Methods for self-balancing control of mixing and pumping

• US 20080165612A1
• Filed: 05/11/2007
• Published: 07/10/2008
• Est. Priority Date: 01/10/2007
• Status: Active Grant

• Current Assignee: Halliburton Energy Services Incorporated (Halliburton Company)
• Original Assignee: Halliburton Energy Services Incorporated (Halliburton Company)
• Inventors: Dykstra, Jason D.
• Granted Patent: US 7,660,648 B2
• Time in Patent Office: Days
• US Class Current: 366/8
• CPC Class Codes: B01F 35/213 of the properties of the mixtures, e.g. temperature, density or colour
• CPC Class Codes: B01F 35/2134 Density or solids or particle number
• CPC Class Codes: B01F 35/2202 Controlling the mixing process by feed-back, i.e. a measured parameter of the mixture is measured, compared with the set-value and the feed values are corrected
• CPC Class Codes: E21B 21/062 by mixing components
• CPC Class Codes: E21B 33/14 for cementing casings into boreholes
• CPC Class Codes: G05D 11/137 by sensing the density of the mixture
• CPC Class Codes: G05D 7/0658 the plurality of throttling means being arranged for the control of a single flow from a plurality of converging flows G05D7/0652 takes precedence; ratio control G05D11/13

Abstract

Methods for controlling the in-feed and discharge rates of materials flowing into and out of a mixing process where one priority is to achieve a target mixture flow rate from the mixing process and another priority can be to achieve a target value for a mixture property. Actuators can be operated to control material in-feed rates, the mixture composition, and discharge rate, and can maintain a hold-up of the mixture in the mixing process. A total flow rate controller provides a control signal to a controller acting on the discharge rate and a controller acting on the in-feed rates. The mixture discharge flow rate can be automatically reduced from its desired target when the commanded rate of at least one of the materials exceeds its available supply rate as inferred from an inability to maintain the targeted value for the mixture property.

Claims

1. A control method for continuously mixing at least two materials, comprising the actions of:

(a) controlling the relative proportion and total flow rate of two materials entering a continuous mixing process to thereby achieve a desired total flow rate and a desired density of the resulting mixture;

wherein said materials differ in density;

(b) maintaining an estimate of the expected density of said mixture;

(c) measuring the actual density of said mixture; and

(d) when said actions (b) and (c) produce inconsistent results, temporarily reducing said total flow rate.

2. The method of claim 1 wherein said inconsistent results comprise a constraint in the supply of at least one of said two materials.

3. The method of claim 1 wherein said inconsistent results comprise the condition where said actual density falls below said estimated density, without a corresponding change in any controlled variable.

4. The method of claim 1 wherein said mixing process prepares a wet cement slurry at a hydrocarbon well site;

wherein said wet cement is pumped downhole to cement a well casing to a well bore.

5. The method of claim 1 further comprising the action of restoring said total flow rate to said desired total flow rate.

6. The method of claim 1, wherein said estimate for said expected density of said mixture is generated by a density observer or a volumetric observer.

7. A control method for continuously mixing at least two materials for cementing earth-penetrating wells, comprising the actions of:

during normal operation, mixing supply components to generate a slurry flow, of controlled target density, which is pumped downhole at a controlled target rate; and

when one of supply components is temporarily constrained, then temporarily reducing the rate of pumping to preserve said controlled target density.

8. A control method for continuously mixing at least two materials, comprising the actions of:

(a) in a first control stage, controlling the respective flow rates of individual materials feeding into a mixing process, with respect to a desired value of a property of the resulting mixture; and

(b) in an additional control stage, controlling the discharge flow rate from said mixing process in dependence on the difference between a sensed value and an estimated value for said property;

wherein said difference can be due to a supply constraint of at least one of said individual materials;

whereby the error between said desired value and said sensed value is reduced when said supply constraint occurs.

9. The method of claim 8, wherein said controlling action (b) is also based on a desired discharge flow rate from said mixing process.

10. The method of claim 8, wherein said estimated value for said property is a density value generated by either a density observer or a volumetric observer.

11. The method of claim 8, wherein the total flow rate of materials into said mixing process is controlled based on the hold-up of materials in said mixing process.

12. The method of claim 11, wherein a height observer is used to estimate said hold-up of said mixing process.

13. The method of claim 8, wherein said property of said mixture is selected from the group consisting of density, material volume ratio, and weight or volume fraction of a material in the mixture, or various combinations thereof.

14. The method of claim 8, wherein said controlling actions (a) and (b) use actuators selected from the group consisting of variable speed motors, variable speed drives, pneumatic actuators, electrical actuators, hydraulic actuators, rotary actuators, servo motor actuators, or various combinations thereof.

15. The method of claim 8, wherein said materials are selected from the group consisting of water, sea water, re-used process water, carrier fluid, dry cement material, sand, fluid rheology modifying materials, cement property modifying materials, cement accelerators, fracturing fluids, proppant fluids, acidizing fluids, flushing fluids, drilling mud components, gases, and proppants, or various combinations thereof.

16. A control method for continuously mixing at least two materials, comprising the actions of:

(a) controlling the respective flow rates of individual materials feeding into a mixing process, with respect to a desired value of the density of the resulting mixture;

(b) maintaining an estimate of the expected density of the mixed materials; and

, if the actual density of the mixed materials falls below the desired density, without a corresponding change in any controlled variable, then temporarily reducing the total flow rate through said process;

whereby density errors due to supply constraints on the dry material are temporarily ameliorated by reduced total flow; and

(c) if actuator response to commanded increases in supply flow of a liquid material component of the slurry is inadequate, then temporarily reducing said total flow rate;

whereby density errors due to supply constraints on said liquid material are temporarily ameliorated by reduced total flow.

17. The method of claim 16, wherein the control of said total flow rate is also based on a desired total flow rate through said mixing process.

18. The method of claim 16, wherein the total flow rate of materials into said mixing process is controlled based on the hold-up of materials in said mixing process.

19. The method of claim 18, wherein a height observer is used to estimate said hold-up of said mixing process.

20. A control method for continuously mixing at least two materials, comprising the actions of:

(a) controlling the respective flow rates of individual materials feeding into a mixing process, based on a desired density for the resulting mixture;

(b) generating a master flow rate set point, based on;

(i) the difference between a sensed value and an estimated value for said density;

wherein said difference can be due to a supply constraint of at least one of said individual materials; and

(ii) a desired discharge flow rate for said process; and

(c) controlling the discharge flow rate from said process, based on said master flow rate set point.

21. The method of claim 20, wherein said estimated value for said density is generated by a density observer or a volumetric observer.

23. The method of claim 20, wherein a height observer is used to estimate said hold-up of said mixing process.

24. The method of claim 20, wherein action (b) is also based on:

(iii) the proportional drive signal for a liquid material flow control valve.

25. The method of claim 20, wherein the rate of change of said master flow rate set-point is limited to a value no greater than the lesser of:

(i) the maximum possible rate of change of the total in-feed flow rate of said materials; and

(ii) the maximum possible rate of change of said discharge flow rate.

22. The method of claim 22, wherein the total flow rate of materials into said mixing process is controlled based on the hold-up of materials in said mixing process.

26. A control method for continuously mixing at least two materials, comprising the actions of:

(a) controlling the relative proportion and total flow rate of two materials entering a continuous mixing process to thereby achieve a desired total flow rate and a desired density of the resulting mixture;

wherein the materials differ in density;

(b) estimating the density of said mixture using a density observer;

(c) comparing said density estimate to a sensed measurement of the density of said mixture;

wherein a material supply constraint for at least one said material is inferred if said observed density deviates from said sensed density without a corresponding change in control variables; and

(d) temporarily reducing said total flow rate if said observed density is greater than said sensed density.