by inducing surface torque oscillations as mentioned in section 3.3.1.1. The
effectiveness of the heave compensation system is therefore key to SoftSpeed™II
performance.
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3.3.2 Simplified Tally

The operator has to enter a simplified tally that reflects the drill string components in the
planned section to be drilled.
The operator must ensure that String Length matches the current bit depth when drilling
to have an optimally tuned system to damp out torsional vibrations.

Minimum operating depth is 800 m.

3.3.3 Normal Operation Mode

SoftSpeed™II is tuned to the complete TD inertia, with both motors mechanically
connected. It is possible to run SoftSpeed with only one motor active, but if the other
motor is mechanically disconnected SoftSpeed will be out of tune.
If Top Drive motor is replaced by a new motor that has a different inertia or nominal
torque than the original motor, SoftSpeed™II is not optimally tuned anymore and needs
to be re-commissioned.
For DC VFD systems, SoftSpeed™II is more suited to the Top Drive running in high
gear.

3.4 Topology
A principal description of a Cyberbase Control system integrated with machinery and
instrumentation is shown in Figure 1, indicating three levels. The first layer indicates the
Cyberbase Control System. The Cyberbase Control System, together with the
operator’s chair, represents the platform from which SoftSpeed™II is activated. The
second level in Figure 1 represents the rotating machine control PLC, including the
hardwired I/O interfaces between the PLC, the machinery and various sensors. The
third layer in Figure 1 represents the physical machinery and field instrumentation.

Figure 1: The figure illustrates the three levels of the control system. The top level represents
Cyberbase Control System in which the TD Control System is implemented in. The second level
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represents the TD PLC and its corresponding hardware equipment. The third level represents the
physical machines and the field instrumentation.

3.5 Function ID Explanation

In order to trace the functions analyzed in the Technical Description, the functions in the
SoftSpeed™II software are given a unique requirement ID listed in the Software
Requirement Specification document (Section 1.4 Ref).
The requirement ID has the following pattern NOV-Y-Z, where:
• Y is the unique product identifier.
• Z is the unique requirement ID.
E.g. the requirement ID for “Stick Slip period analyzer” is NOV-SS-PeriodAnalyzer,
where:
• NOV-SS is the unique product identifier for SoftSpeed™II.
• PeriodAnalyzer is the unique ID for “Stick Slip period analyzer”.

3.6 Overview of functions

The basic function of the SoftSpeed™II controller is to keep the bit continuously rotating
to avoid damaging the bit. The drive system absorbs torsional vibrations in the drill
string by regulating the top drive speed with a soft speed controller tuned to the
observed stick slip frequency.

3.6.1 Tally simplification (NOV-SS-TallySimp)

The SoftSpeed™II system needs a simplified version of the drill string setup/tally. This
must be entered once into the HMI by Operator before drilling a new section with
SoftSpeed™II.
This information is required for controller calculations and as part of the stick-slip
prevention algorithm. Section length, average outer diameter, inner diameter, and
BHA/DP classification are required for each string section.

3.6.2 Stick Slip period analyzer (NOV-SS-PeriodAnalyzer)

SoftSpeed™II contains an analyzer that estimates the stick-slip period based on real-
time data and the configured string setup. Filtered surface torque is measured to find
the stick slip period.

3.6.3 Auto/manual tuning mode (NOV-SS-TuningMode)

SoftSpeed™II has an auto-tuning feature that makes manual tuning unnecessary.
Auto-tuning calculates the amount of damping and at which frequency to damp.
However, it allows the operator to force settings onto the controller by manually
overriding parameters. Before implementing any changes, we recommend consulting
NOV, as in most cases this reduces the systems capability to remove and prevent stick-
slip.
By default, the system is configured to use the estimated stick-slip period and the auto
tuned mobility factor and inertia compensation.
Manual parameters available:
• Stick-slip period – controls what frequency to inject damping
• Mobility factor – controls amount of damping
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3.6.4 Stick-slip severity indication (NOV-SS-StickSlipDisp)

The stick-slip indicator shows the severity of stick-slip divided into three severity levels,
indicated by colours. The severity levels (NOV-SS-SsLevel) are:
• Smooth drilling (green), below 30% stick slip index.
• Moderate oscillations (yellow), above 30% but below 70% stick slip index.
• Severe stick- slip oscillations (red), over 70% stick slip index.
At fully developed stick-slip (red level) the bit speed varies periodically between zero
and more than 200% of the Top Drive speed.
The operator should turn on SoftSpeed™II if the red or the yellow severity level is
reached.

3.6.5 Estimated bit speed (NOV-SS-BitSpeedEst)

The Estimated Bit Speed function calculates the rotational speed of the drill bit, based
on drill string length, effective outer diameter and surface torque. Note that manual
tuning in NOV-SS-TuningMode may lead to incorrect calculation of Estimated Bit
Speed.

3.6.6 Trend display (NOV-SS-Trend)

SoftSpeed™II has dedicated trend charts displaying speed and torque data over time.
These trend charts gives an indication of the behavior of the drill bit and torque
oscillations. Following parameters are displayed:
• Top Drive Torque Actual
• Top Drive Operator Torque Limit
• Top Drive Speed Actual
• Top Drive Speed Operator Setpoint
• Estimated Bit Speed
• Stick Slip Severity Index
All values are shown in shaft units (not motor speed/torque units).

3.6.7 Stick-slip mitigation (NOV-SS-Mitigation)

When SoftSpeed™II is activated, the optimal stick-slip mitigating parameters and
control signals are transmitted to the top drive control system. The method by which this
is done depends on the mode that SoftSpeed™II was implemented in. During
deactivation, the original parameters are restored and the SoftSpeed™II control signals
are bypassed.
SoftSpeed™II has two implementation modes. Which mode is deployed depends on the
drive system configuration and is determined in the engineering phase.

3.6.7.1 PI Override Mode (NOV-SS-PiOvMode)

In PI override mode, SoftSpeed™II dynamically manipulates the Proportional and
Integral gains inside the Drive Controller. The operator speed and torque command
signals are sent unchanged on to the VFD as normal.
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3.6.8 Smart Ramp (NOV-SS-SmartRamp)

SoftSpeed™II introduces a smooth ramping to any Operator setpoint changes when
Smart Ramp is enabled, in order to reduce the risk of introducing 1st and 2nd mode
vibrations to the drill string. The Smart Ramp function is enabled if and only if
SoftSpeed™II is active, and can be toggled on/off from the Config screen. The function
is toggled on by default.

3.6.9 Phase Trigger (NOV-SS-PhaseTrigger)

SoftSpeed™II waits for the optimal phase of the stick-slip phase to activate
SoftSpeed™II if the Phase Trigger function is enabled. This feature increases the
chance of early stick-slip mitigation, and is thus enabled by default.

3.6.10 Stability Detector (NOV-SS-StabilityDetector)

When Stability detector function is enabled, SoftSpeed™II automatically deactivates if
TD shaft speed feedback exceeds stability limits set by the user. The function is active if
and only if SoftSpeed™II is active and Stability function is enabled. The system is
configured to use this function by default.

3.6.11 Interface with TD

3.6.11.1 Speed and torque reference (NOV-SS-SpdTrqRef)

SoftSpeed™II reads the speed and torque reference signals from the Top Drive. These
signals are then used to set the limits for which SoftSpeed™II will operate on.

3.6.11.2 Top Drive Status (NOV-SS-TdStatus)

SoftSpeed™II reads the state of the Top Drive at all times. During drilling, SoftSpeed™II
uses speed and torque feedback readings to calculate dynamically the optimal stick-slip
mitigating parameters.

3.6.12 Interface with SDI (NOV-SS-SdiTally)

For Cyberbase systems, the drill string tally is retrieved from Sdi™ PLC. The operator
needs to configure the pipe Tally in Sdi™ “String and well sections”. These parameters
are transferred to SoftSpeed™II and are used to estimate the stick-slip period window.

3.6.12.1 Tally conversion (NOV-SS-TallyConvert)

In Sdi™ “String and well Sections” configuration page, driller shall configure Drillstring
data prior to operations. Drillstring Capacity and Steel Displacement will automatically
transfer to SoftSpeed™II algorithm to calculate simplified tally.

3.6.13 Logging (NOV-SS-Logging)

SoftSpeed™II includes a logging function that records all relevant signals. This is used
for monitoring and evaluating the performance of the system.
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4 SAFETY FUNCTIONS
SoftSpeed™II has built-in functions to ensure safety during operation.

4.1 Safe Activation (NOV-SS-SafeOperation)

SoftSpeed™II has an ‘inhibit’ indicator on HMI that tells Operator that system is not
ready to be turned on.
The inhibit indicator is active when conditions such as the following are active:
• Emergency stop active
• Top Drive Off
• Not in Drill mode
• Not in Forward mode
• Drive fault
• Communication fault against nodes that provides Tally information and string
length
• Communication fault against HMI
• Top Drive actual speed less than 15 RPM
If SoftSpeed™II is active when one or more of the conditions arises, control system will
deactivate and Operator has to manually turn On SoftSpeed™II to reactivate again.

4.2 Temporary deactivation (NOV-SS-TempDeactivate)

SoftSpeed™II is temporarily deactivated if Top Drive speed setpoint is below 30 RPM
and the “SoftSpeed Active” LED is turned off on HMI. SoftSpeed™II will automatically
be activated once speed setpoint is increased above 30 RPM. If actual speed drops
below 15 RPM, SoftSpeed is inhibited and will not automatically reactivate.
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5 CONTROL SYSTEM INTERFACES

5.1 Human Machine Interface Description (NOV-SS-HMI)

SoftSpeed™II is operated from an operator station located in the driller’s cabin with all
the necessary switches and controls to operate the machine in a safe and controlled
manner (NOV-SS-SsInputs).
Activating SoftSpeed™II (NOV-SS-EnableSS) is given by a button on left or right hand
side of the operator station. Status signals are shown on the monitor(s) (NOV-SS-
Status), (NOV-SS-Period). Setup and configuration inputs are made from the screen(s).
The operator station will communicate with SoftSpeed™II through the drilling control
network.
In case of a failure in the communication between the operator station and Top Drive
controller, SoftSpeed™II will be deactivated and enter into inhibit state.
For information about operator interface, reference is made to the following documents
referenced in Section 1.4:
• Technical Document – Cyberbase System HMI Displays
• Technical Document – Cyberbase System HMI
• System Topology Diagram – Drilling Control Network Topology Two DCN.

For more detailed explanation on HMI manufacturer, constraints, software and firmware
versions, reference is made to “Technical Description – Cyberbase System” (Section
1.4). Other than constraints mentioned in referenced HMI document the HMI does not
restrict the use of the control system.
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5.1.1 Manual tally (NOV-SS-ManTally)

For standalone systems, the HMI is used for inputting drill string tally data for
SoftSpeed™II.

5.1.2 Messages (NOV-SS-Message)

SoftSpeed™II gives a message when the analyzer detects moderate or severe stick-slip
oscillations. This indication advises the operator to activate SoftSpeed™II.
SoftSpeed™II gives a message when the Operator torque limit is too low for
SoftSpeed™II controller to operate.
Activation of SoftSpeed™II controller is inhibited if the Top Drive speed set point is
below 30 RPM or if the Top Drive is not in drilling mode, forward, has drive faults etc.
Text Operator Action Alar Messag Visual
m e
Severe Stick Slip detected Turn ON SoftSpeed X RED
Moderate Stick Slip Consider to turn ON X YELLO
detected SoftSpeed W
Drill Torque Limit too Low Increase Operator Torque X YELLO
for SoftSpeed Limit or Turn OFF SoftSpeed W
Bit Depth exceeds pipe Update string section pipe X YELLO
tally plan tally plan from SDI/setup W
page.
Speed Exceeds RPM Check period analyzer X YELLO
Threshold & SS match torque pick to pick W
Deactivated. Check SS time ( stick slip period ). Turn
Config. ON SoftSpeed
SoftSpeed AutoTune Off Warning that manual mode X YELLO
is in use. Consider to use W
Auto-Tuning.
Check Power Allocation Follow Top Drive x
For TD, SS May Not Work instructions.
Properly.
SoftSpeed Inhibit SoftSpeed controller not YELLO
ready to be turned on. Check W
if in Drill Mode, Forward, No
drive fault, Speed setpoint
above 30 RPM. Ref section
4.2.
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5.2 Non-Human Machine Interface Description

5.2.1 Communication interface for SoftSpeed™II

The SoftSpeed™II software is installed in the TD PLC/SBC. The principal topology of
the integrated Cyberbase Control System is shown in Figure 2.

Figure 2: Simplified topology of the Drilling Control Network (DCN) showing where the TD PLC is
located. There are four types of communication networks/links used. (1) Cyberbase and Log
Servers and operator stations in the office use TCP/IP protocol on industrial Ethernet; (2) The
Machine Control PLCs use UDP/IP on the DCN; (3) HAWK onshore support.
For more detailed information about communication interface for TD PLC, reference is
made to System Topology Diagram (see Section 1.4).