US 10,883,340 B2 · Downhole positioning control system with force compensation

Abstract

Methods and systems for controlling the downhole position and velocity of a work string using a downhole position and velocity controller may be configured or otherwise programmed to account for force compensation. For example, the work string may undergo significant length changes like thermal expansion and elongation or contraction due to inertial forces, self-weight, and wellbore pressure. Also, the downhole conditions (e.g., temperature, internal forces, self-weight, and wellbore pressure) can cause the work string to be overloaded and become damaged if fast or sudden manipulations occur. The dynamic model implemented with the downhole position and velocity controller may be configured to account for the downhole forces experienced by the work string due to downhole conditions to provide the position and velocity movements that should occur at the surface to achieve the desired position and velocity movements downhole.

Claims20

Dependent claims

A method comprising:

conveying a work string along a wellbore penetrating a subterranean formation using a positioning tool that controls surface motion and force of the work string, the positioning tool being coupled to a controller;
measuring a surface condition selected from the group consisting of a work string condition, a wellbore pressure, a wellbore temperature, and any combination thereof;
modeling the work string with a dynamic model with the controller using the surface condition and a geometry of the wellbore as inputs of the dynamic model;
calculating a desired downhole position ({tilde over (Z)}*DH) and a desired downhole velocity ({tilde over (Ż)}*DH) based on the dynamic model;
calculating a surface position (Z*SF) and a surface velocity (Ż*SF) of the work string based on the {tilde over (Z)}*DH and the {tilde over (Ż)}*DH, and
conveying the work string with the positioning tool to the surface position and the surface velocity.

3 more elements

A well system comprising:

a work string extending into a wellbore penetrating subterranean formation;
a positioning tool coupled to the work string at a surface location of the well system;
a surface sensor that measures a surface condition selected from the group consisting of a work string condition, a wellbore pressure, a wellbore temperature, and any combination thereof;
a controller communicably coupled to the positioning tool and the surface sensor, wherein the controller includes a non-transitory, tangible, computer-readable storage medium:
containing a program of instructions that causes a computer system running the program of instructions to:
model the work string with a dynamic model with the controller using the surface condition and a geometry of the wellbore as inputs of the dynamic model;
calculate a desired downhole position ({tilde over (Z)}*DH) and a desired downhole velocity ({tilde over (Ż)}*DH) based on the dynamic model;
calculate a surface position (Z*SF) and a surface velocity (Ż*SF) of the work string based on the ({tilde over (Z)}*DH and the {tilde over (Ż)}*DH, and
convey the work string with the positioning tool to the surface position and the surface velocity.

6 more elements

A non-transitory, tangible, computer-readable storage medium containing a program of instructions that causes a computer system running the program of instructions to:

model a work string with a dynamic model with a controller using a surface condition and a geometry of a wellbore as inputs of the dynamic model;
calculate a desired downhole position ({tilde over (Z)}*DH) and a desired downhole velocity ({dot over ({tilde over (Z)})}*DH) based on the dynamic model;
calculate a surface position (Z*SF) and a surface velocity (Ż*SF) of the work string based on the {tilde over (Z)}*DH and the {dot over ({tilde over (Z)})}*DH, and
convey the work string with a positioning tool to the surface position and the surface velocity.

1 more element

Dependencies are inferred from the claim text.

Downhole positioning control system with force compensation

Life of this patent

Downhole positioning control system with force compensation

Life of this patent

Abstract

Claims20