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Control of Rotary Steerable Toolface in Directional Drilling

[+] Author Affiliations
Madhu Vadali, Yuzhen Xue, Xingyong Song, Jason Dykstra

Halliburton, Houston, TX

Paper No. DSCC2015-9857, pp. V002T20A003; 8 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5725-0
  • Copyright © 2015 by ASME


This paper presents a detailed mathematical model of a rotary steerable drilling system (RSS) that adopts hydro-electromechanical devices to generate bending torque in adjusting the toolface (TF). Key requirements of RSS are to adjust the TF promptly to track the TF command, to maintain the TF in presence of the external disturbances, and to do so during the drilling process. Accordingly, a controller with a fast response time and effective disturbance rejection capability is desired for the RSS. The complexity and non-linearities of the RSS creates additional challenges to the controller design. This paper describes a simple and effective controller scheme that is designed based on the analysis of the system’s dynamics model. By decoupling the disturbances, physical state feedback, and non-linearities, the RSS can be controlled by using a simple and effective proportional-integral-derivative (PID) controller with the desired performance. The simulation results show that the proposed controller is effective against the disturbance and the variations of the parameters.

Copyright © 2015 by ASME
Topics: Drilling



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