Adaptive Observer Design For The Bottom Hole

Adaptive Observer Design for the Bottomhole
Pressure of a Managed Pressure Drilling System

NPCW - Porsgrunn
yvind Nistad Stamnes, Jing Zhou,
Glenn-Ole Kaasa, Ole Morten Aamo
Department of Engineering Cybernetics
30 Jan. 2009
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 1/15
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
Conventional, pump o
Conventional, pump on
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
3
About the Project
yvind is pursuing a PhD. in
Controls with Applications to
Managed Pressure Drilling
Collaboration with StatoilHydro
Porsgrunn, Glenn-Ole Kaasa
Advisor, Ole Morten Aamo
Support from :
Post. doc, Zhou Jing
Lars Imsland, Cybernetica
Gerhard Nygaard, IRIS
3
About the Project
Support from :
3
About the Project
Support from :
3
About the Project
Support from :
3
About the Project
Support from :
3
About the Project
Support from :
3
About the Project
Support from :
4
Drilling 101
Conventional Drilling
Managed Pressure Drilling (MPD)
P
ann
= P
fric
+ P
hydro
+ P
choke
P
ann
= Annular pressure
P
fric
= Friction pressure
P
hydro
= Hydrostatic pressure
P
choke
= Pressure upstream choke
4
Drilling 101
P
ann
= P
fric
+ P
hydro
+ P
choke
P
ann
= Annular pressure
P
fric
= Friction pressure
P
hydro
P
choke
Depth
Pressure
4
Drilling 101
P
ann
= P
fric
+ P
hydro
+ P
choke
P
ann
= Annular pressure
P
fric
= Friction pressure
P
hydro
P
choke
Depth
Pressure
4
Drilling 101
P
ann
= P
fric
+ P
hydro
+ P
choke
P
ann
= Annular pressure
P
fric
= Friction pressure
P
hydro
P
choke
Depth
Pressure
MPD, pump o
P
choke
4
Drilling 101
P
ann
= P
fric
+ P
hydro
+ P
choke
P
ann
= Annular pressure
P
fric
= Friction pressure
P
hydro
P
choke
Depth
Pressure
MPD, pump o
P
choke
5
Model- Main Assumptions
1. phase, effect of gas in well
included in density and effective
bulk modulus
Rigid ow in momentum balance
Turbulent ow regime
1-dimensjonal ow
Isothermal conditions
5
bulk modulus
Turbulent ow regime
1-dimensjonal ow
5
bulk modulus
Turbulent ow regime
1-dimensjonal ow
5
bulk modulus
Turbulent ow regime
1-dimensjonal ow
5
bulk modulus
Turbulent ow regime
1-dimensjonal ow
5
bulk modulus
Turbulent ow regime
1-dimensjonal ow
6
Model
V
a
p
c
+

V
a
= q
bit
+ q
back
+ q
res
q
choke
V
d
p
p
= q
pump
q
bit
M

q
bit
= p
p
p
c
(F
d
+ F
a
)|q
bit
|q
bit
+ (
d

a
)gh
bit
p
bit
=
_
p
c
+ M
a

q
bit
+ F
a
|q
bit
|q
bit
+
a
gh
bit
p
p
M
d

q
bit
F
d
|q
bit
|q
bit
+
d
gh
bit
p=[bar], V=[m
3
], q=
_
m
3
s
_
=[bar], h=[m], g=9.81
_
m
s
2
F=friction factor, =
_
kg
m
3
_
M = M
d
+ M
a
M
d
=
d
_
l
bit
0
1
A
d
(x)
dx,
M
a
=
a
_
l
w
0
1
A
a
(x)
dx
6
Model
V
a
p
c
+

V
a
= q
bit
+ q
back
+ q
res
q
choke
V
d
p
p
= q
pump
q
bit
M

q
bit
= p
p
p
c
(F
d
+ F
a
)|q
bit
|q
bit
+ (
d

a
)gh
bit
p
bit
=
_
p
c
+ M
a

q
bit
+ F
a
|q
bit
|q
bit
+
a
gh
bit
p
p
M
d

q
bit
F
d
|q
bit
|q
bit
+
d
gh
bit
p=[bar], V=[m
3
], q=
_
m
3
s
_
=[bar], h=[m], g=9.81
_
m
s
2
_
kg
m
3
_
M = M
d
+ M
a
M
d
=
d
_
l
bit
0
1
A
d
(x)
dx,
M
a
=
a
_
l
w
0
1
A
a
(x)
dx
6
Model
V
a
p
c
+

V
a
= q
bit
+ q
back
+ q
res
q
choke
V
d
p
p
= q
pump
q
bit
M

q
bit
= p
p
p
c
(F
d
+ F
a
)|q
bit
|q
bit
+ (
d

a
)gh
bit
p
bit
=
_
p
c
+ M
a

q
bit
+ F
a
|q
bit
|q
bit
+
a
gh
bit
p
p
M
d

q
bit
F
d
|q
bit
|q
bit
+
d
gh
bit
p=[bar], V=[m
3
], q=
_
m
3
s
_
=[bar], h=[m], g=9.81
_
m
s
2
_
kg
m
3
_
M = M
d
+ M
a
M
d
=
d
_
l
bit
0
1
A
d
(x)
dx,
M
a
=
a
_
l
w
0
1
A
a
(x)
dx
6
Model
V
a
p
c
+

V
a
= q
bit
+ q
back
+ q
res
q
choke
V
d
p
p
= q
pump
q
bit
M

q
bit
= p
p
p
c
(F
d
+ F
a
)|q
bit
|q
bit
+ (
d

a
)gh
bit
p
bit
=
_
p
c
+ M
a

q
bit
+ F
a
|q
bit
|q
bit
+
a
gh
bit
p
p
M
d

q
bit
F
d
|q
bit
|q
bit
+
d
gh
bit
p=[bar], V=[m
3
], q=
_
m
3
s
_
=[bar], h=[m], g=9.81
_
m
s
2
_
kg
m
3
_
M = M
d
+ M
a
M
d
=
d
_
l
bit
0
1
A
d
(x)
dx,
M
a
=
a
_
l
w
0
1
A
a
(x)
dx
6
Model
V
a
p
c
+

V
a
= q
bit
+ q
back
+ q
res
q
choke
V
d
p
p
= q
pump
q
bit
M

q
bit
= p
p
p
c
(F
d
+ F
a
)|q
bit
|q
bit
+ (
d

a
)gh
bit
p
bit
=
_
p
c
+ M
a

q
bit
+ F
a
|q
bit
|q
bit
+
a
gh
bit
p
p
M
d

q
bit
F
d
|q
bit
|q
bit
+
d
gh
bit
p=[bar], V=[m
3
], q=
_
m
3
s
_
=[bar], h=[m], g=9.81
_
m
s
2
_
kg
m
3
_
M = M
d
+ M
a
M
d
=
d
_
l
bit
0
1
A
d
(x)
dx,
M
a
=
a
_
l
w
0
1
A
a
(x)
dx
7
Model- Verication
0 500 1000 1500
240
260
280
300
320
340
s
b
a
r
g

p
bit
p
bitsim
0 500 1000 1500
50
0
50
100
150
s
b
a
r
g

p
p
p
c
p
psim
p
csim
Figure: Model tted to WeMod
0 0.5 1 1.5 2 2.5
50
100
150
200
250
b
a
r
g

p
bit
p
p
p
bitfit
p
pfit
0 0.5 1 1.5 2 2.5
0
10
20
30
hr

p
c
(barg)
u
p
(
liter
s
)
Figure: Model tted to data
7
Model- Verication
0 500 1000 1500
240
260
280
300
320
340
s
b
a
r
g

p
bit
p
bitsim
0 500 1000 1500
50
0
50
100
150
s
b
a
r
g

p
p
p
c
p
psim
p
csim
0 0.5 1 1.5 2 2.5
50
100
150
200
250
b
a
r
g

p
bit
p
p
p
bitfit
p
pfit
0 0.5 1 1.5 2 2.5
0
10
20
30
hr

p
c
(barg)
u
p
(
liter
s
)
7
Model- Verication
0 500 1000 1500
240
260
280
300
320
340
s
b
a
r
g

p
bit
p
bitsim
0 500 1000 1500
50
0
50
100
150
s
b
a
r
g

p
p
p
c
p
psim
p
csim
0 0.5 1 1.5 2 2.5
50
100
150
200
250
b
a
r
g

p
bit
p
p
p
bitfit
p
pfit
0 0.5 1 1.5 2 2.5
0
10
20
30
hr

p
c
(barg)
u
p
(
liter
s
)
8
Observer Design - Assumption
Measure top-side pressures and
ow through main pump
measure/know the geometry of the
well
all parameters except friction and
density in annulus known
q
res
= 0
q
bit
> 0, in reality q
bit
0
8
well
q
res
= 0
q
bit
> 0, in reality q
bit
0
8
well
q
res
= 0
q
bit
> 0, in reality q
bit
0
8
well
q
res
= 0
q
bit
> 0, in reality q
bit
0
8
well
q
res
= 0
q
bit
> 0, in reality q
bit
0
9
Observer Design - Model
Same model, unkown friction and density
p
p
= a
1
q
bit
+ b
1
u
p
q
bit
= a
2
(p
p
p
c
)
1
|q
bit
|q
bit
+
2
v
3
p
bit
= p
c
+ M
a

q
bit
+ (M
1
F
d
)|q
bit
|q
bit
+ (
d

M
g

2
)h
bit
a
1
=

d
V
d
, b
1
= a
1
a
2
=
1
M
,
1
=
F
a
+ F
d
M
2
=
(
d

a
)g
M
, v
3
= h
bit
9
p
p
= a
1
q
bit
+ b
1
u
p
q
bit
= a
2
(p
p
p
c
)
1
|q
bit
|q
bit
+
2
v
3
p
bit
= p
c
+ M
a

q
bit
+ (M
1
F
d
)|q
bit
|q
bit
+ (
d

M
g

2
)h
bit
a
1
=

d
V
d
, b
1
= a
1
a
2
=
1
M
,
1
=
F
a
+ F
d
M
2
=
(
d

a
)g
M
, v
3
= h
bit
9
p
p
= a
1
q
bit
+ b
1
u
p
q
bit
= a
2
(p
p
p
c
)
1
|q
bit
|q
bit
+
2
v
3
p
bit
= p
c
+ M
a

q
bit
+ (M
1
F
d
)|q
bit
|q
bit
+ (
d

M
g

2
)h
bit
a
1
=

d
V
d
, b
1
= a
1
a
2
=
1
M
,
1
=
F
a
+ F
d
M
2
=
(
d

a
)g
M
, v
3
= h
bit
9
p
p
= a
1
q
bit
+ b
1
u
p
q
bit
= a
2
(p
p
p
c
)
1
|q
bit
|q
bit
+
2
v
3
p
bit
= p
c
+ M
a

q
bit
+ (M
1
F
d
)|q
bit
|q
bit
+ (
d

M
g

2
)h
bit
a
1
=

d
V
d
, b
1
= a
1
a
2
=
1
M
,
1
=
F
a
+ F
d
M
2
=
(
d

a
)g
M
, v
3
= h
bit
9
p
p
= a
1
q
bit
+ b
1
u
p
q
bit
= a
2
(p
p
p
c
)
1
|q
bit
|q
bit
+
2
v
3
p
bit
= p
c
+ M
a

q
bit
+ (M
1
F
d
)|q
bit
|q
bit
+ (
d

M
g

2
)h
bit
a
1
=

d
V
d
, b
1
= a
1
a
2
=
1
M
,
1
=
F
a
+ F
d
M
2
=
(
d

a
)g
M
, v
3
= h
bit
10
Observer Design - Transformation
Dene = q
bit
+ l
1
p
p
. l
1
is a tuning gain.
Dynamics for
= l
1
a
1
q
bit

1
|q
bit
|q
bit
+
2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
A state estimator for q
bit
= l
1
a
1
q
bit

1
|
q
bit
|
q
bit
+

2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
q
bit
=

l
1
p
p
Error dynamics for

= q
bit

q
bit
= l
1
a
1

1
(|q
bit
|q
bit
|
q
bit
|
q
bit
) +

T
(
q
bit
, v
3
)
(
q
bit
, v
3
) =
_
|
q
bit
|
q
bit
, v
3
T
10
Dene = q
bit
+ l
1
p
p
. l
1
is a tuning gain. Dynamics for
= l
1
a
1
q
bit

1
|q
bit
|q
bit
+
2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
bit
= l
1
a
1
q
bit

1
|
q
bit
|
q
bit
+

2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
q
bit
=

l
1
p
p
Error dynamics for

= q
bit

q
bit
= l
1
a
1

1
(|q
bit
|q
bit
|
q
bit
|
q
bit
) +

T
(
q
bit
, v
3
)
(
q
bit
, v
3
) =
_
|
q
bit
|
q
bit
, v
3
T
10
Dene = q
bit
+ l
1
p
p
. l
1
= l
1
a
1
q
bit

1
|q
bit
|q
bit
+
2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
bit
= l
1
a
1
q
bit

1
|
q
bit
|
q
bit
+

2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
q
bit
=

l
1
p
p
Error dynamics for

= q
bit

q
bit
= l
1
a
1

1
(|q
bit
|q
bit
|
q
bit
|
q
bit
) +

T
(
q
bit
, v
3
)
(
q
bit
, v
3
) =
_
|
q
bit
|
q
bit
, v
3
T
10
Dene = q
bit
+ l
1
p
p
. l
1
= l
1
a
1
q
bit

1
|q
bit
|q
bit
+
2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
bit
= l
1
a
1
q
bit

1
|
q
bit
|
q
bit
+

2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
q
bit
=

l
1
p
p
Error dynamics for

= q
bit

q
bit
= l
1
a
1

1
(|q
bit
|q
bit
|
q
bit
|
q
bit
) +

T
(
q
bit
, v
3
)
(
q
bit
, v
3
) =
_
|
q
bit
|
q
bit
, v
3
T
10
Dene = q
bit
+ l
1
p
p
. l
1
= l
1
a
1
q
bit

1
|q
bit
|q
bit
+
2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
bit
= l
1
a
1
q
bit

1
|
q
bit
|
q
bit
+

2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
q
bit
=

l
1
p
p
Error dynamics for

= q
bit

q
bit
= l
1
a
1

1
(|q
bit
|q
bit
|
q
bit
|
q
bit
) +

T
(
q
bit
, v
3
)
(
q
bit
, v
3
) =
_
|
q
bit
|
q
bit
, v
3
T
10
Dene = q
bit
+ l
1
p
p
. l
1
= l
1
a
1
q
bit

1
|q
bit
|q
bit
+
2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
bit
= l
1
a
1
q
bit

1
|
q
bit
|
q
bit
+

2
v
3
+ a
2
(p
p
p
c
) + l
1
b
1
u
p
q
bit
=

l
1
p
p
Error dynamics for

= q
bit

q
bit
= l
1
a
1

1
(|q
bit
|q
bit
|
q
bit
|
q
bit
) +

T
(
q
bit
, v
3
)
(
q
bit
, v
3
) =
_
|
q
bit
|
q
bit
, v
3
T
11
Observer Design - Lyapunov Analysis
Lyapunov type analysis
V =
1
2

2
+
1
2

V l
1
a
1
2
for the choice

For which we can conclude

|V| V
0
which gives |
| < c
1
og |
| < c
2
Using Barb alats lemma we get lim
t

= lim
t
q
bit
= 0
We also get lim
t
T
= lim
t
_
q
bit
+

2
v
3
_
= 0

q
bit
0 and

T
0 enables us to get an estimate

p
bit
p
bit
11
V =
1
2

2
+
1
2

V l
1
a
1
2
for the choice


|V| V
0
which gives |
| < c
1
og |
| < c
2
t

= lim
t
q
bit
= 0
We also get lim
t
T
= lim
t
_
q
bit
+

2
v
3
_
= 0

q
bit
0 and

T

p
bit
p
bit
11
V =
1
2

2
+
1
2

V l
1
a
1
2
for the choice


|V| V
0
which gives |
| < c
1
og |
| < c
2
t

= lim
t
q
bit
= 0
We also get lim
t
T
= lim
t
_
q
bit
+

2
v
3
_
= 0

q
bit
0 and

T

p
bit
p
bit
11
V =
1
2

2
+
1
2

V l
1
a
1
2
for the choice


|V| V
0
which gives |
| < c
1
og |
| < c
2
t

= lim
t
q
bit
= 0
We also get lim
t
T
= lim
t
_
q
bit
+

2
v
3
_
= 0

q
bit
0 and

T

p
bit
p
bit
11
V =
1
2

2
+
1
2

V l
1
a
1
2
for the choice


|V| V
0
which gives |
| < c
1
og |
| < c
2
t

= lim
t
q
bit
= 0
We also get lim
t
T
= lim
t
_
q
bit
+

2
v
3
_
= 0

q
bit
0 and

T

p
bit
p
bit
11
V =
1
2

2
+
1
2

V l
1
a
1
2
for the choice


|V| V
0
which gives |
| < c
1
og |
| < c
2
t

= lim
t
q
bit
= 0
We also get lim
t
T
= lim
t
_
q
bit
+

2
v
3
_
= 0

q
bit
0 and

T

p
bit
p
bit
11
V =
1
2

2
+
1
2

V l
1
a
1
2
for the choice


|V| V
0
which gives |
| < c
1
og |
| < c
2
t

= lim
t
q
bit
= 0
We also get lim
t
T
= lim
t
_
q
bit
+

2
v
3
_
= 0

q
bit
0 and

T

p
bit
p
bit
11
V =
1
2

2
+
1
2

V l
1
a
1
2
for the choice


|V| V
0
which gives |
| < c
1
og |
| < c
2
t

= lim
t
q
bit
= 0
We also get lim
t
T
= lim
t
_
q
bit
+

2
v
3
_
= 0

q
bit
0 and

T

p
bit
p
bit
11
V =
1
2

2
+
1
2

V l
1
a
1
2
for the choice


|V| V
0
which gives |
| < c
1
og |
| < c
2
t

= lim
t
q
bit
= 0
We also get lim
t
T
= lim
t
_
q
bit
+

2
v
3
_
= 0

q
bit
0 and

T

p
bit
p
bit
12
Simulation - WeMod
0 10 20 30 40 50 60
240
260
280
300
320
[
b
a
r
]

p
bit
p
bit
0 10 20 30 40 50 60
0
50
100
150
[min]
[
b
a
r
]

p
c
p
p
0 10 20 30 40 50 60
0
500
1000
1500

q
bit
q
bit
0 10 20 30 40 50 60
2
4
6
x 10
4

F
a
F
a
0 10 20 30 40 50 60
0.01
0.015
[min]

a

a
Initial conditions:
q
bit
(t
0
) = u
p
(t
0
),
a
(t
0
) = 2
a
,
F
a
(t
0
) = 3F
a
, t
0
= 50s
13
Simulation - Data
0 0.5 1 1.5 2 2.5
50
100
150
200
250
b
a
r
g

p
bit
p
p
p
bitfit
p
pfit
0 0.5 1 1.5 2 2.5
0
10
20
30
hr

p
c
(barg)
u
p
(
liter
s
)
0 0.5 1 1.5 2 2.5
215
220
225
230
235
240
245
b
a
r
g

p
bit
p
bit
0 0.5 1 1.5 2 2.5
0
0.005
0.01
hr

a
F
a
Initial conditions:
q
bit
(t
0
) = u
p
(t
0
),
a
(t
0
) = 1.2
a
,
F
a
(t
0
) = 1.5F
a
14
Conclusion
A simple model for estimation during drilling has been
presented
An observer has been developed
Adapts to unknown friction and density
Low complexity
Good simulation results
Tested on data from North Sea well
14
Conclusion
presented
Low complexity
14
Conclusion
presented
Low complexity
14
Conclusion
presented
Low complexity
14
Conclusion
presented
Low complexity
14
Conclusion
presented
Low complexity
Thank you!

Adaptive Observer Design For The Bottom Hole

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Adaptive Observer Design For The Bottom Hole

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Adaptive Observer Design for the Bottomhole

Pressure of a Managed Pressure Drilling System

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