Robust gain switching control of constant bottomhole pressure drilling

摘要

Automation of managed pressure drilling is crucial in order to enhance safety. This process is highly nonlinear and the system varies considerably with changes in drilling conditions. In this work we have analyzed the effect of various operating conditions on plant parameters and designed a controller which will deliver consistent performance for different working conditions and will also be robustly stable. The control objectives of robustness and good performance are achieved by using multiple robust loop shaping controllers. Based on choke opening and mud flow rate, an appropriate controller is selected by utilizing a gain schedule. An observer for estimation of the reservoir pressure is also implemented so that an appropriate bottom hole pressure setpoint can be selected to maintain overbalanced conditions. (C) 2017 Elsevier Ltd. All rights reserved.