Method of automatically controlling the trajectory of a drilled well
First Claim
1. A method of controlling the trajectory of a drill string comprising:
- providing a steering behavior model having a build rate equation and a turn rate equation of a bottom hole assembly;
calibrating the steering behavior model by minimizing any variance between an actual build rate and an actual turn rate of the bottom-hole assembly generated by a first set of tool settings and a first estimated build rate and a first estimated turn rate generated by inputting the first set of tool settings into the steering behavior model;
determining a first estimated position of the bottom-hole assembly by inputting a second set of tool settings into the calibrated steering behavior model;
comparing the first estimated position to a well plan to determine any deviation of the bottom-hole assembly from the well plan; and
utilizing an inverse of the steering behavior model to generate a third set of tool settings that are predicted to result in a second estimated position.
1 Assignment
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Accused Products
Abstract
Steering behavior model can include build rate and/or turn rate equations to modal bottom-hole assembly behavior. Build and/or turn rate equations can be calibrated by adjusting model parameters thereof to minimize any variance between actual response 118 and estimated response produced for an interval of the well. Estimated position and orientation 104 of a bottom-hole assembly along a subsequent interval can be generated by inputting subsequent tool settings into the calibrated steering behavior model. Estimated position and orientation 104 can be compared to a well plan 106 with a controller 108 which determines a corrective action 110. Corrective action 110 can be converted from a build and/or turn rate to a set of recommended tool settings 114 by using an inverse application 112 of the steering behavior model. As additional data 118 becomes available, steering behavior model can be further calibrated 102 through iteration.
54 Citations
19 Claims
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1. A method of controlling the trajectory of a drill string comprising:
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providing a steering behavior model having a build rate equation and a turn rate equation of a bottom hole assembly; calibrating the steering behavior model by minimizing any variance between an actual build rate and an actual turn rate of the bottom-hole assembly generated by a first set of tool settings and a first estimated build rate and a first estimated turn rate generated by inputting the first set of tool settings into the steering behavior model; determining a first estimated position of the bottom-hole assembly by inputting a second set of tool settings into the calibrated steering behavior model; comparing the first estimated position to a well plan to determine any deviation of the bottom-hole assembly from the well plan; and utilizing an inverse of the steering behavior model to generate a third set of tool settings that are predicted to result in a second estimated position. - View Dependent Claims (2, 3)
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4. A method of controlling the trajectory of a drill string comprising:
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providing a steering behavior model having a build rate equation and a turn rate equation; calibrating the steering behavior model at a first interval by minimizing any variance between an actual build rate and an actual turn rate of a bottom-hole assembly generated by a first set of tool settings and a first estimated build rate and a first estimated turn rate generated by inputting the first set of tool settings into the steering behavior model; determining a second estimated build rate and a second estimated turn rate at a second interval by inputting a subsequent second set of tool settings into the calibrated steering behavior model; comparing the second estimated build rate and the second estimated turn rate to a well plan to determine any deviation of the bottom-hole assembly therefrom; and determining with a controller a corrective action to correct the any deviation. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 19)
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16. A method of controlling the trajectory of a drill string comprising:
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providing a steering behavior model having a build rate equation and a turn rate equation of a bottom-hole assembly; providing an actual azimuth and inclination data set for a first interval drilled with a first set of tool settings; determining an actual build rate and an actual turn rate for the first interval from the actual azimuth and inclination data set; calibrating the steering behavior model by minimizing any variance between the actual build rate and the actual turn rate and a first estimated build rate and a first estimated turn rate generated by inputting the first set of tool settings into the steering behavior model; determining a second estimated build rate and a second estimated turn rate with the calibrated steering behavior model for a subsequent second interval drilled with a subsequent second set of tool settings; integrating the second estimated build rate and the second estimated turn rate over the second interval to produce a second estimated azimuth and inclination data set for the second interval; integrating the second estimated azimuth and inclination data set over the second interval to produce an estimated position of the bottom-hole assembly; comparing with a controller at least one of the second estimated build rate and the second estimated turn rate, the second estimated azimuth and inclination data set, and the estimated position to a well plan to determine a corrective action; and determining with the controller a set of recommended tool settings from the corrective action and an inverse application of the calibrated steering behavior model. - View Dependent Claims (17, 18)
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Specification