estimation of bhp for mpd
DESCRIPTION
Bottom hole pressure estimationTRANSCRIPT
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Master of Science in Engineering CyberneticsJune 2011
Tor Arne Johansen, ITK
Lars Imsland, ITK
Glenn-Ole Kaasa, Statoil ASA
Alexey Pavlov, Statoil ASA
Submission date:
Supervisor:
Co-supervisor:
Norwegian University of Science and Technology
Department of Engineering Cybernetics
Estimation of Bottomhole Pressure forManaged Pressure DrillingComparison of Nonlinear Estimators
Pl Sknberg Lvik
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xt x
tN,t
Kc
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a
1
Kc
Kc a
1
Kc
Kc
a 1
xt x
tN,t
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Kc
Kc
Kc
Kc a
1
Kc a
1
Kc a
1
Kc
Kc
Kc
Kc
Kc Kc
Kc
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Kc a
1
Kc a
1
Kc a
1
Kc
Kc
Kc
Kc
Kc
Kc
xt x
tN,t
Kc
xt x
tN,t
Kc
xt x
tN,t
Kc
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Seabed
Sea Level
Drill Rig
Rotating Control Device
Drill String
Drill Bit
Casing
Topdrive
From
Main
Pump To Chokeand Back-
pressure
Pump
Riser
Derrick
Annulus
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pc = a
Va(qbit qchoke+qback+ qres Va)
pp = d
Vd(qp qbit)
qbit = 1
M(pp pc 1qbit 2 |qbit qres| (qbit+qres)
+(d a)ghbit)
y1 = pc
y2 = pp
y3 = pc+1qbit+aghbit
pc pp qbit
qchoke qp
qback qres
hbit g a d
Va Vd a d
Va
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qbit
M = Ma+Md Mi = ili
01
Ai(x)dx
1 2
1
qbit qres 2 |qbit qres|(qbitqres)
pbit
pbit = pc+1qbit+aghbit
xt+1 = f(xt, ut)
yt = h(xt, ut)
x
tR
n
x
ut
Rn
u
yt
Rn
y
t
f(xtut) xt xt+1 t h(xt)
np
pt = pt+1 nx+np nx
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qchoke = Kczz
2
a(pc p0)
Kc =AcCd Ac Cd
zz
p0
p0
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qchoke = Kcgz(zz)
(pc p0)
Kc = AcCd
2
a
gz(zz)
a Kc
pc
qp = 0
qres >0) qres < 0
qres
qbit >0
qbit=
1
M
(pp
pc
1qbit
2|qbit
qres
|(qbit+qres)
+(d a)ghbit), qbit>0max( 1
M(pp pc+ (d a)ghbit), 0), qbit 0
qbit
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h(x)
N
hk(x)
h(x) =N
k=
k(x)hk(x) = (x)
h1(x)
h2(x)
hN(x)
i(x) = i(x)N
k=1 k(x)
x
x 1
x
0
i(x)
i(x) =
1 |xci|
i
|x ci| < i
0
i(x) ci
i
F(qbit) F(qbit)
F(qbit)=F(qbit) Rn
(qbit) = (1(qbit),...,n(qbit))
T
hk(qbit) = F(qbit)Tk
F(qbit)(qbit)T
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F(qbit)(qbit)T = F(qbit)
fa(qbit)Ta fd(qbit)
Td
f(qbit) = (qbit)F(qbit)T
qbit
pbit
qbit = 1
M(pp pc fa(qbit)Ta fd(qbit)Td+ (d a)ghbit)
y3 = pc+fa(qbit)Ta+aghbit
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J(xtN,t,xtN, It) = ||
Wt(Yt
Ht(xtN,t, Ut))||2
+ ||Mt(xtN,t xtN||2,
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Yt =
ytNytN+1
yt
,
xtN = f(xotN1,t1, utN1),
Ht(xtN,t, Ut) =
h(xtN,t)h futN(xtN,t)
h fut1 futN(xtN,t)
,
fut = f(xt, ut),
hut = h(xt, ut),
xotN,t It = col(ytN,...,yt, utN,...,ut)
N
Mt Wt
Mt
Inx
Mt
= [w0 . . . wnx]TWt
Wt
Wt
||Wt Hx
(xotN,t, Ut)+|| = ,
Ut =
utNutN+1
ut
,
Hx
(xotN,t, Ut)
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i,ts i= 1, . . ,nx St
H
x(xotN,t, Ut) = USV D,tStV
TSV D,t
1
,i,t = 1i,t i,i
0
Wt = 1
VSV D,tS
+,tU
TSV D,t
S+,t = diag(
1,1,t
, ..., 1,nx,t
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xak =
xkxv
xm
,
xk xv xn
N=nx+nv+ nm
Pa =
Px 0 00 Pv 0
0 0 Pm
.
Px Pv Pm
2N+1
Xai,k1
= xak1, i= 0
= xak1+Si, i= 1,...,N
= xak1 Si, i= N+ 1, ..., 2N,
Si i
S=
Pak1
=
N+ , = 2(N+ ) N,
0
0 1
i
i
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Xai,k1=
Xxi,k1Xvi,k1X
mi,k1
,
x
v
m
Xxi,k/k1=f(X
xi,k1,X
vi,k1, uk1), i= 0, 1, ..., 2N.
xk =2Ni=0
(wi,mXxi,k/k1),
Pxk =2Ni=0
(wi,cXxi,k/k1 xk)(wi,cXxi,k/k1 xk)T,
wi,m wi,c
w0,m = N+
, i= 0,
w0,c =
N++ (1 2 +) i= 0,
wi,m = wi,c= 1
2(N+) i= 1, ..., 2N,
= 2
yk =2Ni=0
(wi,mYi,k/k1)
Pyk =2Ni=0
(wi,cYi,k/k1 yk)(wi,cYi,k/k1 yk)T
Yi,k/k1 = h(Xxi,k/k1,X
mi,k1, uk), i= 0, 1, ..., 2N
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Pxkyk =2Ni=0
(wi,cXxi,k/k1 xk)(wi,cYi,k/k1 yk)T
Kk =PxkykP1yk
xk = xk +Kk(yk yk) Pxk = P
xk KkPykKTk
yk
Kk
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yk =h(xk, m , uk)
m
uk xk
xi,k=
yi,k yi,k R xi,kxi,k xi,k
i= 1,...,nx.
yi,k = yi,k yi,k R yi,k yi,k
i= 1,...,ny
x1 = x2
x2 = (1
x21)x2+x1 = 0.2
y = [x1 x2]T
1
[0 0]T
103I2
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x0 = x0 = [0.1 0.1]T Pxo =I2 1 2
0
x2 200 400
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0 100 200 300 400 500 600
-0.1
-0.05
0
0.05
0.1
0.15
Time [s]
Position
Measurement x1
Estimate
0 100 200 300 400 500 600
-0.1
-0.05
0
0.05
0.1
0.15
Time [s]
Position
Measurement x2
Measurement x2, not available
Estimate
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x1
200 600
0 100 200 300 400 500 600 7000
0.01
0.02
Error difference for x1
0 100 200 300 400 500 600 7000
0.005
0.01
0.015
Error difference for x2
||Errorw/regularization Errorwo/regularization||
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0 100 200 300 400 500 600
-0.1
-0.05
0
0.05
0.1
0.15
Time [s]
Position
Measurement x1
Estimate
0 100 200 300 400 500 600
-0.1
-0.05
0
0.05
0.1
0.15
Time [s]
Position
Measurement x2
Measurement x2, not available
Estimate
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Pv Pm
Pv Pm
Pv,o =
pv1 0
0 pvn
; Pm= pm1 0
0 pmn
Pv,o Pv
Pv = Pv,o
Pv Pm
Pv,o
pvi =
1(xi)2
n
i=1
xi max|xi
xi|
Pm pmi =
1
(yj )2
nj=1
yj =max|yj yj| yj
yj
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xtN,t xtN
xtN
xtN
xotN,t
Mt
Mt = RP1x
Px R
xtN xtN
Mt
xtN xtN,t
xtN
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pc = a
Va(qbit qchoke+qback Va) +v1
pp = d
Vd(qp qbit) +v2
qbit = 1
M(pp pc 1qbit 2 |qbit| qbit+ (d a)ghbit,
v1
v2
pc
pp
is is qchoke
(qchoke+v1)
J(xtN,t,xtN, Vt, It) = ||Wt(Yt Ht(xtN,t))||2+ ||Mt(xtN,t xtN||2 + ||NtVt||2,
Vt =
vtNvtN+1
vt
,
It = [ytN. . . yt, utN. . . ut]T
Mt Wt Nt
Mt Wt
Nt= 0 RnvNnv 1
||NtVt||2 Vt
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xt x
tN,t
xotN,t
xt xotN,t
xotN,t
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Kc
a
1
Kc
Kc
a
a
a
1
1 pbit
a 1
a
Kc
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xk+1=xk+ t f(t, x),
xk+1 = xk+ t f(t+t2 , xk+t2 f(t, x)),
x= x
x(0) = 1,
x(t) =et.
t
t
t
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0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50
50
100
150
Time [s]
x
Exact solutionEuler method
Midpoint method
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50
50
100
150
Time [s]
x
Exact solutionEuler method
Midpoint method
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50
50
100
150
Time [s]
x
Exact solution
Euler method
Midpoint method
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 50
50
100
150
Time [s]
x
Exact solution
Euler method
Midpoint method
x = x
t = 1
t = 0.5
t= 0.2
t= 0.1
x(t)
0
W
12W
t
t
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pbit 240barg
pc 10 30barg
pbit
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p = gh + p0
a = pbit,pd pc,pd
ghbit.
d = a pdiffghbit
,
pdiff
1 = pbit,ss pc,ss aghbit
qbit,ss,
2 = pbit,ss+pp,ss+dghbit
q2bit,ss.
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0 2000 4000 6000 8000 10000 120000
0.5
1
t [s]
Normalizedopening
zc
Va
Vd
a
d
a
d
Kc
p0
1
2
M
hbit t= 0g
pc
pp pbit
fpc,pp = 1Hz
fpbit = 0.05Hz
pc pp
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pc pp
pbit
N=
pbit
fPbit
N= 40
pbit
Yt
Yerror =Yt H(xtN,t, Ut)
Yt H(xtN,t, Ut)
Yerror Yt
Yerror
Y
error= Yerror N
N M
M
Yerror
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pbit
Kc a 1
pc pp
pbit
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qbit
pc
pc
pbit
pbit
pc qchoke
qchoke pc
Kc
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0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
t [s]
x3[l/min]
qbitq
bit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg
]
pbit
pbit,hat
pbit
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0 2000 4000 6000 8000 10000 12000500
0
500
1000
1500
2000
2500
3000
3500
t [s]
q[l/min]
qp
qchoke
Kc
Kc
qchoke
Kc
qchoke
pc pp
a 1
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0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
t [s]
x3[l/min]
qbitq
bit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg
]
pbit
pbit,hat
Kc
pbit
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0 2000 4000 6000 8000 10000 12000500
0
500
1000
1500
2000
2500
3000
3500
t [s]
q[l/min]
qp
qchoke
Kc
0 2000 4000 6000 8000 10000 120000
0.5
1
1.5
2
2.5
t [s]
x4
Kc
Kc,hat
Kc Kc
Kc
-
5/23/2018 Estimation of BHP for MPD
60/103
Kc a
1
Kc a
1
qbit pbit
a Kc
1 a
pp
qbit
pbit pbit
a 1
Kc
http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
61/103
0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
t [s]
x3[l/min]
qbitq
bit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg
]
pbit
pbit,hat
Kc
a
1
pbit
-
5/23/2018 Estimation of BHP for MPD
62/103
0 2000 4000 6000 8000 10000 120000.009
0.01
0.011
0.012
0.013
t [s]
x5[kg/m3]
a
a,hat
0 2000 4000 6000 8000 10000 12000200
300
400
500
600
t [s]
x6
1
1,hat
0 2000 4000 6000 8000 10000 120000.5
1
1.5
2
2.5
t [s]
x4
Kc
Kc,hat
Kc
a
1
-
5/23/2018 Estimation of BHP for MPD
63/103
0 2000 4000 6000 8000 10000 12000500
0
500
1000
1500
2000
2500
3000
3500
t [s]
q[l/min]
qp
qchoke
Kc a
1
Kc i i = 1, . . . , 4
10000s
pbit
1500s
4000s,6000s
8500s
10000s
http://-/?-http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
64/103
0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
t [s]
x3[l/min]
qbit
qbit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg]
pbit
pbit,hat
Kc
pbit
-
5/23/2018 Estimation of BHP for MPD
65/103
0 2000 4000 6000 8000 10000 12000-500
0
500
1000
1500
2000
2500
3000
3500
t [s]
q[l/min]
qp
qchoke
Kc
pbit
pbit
pbit
pbit 0.05Hz
Kc Kc 1 a
http://-/?- -
5/23/2018 Estimation of BHP for MPD
66/103
pc pp
pbit
pbit 1500s
8000s
http://-/?-http://-/?-http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
67/103
0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
3000
t [s]
x3[l/min]
qbitq
bit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg
]
pbit
pbit,hat
pbit
-
5/23/2018 Estimation of BHP for MPD
68/103
0 2000 4000 6000 8000 10000 12000500
0
500
1000
1500
2000
2500
3000
3500
t [s]
q[l/min]
qp
qchoke
Kc
3000s
8000s,
9000s
pbit
Kc
Kc Kc
Kc
5200s
Kc
http://-/?-http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
69/103
0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
3000
t [s]
x3[l/min]
qbitq
bit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg
]
pbit
pbit,hat
Kc
pbit
-
5/23/2018 Estimation of BHP for MPD
70/103
0 2000 4000 6000 8000 10000 12000500
0
500
1000
1500
2000
2500
3000
3500
t [s]
q[l/min]
qp
qchoke
0 2000 4000 6000 8000 10000 120000
0.5
1
1.5
2
2.5
t [s]
x4
Kc
Kc,hat
Kc Kc
Kc
-
5/23/2018 Estimation of BHP for MPD
71/103
Kc a
1
pc
pp pbit
a
a
pbit
Va
Kc
http://-/?-http://-/?-http://-/?-http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
72/103
0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
3000
t [s]
x3[l/min]
qbit
qbit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg]
pbit
pbit,hat
Kc
a
1
pbit
-
5/23/2018 Estimation of BHP for MPD
73/103
0 2000 4000 6000 8000 10000 120000.009
0.01
0.011
0.012
0.013
t [s]
x4[kg/m3]
rhoa
rhoahat
0 2000 4000 6000 8000 10000 12000250
300
350
400
450
500
t [s]
x5
theta1
theta1hat
0 2000 4000 6000 8000 10000 120000
0.5
1
1.5
2
t [s]
x4
Kc
Kc,hat
Kc
a
1
-
5/23/2018 Estimation of BHP for MPD
74/103
0 2000 4000 6000 8000 10000 12000-500
0
500
1000
1500
2000
2500
3000
3500
t [s]
q[l/min]
qp
qchoke
Kc a
1
pbit
pbit
20s
pc pp
http://-/?-http://-/?-http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
75/103
qbit
105
pbit
pbit
qbit
pp
phat
pbit
http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
76/103
0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[b
arg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
3000
t [s]
x3[l/min]
qbit
qbit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg]
pbit
pbit,hat
pbit
-
5/23/2018 Estimation of BHP for MPD
77/103
4000 4200 4400 4600 4800 50000
10
20
30
t [s]
x1[barg]
pc
pc,hat
4000 4200 4400 4600 4800 50000
100
200
t [s]
x2[b
arg]
pp
pp,hat
4000 4200 4400 4600 4800 50000
1000
2000
3000
t [s]
x3[l/min]
qbit
qbit,hat
4000 4200 4400 4600 4800 5000
236
238
240
t [s]
y[barg]
pbit
pbit,hat
-
5/23/2018 Estimation of BHP for MPD
78/103
0 2000 4000 6000 8000 10000 12000500
0
500
1000
1500
2000
2500
3000
3500
t [s]
q[l/min]
qp
qchoke
-
5/23/2018 Estimation of BHP for MPD
79/103
1500 2000 2500 3000 3500 40000
10
20
30
t [s]
x1[barg]
pc
pc,hat
1500 2000 2500 3000 3500 40000
100
200
t [s]
x2[b
arg]
pp
pp,hat
1500 2000 2500 3000 3500 40000
1000
2000
3000
t [s]
x3[l/min]
qbit
qbit,hat
1500 2000 2500 3000 3500 4000
235
240
245
t [s]
y[barg]
pbit
pbit,hat
pbit
pbit
-
5/23/2018 Estimation of BHP for MPD
80/103
xtN
pbit
pp pc 1800s 2500s
pbit
qbit
xtN
100s
pbit
Kc
http://-/?-http://-/?-http://-/?-http://-/?-http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
81/103
0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
t [s]
x3[l/min]
qbitq
bit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg
]
pbit
pbit,hat
Kc
pbit
-
5/23/2018 Estimation of BHP for MPD
82/103
0 2000 4000 6000 8000 10000 120000
0.5
1
1.5
2
2.5
t [s]
x4
Kc
Kc,hat
Kc Kc
Kc
0 10 20 30 40 50 60 70 80 90 100234
236
238
240
242
244
246
248
t [s]
p
[barg]
pbitpbit Simulativepbit Prefiltering
Kc
xtN
-
5/23/2018 Estimation of BHP for MPD
83/103
http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
84/103
0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
t [s]
x3[l/min]
qbit
qbit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg]
pbit
pbit,hat
Kc
pbit
-
5/23/2018 Estimation of BHP for MPD
85/103
0 2000 4000 6000 8000 10000 120000.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
t [s]
x4
Kc
Kc,hat
Kc Kc Kc
Kc
Kc
http://-/?-http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
86/103
0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
t [s]
x3[l/min]
qbit
qbit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg]
pbit
pbit,hat
Kc
pbit
-
5/23/2018 Estimation of BHP for MPD
87/103
0 2000 4000 6000 8000 10000 120000
0.5
1
1.5
2
2.5
3
3.5
t [s]
x4
Kc
Kc,hat
Kc
Kc Kc
0 2000 4000 6000 8000 10000 12000-500
0
500
1000
1500
2000
2500
3000
3500
t [s]
q[l/min]
qp
qchoke
Kc
-
5/23/2018 Estimation of BHP for MPD
88/103
xt x
tN,t
http://-/?- -
5/23/2018 Estimation of BHP for MPD
89/103
0 2000 4000 6000 8000 10000 120000
10
20
30
t [s]
x1[barg]
pc
pc,hat
0 2000 4000 6000 8000 10000 120000
100
200
t [s]
x2[barg]
pp
pp,hat
0 2000 4000 6000 8000 10000 120000
1000
2000
t [s]
x3[l/min]
qbit
qbit,hat
0 2000 4000 6000 8000 10000 12000
230
240
250
t [s]
y[barg]
pbit
pbit,hat
xt
x
tN,t
Kc
pbit
-
5/23/2018 Estimation of BHP for MPD
90/103
0 2000 4000 6000 8000 10000 12000-500
0
500
1000
1500
2000
2500
3000
3500
t [s]
q[l/min]
qp
qchoke
xt x
tN,t
Kc Kc Kc
0 2000 4000 6000 8000 10000 120000
0.5
1
1.5
2
2.5
t [s]
x4
Kc
Kc,hat
xt x
tN,t
Kc
-
5/23/2018 Estimation of BHP for MPD
91/103
pp pc
1s
Kc
Kc a 1
Kc
Kc
Kc a 1
Kc
Kc
Kc
Kc
t= 0.2
10795s 3
1s
Kc
-
5/23/2018 Estimation of BHP for MPD
92/103
a 1
-
5/23/2018 Estimation of BHP for MPD
93/103
http://-/?- -
5/23/2018 Estimation of BHP for MPD
94/103
pbit 20s
xtN
N
Kc
-
5/23/2018 Estimation of BHP for MPD
95/103
http://www.iea.org/stats/pdf_graphs/29TPESPI.pdfhttp://www.iea.org/stats/pdf_graphs/29TPESPI.pdfhttp://www.sptgroup.com/en/Products/olga/Multiphase-Flow-Simulator/http://www.sptgroup.com/en/Products/olga/Multiphase-Flow-Simulator/ -
5/23/2018 Estimation of BHP for MPD
96/103
http://tomopt.com/tomlab/ -
5/23/2018 Estimation of BHP for MPD
97/103
x= xk xk
xk= xk +Kkyk
Kk y
y=yk yk
xk = xk Kk(yk yk)
xk =xk xk
E[yk] = 0
Pxk =Pxk PxkykKTk KkPykxk+ KkPykykKTk
Pxk
http://-/?- -
5/23/2018 Estimation of BHP for MPD
98/103
Pxk .=E[xkxTk ] =E[(xk xk)(xk xk)T]
Pxkyk
Pxkyk.
=E[xkyTk] =E[(xk xk)(yk yk)T]
tr(Pxk)
Kk
= 0
Pxkyk
Pykxk+ 2KkPykyk
Kk = Pxkyk(Pykyk)1
xk = xk Kk(yk yk)
Pxk = Pxk KkPykykKTk
http://-/?-http://-/?- -
5/23/2018 Estimation of BHP for MPD
99/103
-
5/23/2018 Estimation of BHP for MPD
100/103
-
5/23/2018 Estimation of BHP for MPD
101/103
-
5/23/2018 Estimation of BHP for MPD
102/103
-
5/23/2018 Estimation of BHP for MPD
103/103