Directional drilling attitude hold controller

摘要

An attitude hold controller method includes receiving at a navigable apparatus a demand inclination and a demand azimuth with respect to a global coordinate system and determining at the navigable apparatus a demand attitude vector according to the received demand inclination and the demand azimuth. Determining at the navigable apparatus a current navigable apparatus attitude vector. Evaluating a control law using the current navigable apparatus vector and the navigable apparatus demand attitude to derive a control law tool face, converting the control law tool face to an equivalent tool face, and applying the equivalent tool face with the navigable apparatus to control the navigable apparatus attitude.

主权项

1. A method, comprising:
sending attitude reference data to a controller disposed with a drilling tool; converting the attitude reference data into a vector unit in vector space representing a drill attitude; instituting a control law to stabilize the drill attitude and to drive the drill attitude to a set point; performing a coordinate transformation for implementing a controller, comprising evaluating one of a gravity and a magnetic tool face that is equivalent to a zero relative tool face, wherein an angular direction of an arbitrary globally referenced vector is projected onto a plane at right angles to a tool face; implementing the controller; and controlling an instantaneous attitude of the drilling tool in response to implementing the controller.