摘要
为克服控压钻井系统建模时的参数不确定性问题,基于经典的控压钻井水力学模型,使用坐标变换方法建立了一种可适应井下不确定摩擦积分和泥浆密度的自适应观测器,并在钻井过程中估计井底压力和井底流量。同时,针对模型中存在建模误差以及传输过程存在不确定时滞的特点,从最小二乘算法出发,通过构造广义参数,提出了一种基于多输入单输出系统的不确定时滞和参数同时辨识的算法,利用滞后的井底压力测量数据对建模参数进行辨识校正,从而提高自适应观测器的估计精度。仿真结果表明,在钻井系统存在建模误差的情况下,将辨识算法与自适应观测器相结合,可以有效校正模型参数并准确估计井底压力和流量。
In order to overcome the problem of parameter uncertainty in the modeling of managed pressure drilling system,an adaptive observer is established to adapt to the uncertainty of downhole friction integral and mud density based on classical managed pressure drilling hydraulics model,and to estimate the bottom-hole pressure and bottom-hole flow during drilling by using coordinate transformation methods.At the same time,in view of the functional features of modeling errors in the model and uncertain time delay in the transmission process,according to the least square algorithm,an algorithm based on the uncertain time-delay and parameter identification of the multi-input and single output(MISO)system is proposed by constructing generalized parameters,and the bottom-hole pressure measurement data with time-delay is used to identification and correction of model parameter,so as to enhance the precision of the adaptive observer.Simulation results show that in the case of modeling errors exiting in the drilling system,the model parameters can be corrected effectively and the bottom hole pressure and flow rate can be estimated accurately by combining the identification algorithm with the adaptive observer.
作者
徐宝昌
吴楠
孟卓然
XU Bao-chang;WU Nan;MENG Zhuo-ran(College of Information Science and Engineering,China University of Petroleum,Beijing 102249,China)
出处
《控制工程》
CSCD
北大核心
2023年第3期479-486,共8页
Control Engineering of China
基金
重点研发计划资助项目(2019YFA0708304)
中国石油天然气集团有限公司-中国石油大学(北京)战略合作科技专项(ZLZX2020-03)。
关键词
控压钻井
井底压力
自适应观测器
不确定时滞
参数校正
Managed pressure drilling
bottom-hole pressure
adaptive observer
uncertain time-delay
parameter correction
