Design and Comparison of Constrained MPC with PID Controller for Heave Disturbance Attenuation in Offshore Managed Pressure Drilling Systems

摘要

This paper presents a constrained finite horizon model predictive control (MPC) scheme for regulation of the annular pressure in a well during managed pressure drilling from a floating vessel subject to heave motion. In addition the robustness of a controller to deal with heave disturbances despite uncertainties in the friction factor and bulk modulus is investigated.The stochastic model describing sea waves in the North Sea is used to simulatethe heave disturbances.The results show that the closed-loop simulation without disturbance has a fast regulation response, without any overshoot, and is better than a proportional-integral-derivative (PID)controller. The constrained MPCfor managed pressure drillingshows further improveddisturbance rejection capabilitieswith measured or predicted heave disturbance. Monte Carlo simulations show that the constrained MPC has a good performance to regulate set point and attenuate the effectof heave disturbance in case of significant uncertainties in the well parameter values