U.S. patent application number 14/036486 was filed with the patent office on 2015-03-26 for drilling system and associated system and method for monitoring, controlling, and predicting vibration in an underground drilling operation.
The applicant listed for this patent is Mark Ellsworth Wassell. Invention is credited to Mark Ellsworth Wassell.
Application Number | 20150083493 14/036486 |
Document ID | / |
Family ID | 51869342 |
Filed Date | 2015-03-26 |
United States Patent
Application |
20150083493 |
Kind Code |
A1 |
Wassell; Mark Ellsworth |
March 26, 2015 |
Drilling System and Associated System and Method for Monitoring,
Controlling, and Predicting Vibration in an Underground Drilling
Operation
Abstract
A drilling system and associated systems and methods for
monitoring, controlling, and predicting vibration of a drilling
operation. The vibration information can include axial, lateral or
torsional vibration of a drill string.
Inventors: |
Wassell; Mark Ellsworth;
(Houston, TX) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Wassell; Mark Ellsworth |
Houston |
TX |
US |
|
|
Family ID: |
51869342 |
Appl. No.: |
14/036486 |
Filed: |
September 25, 2013 |
Current U.S.
Class: |
175/40 ;
702/9 |
Current CPC
Class: |
E21B 44/00 20130101;
E21B 49/003 20130101 |
Class at
Publication: |
175/40 ;
702/9 |
International
Class: |
E21B 47/00 20060101
E21B047/00; E21B 49/00 20060101 E21B049/00; E21B 47/12 20060101
E21B047/12 |
Claims
1. A computer implemented method for predicting vibration
information for a drilling system having a drill string, the drill
string includes a drill bit that is configured to form a borehole
in an earthen formation during a drilling operation, the method
comprising the steps of: accessing, via the computer processor,
drilling system component information, the drilling system
component information including one or more characteristics of the
drill string; accessing, via the computer processor, expected
operating information for the drilling operation, the expected
operating information including at least a weight-on-bit (WOB), a
rotational speed of the drill bit, a borehole diameter, and a
vibration damping coefficient; and predicting vibration information
for the drill string via the computer processor, the predicted
vibration information including at least an amplitude for each of
an axial vibration, a lateral vibration, and a torsional vibration
of the drill string, the prediction of the vibration information
being based on the drilling system component information and an
energy balance of the drill string operating according to the
expected operation information for the drilling operation.
2. The method of claim 1, wherein the step of predicting vibration
information includes determining the amplitude for each of the
lateral vibration, the axial vibration, and the torsional vibration
of the drill string where energy supplied to drilling operation is
equal to the energy dissipated during the drilling operation due to
vibration of the drilling system components.
3. The method of claim 1, wherein the step of predicting vibration
information defines a model, the model being frequency domain type
of finite element model that applies the energy balance to the
drill string.
4. The method of claim 3, wherein the predicted vibration
information includes the mode shape for at least one of axial,
lateral and torsional vibration.
5. The method of claim 1, further comprising the step of
determining critical speeds for the drill string based on the
expected operating information and the predicted vibration
information of the drill string.
6. The method of claim 6, wherein the step determining the critical
speeds of the drill string includes determining the critical speeds
based on at least one of the weight-on-bit and a of rotary
speed.
7. The method of claim 1, wherein the one or more characteristics
of the drill string include drill string geometry, material
properties of the drill string, location and number of stabilizers
on the drill string, inclination of the drill string, and drill bit
geometry.
8. The method of claim 1, further comprising the step of receiving,
via a communications system, the drilling system component
information.
9. The method of claim 1, further comprising the step of receiving,
via a communications system, the expected operating information for
the drilling operation.
10. A non-transitory computer readable storage medium having stored
therein computer executable instructions for a method for
predicting vibration information for a drilling system having a
drill string, the drill string including a drill bit that is
configured to form a borehole in an earthen formation during a
drilling operation, the method comprising the steps of: a.
accessing drilling system component information, the drilling
system component information including one or more characteristics
of the drill string; b. accessing expected operating information
for the drilling operation, wherein the expected operating
information includes at least a weight-on-bit (WOB), a rotational
speed of the drill bit, a borehole diameter, and a vibration
damping coefficient; and c. defining a drilling system model that
includes the drilling system component information and the expected
operating information; d. predicting, via the drilling system
model, vibration information for the drill string, the predicted
vibration information including an amplitude for each of an axial
vibration, a lateral vibration, and a torsional vibration of the
drill string, wherein the prediction of the vibration information
is based on the drilling system component information and an energy
balance of the drill string operating according to the expected
operation information.
11. The non-transitory computer readable storage medium of claim
10, wherein the step of predicting vibration information includes
determining the amplitude for each of the lateral vibration, the
axial vibration, and the torsional vibration of the drill string
where energy supplied to drilling operation is equal to the energy
dissipated during the drilling operation due to vibration of the
drilling system components as function of one or more forces
applied to the drill string.
12. The non-transitory computer readable storage medium of claim
10, wherein the step of predicting vibration information uses
frequency domain type of finite element model by applying the
energy balance to the drill string as a function of one or more
forces applied to the drill string.
13. The non-transitory computer readable storage medium of claim
10, wherein the predicting vibration is the mode shape for at least
one of axial, lateral and torsional vibration along the drill
string.
14. The non-transitory computer readable storage medium of claim
10, further comprising the step of determining critical speeds for
the drill string based on the expected operating information and
the vibration information of the drill string.
15. The non-transitory computer readable storage medium of claim
14, wherein the step determining the critical speeds of the drill
string includes determining the critical speeds as a function of at
least one of the weight-on-bit and a rotary speed.
16. The non-transitory computer readable storage medium claim 10,
wherein the one or more characteristics of the drill string include
a drill string geometry, material properties of the drill string,
location and number of stabilizers on the drill string, inclination
of the drill string, and drill bit geometry.
17. A drilling system configured to form a borehole in an earthen
formation during a drilling operation, the drilling system
comprising: a drill string supporting a drill bit, the drill bit
configured to defined the borehole; at least one computing device
including a memory portion having stored thereon drilling system
component information, the drilling system component information
including one or more characteristics of the drill string, the
memory portion further including expected operating information for
the drilling operation, the expected operating information
including at least a weight-on-bit (WOB), a rotational speed of the
drill bit, a borehole diameter, and a vibration damping
coefficient; and a computer processor in communication with the
memory portion, the computer processor configured to predict
vibration information for the drill string, the predicted vibration
information including at least an amplitude for each of an axial
vibration, a lateral vibration, and a torsional vibration of the
drill string, wherein the prediction of the vibration information
being based on the drilling system component information and an
energy balance of the drill string operating according to the
expected operation information for the drilling operation.
18. The drilling system of claim 17, wherein the predicted of
vibration information is based on the amplitude for each of the
lateral vibration, the axial vibration, and the torsional vibration
of the drill string where energy supplied to the drilling operation
is equal to the energy dissipated during the drilling operation due
to vibration of the drilling system components as function of one
or more forces applied to the drill string.
19. The drilling system of claim 17, wherein the predicted
vibration information is based on a frequency domain type of finite
element model by applying the energy balance to the drill string as
a function of one or more forces applied to the drill string.
20. The drilling system of claim 17, wherein the predicted
vibration is the mode shape for at least one of axial, lateral and
torsional vibration along the drill string.
21. The drilling system of claim 17, wherein the one or more
characteristics of the drill string include a drill string
geometry, material properties of the drill string, location and
number of stabilizers on the drill string, inclination of the drill
string, and drill bit geometry.
Description
TECHNICAL FIELD
[0001] The present disclosure relates to a drilling system for
underground drilling, and more particularly to a method for
monitoring, controlling and predicting vibration for a drilling
operation.
BACKGROUND
[0002] Underground drilling, such as gas, oil, or geothermal
drilling, generally involves drilling a bore through a formation
deep in the earth. Such bores are formed by connecting a drill bit
to long sections of pipe, referred to as a "drill pipe," so as to
form an assembly commonly referred to as a "drill string." The
drill string extends from the surface to the bottom of the bore.
The drill bit is rotated so that the drill bit advances into the
earth, thereby forming the bore. In rotary drilling, the drill bit
is rotated by rotating the drill string at the surface. Pumps at
the surface pump high-pressure drilling mud through an internal
passage in the drill string and out through the drill bit. The
drilling mud lubricates the drill bit, and flushes cuttings from
the path of the drill bit. In some cases, the flowing mud also
powers a drilling motor, commonly referred to as a "mud motor,"
which turns the bit. In any event, the drilling mud flows back to
the surface through an annular passage formed between the drill
string and the surface of the bore. In general, optimal drilling is
obtained when the rate of penetration of the drill bit into the
formation is as high as possible while a vibration of drilling
system is as low as possible. The rate of penetration ("ROP") is a
function of a number of variables, including the rotational speed
of the drill bit and the weight-on-bit ("WOB"). The drilling
environment, and especially hard rock drilling, can induce
substantial vibration and shock into the drill string, which has an
adverse impact of drilling performance.
[0003] Vibration is introduced by rotation of the drill bit, the
motors used to rotate the drill bit, the pumping of drilling mud,
imbalance in the drill string, etc. Vibration can cause premature
failure of the various components of the drill string, premature
dulling of the drill bit, or may cause the catastrophic failures of
drilling system components. Drill string vibration includes axial
vibration, lateral vibration and torsional vibration. "Axial
vibration" refers to vibration in the direction along the drill
string axis. "Lateral vibration" refers to vibration perpendicular
to the drill string axis. Lateral vibration often arises because
the drill string rotates in a bent condition. Two other sources of
lateral vibration are "forward" and "backward", or "reverse",
whirl. "Whirl" refers to a situation in which the bit orbits around
the borehole in addition to rotating about its own axis. In
backward whirl, the bit orbits in a direction opposite to the
direction of rotation of the drill bit. "Torsional vibration," also
of concern in underground drilling, is usually the result of what
is referred to as "stick-slip." Stick-slip occurs when the drill
bit or lower section of the drill string momentarily stops rotating
(i.e., "sticks") while the drill string above continues to rotate,
thereby causing the drill string to "wind up," after which the
stuck element "slips" and rotates again. Often, the bit will
over-speed as it unwinds.
[0004] Various system can be used to obtain and process information
concerning a drilling operation, which can help improve drilling
efficiency. Systems have been developed that can receive and
process information from sensors near the drill bit and then
transmit that information to surface equipment. Other systems can
determine vibration of the bottomhole assembly, either downhole
during a drill run, or at the surface. Many of such systems use
finite element and/or finite difference techniques to assist in in
analysis of drilling data, including vibration information.
SUMMARY
[0005] An embodiment of the present disclosure includes a method,
computer program product embodied on a non-transitory computer
readable medium, and a system for predicting vibration information
for a drilling system having a drill string. The drill string
includes a drill bit that is configured to form a borehole in an
earthen formation during a drilling operation. The method, whether
executed via a computer program product or implemented via system
includes the step of accessing, via a computer processor, drilling
system component information, the drilling system component
information including one or more characteristics of the drill
string, and accessing, via the computer processor, expected
operating information for the drilling operation, the expected
operating information including at least a weight-on-bit (WOB), a
rotational speed of the drill bit, a borehole diameter, and a
vibration damping coefficient. Additional steps include predicting
vibration information for the drill string via the computer
processor, the predicted vibration information including at least
on an amplitude for each of an axial vibration, a lateral
vibration, and a torsional vibration of the drill string. The
prediction of the vibration information being based on the drilling
system component information and an energy balance of the drill
string operating according to the expected operation information
for the drilling operation.
[0006] Another embodiment of the present disclosure is a drilling
system configured to form a borehole in an earthen formation during
a drilling operation. The drilling system can include a drill
string supporting a drill bit, the drill bit configured to defined
the borehole. The drilling system can including at least one
computing device including a memory portion having stored thereon
drilling system component information, the drilling system
component information including one or more characteristics of the
drill string. The memory portion further including expected
operating information for the drilling operation, the expected
operating information including at least a weight-on-bit (WOB), a
rotational speed of the drill bit, a borehole diameter, and a
vibration damping coefficient. The drilling system further
including a computer processor in communication with the at least
one computing device, the computer processor configured to predict
vibration information for the drill string, the predicted vibration
information including at least an amplitude for each of an axial
vibration, a lateral vibration, and a torsional vibration of the
drill string. The prediction of the vibration information can be
based on the drilling system component information and an energy
balance of the drill string operating according to the expected
operation information for the drilling operation.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] The foregoing summary, as well as the following detailed
description of illustrative embodiments of the present application,
will be better understood when read in conjunction with the
appended drawings. For the purposes of illustrating the present
application, there is shown in the drawings illustrative
embodiments. It should be understood, however, that the application
is not limited to the precise arrangements and instrumentalities
shown. In the drawings:
[0008] FIG. 1 is a schematic of an underground drilling system
according to an embodiment of the present disclosure;
[0009] FIG. 2A is a block diagram of a computing device used in the
drilling system shown in FIG. 1;
[0010] FIG. 2B is a block diagram illustrating a network of one or
more computing devices and a drilling data database of the drilling
system shown in FIG. 1;
[0011] FIG. 3A is a block diagram illustrating a method of
operating a drilling system shown in FIG. 1, according to an
embodiment of the present disclosure;
[0012] FIG. 3B is a block diagram illustrating a method of creating
a drilling system model, according to an embodiment of the present
disclosure;
[0013] FIG. 4 is a block diagram illustrating a method for revising
the drill system model based on the difference between the
predicting vibration information and the measured vibration
information;
[0014] FIG. 5 is a block diagram illustrating a method for revising
the drilling system model to reduce deviations between predicted
and measured vibration according to an embodiment of the present
disclosure; and
[0015] FIG. 6 is a block diagram illustrating a method for
operating a drilling system shown in FIG. 1 in order to attain a
desired rate of penetration and avoid excessive vibration;
[0016] FIG. 7 is an exemplary computer generated display of an
energy balance of a drilling system illustrating amplitude as a
function of input load, according to the present disclosure;
[0017] FIG. 8 is a computer generated display for an exemplary
vibratory mode shape curve generated according to the present
disclosure;
[0018] FIG. 9 is a computer generated display for an exemplary
critical speed map generated according to the present
disclosure;
DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS
[0019] Referring to FIG. 1, a drilling system or drilling rig 1 is
configured to drill a borehole 2 in an earthen formation 3 during a
drilling operation. The drilling system 1 includes a drill string 4
for forming the borehole 2 in the earthen formation 3, a drilling
data system 12, and at least one computing device 200. The
computing device 200 can host one or more drilling operation
applications, for instance software applications, that are
configured to perform various methods for monitoring the drilling
operation, controlling the drilling operation, predicting vibration
information concerning the drilling operation, and/or predicting
vibration information concerning the drill string 4 for use in a
drilling operation. The computing device 200 cooperates with the
drilling data system 12 and the one or more software application to
execute the various methods described herein. While the borehole 2
is illustrated as a vertical borehole, the systems and methods
described herein can be used for a directional drilling operation,
i.e, horizontal drilling. For instance, the drill string 4 can be
configured to form a borehole 2 in the earthen formation 3 that is
orientated along a direction that is transverse to an axis that is
perpendicular to the surface 11 of the earthen formation 3.
[0020] Continuing with FIG. 1, the drilling system or rig 1
includes a derrick 9 supported by the earth surface 11. The derrick
9 supports a drill string 4. The drill string 4 has a top end 4a, a
bottom end 4b, a top sub 45 disposed at the top end 4a of the drill
string 4, and a bottomhole assembly 6 disposed at the bottom end 4b
of the drill string 4. The bottomhole assembly 6 includes top end
6a and a bottom end 6b. A drill bit 8 is coupled to the bottom end
6b of a bottomhole assembly 6. The drilling system 1 has a prime
mover (not shown), such as a top drive or rotary table, configured
to rotate the drill string 4 so as to control the rotational speed
(RPM) of, and torque on, the drill bit 8. Rotation of the drill
string 4 and drill bit 8 thus defines the borehole 2. As is
conventional, a pump 10 is configured to pump a fluid 14, for
instance drilling mud, downward through an internal passage in the
drill string 4. After exiting at the drill bit 8, the returning
drilling mud 16 flows upward to the surface 11 through an annular
passage formed between the drill string 4 and the borehole 2 in the
earthen formation 3. A mud motor 40, such as a helicoidal positive
displacement pump or a "Moineau-type" pump, may be incorporated
into the bottomhole assembly 6. The mud motor is driven by the flow
of drilling mud 14 through the pump and around the drill string 4
in the annular passage described above.
[0021] A drilling operation as used herein refers to one more drill
runs that define the borehole 2. For instance a drilling operation
can include a first drill run for defining a vertical section of
the borehole 2, a second drill run for defining the bent section of
the borehole 2, and a third drill run for defining a horizontal
section of the borehole 2. More than three drill runs are possible.
For difficult drilling operations, as much as 10 to 15 drill runs
may be completed to define the borehole 2 for hydrocarbon
extraction purposes. It should be appreciated that one or more
bottomhole assemblies can be used for each respective drill run.
The systems, methods, software applications as described herein can
be used to execute methods that monitor, control, and predict
vibration information the drilling operation, as well as monitor,
control, and prediction vibration information for specific drilling
runs in the drilling operation.
[0022] In the illustrated embodiment, the computing device 200 can
host the software application that is configured to predict
vibration information for the drill string 4 using a drilling
system model, as will be further detailed below. The vibration
information can include the axial, lateral and torsional vibration
information of the drill string 4, and specifically, the mode shape
and frequency for each of an axial, lateral, and torsional
vibration of the drill string 4. It should be appreciated that
vibration mode shape is indicative of the relative displacements
along the drill string. As an advancement on prior systems, the
software application as described herein can predict vibration
information noted above based on the drill string geometry, the
applied drilling loads based on the expected drilling operation
(e.g. expected weight-on-bit, rotary speed and flow rate). In
predicting vibration information, the software application takes
into account the energy balance to determine the vibration severity
based on a frequency domain type of finite element technique, as
further detailed below. A software application based on the energy
balance of the drilling system 1, as opposed to a software
application that uses various finite element techniques based on
time domain, result in significant processing time improvements.
The software applications ability to revise predicted vibration
information based on real-time data from a drilling operation, as
discussed below, results in more precise and accurate drilling
operation information that the rig operator or drill string
designer can reply upon. During a drilling operation, the software
application described herein can be used predict anticipated
drilling dysfunctions, such a component wear and potential lost
time incidents due to component replacement, and can further
determine modified drilling set points to avoid the drilling
dysfunction. Further, the software application can predict
vibration information for the drill string 4, access data
indicative of the measured vibration of the drill string 4, and
revise the predicted vibration information in the event there is a
difference between the predicted vibration information and the
measured vibration, as will be further detailed below.
[0023] Referring to FIG. 1, the drilling system 1 can include a
plurality of sensors configured to measure drilling data during a
drilling operation, for use in methods described herein. Drilling
data can include expected operating parameters, for instance the
expected operating parameter for WOB, rotary speed (RPM) and the
drill bit rotational speed (RPM). In the illustrated embodiment,
the drill string top sub 45 includes one or more sensors for
measuring drilling data. For instance, the one or more sensors can
be strain gauges 48 that measure the axial load (or hook load),
bending load, and torsional load on the top sub 45. The tob sub 45
sensors also include a triaxial accelerometer 49 that senses
vibration at the top end 4a of the drill string 4.
[0024] Continuing with FIG. 1, the bottomhole assembly 6 can also
include one or more sensors that are configured to measure drilling
parameters in the borehole 2. In addition, the bottomhole assembly
6 includes a vibration analysis system 46 configured to determine
various vibration parameters based on the information regarding the
drilling operation obtained from the sensors in the borehole. The
vibration analysis module will be further detailed below. The
bottomhole assembly sensors can be in the form of strain gauges,
accelerometers, pressure gauges and magnetometers. For instance,
the bottomhole assembly 6 can include downhole strain gauges 7 that
measure the WOB. A system for measuring WOB using downhole strain
gauges is described in U.S. Pat. No. 6,547,016, entitled "Apparatus
For Measuring Weight And Torque An A Drill Bit Operating In A
Well," hereby incorporated by reference herein in its entirety. In
addition, the strain gauges 7 can be configured to measure torque
on bit ("TOB") and bending on bit ("BOB") as well as WOB. In
alternative embodiments, the drill string can include a sub (not
numbered) incorporating sensors for measuring WOB, TOB and BOB.
Such a sub can be referred to as a "WTB sub."
[0025] Further, the bottomhole assembly sensors can also include at
least one magnetometer 42. The magnetometer is configured to
measure the instantaneous rotational speed of the drill bit 8,
using, for example, the techniques in U.S. Pat. No. 7,681,663,
entitled "Methods And Systems For Determining Angular Orientation
Of A Drill String," hereby incorporated by reference herein in its
entirety. The bottomhole assembly sensors can also include
accelerometers 44, oriented along the x, y, and z axes (not shown)
(typically with .+-.250 g range) that are configured to measure
axial and lateral vibration. While accelerometer 44 is shown
disposed on the bottomhole assembly 6, it should be appreciated
that multiple accelerometers 44 can be installed at various
locations along the drill string 4, such that axial and lateral
vibration information at various location along the drill string
can be measured.
[0026] As noted above, the bottomhole assembly 6 includes a
vibration analysis system 46. The vibration analysis system 46 is
configured to receive data from the accelerometers 44 concerning
axial and lateral vibration of the drill string 4. Based on the
data receive from the accelerometers, the vibration analysis system
46 can determine the measured amplitude and mode shape of axial
vibration, and of lateral vibration due to forward and backward
whirl, at the location of the accelerometers on the drill string 4.
The measured amplitude and frequency of axial vibration and of
lateral vibration can be referred to as measured vibration
information. The measured vibration information can also
transmitted to the surface 11 and processed by drilling data system
12 and/or the computing device 200. The vibration analysis system
46 can also receive data from the magnetometer 42 concerning the
instantaneous rotational speed of the drill string at the
magnetometer 42 location. The vibration analysis system 46 then
determines the amplitude and frequency of torsional vibration due
to stick-slip. The measured frequency and amplitude of the actual
torsional vibration is determined by calculating the difference
between and maximum and minimum instantaneous rotational speed of
the drill string over a given period of time. Thus, the measured
vibration information can also refer to the measured torsional
vibration.
[0027] According to the present disclosure, to reduce data
transmissions for vibration information, drilling data may be
grouped into ranges and simple values used to represent data in
these ranges. For example, vibration amplitude can be reported as
0, 1, 2 or 3 to indicate normal, high, severe, or critical
vibration, respectively. One method that may be employed to report
frequency is to assign numbers 1 through 10, for example, to values
of the vibration frequency so that a value of 1 indicates a
frequency in the 0 to 100 hz range, a value of 2 indicates
frequency in the 101 to 200 hz range, etc. The mode of vibration
may be reported by assigning a number 1 through 3 so that, for
example, a value of 1 indicates axial vibration, 2 indicates
lateral vibration, and 3 indicates torsional vibration. If only
such abbreviated vibration data is transmitted to the surface, at
least some of the data analysis, such as a Fourier analysis used in
connection with the use of backward whirl frequency to determine
borehole diameter, could be performed in a processor installed in
the bottomhole assembly 6. {Note: Currently we don't do this, but
have thought about implementing it in the future}
[0028] The bottom hole assembly sensors can also include at least
first and second pressure sensors 51 and 52 that measure the
pressure of the drilling mud flowing through drilling system
components in the borehole 2. For instance, the first and second
sensors 51 and 52 measure pressure of the drilling mud flowing
through the drill string 4 (in a downhole direction), and the
pressure of the drilling mud flowing through the annular gap
between the borehole wall and the drill string 4 in an up-hole
direction, respectively. Differential pressure is referred to as
the difference in pressure between the drilling mud following in
downhole direction and the drilling mud flowing in the up-hole
direction. Sometimes differential pressure can be referred to as
the difference in off-bottom and on-bottom pressure, as is known in
the art. Pressure information can be transmitted to the drilling
data acquisition system 12 and/or computing device 200. In the
illustrated embodiment, the first and second pressure sensors 51
and 52 can be incorporated in the vibration analysis system 46.
[0029] Further, the drilling system 1 can also include one or more
sensors disposed on the derrick 9. For instance, the drilling
system can include a hook load sensor 30 for determining WOB and an
additional sensor 32 for sensing drill string rotational speed of
the drill string 4. The hook load sensor 30 measures the hanging
weight of the drill string, for example, by measuring the tension
in a draw works cable (not numbered) using a strain gauge. The
cable is run through three supports and the supports put a known
lateral displacement on the cable. The strain gauge measures the
amount of lateral strain due to the tension in the cable, which is
then used to calculate the axial load, and WOB. In another
embodiment, drill data can be obtained using an electronic data
recorder (EDR). The EDR can measure operating loads at the surface.
For instance, the EDR can use sensors to measure the hook load
(tensile load to of the drill string at the surface), torque,
pressure, differential pressure, rotary speed, flow rate. The
weight-in-bit (WOB) can be calculated from the hook load, drill
string weight, and off-bottom to on-bottom variations of load.
Torque can measured from the motor current draw. Flow rate can be
based on the counts the pump strokes and the volume pumped per
stroke. The differential pressure is the difference between
on-bottom and off-bottom pressure.
[0030] The drilling data system 12, as will be further detailed
below, can be a computing device in electronic communication with
the computing device 200. The drilling data system 12 is configured
to receive, process, and store various drilling operation
information obtained from the downhole sensors described above.
Accordingly, the drilling data system 12 can include various
systems and methods for transmitting data between drill string
components and the drilling data system 12. For instance, in a
wired pipe implementation, the data from the bottomhole assembly
sensors is transmitted to the top sub 45. The data from the top sub
45 sensors, as well as data from the bottomhole assembly sensors in
a wired pipe system, can be transmitted to the drilling data system
12 or computing device 200 using wireless telemetry. One such
method for wireless telemetry is disclosed in U.S. application Ser.
No. 12/389,950, filed Feb. 20, 2009, entitled "Synchronized
Telemetry From A Rotating Element," hereby incorporated by
reference in its entirety. In addition, the drilling system 1 can
include a mud pulse telemetry system. For instance, a mud pulser 5
can be incorporated into the bottomhole assembly 6. The mud pulse
telemetry system encodes data from downhole equipment, such as
vibration information from the vibration analysis system 46 and,
using the pulser 5, transmits the coded pulses to the surface 11.
Further, drilling data can be transmitted to the surface using
other means such as acoustic or electromagnetic transmission.
[0031] Referring to FIG. 2A, any suitable computing device 200 may
be configured to host a software application for monitoring,
controlling and prediction vibration information as described
herein. It will be understood that the computing device 200 can
include any appropriate device, examples of which include a desktop
computing device, a server computing device, or a portable
computing device, such as a laptop, tablet or smart phone. In an
exemplary configuration illustrated in FIG. 2A, the computing
device 200 includes a processing portion 202, a memory portion 204,
an input/output portion 206, and a user interface (UI) portion 208.
It is emphasized that the block diagram depiction of computing
device 200 is exemplary and not intended to imply a specific
implementation and/or configuration. The processing portion 202,
memory portion 204, input/output portion 206 and user interface
portion 208 can be coupled together to allow communications
therebetween. As should be appreciated, any of the above components
may be distributed across one or more separate devices and/or
locations. For instance, any one of the processing portion 202,
memory portion 204, input/output portion 206 and user interface
portion 208 can be in electronic communication with the drilling
data system 12, which as noted above can be a computing device
similar to computing device 200 as described herein. Further, any
one of the processing portion 202, memory portion 204, input/output
portion 206 and user interface portion 208 can be capable of
receiving drill data from one or more the sensors and/or the
vibration analysis system 46 disposed on the drill string 4.
[0032] In various embodiments, the input/output portion 106
includes a receiver of the computing device 200, a transmitter of
the computing device 200, or an electronic connector for wired
connection, or a combination thereof. The input/output portion 206
is capable of receiving and/or providing information pertaining to
communication with a network such as, for example, the Internet. As
should be appreciated, transmit and receive functionality may also
be provided by one or more devices external to the computing device
200. For instance, the input/output portion 206 can be in
electronic communication with the data acquisition system 12 and/or
one or more sensors disposed on the bottomhole assembly 6
downhole.
[0033] Depending upon the exact configuration and type of
processor, the memory portion 204 can be volatile (such as some
types of RAM), non-volatile (such as ROM, flash memory, etc.), or a
combination thereof. The computing device 200 can include
additional storage (e.g., removable storage and/or non-removable
storage) including, but not limited to, tape, flash memory, smart
cards, CD-ROM, digital versatile disks (DVD) or other optical
storage, magnetic cassettes, magnetic tape, magnetic disk storage
or other magnetic storage devices, universal serial bus (USB)
compatible memory, or any other medium which can be used to store
information and which can be accessed by the computing device
200.
[0034] The computing device 200 can contain the user interface
portion 208, which can include an input device 209 and/or display
213 (input device 210 and display 212 not shown), that allows a
user to communicate with the computing device 200. The user
interface 208 can include inputs that provide the ability to
control the computing device 200, via, for example, buttons, soft
keys, a mouse, voice actuated controls, a touch screen, movement of
the computing device 200, visual cues (e.g., moving a hand in front
of a camera on the computing device 200), or the like. The user
interface 208 can provide outputs, including visual information,
such as the visual indication of the plurality of operating ranges
for one or more drilling parameters via the display 213. Other
outputs can include audio information (e.g., via speaker),
mechanically (e.g., via a vibrating mechanism), or a combination
thereof. In various configurations, the user interface 208 can
include a display, a touch screen, a keyboard, a mouse, an
accelerometer, a motion detector, a speaker, a microphone, a
camera, or any combination thereof. The user interface 208 can
further include any suitable device for inputting biometric
information, such as, for example, fingerprint information, retinal
information, voice information, and/or facial characteristic
information, for instance, so to require specific biometric
information for access the computing device 200.
[0035] Referring to FIG. 2B, an exemplary and suitable
communication architecture is shown that can facilitate monitoring
a drilling operation of the drilling system 1. Such an exemplary
architecture can include one or more computing devices 200, 210 and
220 each of which can be in electronic communication with a
database 230 and a drilling data acquisition system 12 via common
communications network 240. The database 230, though schematically
represented separate from the computing device 200 could also be a
component of the memory portion 104 of the computing device 200. It
should be appreciated that numerous suitable alternative
communication architectures are envisioned. Once the drilling
control and monitoring application has been installed onto the
computing device 200, such as described above, it can transfer
information between other computing devices on the common network
240, such as, for example, the Internet. For instance
configuration, a user 24 may transmit, or cause the transmission of
information via the network 240 regarding one or more drilling
parameters to the computing device 210 of a supplier of the
bottomhole assembly 6, or alternatively to computing device 220 of
another third party (e.g., a drilling system owner 1) via the
network 240. The third party can view, via a display, the plurality
of operating ranges for the one or more drilling parameters as
described herein.
[0036] The computing device 200 and the database 230 depicted in
FIG. 2B may be operated in whole or in part by, for example, a rig
operator at the drill site, a drill site owner, drilling company,
and/or any manufacturer or supplier of drilling system components,
or other service provider, such as a third party providing drill
string design services. As should be appreciated, each of the
parties set forth above and/or other relevant parties may operate
any number of respective computers and may communicate internally
and externally using any number of networks including, for example,
wide area networks (WAN's) such as the Internet or local area
networks (LAN's). Database 230 may be used, for example, to store
data regarding one or more drilling parameters, the plurality of
operating ranges from a previous drill run, a current drill run,
and data concerning the models for the drill string components.
Further it should be appreciated that "access" or "accessing" as
used herein can include retrieving information stored in the memory
portion of the local computing device, or sending instructions via
the network to a remote computing device so as to cause information
to be transmitted to the memory portion of the local computing
device for access locally. In addition or alternatively, accessing
can including accessing information stored in the memory portion of
the remote computing device.
[0037] Turning to FIG. 3A, according to an illustrated embodiment,
a method 50 for monitoring, controlling of drilling data, and the
prediction vibration information for a drilling operation is
initiated in step 100. In step 100, a user can input drilling
component data. For instance, the user may specify a drill string
component, for instance a bottomhole assembly or Measurement While
Drilling ("MWD") tool, and the vibration limits applicable to each
such component. The drill string and/or bottomhole assembly data
can be input by the operator or stored in database 230 or in memory
of the computing device 100. Bottomhole assembly data can be
accessed as noted above by the software application. Data input in
step 100 may include: [0038] (i) the outside and inside diameters
of the drill pipe sections that make up the drill string, [0039]
(ii) the locations of stabilizers, [0040] (iii) the length of the
drill string, [0041] (iv) the inclination of the drill string,
[0042] (v) the bend angle if a bent sub is used, [0043] (vi) the
material properties, specifically the modulus of elasticity,
material density, torsional modulus of elasticity, and Poisson's
ratio, [0044] (vii) the mud properties for vibration damping,
specifically, the mud weight and viscosity, [0045] (viii) the
borehole diameters along the length of the well, [0046] (ix) the
azimuth, build rate and turn rate, [0047] (x) the diameter of the
drill bit and stabilizers, and [0048] (xi) information concerning
the characteristics of the formation, such as the strike and
dip.
[0049] In alternative embodiments, during step 100, the information
concerning the drill string components can also be updated by the
operator each time a new section of drill string is added or when a
new drill run is initiated.
[0050] In step 101, expected operating information for the drilling
operation can be input in the software application and stored as
need in drilling data system or computing device 100. Expected
operating information can developed at drill site or can be
determined according to a drilling plan. Expected operating
information includes (i) the WOB, (ii) the drill string rotational
speed, (iii) the mud motor rotation speed, (iv) the diameter of the
borehole, and (v) any damping coefficients.
[0051] In step 102, the software application predicts the vibration
information for the drill string. The predicted vibration
information includes at least an amplitude for each of an axial
vibration, a lateral vibration, and a torsional vibration of the
drill string 4. As will be further detailed below and illustrated
in FIG. 3B, the prediction of the vibration information is based on
the drilling system component information and an energy balance
method of the drill string operating according to the expected
operation information for the drilling operation. In addition, the
prediction vibration information can include frequency and mode
shape information. During step 102, the software application can
also initiate one or more analyses for use in the prediction model
discussed below. In particular, the software application can
conduct a static bending analysis to determine the bending
information of the bottomhole assembly 6. The bending information
includes calculated bottomhole assembly deflections, the side
forces along the length of the bottomhole assembly, the bending
moments, and the nominal bending stress. The software application
also performs a so-called "predict analysis" in which it uses the
bending analysis information to predict the direction in which the
drill string will drill.
[0052] In step 104, the software application calculates vibration
warning limits for specific drill string components based on the
vibration information measured by the sensors in the vibration
analysis system 46. For example, as discussed below, based on the
predicted mode shapes, the software application can determine what
level of measured vibration at the accelerometer locations would
result in excessive vibration at the drill string location of a
critical drilling string component.
[0053] In step 106, the drilling operation continues or is
initiated. For instance, one or more the previous steps, for
instance steps 100 through 104, could be initiated prior to a
drilling operation to help develop a drilling plan or and aid in
designing a bottomhole assembly.
[0054] In step 108, the software application can receive drilling
data from the rig surface sensors. In step 109, the software
application can receive drilling data from the downhole sensors. It
should be appreciated that the rig surface drilling data and the
downhole drilling data may be stored in computer memory in the
drilling data system 12 and/or computing device 200. The
communication system can transmit the drilling data from the rig
surface sensors and the downhole sensors to the drilling data
system 12. Drilling data from the surface sensors are preferably
transmitted to the system 12 continuously. Drilling data from the
downhole sensors is transmitted to the drilling data system 12
whenever downhole drilling data is sent to the surface, preferably
at least every few minutes. The software application can then
access the rig surface drilling data and the downhole drilling
data. Regardless of whether the software application accesses or
receives drilling data, the drilling data can be used by the
software application on an on-going basis during the drilling
operation.
[0055] In step 110, drilling data and drilling status can be
transmitted to a remote computing device, for instance a remote
computing device 210 (FIG. 2B). Users not located at the rig site
can download and review the data, for example by logging into the
computing device 210, and accessing the drilling data via the
communications network 240, such as the internet. In step 112, the
software application determines whether any of the drilling
parameters input into software application have changed. If the
drilling parameters have changed, the software application updates
the drilling data accordingly. Further, if the drilling parameters
have not changed, in block 114, an optional lost performance
analysis can be run, for instance similar to the lost performance
analysis disclosed in U.S. Pat. No. 8,453,764, herein incorporated
by reference. Process control can be transferred and the method 701
shown in FIG. 5 can be initiated, as will be further detailed
below.
[0056] Turning to FIG. 3B, which illustrates a method 70 for
predicting vibration information for a drilling system. It should
be appreciated that aspect of the method 70 can be performed prior
to or along with steps 100 through 102 discussed above. FIG. 3B
illustrates how a drilling system model can be developed and used
in a drilling operation. Accordingly, each and every step of method
70 need not be performed at the rig site or during a drilling
operation, but could occur before a drilling operation.
[0057] Continuing with FIG. 3B, the method 70 initiates in step
260, by defining a drilling system model using finite element
techniques, as further detailed below. In step 260, the method can
included accessing drilling system component data. The drilling
system component data includes one or more characteristics of the
drill string typically used in finite element models. The one or
more characteristics of the drill string include drill string
geometry data. Drill string geometry data includes the outside and
inside diameters of the drill pipe sections that make up the drill
string, the locations of stabilizers, the length of the drill
string, the inclination of the drill string, the bend angle if a
bent sub is used, the diameter of the drill bit and stabilizers.
Drill string geometry data also includes the material properties of
drill string components, specifically the modulus of elasticity,
material density, torsional modulus of elasticity, and Poisson's
ratio, as well as a vibration damping coefficient, based on the
properties of the drilling mud properties, specifically, the mud
weight and viscosity. In step 262, the software application can
access borehole information. Borehole information can include
borehole diameters along the length of the borehole, the azimuth,
build rate, turn rate, information concerning the characteristics
of the formation, such as the strike and dip.
[0058] Continuing with FIG. 3B, in steps 266 to 272, the components
of the drill system model is further processed using finite element
system, for instance ANSYS and/or LISA. In steps 274 to 280, the
static bending analysis and the so-called predict analysis are
performed. In step 282, based on the bending information determined
in steps 274-280, the software application determines if the forces
are balanced at the drill bit. In step 282, the software
application can determine whether the side forces on the bit are
equal to zero. For instance, if the forces are not balanced on the
bit, then the model is indicating contact with the borehole wall
(in the model). If the forces are not balanced, then process
control is transferred to step 284 and the curvature of the
borehole is modified, and steps 272 to 282 are re-run until a
balance is obtained in step 282.
[0059] In steps 286 to 294, the software application predicts
vibration information for the drill string. In step 286, the
software application initiates a vibration analysis operation. For
instance, the software application initiates the vibration modal
analysis. The predicted vibration information includes an amplitude
for the axial vibration, the lateral vibration, and the torsional
vibration of the drill string. Further, frequency and the mode
shape for axial, lateral and torsional vibration are developed. The
prediction of the vibration information is based on the drilling
system component information and an energy balance of the drill
string operating according to the expected operation information,
as will be further detailed below.
[0060] In step 288, the software application can first determine
the drilling excitation forces of the model drilling string
components. In step 289, the software application applies the
determined drilling excitation forces to the model. For instance,
the software application can apply known excitation loads to the
drill string based on the expected operating loads and frequency of
the drill string.
[0061] In step 290, the software application applies an energy
balance methodology to determine vibration information along the
drill string, in particular determines the amplitude of axial,
lateral and torsional vibration along the drill string. Using the
energy balance methodology, the predicted vibration information is
based on analysis of energy supplied to the drilling operation,
considering the energy dissipated during the drilling operation due
to vibration of the drilling system components, as function of one
or more forces applied to the drill string. The energy supplied ES
(J) to a drilling system can be calculated from the equation:
E.sub.S=q.pi.Cos .beta..intg.y(x)dx, (1)
where,
[0062] q is the distributed force (N) along the drill string,
[0063] .beta. is the phase angle (rad), and
[0064] y(x) is the displacement (mm) along the length of the drill
string.
The energy dissipated ED (J) from the drilling system, due to
damping, etc., can be calculated from the equation:
ED=.pi.kbY.sup.2, where, (2)
[0065] K is the spring rate,
[0066] b is damping coefficient (N s/m), and
[0067] Y is displacement (mm)
The energy supplied ES and energy dissipated ED graphically
represented as a displacement, or amplitude, as a function of input
load is illustrated in FIG. 7. Assuming the energy supplied is
equal to the energy dissipated, the software application can
predict the amplitude (or displacement in the equations) of
vibration at a given input load. Based on assumption that the
energy is balanced, the software application uses the follow
equation to predict amplitude of axial vibration:
Ym=(F.sub.o.pi.S.sub.z)/(.delta.w.sup.2)H.sub.na, where (3)
[0068] Ym is the maximum amplitude, or displacement (mm), for axial
vibration,
[0069] Fo is total force (N),
[0070] Sz is an amplification factor defined is an indication of
the proximity of an expected frequency to the natural frequency for
a structure, such as drill string component,
[0071] .delta. is displacement (mm),
[0072] W is the angular velocity (rads/s), and
[0073] Hna is the relative mode shape efficiency factor for axial
vibration.
As can be seen from the above equations, the software application
predicts vibration information based upon information indicating
the relative mode shape efficiency (Hn) for axial, lateral and
torsional vibration along the drill string. The mode shape
efficiency is a measure of how much energy from the applied load
goes into vibration. For example, the mode efficiency is highest
for the first mode of a cantilevered beam with the load applied at
the free end of the beam because the vibration is a maximum.
Applying the load to the fixed end of the beam results in a mode
efficiency factor of 0 since there is not any displacement at this
location.
[0074] In step 290, the software application can also predict the
amplitude of vibration taking into account bit whirling. Using the
energy balance methodology discussed above, the software
application uses the follow equation to predict amplitude for
lateral vibration:
Yo=(Y.sub.b.pi.S.sub.z)/(.delta.w.sup.2)H.sub.nl, where (4)
[0075] Y.sub.o is the maximum amplitude, or displacement (mm), for
lateral vibration,
[0076] Y.sub.b is displacement (mm),
[0077] S.sub.z is the amplification factor as noted above, .delta.
is displacement (mm),
[0078] W is the angular velocity (rad/s), and
[0079] H.sub.nl is the relative mode shape efficiency factor for
lateral vibration, as noted above.
[0080] In step 290, the software application can also predict the
amplitude of vibration taking into account bit moment. Using the
energy balance methodology discussed above, the software
application uses the follow equation to predict amplitude for
torsional vibration:
.theta..sub.m=(M.sub.b.pi.S.sub.z)/(.delta.w.sup.2)Hnt, where
(5)
[0081] .theta.m is the maximum angular displacement (rad/s) for
torsional vibration
[0082] M.sub.b is the bending moment (N-m),
[0083] S.sub.z is an amplification factor as noted above,
[0084] .delta. is displacement (mm)
[0085] W is the angular velocity (rad/s),
[0086] Hn is the relative mode shape efficiency factor for lateral
vibration as noted above,
[0087] When, in step 290, the energy balance method has predicted
the amplitude of vibration of axial, lateral and torsional
vibration, in step 292, the software application can output the
amplitude of vibration for a range of drill bit rotational speeds.
Process control can be transferred to step 294. In step 294, the
software application can determine the critical speeds of the drill
string. The step of determining the critical speeds includes
determining the critical speeds as a function of the loads applied
on the drill string. It should be appreciated that the software
application can associate the predicted vibration information with
a range of critical speeds, a range of WOB, rotary speeds, flow
rates and torque values for the drilling operation.
[0088] According to another embodiment of the present disclosure,
the software application is configured to update the drilling
system model as needed. The software application develops a
drilling system model by first defining the drill string and the
borehole parameters that are not subject to change during drilling
operation. The drill string and borehole parameter are stored in a
computer memory of the computing device 200. As the drilling
operation continues and certain drilling conditions change, the
drill string and borehole parameters are modified and the analysis
is re-run. For instance, the drilling parameters that change during
drilling include drill bit rotational speed, WOB, inclination,
depth, azimuth, mud weight, and borehole diameter. The software
application, accesses and/or receive updating operation information
based on real-time values of the drilling operating parameters
based on the measurements of the surface and downhole sensors. For
instance, the software application can access updated operating
information stored in the memory portion of the computing device,
and/or data acquisition system. Updated operating information can
may be automatically measured and stored in memory, or
alternatively, updated operating information may be obtain via
separate systems and the data manually input in the computing
device via the user interface, said data stored for access. Based
on the updated operating parameters, the software application
calculates the critical speeds for a range of operating conditions.
The software application can also create a mode shape for the
measured and predicted vibration information for each of an axial,
lateral and torsional vibration. As shown in FIG. 4, the software
application can cause the user interface to display the mode shapes
at any given combination of RPM and WOB. In addition, the software
application can cause the user interface to display the critical
spends on a critical speed map. As shown in FIG. 5, the software
application causes the display of drill bit rotational speed (RPM)
on the x-axis and WOB on the y-axis.
[0089] Turning to FIG. 4, in accordance with another embodiment of
the present disclosure, as indicated in connection with step 102
(method 70), the software application performs a vibration analysis
in which it predicts (i) the natural frequencies of the drill
string in axial, lateral and torsional modes and (ii) the critical
speeds of the drill string, mud motor (if any), and critical speeds
of the drill bit that excite these frequencies, as previously
discussed. The software application can adjust the drilling system
model if the actual critical speeds are have shifted from the
predicted critical speeds such that drilling system model can
correctly predict the critical speeds experienced by the drill
string. As can be seen in FIG. 4, the software application can
perform a method 300 that can adjust the drilling system model if
the predicted critical speed at a drill bit rotational speed (RPM)
during actual operation reveals the predicted critical speed does
not result in resonant vibration. If a critical speed is
encountered at drill bit rotation speed at which the drilling
system model does not predict resonant vibration, then the drilling
system model can be adjusted as well. It should be appreciated that
the adjustment of critical speeds based an analysis of predicted
vs. actual critical speeds can be completed after a successful
elimination of high vibration that caused a loss of drilling
performance, as discussed in above in connection with step 114.
[0090] Continuing with FIG. 4, the software application first
determines in step 330 whether a predicted critical speed differs
from a measured critical speed by more than a predetermined amount.
If it does, in step 332, the software application determines
whether the vibratory mode associated with the critical speed was
related to the axial, lateral or torsional vibratory mode. If the
critical speed was associated with the torsional or axial modes,
then in step 334 the software application determines if the RPM at
which the mud motor is thought to be operating, without
encountering the predicted resonant vibration, is on the lower end
of the predicted critical speed band. If it is, then in step 336
the motor RPM used by the model is decreased until the critical
speed is no longer predicted. This accounts the motor having a
different revolutions per gallon (RPG) than stated on the
specification documentation for motor. Motor specification normally
list the RPG at room temperature no load conditions. If it
determines that the motor RPM is on the upper end of the predicted
critical speed band, then in step 338 the motor RPM is increased
until the critical speed is no longer predicted. If the mud motor
is not being used, then in step 340 the software application
determines whether the predicted critical speed is higher or lower
than the speed at which the drill bit is operating. If it is
higher, then in step 342 the drill string stiffness is decreased
until the critical speed is no longer predicted. If it is lower,
then in step 344, the drill string stiffness is increased until the
critical speed is no longer predicted.
[0091] If the critical speed was associated with the lateral
vibratory mode, then in step 346 the software application
determines if the lateral vibration is due to drill bit, mud motor,
or drill string lateral vibration. If the lateral vibratory mode is
associated with the drill string, then in step 348 the software
application determines whether the RPM at which the drill string is
thought to be operating, without encountering resonance, is on the
lower or higher end of the predicted critical speed band. If it is
on the high end, then in step 350 the drill string speed used in
the model is reduced or, if that is unsuccessful, a stabilizer OD
is increased. If it is on the low end, then in step 352 borehole
size used in the model is increased or, if that is unsuccessful,
the OD of a stabilizer is decreased.
[0092] If the lateral vibratory mode is associated with the mud
motor, then in step 354 the software application determines whether
the RPM at which the mud motor is thought to be operating, without
encountering resonant vibration, is on the lower or higher end of
the predicted critical speed band. If it is on the high end, then
in step 356 the mud motor speed used in the model is increased
until the critical speed is no longer predicted. If it is on the
low end, then in step 358 the mud motor speed used in the model is
decreased until the critical speed is no longer predicted. If the
lateral vibratory mode is associated with the drill bit, then in
step 360 the software application determines whether the RPM at
which the drill is thought to be operating is on the lower or
higher end of the critical speed band. If it is on the high end,
then in step 362 the drill bit speed is decreased until the
critical speed is no longer predicted. If it is on the low end,
then in step 364 the drill bit speed is increased until the
critical speed is no longer predicted.
[0093] As noted above, the software application can predict
vibration for a future drilling run, based on real-time information
obtained during a current drill run. For instance, the software
application can predict vibration information based on the current
measured operating or real-time parameters. The software
application can predict vibration, using the methodology discussed
above, at each element along the drill string based on the real
time values of: (i) WOB, (ii) drill bit RPM, (iii) mud motor RPM,
(iv) diameter of borehole, (v) inclination, (vi) azimuth, (vii)
build rate, and (viii) turn rate. For purposes of predicting
vibration, WOB is preferably determined from surface measurements
using the top drive sub 45, as previously discussed, although
downhole strain gauges could also be used as previously discussed.
Drill bit RPM is preferably determined by summing the drill string
RPM and the mud motor RPM. The drill string RPM is preferably based
on a surface measurement using the RPM sensor 32. The mud motor RPM
is preferably based on the mud flow rate using a curve of mud motor
flow rate versus motor RPM or an RPM/flow rate factor, as
previously discussed. The diameter of the borehole is preferably
determined from the backward whirl frequency using method described
in U.S. Pat. No. 8,453,764 discussed above, although an assumed
value could also be used, as also previously discussed. Inclination
and azimuth are preferably determined from accelerometers 44 and
magnetometers 42 in the bottomhole assembly 6, as previously
discussed. Build rate is preferably determined based on the change
in inclination. Turn rate is determined from the change in azimuth.
Preferably, the information on WOB, drill string RPM and mud motor
RPM is automatically sent to the processor 202. Information on
inclination and azimuth, as well as data from the lateral vibration
accelerometers (the backward whirl frequency if the Fourier
analysis is performed downhole), are transmitted to the processor
202 by the mud pulse telemetry system or a wired pipe or other
transmission system at regular intervals or when requested by the
applications or when triggered by an event. Based on the foregoing,
the software application calculates the frequency of the vibration
at each point along the drill string (the amplitude having been
determined previously), during the drilling operation. The software
application, as noted above, can cause the user interface to
display an image of the mode shape, as shown in FIG. 5, for the
current operating condition, the vibratory mode shape of the drill
string, which is essentially the relative amplitude of vibration
along the drill string.
[0094] According to the present disclosure, three oscillating
excitation forces are used to predict vibration levels: (i) an
oscillating excitation force the value of which is the measured WOB
and the frequency of which is equal to the speed of the drill bit
multiplied by the number of blades/cones on the bit (this force is
applied at the centerline of the bit and excites axial vibration),
(ii) an oscillating force the value of which is the measured WOB
and frequency of which is equal to the number of vanes (or blades)
on drill bit times the drill bit speed (this force is applied at
the outer diameter of the bit and creates a bending moment that
excites lateral vibration), and (iii) an oscillating force the
value of which is the calculated imbalance force based on the
characteristics of the mud motor, as previously discussed, and the
frequency of which is the frequency of which is equal to N (n+1),
where N is the rotary speed of the rotor and n is the number of
lobes on the rotor.
[0095] Vibration amplitude, or displacement in the above reference
equations, is measured at the locations of vibration sensors, such
as accelerometers. However, of importance to the operator is the
vibration at the location of critical drill string components, such
as an MWD tool. In step 104, the software application determines
the ratio between the amplitude of vibration at a nearby sensor
location and the amplitude of vibration at the critical component
for each mode of vibration. The analysis in step 104 is based on
predicted vibration mode shape and the known location of such
critical drill string components as inputted in the model. Based on
the inputted vibration limit for the component, the software
application determines the vibration at the sensor that will result
in the vibration at the component reaching its limit. The software
application can cause the computing device to initiate a high
vibration alarm if the vibration at the sensor reaches the
correlated limit. For example, if the maximum vibration to which an
MWD tool should be subjected is 5 g and the mode shape analysis
indicates that, for lateral vibration, the ratio between the
vibration amplitude at sensor #1 and the MWD tool is 1.5--that is,
the amplitude of the vibration at the MWD tool is 1.5 times the
amplitude at sensor #1, the software would advise the operator of
the existence of high vibration at the MWD tool if the measured
lateral vibration at sensor #1 exceeded 1.33 g. This extrapolation
could be performed at a number of locations representing a number
of critical drill string components, each with its own vibration
limit. In addition to predicting vibration along the length of the
drill at current operating conditions in order to extrapolate
measured vibration amplitudes to other locations along the drill
string, the software application can also predict vibration along
the length of the drill string based on projected operating
conditions. The software application can then determine whether a
change in operating parameters, such as RPM or WOB, will affect
vibration.
[0096] The software application can cause the user interface to
display in a computer display a critical speed map as shown in FIG.
5 and further discussed below. As noted above, the critical speed
may displays information indicating the combinations of WOB and
drill string rotation speed should be avoided to avoid high axial
or lateral vibration or stick slip. The software application can
cause the user interface to display a critical speed map including
information that indicates the combinations of WOB and mud motor
rotation speed that should be avoided. The critical speed maps can
be used as a guide for setting drilling parameters.
[0097] Turning to FIG. 5, in accordance with another embodiment of
the present disclosure, the software application can determine that
the difference between the predicted and measured vibration for any
of the axial, lateral or torsional vibrations at sensor locations
exceeds a predetermined threshold. In response, the software
application revises the drilling system model by varying the
operating parameter inputs used in the drilling system model,
according to a predetermined hierarchy, until the difference is
reduced below the predetermined threshold. Such an exemplary
hierarchy is illustrated in the method 701 shown in FIG. 5. When
the software application receives drilling data from the downhole
sensors, the software application compares the measured level of
vibration at the sensor locations to the predicted level of
vibration at the same locations. Based on the analysis performed by
the software application noted above, the drilling data system 12,
computing device 200, and/or the database 230 can include store
therein: (i) the measured axial, lateral and torsional vibration at
the locations of the sensors downhole, (ii) the resonant
frequencies for the axial, lateral and torsional vibration
predicted by the software application, (iii) the mode shapes for
the axial, lateral and torsional vibration based on real-time
operating parameters predicted by the software application, and
(iv) the levels of axial, lateral and torsional vibration at each
point along the entire length of the drill string predicted by the
software application. This information is used to determine how
predicted and measured vibration information agrees.
[0098] Continuing with FIG. 5, a method 701 is used in which the
hierarchy in parameters for which changes are attempted is
preferably mud motor rotational speed, followed by WOB, followed by
borehole size. In step 700, a determination is made whether the
deviation between the measured and predicted vibration exceeds the
predetermined threshold amount. If so, in steps 702 through 712,
incremental increases and decreases in the mud motor rotational
speed used in the drilling system model, within a prescribed
permissible range of variation, are attempted until the deviation
drops below the threshold amount. If no value of the mud motor
rotational speed within the permissible range of variation results
in the deviation in the vibration at issue dropping below the
threshold amount, the software application revises the mud motor
rotational speed used in the drilling system model to the value
that reduced the deviation the most, but that did not cause the
deviation between the predicted and measured values for another
vibration to exceed the threshold amount.
[0099] If variation in mud motor rotational speed does not reduce
the deviation below the threshold amount, in steps 714-724, the WOB
used in the drilling system model is then decreased and increased,
within a prescribed permissible range of variation, until the
deviation drops below the threshold amount. If no value of WOB
within the permissible range of variation results in the deviation
between the measured and predicted vibration dropping below the
threshold amount, the software application revises the WOB used in
the model to the value that reduced the deviation the most, but
that did not cause the deviation between the predicted and measured
values for another vibration to exceed the threshold amount.
[0100] If variation in WOB does not reduce the deviation below the
threshold amount, in steps 726-736, the assumed borehole size used
in the model is then decreased and increased within a prescribed
permissible range of variation--which range may take into account
whether severe washout conditions were expected, in which case the
diameter could be double the predicted size--until deviation drops
below the threshold amount. If a value of borehole size results in
the deviation dropping below the threshold amount, without causing
the deviation in another vibration to exceed the threshold amount,
then the model is revised to reflect the new borehole size value.
If no value of borehole size within the permissible range of
variation results in the deviation between the measured and
predicted vibration dropping below the threshold amount, the
software revises the borehole size used in the model to the value
that reduced the deviation the most, but that did not cause the
deviation in another vibration level to exceed the threshold
amount. Alternatively, rather than using the sequential single
variable approach discussed above, the software application could
be programmed to perform multi-variable minimization using, for
example, a Taguichi method. Further, if none of the variations in
mud motor RPM, WOB and borehole diameter, separately or in
combination, reduces the deviation below the threshold, further
investigation would be required to determine whether one or more of
the inputs were invalid, or whether there was a problem down hole,
such as a worn bit, junk (such as bit inserts) in the hole, or a
chunked out motor (rubber breaking down).
[0101] It should be appreciated that other hierarchies can be used
to revise the drilling system model. For instance, if the step of
comparing the predicted versus measured vibration is performed by
the software application following a successful mitigation of high
vibration (for instance step 114 in FIG. 3A) as described in U.S.
Pat. No. 8,453,764, which is incorporated by reference herein, the
results of the mitigation are used to guide the revision of the
drilling system model used to predict the vibration. As will be
appreciated by one skill in the art, the method of mitigating lost
performance due to high vibration cannot be employed if the
attempted mitigation was unsuccessful or if mitigation was
unnecessary.
[0102] Referring now to FIG. 6, according to yet another embodiment
of the present disclosure, the software application automatically
determines if the optimum drilling performance is being achieved
and makes recommendations if optimum drilling performance is not
being achieved. In general, the higher the drill bit RPM and the
greater the WOB, the higher the rate of penetration by the drill
bit into the formation, resulting in more rapid drilling. However,
increasing drill bit RPM and WOB can increase vibration, which can
reduce the useful life of the bottomhole assembly components. A
method 901 for optimizing drilling efficiency includes the initial
step 900 of performing one or more drilling tests are performed so
as to obtain a database of ROP versus WOB and drill string and
drill bit RPM. In addition, in step 900, the drilling test can be
begin with a pre-run analysis of the drilling operation using the
software application. The pre-run analysis can be used to design a
bottomhole assembly that will drill the planned well, have
sufficient strength for the planned well and to predict critical
speeds to avoid during the drilling operation. During the
pre-analysis process components of the drill string can be moved or
altered to achieve the desired performance. Modifications may
include adding, subtracting or moving stabilizers, selecting bits
based on vibration excitation and performance and specifying mud
motors power sections, bend position and bend angle. Based on the
analysis the initial drilling component information and drilling
operation parameters are set.
[0103] In step 902, the software application can determine a set of
drilling parameters that can optimize ROP without producing
excessive vibration, based in part on the drilling performance
results and predicted vibration levels conducted during the
drilling tests. Alternatively, the software application can
generate graphical display illustrating predicted axial vibration
versus WOB and the measured rate of penetration versus WOB. Using
these graphical displays, the operator can select the WOB that will
result in the maximum rate of penetration without incurring
excessive axial vibration. Similar graphs would be generated for
other modes of vibration. In addition, during step 902, the
software application determines the critical speeds of the drill
string and then determines whether operation at the WOB and drill
string/drill bit rotation speeds that yielded the highest ROP based
on the drilling test data will result in operation at a critical
speed. Alternatively, the software application can predict the
level of vibration at the critical components in the drill string
at the WOB and drill string/drill bit RPMs that yielded the highest
ROP to determine whether operation at such conditions will result
in excessive vibration of the critical components. In any event, if
the software application predicts vibration problems at the
operating conditions that resulted in the highest ROP, it will then
check for high vibration at the other operating conditions for
which data was obtained in the drilling tests until it determines
the operating conditions that will result in the highest ROP
without encountering high vibration. The software application will
then recommend to the operator that the drill string be operated at
the WOB and drill string/drill bit rotation speeds that are
expected to yield the highest ROP without encountering excessive
vibration. The drilling operation will continue at the determined
set of drilling parameters that optimized ROP.
[0104] In step 904, the drilling operation will continue at the set
operating at the parameters recommended by the software
application. The drilling operation would continue until there was
a change to the drilling conditions. Changes may include bit wear,
different formation type, changes in inclination, azimuth, depth,
vibration increase, etc. In step 906, the software application will
periodically access drilling data from the downhole and surface
sensors, as discussed above.
[0105] In step 908, the software application will determine whether
the measured and predicted vibration information agree. If the
software application determines in step 908 that the measured and
predicted vibration information do not agree, or match, process
control is transferred to step 910 and the drilling system model
will be revised. If software application determine in step 908 that
the measured and predicted vibration information agree, process
control is transferred to step 912. Thus, the optimization of
drilling parameters will be performed using an updated drilling
system model that predicts vibration based on real-time data from
the sensors downhole.
[0106] In step 912, the software application determines whether,
based on drilling data from the sensors downhole, the vibration in
the drill string is high, for example, by determining whether the
drill string operation is approaching a new critical speed or
whether the vibration at a critical component exceeds the maximum
for such component. If the software application determine that
vibration is high, then process control is transferred to step 902,
and the steps 902 to 910 are repeated and the software application
determines another set of operating parameters that will result in
the highest expected ROP without encountering excessive vibration.
If, in step 912, the software application determines that vibration
data is low, process control is transferred to block 914.
[0107] Based on data from the ROP sensor 34, in step 914, the
software application determines whether the ROP has deviated from
that expected based on the drilling test. If it has, the software
application may recommend that further drilling tests be performed
to create a new data base of ROP versus WOB and drill string/drill
bit RPM.
[0108] For purposes of illustration the optimization method 901
discussed above, assume a drilling test produced the following ROP
data (for simplicity, assume no mud motor so that the drill bit RPM
is the same as the drill string RPM):
TABLE-US-00001 TABLE I WOB, lbs 200 RPM 300 RPM 10k 10 fpm 20 fpm
20k 15 fpm 25 fpm 30k 20 fpm 30 fpm 40k 25 fpm 33 fpm
[0109] The software application can predict if operating the drill
string at 40 k WOB and 300 RPM (the highest ROP point in the test
data) will result in the drilling system operating at a critical
speed or in excessive vibration at a critical component. If the
process determines that operating the drill string at 40 k WOB and
300 RPM (the highest ROP point in the test data) does not result in
a critical speed or excessive vibration, the software application
can cause the computer system to display to the user a
recommendation to operate at 40 k WOB and 300 RPM. Thereafter, each
time a new set drilling data is obtained (or a new section of drill
pipe added), the software application will (i) revise the drilling
system model if the predicted vibration at the respective location
of the sensors does not agree with the measured vibration, and (ii)
determine whether the vibration is excessive. The software
application can determine if the vibration is excessive using the
revised drilling system model to determine the vibration at the
critical components by extrapolating the measured vibration.
[0110] If, at some point, the process determines that vibration of
the drill string has become excessive, the process predicts that
the vibration at 30 k WOB and 300 RPM (the second highest ROP point
from the drilling test data) and recommends that the operator go to
those operating conditions unless it predicted excessive vibration
at those conditions. Thereafter, each time another set of drilling
data was obtained (and the model potentially revised), the software
application will predict whether it was safe to again return to the
initial operating conditions associated with the highest ROP (40 k
WOB/300 RPM) without encountering excessive vibration. If the
software never predicts that it is safe to go back to the initial
operating conditions but, at some point, it determines that the
vibration has again become excessive, it will predict vibration at
the two sets of parameters that resulted in the third highest
ROP--20 k WOB/300 RPM and 40 k WOB/200 RPM--and recommend whichever
one resulted in the lower predicted vibration.
[0111] In some embodiments, instead of merely recommending changes
that the operator makes to the operating parameters, the method
automatically adjusts the operating parameters so as to
automatically operate at the conditions that resulted in maximum
drilling performance.
[0112] According to another embodiment of the present disclosure,
rather than using ROP as the basis for optimization, the software
can use the Mechanical Specific Energy ("MSE") to predict the
effectiveness of the drilling, rather than the ROP. The MSE can be
calculated, for example, as described in F. Dupriest & W.
Koederitz, "Maximizing Drill Rates With Real-Time Surveillance of
Mechanical Specific Energy," SPE/IADC Drilling Conference, SPE/IADC
92194 (2005) and W. Koederitz & J. Weis, "A Real-Time
Implementation Of MSE," American Association of Drilling Engineers,
AADE-05-NTCE-66 (2005), each of which is hereby incorporated by
reference in its entirety. For purposes of calculating MSE, the
software obtains the value of ROP from one or more drilling tests,
as described above, as well as the torque measured during each
drilling test. Based on these calculations, the process can
generate a recommendation to the user/operator that the drill bit
rotation speed and WOB to revise values that yielded the highest
MSE value.
[0113] Although the invention has been described with reference to
specific methodologies for monitoring vibration in a drill string,
the invention is applicable to the monitoring of vibration using
other methodologies based on the teachings herein. For example,
although the invention has been illustrated using mud motor rotary
drilling it can also be applied to pure rotary drilling, steerable
systems, rotary steerable systems, high pressure jet drilling, and
self propelled drilling systems, as well as drills driven by
electric motors and air motors. Accordingly, the present invention
may be embodied in other specific forms without departing from the
spirit or essential attributes thereof and, accordingly, reference
should be made to the appended claims, rather than to the foregoing
specification, as indicating the scope of the invention.
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