Schlumberger Technology Corporation

Halliburton Energy Services, Inc.

Texas A&M University System

The University of Texas System

Jian Wu

Nathaniel Wicks

Ramakrishna Madhireddy

Robert Phillip Darbe

Benjamin Peter Jeffryes

Nazli Demirer

Roozbeh Jafari

Ketan Chimanlal Bhaidasna

Ginger Hildebrand

Sudhir Kumar Gupta

Umut Zalluhoglu

Julien Marck

Vy Pho

Seetharam Kothuru

Dongmei Chen

Nasser Kehtarnavaz

Siyang Song

Chen Chen

Atchyuta Ramayya Venna

Alexander Mathew Keller

Kui Liu

Steven Duplantis

Ying Yu Fang

Kam Lui

Tianheng Feng

Wenshuai Hou

A system for regulating a pump down operation may include a controller, a motor drive, a parameter estimation unit and a controller design unit. In examples, the controller may be configured to identify a difference between a downhole tension set-point to an actual downhole tension. The motor drive may be configured to adjust a line speed set point of the motor drive based at least in part on the difference from the controller to create an actual line speed from the motor drive to follow the downhole tension set-point. The parameter estimation unit may be configured to produce a fluid drag coefficient, a friction coefficient, and a line speed delay constant. The controller design unit may be configured to send one or more control gains to the controller based at least in part on the fluid drag coefficient, the friction coefficient, and the line speed delay constant.

Model based adaptive control scheme for pump down operation

Methods and apparatus pertaining to scaling of the proportional gain and the integral gain in PI controllers of an autodriller based on drilling context. For example, a proportional gain and an integral gain are each determined for utilization by a PI controller of an autodriller controlling operation of equipment to be utilized for a drilling operation to drill a borehole into a subterranean formation. During the drilling operation, the integral gain is updated in real-time utilizing current values of drilling parameters that change with respect to time.

Autodriller contextual scaling

Aspects of the subject technology relate to systems and methods for improving mud motor trajectory controls. Systems and methods are provided for receiving control data from a mud motor trajectory controller, predefining a plurality of control modes based on the control data from the mud motor trajectory controller, achieving desired slide rotate ratios and toolface angles by solving an established objective function that mathematically represents operational preferences and system constraints for a selected control mode of the plurality of control modes, generating a modulation procedure that converts the slide-rotate ratios to a binary slide and rotate control sequence, and applying the modulation procedure to generate the binary slide and rotate control sequence.

Slide-rotate ratio mode optimization for mud motor trajectory control

A motor controller to control rotational speed of an output shaft of an electric motor. The motor controller includes a proportional controller and a time-optimal controller. The proportional controller controls the rotational speed when a present rotational position of the shaft is between a target rotational position and a switching point, inclusively. The time-optimal controller controls the rotational speed when the present rotational position is not between the target rotational position and the switching point. Also introduced herein are aspects pertaining to determining the switching point in a manner that minimizes overshooting the target rotational position while maximizing expediency at which the target rotational position is reached.

Motor angular position control

Methods and compositions for estimating one or more downhole qualities of a drilling apparatus by obtaining axial acceleration data. The axial acceleration data may be acquired by measuring an axial acceleration of a bottom hole assembly. The axial acceleration may then be used to estimate one or more of a downward weight on a drill bit of the drilling apparatus or a rate of penetration of the drill bit.

Methods for estimating downhole weight on bit and rate of penetration using acceleration measurements

Methods, apparatus, and products for receiving measurements indicative of present value torque (TrqPv) currently being applied by a top drive to a drill string extending in a well that penetrates a subterranean formation, and releasing torque accumulated in the drill string by determining polarity of TrqPv and, in response to a manual or automatic trigger, causing the top drive to perform an unwinding operation in a direction opposite to the determined TrqPv polarity.

Automatically detecting and unwinding accumulated drill string torque

Apparatus and methods for optimizing a stick-slip algorithm for controlling a driver of a drill string. A method may include commencing operation of a control system for controlling the driver. The control system may have a processor and a memory storing a computer program code, which may include the stick-slip algorithm. The operating control system may receive a plurality of different numerical parameters, and for each of the different numerical parameters, incorporate the numerical parameter into the stick-slip algorithm and execute the stick-slip algorithm to determine a control command that causes the driver to rotate the drill string to perform drilling operations while reducing amplitude of rotational waves travelling along the drill string.

Optimizing algorithm for controlling drill string driver

Systems and methods for performing slide drilling and for determining operational parameters to be utilized during slide drilling. An example method includes commencing operation of a processing device, whereby the processing device determines a reference rotational distance of a top drive to be utilized during slide drilling. The processing device outputs a control command to the top drive to cause the top drive to rotate a drill string. The processing device also determines the reference rotational distance based on rotational distance measurements indicative of rotational distance achieved by the top drive and torque measurements indicative of torque applied to the drill string by the top drive.

Slide drilling

Methods and apparatus for including obtaining raw surface data for present values of torque (T) generated by a top drive operably coupled with a drillstring, obtaining raw surface data for present values of rotational speed (&#x3c9;) of the top drive corresponding to the T, obtaining inertia (J) of the top drive, and estimating torque Tof the drillstring based on the obtained Tdata, the obtained data, and the obtained Jdata. The estimated drillstring torque Tmay be utilized to determine a surface torque oscillation performance index (STOPI).

Estimating downhole RPM oscillations

Systems and methods for processing downhole rotational data. An example method includes commencing operation of a processing device to continually calculate a downhole oscillation index by receiving downhole rotational speed data indicative of downhole rotational speed of at least a portion of a drill string during drilling operations, calculating a fundamental oscillation time period of the drill string, calculating a time length of a time window based on the fundamental oscillation time period, and processing the downhole rotational speed data encompassed within the time window.

Processing downhole rotational data

A system and method for drilling a wellbore with a drill rig by: rotating a drillstring and a drill bit with a drill rig drive system; applying a weight of the drillstring on the drill rig; measuring surface torque oscillations of the drill string via: determining a fundamental oscillation time period; select a time window based on the fundamental oscillation time period; collecting torque present value data of the drill string for the selected time window; determining an amplitude of torque oscillation from the collected torque present value data; determining a reference torque; and dividing the determined amplitude of torque oscillation by the determined reference torque to obtain a surface torque oscillation performance index, whereby the measurement of the surface torque oscillations of the drill string is a fractional value to indicate the magnitude and severity of surface torque fluctuations of the drilling string; and modifying a drilling parameter based on the surface torque oscillation performance index.

Method for measuring surface torque oscillation performance index

A movement recognition system includes a feature extraction circuit and a classification circuit that is orientation independent. The feature extraction circuit is configured to receive a plurality of acceleration or angular velocity measurements from a sensor or multiple sensors that include a three dimensional (3D) accelerometer and 3D gyroscope. Each of the measurements is taken at different times. The feature extraction circuit is also configured to determine a difference between a first of the measurements and each other of the measurements. The classification circuit is configured to classify a movement of an object attached to the sensor irrespective of an orientation of the sensor on the object utilizing a signal recognition technique based on the difference between the first of the measurements and each other of the measurements.

Context aware movement recognition system

A movement recognition system includes an inertial sensor, a depth sensor, and a processor. The inertial sensor is coupled to an object and configured to measure a first unit of inertia of the object. The depth sensor is configured to measure a three dimensional shape of the object using projected light patterns and a camera. The processor is configured to receive a signal representative of the measured first unit of inertia from the inertial sensor and a signal representative of the measured shape from the depth sensor and to determine a type of movement of the object based on the measured first unit of inertia and the measured shape utilizing a classification model.

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Houston, TX, United States of America

Jian Wu