Closed Loop Model Predictive Control of Directional Drilling Attitude

摘要

A closed loop method for using model predictive control (MPC) to control direction drilling attitude includes receiving a demand attitude and a measured attitude. The received attitudes are processed using a closed loop MPC scheme to obtain an attitude error that may be further processed to obtain a corrective setting for a directional drilling tool. The corrective setting is then applied to alter the direction of drilling. The process of measuring the attitude, processing via the model predictive control scheme, and applying a corrective setting may be repeated continuously while drilling. The disclosed methodology is intended to provide for superior directional control during closed loop directional drilling operations.

主权项

1. A closed loop method for controlling a drilling attitude of a subterranean borehole, the drilling attitude defined by at least one of a borehole inclination and a borehole azimuth, the method comprising:
(a) drilling the subterranean borehole; (b) receiving a demand attitude for subsequent drilling; (c) receiving a measured attitude while drilling in (a); (d) processing the demand attitude and the measured attitude using a model predictive control scheme to obtain an attitude error; (e) processing the attitude error to obtain a corrective setting for a directional drilling tool; and (f) applying the corrective setting to the directional drilling tool to change the drilling attitude.