石油学报 ›› 2016, Vol. 37 ›› Issue (12): 1543-1549.DOI: 10.7623/syxb201612010

• 石油工程 • 上一篇    下一篇

控压钻井井下不可测变量的非线性估计

徐宝昌1, 孟宇1, 刘伟2   

  1. 1. 中国石油大学地球物理与信息工程学院 北京 102249;
    2. 中国石油集团钻井工程技术研究院 北京 102206
  • 收稿日期:2016-01-20 修回日期:2016-09-29 出版日期:2016-12-25 发布日期:2017-01-06
  • 通讯作者: 徐宝昌,男,1974年8月生,1997年获大庆石油学院学士学位,2005年获北京航空航天大学博士学位,现为中国石油大学(北京)地球物理与信息工程学院副教授,主要从事钻井工程自动化、复杂系统建模与先进控制、多传感器信息融合与软测量技术方面的研究工作。Email:xbcyl@163.com
  • 作者简介:徐宝昌,男,1974年8月生,1997年获大庆石油学院学士学位,2005年获北京航空航天大学博士学位,现为中国石油大学(北京)地球物理与信息工程学院副教授,主要从事钻井工程自动化、复杂系统建模与先进控制、多传感器信息融合与软测量技术方面的研究工作。Email:xbcyl@163.com
  • 基金资助:

    国家重大科技专项(2011ZX05027-005,2011ZX05021-003)资助。

Nonlinear estimation of the down-hole unmeasurable variables in the managed pressure drilling system

Xu Baochang1, Meng Yu1, Liu Wei2   

  1. 1. Geophysics and Information Engineering College, China University of Petroleum, Beijing 102249, China;
    2. CNPC Drilling Research Institute, Beijing 102206, China
  • Received:2016-01-20 Revised:2016-09-29 Online:2016-12-25 Published:2017-01-06

摘要:

控压钻井井下流量和压力的变化是判断井下工况的重要标志。从准确估计井下流量和压力的角度出发,以井筒为对象建立井下三阶动态模型,该模型中含有未知参数和未知状态,模型中摩擦因数项作为未知参数变量,井下流量和压力作为未知状态变量。以此模型为基础,建立李雅普诺夫函数,设计一种全新的非线性状态观测器,估计井下未知参数和未知状态,同时保证观测器估计误差收敛到零。利用钻井数据和井筒模拟器,分别在不存在建模误差和存在建模误差的条件下对非线性状态观测器进行仿真,两种条件下的仿真结果表明,该观测器均能够快速、实时、准确地估计井下流量和压力。

关键词: 控压钻井, 动态模型, 非线性观测器, 状态估计, 建模误差

Abstract:

The change of down-hole flow and pressure is an important symbol that has used to determine down-hole drilling condition in managed pressure drilling. Based on the accurate estimation of down-hole flow and pressure, a three-order down-hole dynamic model was established taking wellbore as the subject, which has unknown parameters and unknown states. In this model, friction factor is the unknown parametric variable, and down-hole flow and pressure are the unknown state variables. Based on this model, a Lyapunov function was established to design a new nonlinear state observer which can estimate down-hole unknown parameters and unknown states, thus ensuring that estimation error of the observer can be converged to 0. Using drilling data and a wellbore simulator, the nonlinear state observer was simulated under the condition of model error or no model error. The simulation results under the two conditions show that the observer can estimate down-hole flow and pressure in real time rapidly and accurately.

Key words: managed pressure drilling, dynamic model, nonlinear observer, state estimation, model error

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