Managed-Pressure Drilling: Using Model Predictive Control To Improve Pressure Control for During Dual-Gradient Drilling
- Øyvind Breyholtz (International Research Institute of Stavanger) | Gerhard Nygaard (International Research Institute of Stavanger) | Michael Nikolaou (University of Houston)
- Document ID
- Society of Petroleum Engineers
- SPE Drilling & Completion
- Publication Date
- June 2011
- Document Type
- Journal Paper
- 182 - 197
- 2011. Society of Petroleum Engineers
- 1.10.1 Drill string components and drilling tools (tubulars, jars, subs, stabilisers, reamers, etc), 1.7.5 Well Control, 1.7.3 Dual Gradient Drilling, 1.6 Drilling Operations, 6.3.3 Operational Safety, 1.6.1 Drilling Operation Management, 1.7.2 Managed Pressure Drilling
- Managed Pressure Drilling, Model Predictive Control, Dual-Gradient Drilling
- 0 in the last 30 days
- 1,690 since 2007
- Show more detail
- View rights & permissions
|SPE Member Price:||USD 5.00|
|SPE Non-Member Price:||USD 35.00|
Managed-pressure drilling (MPD) offers unprecedented capabilities for precise pressure control in drilling operations. This capability, created by the availability of new hardware tools, creates the need for tight coordination of such tools, to ensure reliable and safe operation. The use of model predictive control (MPC) is proposed as a multivariable control framework that can coordinate multiple variables to offer both better performance and higher reliability and safety compared with current practice.
A case study on a dual-gradient drilling system is presented to demonstrate how MPC can simultaneously control bottomhole pressure and hook position during drillstring movement, by simultaneously manipulating the main-pump flow rate, seabed-pump flow rate, and drillstring velocity. Simulations focusing on the robustness to modeling errors and noise sensitivity will also be presented. Computer simulations show that the proposed approach results in much lower bottomhole-pressure (BHP) deviations during drillstring movement than manual control of hook position alone. The sensitivity to errors in the MPC model and noise are found to be low. The implications of this study as well as future directions for integration of additional variables and use of appropriate MPC variants are discussed.
|File Size||1 MB||Number of Pages||16|
Allgöwer, F., Findeisen, R., and Nagy, Z.K. 2004. Nonlinear Model PredictiveControl: From Theory to Application. J. Chin. Inst. Chem. Engrs. 35 (3): 299-315.
Bjørkevoll, K.S., Molde, D.O., and Fjeldberg, H. 2008. Utilize ManagedPressure Drilling Equipment and Technique to Cement a Severely Depleted HPHTReservoir in the North Sea. Paper SPE 115118 presented at the SPE Russian Oiland Gas Technical Conference and Exhibition, Moscow, 28-30 October. doi: 10.2118/115118-MS.
Breyholtz, Ø. and Nygaard, G. 2009b. Deep Water Drilling: Full PressureProfile Control in Open Hole Section Using Model Predictive Control. Paper IPTC13256 presented at the International Petroleum Technology Conference, Doha,Qatar, 7-9 December. doi:10.2523/13256-MS.
Breyholtz, Ø., Nygaard, G., Godhavn, J.-M., and Vefring, E.H. 2009a.Evaluating Control Designs for Co-Ordinating Pump Rates and Choke Valve DuringManaged Pressure Drilling Operations. Proc., 2009 IEEE Multi-conference onSystems and Control, St. Petersburg, Russia, 8-10 July.
Breyholtz, Ø., Nygaard, G., Siahaan, H., and Nikolaou, M. 2010. ManagedPressure Drilling: A Multi-Level Control Approach. Paper SPE 128151 presentedat the SPE Intelligent Energy Conference and Exhibition, Utrecht, TheNetherlands, 23-25 March. doi:10.2118/128151-MS.
Brown, J.D., Urvant, V.V., Thorogood, J.L., and Rolland, N.L. 2007.Deployment of a Riserless Mud-Recovery System Offshore Sakhalin Island. PaperSPE 105212 presented at the SPE/IADC Drilling Conference, Amsterdam, 20-22February. doi:10.2118/105212-MS.
Choe, J., Schubert, J.J., and Juvkam-Wold, H.C. 2007. Analyses andProcedures for Kick Detection in Subsea Mudlift Drilling. SPE Drill &Compl 22 (4): 296-303. SPE-87114-PA. doi: 10.2118/87114-PA.
Cohen, J. and Deskins, G. 2006. Use of Lightweight Solid Additives to Reducethe Weight of Drilling Fluid in the Riser. Paper SPE 99174 presented at theIADC/SPE Drilling Conference, Miami, Florida, USA, 21-23 February. doi: 10.2118/99174-MS.
Forrest, N., Bailey, T., and Hannegan, D. 2001. Subsea Equipment for DeepWater Drilling Using Dual Gradient Mud System. Paper 67707 presented at theSPE/IADC Drilling Conference, Amsterdam, 27 February-1 March. doi: 10.2118/67707-MS.
Fossli, B. and Sangesland, S. 2006. Controlled Mud-Cap Drilling for SubseaApplications: Well-Control Challenges in Deep Waters. SPE Drill &Compl 21 (2): 133-140. SPE-91633-PA. doi: 10.2118/91633-PA.
Fredericks, P., Reitsma, D., Runggai, T., Hudson, N., Zaeper, R., Backhaus,O., and Hernandez, M. 2008. Successful Implementation of First Closed Loop,Multiservice Control System for Automated Pressure Management in a Shallow GasWell Offshore Myanmar. Paper SPE 112651 presented at the IADC/SPE DrillingConference, Orlando, Florida, USA, 4-6 March. doi: 10.2118/112651-MS.
Godhavn, J.-M. 2009. Control Requirements for High-End Automatic MPDOperations. Paper SPE 119442 presented at the SPE/IADC Drilling Conference andExhibition, Amsterdam, 17-19 March. doi: 10.2118/119442-MS.
Godhavn, J.-M., Lauvdal, T., and Egeland, O. 1996. Hybrid Control in SeaTraffic Management Systems. In Hybrid Systems III: Verification andControl, ed. R. Alur, T.A. Henzinger, and E.D. Sontag, Vol. 1066, 149-160.Berlin, Germany: Lecture Notes in Computer Sciences, Springer.
Gonzalez, R. 1998. Deepwater drill string shut-off valve system and methodfor controlling mud circulation. US Patent No. 6,263,981.
Hannegan, D.M. 2007. Managed Pressure Drilling. Presented as an SPEDistinguished Lecture during the 2006-2007 season.
Hernandez, M., MacNeill, D., Reeves, M., Kirkwood, A., Lemke, S., Ruszka,J., and Zaeper, R. 2008. High-Speed Wired Drillstring Telemetry NetworkDelivers Increased Safety, Efficiency, Reliability and Productivity to theDrilling Industry. Paper SPE 113157 presented at the SPE Indian Oil and GasTechnical Conference and Exhibition, Mumbai, India, 4-6 March. doi: 10.2118/113157-MS.
Kaasa, G.-O. 2007. A Simple Dynamic Model of Drilling for Control. TechnicalReport, StatoilHydro Research Centre, Porsgrunn, Norway.
Lopes, C.A. and Bourgoyne, A.T. Jr. 1997. The Dual Density Riser Solution.Paper SPE 37628 presented at the SPE/IADC Drilling Conference, Amsterdam, 4-6March. doi:10.2118/37628-MS.
Lorentzen, R.J. and Fjelde, K.K. 2005. Use of slopelimiter techniques intraditional numerical methods for multi-phase flow in pipelines and wells.International Journal for Numerical Methods in Fluids 48(7): 723-745. doi:10.1002/fld.952.
Maciejowski, J.M. 2002. Predictive Control with Constraints, secondedition. Upper Saddle River, New Jersey: Prentice-Hall.
Maciejowski, J.M. and Jones, C.N. 2003. MPC Fault-Tolerant Flight ControlCase Study: Flight 1862. Presented at the IFAC Safeprocess Conference,Washington, DC, 9-11 June.
Mayne, D.Q., Rawlings, J.B., Rao, C.V., and Scokaert, P.O.M. 2000.Constrained model predictive control: Stability and optimality.Automatica 36 (6): 789-814. doi:10.1016/S0005-1098(99)00214-9.
Meum, P., Tøndel, P., Godhavn, J.-M., and Aamo, O.M. 2008. Optimization ofSmart Well Production Through Nonlinear Model Predictive Control. Paper SPE112100 presented at the Intelligent Energy Conference and Exhibition,Amsterdam, 25-27 February. doi:10.2118/112100-MS.
Nikolaou, M. 2008. Experience from other industries. Presented at the 2008Automated Drilling Workshop, Rice University, Houston, USA, 5-8 May.
Nygaard, G.H., Johannessen, E., Gravdal, J.E., and Iversen, F. 2007.Automatic Coordinated Control of Pump Rates and Choke Valve for CompensatingPressure Fluctuations During Surge-and-Swab Operations. Paper SPE 108344presented at IADC/SPE Managed Pressure Drilling & Underbalanced Operations,Galveston, Texas, USA, 28-29 March. doi: 10.2118/108344-MS.
Rawlings, J.B. and Mayne, D.Q. 2009. Model Predictive Control: Theory andDesign. Madison, Wisconsin: Nob Hill Publishing.
Rehm, B., Schubert, J., Haghshenas, A., Paknejad, A.S., and Hughes, W.J.2008. Managed Pressure Drilling. Houston, Texas: Gulf PublishingCompany.
Santos, H., Catak, E., Kinder, J., Franco, E., Lage, A., and Sonnemann, P.2007. First Field Applications of Microflux Control Show Very PositiveSurprises. Paper SPE 108333 presented at the IADC/SPE Managed Pressure Drilling& Underbalanced Operations, Galveston, Texas, USA, 28-29 March. doi: 10.2118/108333-MS.
Saputelli, L., Nikolaou, M. and Economides, M.J. 2006. Real-time reservoirmanagement: A multi-scale adaptive optimization and control approach.Computational Geosciences 10 (1) 61-96. doi:10.1007/s10596-005-9011-5.
Saputelli, L., Nikolaou, M., and Economides, M.J. 2005. Self-LearningReservoir Management. SPE Res Eval & Eng 8 (6):534-547. SPE 84064-PA. doi:10.2118/84064-PA.
Schumacher, J.P., Dowell, J.D., Ribbeck, L.R., and Eggemeyer, J.C. 2002.Planning and Preparing for the First Subsea Field Test of a Full-ScaleDual-Gradient Drilling System. SPE Drill & Compl 17(4): 194-199. SPE-80615-PA. doi:10.2118/80615-PA.
Stephanopoulos, G. 1984. Chemical Process Control: An Introduction toTheory and Practice. Englewood Cliffs, New Jersey: International Series inthe Physical and Chemical Engineering Sciences, PTR Prentice Hall.
Thorogood, J.L., Aldred, W.D., Florence, A.F., and Iversen, F. 2009.Drilling Automation: Technologies, Terminology and Parallels With OtherIndustries. Paper SPE 119884 presented at the SPE/IADC Drilling Conference andExhibition, Amsterdam , 17-19 March. doi: 10.2118/119884-MS.
White, F.M. 1999. Fluid Mechanics, fourth edition. New York:McGraw-Hill Higher Education.