access icon openaccess Modelling and control of the roll-stabilised control unit of a rotary steerable system directional drilling tool

This is an open access article published by the IET under the Creative Commons Attribution-NonCommercial-NoDerivs License (http://creativecommons.org/licenses/by-nc-nd/3.0/)
Received 25/06/2018, Accepted 09/08/2018, Revised 03/08/2018, Published 22/01/2019

A directional drilling tool control unit whose design is based on servo control of a rotary valve using the roll-stabilised instrumented system approach has been successfully used in oil fields for over 20 years. Here, field-oriented control (FOC) is applied to cascaded voltage regulation and servo control using an open-loop plant model of the roll-stabilised control unit. The servo control is applied to the rotary valve so that drilling mud is ported in a geostationary direction despite the rotation of the drill string and the bottom hole assembly of the rotary steerable system. Voltage regulation is applied in order to provide a DC voltage bus for the servo control of the valve. A torquer or alternator, which is a type of permanent magnet synchronous machine, is the core of the roll stabilised control unit. So, a mathematical model of the torquer is derived. An FOC scheme is proposed for servo control and to provide a DC regulated voltage using the torquers. The algorithm is tested in MATLAB/Simulink.

Inspec keywords: motion control; robust control; control system synthesis; valves; voltage control; machine control; machine vector control; synchronous machines; permanent magnet motors; drilling (geotechnical); permanent magnet machines; drilling; servomechanisms; stability; closed loop systems

Other keywords: servo control; roll-stabilised control unit; directional drilling tool control unit; field-oriented control; voltage regulation; rotary steerable system directional drilling tool; rotary valve; roll-stabilised instrumented system approach

Subjects: Control applications in machining processes and machine tools; Control technology and theory (production); Machining; Voltage control; Stability in control theory; Control system analysis and synthesis methods; Control of electric power systems; Small and special purpose electric machines; Synchronous machines; Spatial variables control

References

    1. 1)
      • 3. Blaschke, F.: ‘The principles of field orientation as applied to the new TRANSVEKTOR closed-loop control system for rotating field machines’, Siemens Rev., 1972, 34, pp. 217–220.
    2. 2)
      • 5. Hughes, A., Drury, B.: ‘Electric motors and drives: fundamentals, types and applications’ (Newnes, Oxford, UK, 2013, 4th edn.).
    3. 3)
      • 4. Vas, P.: ‘Sensorless vector and direct torque control’ (Oxford University Press, Oxford UK, 1998).
    4. 4)
      • 6. Lee, D., Lee, G., Lee, K.-D.: ‘DC-bus voltage control of three-phase AC/DC PWM converters using feedback linearization’, IEEE Trans. Ind. Appl., 2000, 36, (3), pp. 826–833.
    5. 5)
      • 1. Panchal, N., Bayliss, M.T., Whidborne, J.F.: ‘Attitude control system for directional drilling bottom hole assemblies’, IET Control Theory Appl., 2012, 6, (8), pp. 884–892.
    6. 6)
      • 2. Backstrom, T., Sadarangani, C., Ostlund, S.: ‘Integrated energy transducer for hybrid electric vehicles’. Eighth Int. Conf. on Electrical Machines and Drives (IEE Conf. Publ. No. 444), Cambridge, UK, September 1997, pp. 239–243.
    7. 7)
      • 7. Slotine, J., Li, W.: ‘Applied nonlinear control’ (Prentice Hall, Englewood Cliffs, NJ, 1991).
    8. 8)
      • 8. Johnson, T.T., Hoefel, A.E.: ‘Turbo-alternator stalling protection using available-power estimate’. Power and Energy Conf. at Illinois (PECI), Champaign, IL, USA, 2011.
http://iet.metastore.ingenta.com/content/journals/10.1049/joe.2018.8211
Loading

Related content

content/journals/10.1049/joe.2018.8211
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading