Back to results
US 7,866,403 B1Granted
Work string controller
AssigneeHalliburton Energy Services, Inc.
InventorJustin Borgstadt
Life of this patent
Estimating the term…
Abstract
Well bore servicing equipment is provided. The well bore servicing equipment comprises a first manipulator to grip a well bore work string, to raise the work string, and to lower the work string. The well bore servicing equipment further comprises a controller to receive a work string trajectory input and to automatically control the first manipulator to raise and lower the work string substantially in conformance with the work string trajectory input.
Claims20
A mass position and velocity observer, comprising:
- a proportional-integral-derivative (PID) controller portion operable to determine a mass position error and a mass velocity error and to generate a corrective signal based on the mass position error and on the mass velocity error;
- a first gain operable to amplify an indication of mass velocity by a mass damper gain to generate a damper force signal;
- a force summation portion that is operable to determine a summed force term based on the corrective signal, based on the damper force signal, based on a force command, and based on a mass weight term;
- a second gain operable to amplify the summed force term by an inverse mass gain and to generate a mass acceleration term;
- a first integrator operable to integrate the mass acceleration term to generate a mass velocity term and to output an estimate of mass velocity;
- and
- a second integrator operable to integrate the mass velocity term to generate a mass position term and to output an estimate of mass position.
4 more elements
A control system for controlling movement of a work string in a well bore, comprising:
- a controller comprising a processor, a memory, and a mass velocity and position observer component comprising
- a proportional-integral-derivative (PID) controller portion operable to determine a mass position error and a mass velocity error and to generate a corrective signal based on the mass position error and on the mass velocity error;
- a first gain operable to amplify an indication of mass velocity by a mass damper gain to generate a damper force signal;
- a force summation portion that is operable to determine a summed force term based on the corrective signal, based on the damper force signal, based on a force command, and based on a mass weight term;
- a second gain operable to amplify the summed force term by an inverse mass gain and to generate a mass acceleration term;
- a first integrator operable to integrate the mass acceleration term to generate a mass velocity term and to output an estimate of mass velocity;
- and
- a second integrator operable to integrate the mass velocity term to generate a mass position term and to output an estimate of mass position,
- wherein the controller receives a work string trajectory input from a user interface, the trajectory input comprising at least a first work string target position and a first work string target velocity, and commands a first manipulator to move the work string based at least in part on the estimate of mass velocity, the estimate of mass position, and the work string trajectory input.
6 more elements
A method of servicing a well bore with a work string, comprising:
- determining a mass position error and a mass velocity error;
- generating a corrective signal based on the mass position error and on the mass velocity error;
- amplifying an indication of mass velocity by a mass damper gain to generate a damper force signal;
- determining a summed force term based on the corrective signal, based on the damper force signal;
- amplifying the summed force term by an inverse mass gain to generate a mass acceleration term;
- integrating the mass acceleration term to generate a mass velocity term and to output an estimate of mass velocity;
- integrating the mass velocity term to generate a mass position term and to output an estimate of mass position;
- receiving a work string trajectory input from a user interface, the trajectory input comprising at least a first work string target position and a first work string target velocity;
- and
- commanding a first manipulator to move the work string based at least in part on the estimate of mass velocity, the estimate of mass position, and the work string trajectory input.
7 more elements
Dependencies are inferred from the claim text.