Model-based parameter estimation for directional drilling in wellbore operations

Patent metadata

Field	Value
Publication number	US-11268370-B2
Application number	US-201815935659-A
Country	US
Kind code	B2
Filing date	Mar 26, 2018
Priority date	Mar 26, 2018
Publication date	Mar 8, 2022
Grant date	Mar 8, 2022

Abstract

Examples of techniques for model-based parameter and state estimation for directional drilling in a wellbore operation are provided. In one example implementation according to aspects of the present disclosure, a computer-implemented method includes receiving, by a processing device, measurement data from the wellbore operation. The method further includes performing, by the processing device, an online estimation of at least one of a parameter to generate an estimated parameter and a state to generate an estimated state, the online estimation based at least in part on the measurement data. The method further includes generating, by the processing device, a control input to control an aspect in the wellbore operation based at least in part on the at least one of the estimated parameter and the estimated state. The method further includes executing a control action based on the control input to control the aspect of the wellbore operation.

First claim

What is claimed is:

1. A computer-implemented method for model-based parameter or state estimation for directional drilling in a wellbore operation, the method comprising:
receiving, by a processing device, measurement data from the wellbore operation;
performing, by the processing device, an online estimation of at least one of an online parameter to generate an online estimated parameter and an online state to generate an online estimated state, the online estimation based at least in part on the measurement data and based at least in part on an offline estimated parameter generated during an offline estimation, wherein the online estimation uses a first model, the online estimation estimating the at least one of the online estimated parameter and the online estimated state within a first amount of time, and wherein the offline estimation uses a second model and a set of data that is larger than a set of the measurement data used in the online estimation, the offline estimation estimating the offline estimated parameter in a second amount of time that is more than the first amount of time;
generating, by the processing device, a first control input to control an aspect in the wellbore operation based at least in part on at least one of the online estimated parameter and the online estimated state;
executing a control action based on the first control input to control the aspect of the wellbore operation; and
updating the first control input to provide a second control input, wherein the first amount of time is shorter than the time between the first control input and the second control input, wherein the second amount of time is longer than the time between the first control input and the second control input, and wherein the updating is responsive to a change to at least one of the online estimated parameter and the online estimated state, which is based at least in part on a change to the measurement data.

2. The computer-implemented method of claim 1 , wherein the online estimation is selected from the group consisting of moving horizon estimation, extended Kalman filter estimation, and least squares estimation.

3. The computer-implemented method of claim 1 , wherein performing the online estimation of the at least one of the online parameter and the online state is further based at least in part on at least one of a constraint and an initial condition generated during the offline estimation.

4. The computer-implemented method of claim 3 , wherein the at least one of the constraint and the initial condition generated during the offline estimation is generated using a machine learning technique.

5. The computer-implemented method of claim 4 , wherein the machine learning technique receives as inputs job data from a plurality of jobs and generates the offline estimated parameter and the at least one of the constraint and the initial condition based at least in part on the job data.

6. The computer-implemented method of claim 5 , wherein the job data comprises rate of penetration data, weight on bit data, rotation per minute data, fluid pressure data, or gamma ray data.

7. The computer-implemented method of claim 1 , wherein underlying models used to perform the online and offline estimations are selected from a set of wellbore operation models by minimizing an error between a measurement from wellbore operation and calculated measurements from the underlying models.

8. The computer-implemented method of claim 1 , further comprising:
calculating, by the processing device, a steer force and a steer angle based at least in part on the online estimated parameter.

9. The computer-implemented method of claim 8 , wherein calculating the steer force and the steer angle is further based at least in part on a desired build rate and a desired turn rate.

10. The computer-implemented method of claim 9 , wherein calculating the steer force and the steer angle is based at least in part on a well plan, a geological model, or a logging while drilling measurement.

11. The computer-implemented method of claim 1 , further comprising determining an earth formation change based at least in part on the online estimated parameter or online estimated state.

12. The computer-implemented method of claim 1 , further comprising calculating a prediction of a future well path.

13. The computer-implemented method of claim 1 , wherein the control action allows for observations that enable parameter estimation while not harming the wellbore operation.

14. The computer-implemented method of claim 1 , further comprising generating state dynamics based at least in part on the online estimated parameter.

15. The computer-implemented method of claim 1 , further comprising performing accelerated parameter estimation by using a weighted average of the online estimated parameter estimated during the online estimation and the offline estimated parameter generated during the offline estimation.

16. The computer-implemented method of claim 1 , wherein the online estimation uses a parameter estimator to perform the online estimation.

17. The computer-implemented method of claim 1 , further comprising generating a third control input subsequent to generating the first control input and prior to updating the first control input.

18. A system to control an aspect of a workflow for a wellbore operation, the system comprising:
a memory comprising computer readable instructions; and
a processing device for executing the computer readable instructions for performing a method, the method comprising:
receiving, by the processing device, measurement data from the wellbore operation;
performing, by the processing device, an online estimation to estimate at least one of an online estimated parameter and an online estimated state based at least in part on measurement data and based at least in part on an offline estimated parameter generated during an offline estimation, wherein the online estimation uses a first model, the online estimation estimating the at least one of the online estimated parameter and the online estimated state within a first amount of time, and wherein the offline estimation uses a second model and a set of data that is larger than a set of the measurement data used in the online estimation, the offline estimation estimating the offline estimated parameter in a second amount of time that is more than the first amount of time;
implementing, by the processing device, a first control input to control an aspect of the wellbore operation, wherein the first control input is based at least in part on at least one of the online estimated parameter and the online estimated state; and
updating the first control input to provide a second control input, wherein the first amount of time is shorter than the time between the first control input and the second control input, wherein the second amount of time is longer than the time between the first control input and the second control input, and wherein the updating is responsive to a change to at least one of the online estimated parameter and the online estimated state, which is based at least in part on a change to the measurement data.

19. The system of claim 18 , wherein the method further comprises:
calculating, by the processing device, a steer force and a steer angle based at least in part on the online estimated parameter, wherein calculating the steer force and the steer angle is further based at least in part on a desired build rate and a desired turn rate.

20. The system of claim 18 , wherein the me

Assignees

• Quattrone Francesco
• Hansen Christian
• Hoehn Oliver
• Koeneke Joern
• Morabito Bruno
• Findeisen Rolf
• Baker Hughes A Ge Co Llc

Inventors

• Quattrone Francesco
• Hansen Christian
• Hoehn Oliver
• Koeneke Joern
• Morabito Bruno
• Findeisen Rolf

Classifications

• E21B7/04 Primary

  Directional drilling · CPC title

• E21B47/04

  Measuring depth or liquid level · CPC title

• E21B45/00

  Measuring the drilling time or rate of penetration · CPC title

• E21B44/00 Primary

  Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions · CPC title

• G05B13/042

  in which a parameter or coefficient is automatically adjusted to optimise the performance · CPC title