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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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 2/15
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
Conventional, pump o
Conventional, pump on
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 2/15
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
Conventional, pump o
Conventional, pump on
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 2/15
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
Conventional, pump o
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 2/15
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
Conventional, pump o
Conventional, pump on
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 2/15
2
Outline
About the Project
Drilling 101
System Model
Observer Design
Simulation Results
Depth
Pressure
Sea bed
Conventional, pump o
Conventional, pump on
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 2/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 3/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 3/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 3/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 3/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 3/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 3/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 3/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 4/15
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
Depth
Pressure
Conventional, pump on
Conventional, pump o
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 4/15
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
Depth
Pressure
Conventional, pump on
Conventional, pump o
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 4/15
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
Depth
Pressure
Conventional, pump on
Conventional, pump o
MPD, pump o
P
choke
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 4/15
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
Depth
Pressure
Conventional, pump on
Conventional, pump o
MPD, pump o
P
choke
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 4/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 5/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 5/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 5/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 5/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 5/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 5/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 6/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 6/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 6/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 6/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 6/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 7/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 7/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 7/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 8/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 8/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 8/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 8/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 8/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 9/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 9/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 9/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 9/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 9/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 10/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 10/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 10/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 10/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 10/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 10/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 11/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 11/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 11/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 11/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 11/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 11/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 11/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 11/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 11/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 12/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 13/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 14/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 14/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 14/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 14/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 14/15
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
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 14/15
Thank you!
www.ntnu.no . Stamnes, Adaptive Observer Design for Bottomhole Pressure 15/15