Directional Drilling Controller Using Optimized Geometric Hermite Curves
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Solution Overview
Problem
Current drilling controllers face challenges such as inaccurate control capabilities, high strain energy on drilling components, and require constant maintenance, limiting their effectiveness in automating rig operations and minimizing strain energy.
Innovation Solution
The implementation of Optimized Geometric Hermite (OGH) curves for real-time path planning and following in directional drilling, which uses a target position and attitude to generate a sequence of inclination and azimuth instructions, minimizing strain energy and stress on drilling equipment through a closed-loop system with an outer loop for dynamic target selection and an inner loop for attitude hold.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional drilling controllers are used, then drilling operations can be performed, but control accuracy is poor and strain energy on drilling components is high
Solution Approach 1:
The patent transforms the control problem by changing the parameter representation from traditional PID parameters to geometric curve parameters (Hermite curves). The drilling trajectory is represented as a continuous geometric curve with optimized parameters that simultaneously minimize strain energy and improve positioning accuracy. This parameter transformation enables the controller to achieve both high control accuracy and reduced strain energy by optimizing the geometric representation of the desired trajectory.
2Extent of automation
If conventional controllers are used, then drilling can be performed, but constant maintenance and personnel attention are required
Solution Approach 1:
The Hermite curve-based controller implements self-service through autonomous trajectory optimization and adaptive control. The system automatically calculates optimal drilling paths using geometric curve representations, continuously adjusts control parameters without human intervention, and maintains optimal performance through self-tuning mechanisms. This eliminates the need for constant personnel attention and reduces maintenance requirements while maximizing automation extent.
3Stress or pressure
If traditional path planning methods are used, then drilling trajectories can be established, but strain energy minimization is not achieved
Solution Approach 1:
The patent replaces traditional mechanical trial-and-error tuning and complex iterative optimization algorithms with an elegant geometric mathematics-based approach. By representing the drilling trajectory as a Hermite curve and using geometric properties to directly compute optimal paths, the system minimizes strain energy through mathematical optimization rather than complex computational algorithms, thereby reducing controller complexity while achieving strain energy minimization.
Data Source
AI summary
A method and apparatus for controlling drilling, the method comprising ascertaining a current position and attitude of a drilling structure, obtaining a desired end point for the drilling structure, creating an optimized geometric Hermite curve path for the drilling structure from the current position and attitude of the drilling structure to the desired end point for the drilling structure and controlling a drilling of the drilling structure from the current position and attitude of the drilling structure to the desired end point for the drilling structure along the optimized geometric Hermite curve path.