Integrated modelling, estimation, and control of weight-on-bit and steering force in directional drilling

Abstract

Systems and methods are provided for performing directional drilling. An example method can include receiving, by a surface controller, a well plan for performing directional drilling of a wellbore; receiving, by the surface controller, an estimate for at least one drilling parameter that is based on a model of a bottom hole assembly (BHA) configured to perform directional drilling of the wellbore; and determining, by the surface controller, a steering force and a weight-on-bit (WOB) for drilling the wellbore, wherein the steering force and the WOB are based on the well plan and the estimate for the at least one drilling parameter.

What is claimed is: 
     
         1 . A system comprising:
 a memory; and   one or more processors coupled to the memory, the one or more processors being configured to:
 receive, by a surface controller, a well plan for performing directional drilling of a wellbore; 
 receive, by the surface controller, an estimate for at least one drilling parameter that is based on a model of a bottom hole assembly (BHA) configured to perform directional drilling of the wellbore; and 
 determine, by the surface controller, a steering force and a weight-on-bit (WOB) for drilling the wellbore, wherein the steering force and the WOB are based on the well plan and the estimate for the at least one drilling parameter. 
   
     
     
         2 . The system of  claim 1 , wherein the one or more processors are further configured to:
 receive, by the surface controller, a revised estimate for the at least one drilling parameter that is based on the model of the BHA and on one or more sensor measurements; and   determine, by the surface controller, an updated steering force and an updated WOB for drilling the wellbore, wherein the updated steering force and the updated WOB are based on the well plan and the revised estimate for the at least one drilling parameter.   
     
     
         3 . The system of  claim 2 , wherein the one or more sensor measurements include at least one of an azimuth of the wellbore, an inclination of the wellbore, a pad force measurement, a WOB measurement, and a bit position. 
     
     
         4 . The system of  claim 1 , wherein the model of the BHA is based on a borehole curvature over a length of the BHA. 
     
     
         5 . The system of  claim 1 , wherein the at least one drilling parameter corresponds to a side cutting efficiency parameter. 
     
     
         6 . The system of  claim 5 , wherein the side cutting efficiency parameter is estimated to consider an uncertainty in at least one of a WOB transmission loss, a borehole diameter, a borehole length, a rock hardness, a bit cutter layout, a bit tilt saturation angle, a bit wear state, a drill string compression, and a friction parameter. 
     
     
         7 . The system of  claim 1 , wherein the surface controller is configured to optimize the WOB for drilling the wellbore. 
     
     
         8 . The system of  claim 1 , wherein the steering force and the WOB are determined to maximize a rate of penetration. 
     
     
         9 . The system of  claim 1 , wherein the one or more processors are further configured to:
 determine, by the surface controller, a tool phase for drilling the wellbore, wherein the tool phase is based on the well plan and the estimate for the at least one drilling parameter.   
     
     
         10 . The system of  claim 1 , wherein the estimate for the at least one drilling parameter is based on a gradient descent algorithm. 
     
     
         11 . The system of  claim 1 , wherein the surface controller is coupled to a rotary steering system. 
     
     
         12 . The system of  claim 1 , wherein the surface controller is coupled to a mud motor. 
     
     
         13 . A computer-implemented method comprising:
 receiving, by a surface controller, a well plan for performing directional drilling of a wellbore;   receiving, by the surface controller, an estimate for at least one drilling parameter that is based on a model of a bottom hole assembly (BHA) configured to perform directional drilling of the wellbore; and   determining, by the surface controller, a steering force and a weight-on-bit (WOB) for drilling the wellbore, wherein the steering force and the WOB are based on the well plan and the estimate for the at least one drilling parameter.   
     
     
         14 . The computer-implemented method of  claim 13 , further comprising:
 receiving, by the surface controller, a revised estimate for the at least one drilling parameter that is based on the model of the BHA and on one or more sensor measurements; and   determining, by the surface controller, an updated steering force and an updated WOB for drilling the wellbore, wherein the updated steering force and the updated WOB are based on the well plan and the revised estimate for the at least one drilling parameter.   
     
     
         15 . The computer-implemented method of  claim 14 , wherein the one or more sensor measurements include at least one of an azimuth of the wellbore, an inclination of the wellbore, a pad force measurement, a WOB measurement, and a bit position. 
     
     
         16 . The computer-implemented method of  claim 13 , wherein the at least one drilling parameter corresponds to a side cutting efficiency parameter. 
     
     
         17 . The computer-implemented method of  claim 16 , wherein the side cutting efficiency parameter is based on at least one of a WOB transmission loss, a borehole diameter, a borehole length, a rock hardness, a bit cutter layout, a bit tilt saturation angle, a bit wear state, a drill string compression, and a friction parameter. 
     
     
         18 . The computer-implemented method of  claim 13 , wherein the surface controller is configured to maximize the WOB for drilling the wellbore. 
     
     
         19 . The computer-implemented method of  claim 13 , further comprising:
 determining, by the surface controller, a tool phase for drilling the wellbore, wherein the tool phase is based on the well plan and the estimate for the at least one drilling parameter.   
     
     
         20 . A non-transitory computer-readable medium having instructions stored thereon which, when executed by a computer or processor, cause the computer or the processor to:
 receive, by a surface controller, a well plan for performing directional drilling of a wellbore;   receive, by the surface controller, an estimate for at least one drilling parameter that is based on a model of a bottom hole assembly (BHA) configured to perform directional drilling of the wellbore; and   determine, by the surface controller, a steering force and a weight-on-bit (WOB) for drilling the wellbore, wherein the steering force and the WOB are based on the well plan and the estimate for the at least one drilling parameter.