CA3048050C - Commande de trajectoire optimale pour systemes rotary orientables - Google Patents

Commande de trajectoire optimale pour systemes rotary orientables Download PDF

Info

Publication number
CA3048050C
CA3048050C CA3048050A CA3048050A CA3048050C CA 3048050 C CA3048050 C CA 3048050C CA 3048050 A CA3048050 A CA 3048050A CA 3048050 A CA3048050 A CA 3048050A CA 3048050 C CA3048050 C CA 3048050C
Authority
CA
Canada
Prior art keywords
drilling tool
controller
path
trajectory
cost function
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CA3048050A
Other languages
English (en)
Other versions
CA3048050A1 (fr
Inventor
Yiming Zhao
Umut ZALLUHOGLU
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Halliburton Energy Services Inc
Original Assignee
Halliburton Energy Services Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Halliburton Energy Services Inc filed Critical Halliburton Energy Services Inc
Publication of CA3048050A1 publication Critical patent/CA3048050A1/fr
Application granted granted Critical
Publication of CA3048050C publication Critical patent/CA3048050C/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E21B7/10—Correction of deflected boreholes

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Earth Drilling (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Drilling And Boring (AREA)

Abstract

Cette invention concerne un procédé de commande de forage dirigé comprenant la définition d'une fonction de coût qui comprend au moins une condition de pénalité associée à une entrée de commande. Un dispositif de commande est doté d'une position actuelle de l'outil de forage et d'une position de référence d'un trajet de puits de forage prédéterminé. Le dispositif de commande détermine une trajectoire optimale pour un trajet incurvé sur la base de la fonction de coût et de la position actuelle et de la position de référence. La trajectoire optimale provient de la position actuelle et croise sensiblement la position de référence. En conséquence, le dispositif de commande ordonne à l'outil de forage de générer un trajet de puits de forage sur la base de la trajectoire optimale.
CA3048050A 2017-01-31 2017-12-29 Commande de trajectoire optimale pour systemes rotary orientables Active CA3048050C (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201762452948P 2017-01-31 2017-01-31
US62/452,948 2017-01-31
PCT/US2017/069076 WO2018144170A1 (fr) 2017-01-31 2017-12-29 Commande de trajectoire optimale pour systèmes rotary orientables

Publications (2)

Publication Number Publication Date
CA3048050A1 CA3048050A1 (fr) 2018-08-09
CA3048050C true CA3048050C (fr) 2021-04-13

Family

ID=63041017

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3048050A Active CA3048050C (fr) 2017-01-31 2017-12-29 Commande de trajectoire optimale pour systemes rotary orientables

Country Status (4)

Country Link
US (1) US20200011167A1 (fr)
CA (1) CA3048050C (fr)
GB (1) GB2571863B (fr)
WO (1) WO2018144170A1 (fr)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11933158B2 (en) * 2016-09-02 2024-03-19 Motive Drilling Technologies, Inc. System and method for mag ranging drilling control
US11408268B2 (en) 2018-08-31 2022-08-09 Halliburton Energy Services, Inc. Autonomous directional drilling directional tendency estimation
US11675938B2 (en) * 2019-01-25 2023-06-13 Nvicta LLC. Optimal path planning for directional drilling
US12024995B2 (en) 2019-02-19 2024-07-02 Halliburton Energy Services, Inc. Perturbation based well path reconstruction
AU2020426033B2 (en) * 2020-01-31 2025-07-17 Halliburton Energy Services, Inc. Trajectory control for directional drilling
US11761326B2 (en) 2020-05-21 2023-09-19 Halliburton Energy Services, Inc. Automated scheduling of sensors for directional drilling
CN111810112B (zh) * 2020-06-18 2021-12-03 中国地质大学（武汉） 基于粒子滤波和模型预测控制的垂直钻进纠偏控制方法
CN111665845B (zh) * 2020-06-24 2023-09-22 阿波罗智能技术(北京)有限公司 用于规划路径的方法、装置、设备以及存储介质
US12197515B2 (en) 2021-02-26 2025-01-14 Halliburton Energy Services, Inc. Diagnostic trouble code signature classification for downhole tool fault identification
CA3212110A1 (fr) 2021-03-03 2022-09-09 Schlumberger Canada Limited Approches de forage devie
CN117098907A (zh) * 2021-03-03 2023-11-21 吉奥奎斯特系统公司 定向钻井方法
US12221875B2 (en) * 2021-12-29 2025-02-11 Halliburton Energy Services, Inc. Real time drilling model updates and parameter recommendations with caliper measurements
WO2024020763A1 (fr) * 2022-07-26 2024-02-01 Saudi Arabian Oil Company Liage automatique de cartes de structure d'horizons souterrains à des informations d'orientation dérivées de puits
US12203356B2 (en) * 2022-08-25 2025-01-21 Landmark Graphics Corporation Trajectory tracking and optimization for drilling automation
WO2024159506A1 (fr) 2023-02-03 2024-08-08 Saudi Arabian Oil Company Mise à jour de cartes structurales souterraines avec des données d'orientation bien mesurées tout en préservant des structures géologiques locales
US12560073B2 (en) 2024-02-23 2026-02-24 Schlumberger Technology Corporation Systems and methods for determining downhole tool status
US12442286B1 (en) * 2024-04-10 2025-10-14 Halliburton Energy Services, Inc. Nonlinear model predictive control for directional drilling applications
CN120119894A (zh) * 2025-05-12 2025-06-10 中国电建集团成都勘测设计研究院有限公司 一种深部岩体钻探大曲率轨迹控制方法、装置及存储介质
CN120556896B (zh) * 2025-07-31 2025-10-03 山东祥德机电有限公司 一种煤矿井下钻孔作业自动控制系统
CN121879159B (zh) * 2026-03-19 2026-05-29 中国安能集团第二工程局有限公司 基于多源数据融合与动态解算的掘进机姿态控制方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2590767C (fr) * 2004-12-14 2011-04-19 Schlumberger Canada Limited Optimisation geometrique de trajectoires multipuits
US20100185395A1 (en) * 2009-01-22 2010-07-22 Pirovolou Dimitiros K Selecting optimal wellbore trajectory while drilling
AU2011293804B2 (en) * 2010-08-24 2016-08-11 Exxonmobil Upstream Research Company System and method for planning a well path
US8210283B1 (en) * 2011-12-22 2012-07-03 Hunt Energy Enterprises, L.L.C. System and method for surface steerable drilling
WO2015053782A1 (fr) * 2013-10-11 2015-04-16 Halliburton Energy Services Inc. Commande de trajectoire de forage à l'aide de tir ménagé

Also Published As

Publication number Publication date
WO2018144170A1 (fr) 2018-08-09
CA3048050A1 (fr) 2018-08-09
GB2571863A (en) 2019-09-11
US20200011167A1 (en) 2020-01-09
GB201908060D0 (en) 2019-07-24
GB2571863B (en) 2021-11-24

Similar Documents

Publication Publication Date Title
CA3048050A1 (fr) Commande de trajectoire optimale pour systemes rotary orientables
CA3047407C (fr) Techniques de commande de mode glissement pour systemes orientables
CA3047923C (fr) Techniques de commande de retroaction en fonction de la courbure pour forage directionnel
US12129751B2 (en) Adaptive trajectory control for automated directional drilling
CA2894203C (fr) Systemes et procedes d'evaluation de formation profonde
GB2498831A (en) Directional Drilling Controller
US12024995B2 (en) Perturbation based well path reconstruction
CN120273681B (zh) 鹅卵石地层钻孔桩施工与钻进参数智能控制方法
US9483863B2 (en) Terrain mapping system using moved material estimation
US12281562B2 (en) Closed loop fully autonomous directional drilling
US11761326B2 (en) Automated scheduling of sensors for directional drilling
CN120465540A (zh) 一种槽体挖掘纠偏系统及方法
US12385383B2 (en) Automated wellbore ranging
EP3152394B1 (fr) Contrôle optimal des vibrations pour un outil de diagraphie de puits de forage
Panchal et al. Vector based kinematic closed-loop attitude control-system for directional drilling
CN108547574A (zh) 一种自动导向的钻井方法和系统
Panchal et al. Minimum strain energy waypoint-following controller for directional drilling using OGH curves
Park et al. Vector Based Kinematic Closed-Loop Attitude Control-System for Directional Drilling
BR112021012293B1 (pt) Método para um caminho de poço atualizado, sistema para atualizar um caminho de poço e meio de armazenamento legível por computador não transitório

Legal Events

Date Code Title Description
EEER Examination request

Effective date: 20190620

MPN Maintenance fee for patent paid

Free format text: FEE DESCRIPTION TEXT: MF (PATENT, 7TH ANNIV.) - STANDARD

Year of fee payment: 7

U00 Fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U00-U101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE REQUEST RECEIVED

Effective date: 20240918

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT DETERMINED COMPLIANT

Effective date: 20240918

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT PAID IN FULL

Effective date: 20240918

MPN Maintenance fee for patent paid

Free format text: FEE DESCRIPTION TEXT: MF (PATENT, 8TH ANNIV.) - STANDARD

Year of fee payment: 8

U00 Fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U00-U101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE REQUEST RECEIVED

Effective date: 20251107

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT PAID IN FULL

Effective date: 20251107