A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendi...A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendicular to the velocity are derived, and then a guidance law based on a time-varying sliding mode method is used to realize trajectory tracking. Furthermore, the rotational equations of motion are separated into an actuated subsystem and an unactuated subsystem. And an adaptive time-varying sliding mode attitude controller is proposed based on the actuated subsystem to track the command attitude and the tracking performance and robustness are therefore enhanced. The proposed guidance law and attitude controller make the hypersonic vehicle fly along the reference trajectory even when the aileron is stuck at an unknown angle. Finally, a hypersonic benchmark platform is used to demonstrate the effectiveness of the proposed strategy.展开更多
A stuck drill string results in a major non-productive cost in extended reach drilling engineering. The first step is to determine the depth at which the sticking has occurred. Methods of measurement have been proved ...A stuck drill string results in a major non-productive cost in extended reach drilling engineering. The first step is to determine the depth at which the sticking has occurred. Methods of measurement have been proved useful for determining the stuck points, but these operations take considerable time. As a result of the limitation with the current operational practices, calculation methods are still preferred to estimate the stuck point depth. Current analytical methods do not consider friction and are only valid for vertical rather than extended reach wells. The numerical method is established to take full account of down hole friction, tool joint, upset end of drill pipe, combination drill strings and tubular materials so that it is valid to determine the stuck point in extended reach wells. The pull test, torsion test and combined test of rotation and pulling can be used to determine the stuck point. The results show that down hole friction, tool joint, upset end of drill pipe, tubular sizes and materials have significant effects on the pull length and/or the twist angle of the stuck drill string.展开更多
The backreaming operation plays a significant role in safe drilling for horizontal wellbores, while it may cause severe stuck pipe accidents. To lower the risk of the stuck pipe in backreaming operations, the mechanis...The backreaming operation plays a significant role in safe drilling for horizontal wellbores, while it may cause severe stuck pipe accidents. To lower the risk of the stuck pipe in backreaming operations, the mechanism of cuttings transport needs to be carefully investigated. In this research, a transient cuttings transport with multiple flow patterns model is developed to predict the evolution of cuttings transported in the annulus while backreaming. The established model can provide predictions of the distribution of cuttings bed along the wellbore considering the bulldozer effect caused by large-size drilling tools(LSDTs). The sensitivity analyses of the size of LSDTs, and backreaming operating parameters are conducted in Section 4. And a new theory is proposed to explain the mechanism of cuttings transport in the backreaming operation, in which both the bit and LSDTs have the “cleaning effect” and “plugging effect”.The results demonstrate that the cuttings bed in annuli is in a state of dynamic equilibrium, but the overall trend and the distribution pattern are obvious. First, larger diameters and longer drilling tools could lead to a higher risk of the stuck pipe. Second, we find that it is not the case that the higher flow rate is always better for hole cleaning, so three flow-rate intervals are discussed separately under the given conditions. When the “dangerous flow rate”(<33 L/s in Case 4) is employed, the cuttings bed completely blocks the borehole near the step surface and causes a stuck pipe directly. If the flow rate increases to the “low flow rate” interval(33-35 L/s in Case 4), a smaller flow rate instead facilitates borehole cleaning. If the flow rate is large enough to be in the “high flow rate” interval(>35 L/s in Case 4),the higher the flow rate, the better the cleaning effect of cuttings beds. Third, an interval of tripping velocity called “dangerous velocity” is proposed, in which the cuttings bed accumulation near the LSDTs is more serious than those of other tripping velocities. As long as the applied tripping velocity is not within the “dangerous velocity”(0.4-0.5 m/s in Case 5) interval in the backreaming operation, the risk of the stuck pipe can be controlled validly. Finally, through the factors analyses of the annular geometry,particle properties, and fluid properties in Section 5, it can be found that the “low flow rate”, “high flow rate” and “dangers flow rate” tend to decrease and the “dangerous velocity” tends to increase with the conditions more favorable for hole cleaning. This study has some guiding significance for risk prediction and parameter setting of the backreaming operation.展开更多
文摘A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendicular to the velocity are derived, and then a guidance law based on a time-varying sliding mode method is used to realize trajectory tracking. Furthermore, the rotational equations of motion are separated into an actuated subsystem and an unactuated subsystem. And an adaptive time-varying sliding mode attitude controller is proposed based on the actuated subsystem to track the command attitude and the tracking performance and robustness are therefore enhanced. The proposed guidance law and attitude controller make the hypersonic vehicle fly along the reference trajectory even when the aileron is stuck at an unknown angle. Finally, a hypersonic benchmark platform is used to demonstrate the effectiveness of the proposed strategy.
基金support from the national projects(Grant No.:2011ZX05009-005and2010CB226703)
文摘A stuck drill string results in a major non-productive cost in extended reach drilling engineering. The first step is to determine the depth at which the sticking has occurred. Methods of measurement have been proved useful for determining the stuck points, but these operations take considerable time. As a result of the limitation with the current operational practices, calculation methods are still preferred to estimate the stuck point depth. Current analytical methods do not consider friction and are only valid for vertical rather than extended reach wells. The numerical method is established to take full account of down hole friction, tool joint, upset end of drill pipe, combination drill strings and tubular materials so that it is valid to determine the stuck point in extended reach wells. The pull test, torsion test and combined test of rotation and pulling can be used to determine the stuck point. The results show that down hole friction, tool joint, upset end of drill pipe, tubular sizes and materials have significant effects on the pull length and/or the twist angle of the stuck drill string.
基金the National Natural Science Foundation of China,China(Grant No.52227804,52174010)Strategic Cooperation Technology Projects of CNPC and CUPB,China(Grant No.ZLZX2020-01)+1 种基金Sinopec key laboratory of drilling completion and fracturing of shale oil and gas,China(Grant No.35800000-22-ZC0699-0004)the Key Projects of Scientific Research Plan in Colleges and Universities of Xinjiang Uygur Autonomous Region,China(Grant No.XJEDU20211028)。
文摘The backreaming operation plays a significant role in safe drilling for horizontal wellbores, while it may cause severe stuck pipe accidents. To lower the risk of the stuck pipe in backreaming operations, the mechanism of cuttings transport needs to be carefully investigated. In this research, a transient cuttings transport with multiple flow patterns model is developed to predict the evolution of cuttings transported in the annulus while backreaming. The established model can provide predictions of the distribution of cuttings bed along the wellbore considering the bulldozer effect caused by large-size drilling tools(LSDTs). The sensitivity analyses of the size of LSDTs, and backreaming operating parameters are conducted in Section 4. And a new theory is proposed to explain the mechanism of cuttings transport in the backreaming operation, in which both the bit and LSDTs have the “cleaning effect” and “plugging effect”.The results demonstrate that the cuttings bed in annuli is in a state of dynamic equilibrium, but the overall trend and the distribution pattern are obvious. First, larger diameters and longer drilling tools could lead to a higher risk of the stuck pipe. Second, we find that it is not the case that the higher flow rate is always better for hole cleaning, so three flow-rate intervals are discussed separately under the given conditions. When the “dangerous flow rate”(<33 L/s in Case 4) is employed, the cuttings bed completely blocks the borehole near the step surface and causes a stuck pipe directly. If the flow rate increases to the “low flow rate” interval(33-35 L/s in Case 4), a smaller flow rate instead facilitates borehole cleaning. If the flow rate is large enough to be in the “high flow rate” interval(>35 L/s in Case 4),the higher the flow rate, the better the cleaning effect of cuttings beds. Third, an interval of tripping velocity called “dangerous velocity” is proposed, in which the cuttings bed accumulation near the LSDTs is more serious than those of other tripping velocities. As long as the applied tripping velocity is not within the “dangerous velocity”(0.4-0.5 m/s in Case 5) interval in the backreaming operation, the risk of the stuck pipe can be controlled validly. Finally, through the factors analyses of the annular geometry,particle properties, and fluid properties in Section 5, it can be found that the “low flow rate”, “high flow rate” and “dangers flow rate” tend to decrease and the “dangerous velocity” tends to increase with the conditions more favorable for hole cleaning. This study has some guiding significance for risk prediction and parameter setting of the backreaming operation.
