Abstract: The disclosed embodiments include systems and methods to perform automated drilling for both surface and downhole control. The method includes receiving a curvature reference set point, and calculating a curvature error with respect to the curvature reference set point. The method also includes providing the curvature error to a linear matrix inequalities based robust linear quadratic regulator controller. The method further includes determining one or more steering commands based on an output of the linear matrix inequalities based robust linear quadratic regulator controller. The method further includes providing the one or more steering commands to be implemented by a drilling tool during a drilling operation.

Abstract: The disclosed embodiments include systems and methods to determine the steering of a bit. The method includes receiving input parameters associated with a model of a bottomhole assembly having a housing and a shaft that runs through an interior of the housing. The method also includes analyzing the housing as a first beam, and analyzing the shaft as a second beam that is nested within the first beam. The method further includes estimating a force and moment at a contact point between the shaft and the housing, determining a housing deflection based on the force and the moment, determining a shaft deflection at the contact point, and determining whether the shaft deflection is within a threshold of the housing deflection. In response to a determination that the shaft deflection is within the threshold of the housing deflection, the method further includes providing an output indicative of steering of a bit.

Abstract: The disclosure provides a solution for monitoring stick-slip vibrations without using any surface torque measurements. Instead, the disclosure provides a method to monitor stick-slip vibrations based on rotational speed. A stick-slip monitor, a top drive controller and a method of operating a drill string are provided herein that use rotational speed for monitoring stick-slip vibrations. In one example, the method of operating a drill string includes: (1) performing a frequency domain analysis of an RPM signal associated with a top drive that is used to rotate a drill string, and (2) determining a presence of torsional oscillations of the drill string based on the frequency domain analysis of the RPM signal.

Abstract: Methods and compositions for estimating one or more downhole qualities of a drilling apparatus by obtaining axial acceleration data. The axial acceleration data may be acquired by measuring an axial acceleration of a bottom hole assembly. The axial acceleration may then be used to estimate one or more of a downward weight on a drill bit of the drilling apparatus or a rate of penetration of the drill bit.

Abstract: A method for forming a model of a bottom hole assembly (BHA) in a borehole, wherein the BHA is connected to a drill string. The method may further comprise segmenting the model into one or more segments and solving a multipoint boundary value problem (BVP) based at least in part on the one or more segments.

Abstract: A curvature cruise controller has been designed to maintain a desired curvature when drilling a curve section of a wellbore. The curvature cruise controller utilizes a model-based controller (such as an LQR controller) to generate steering inputs based on the desired curvature and attitude setpoints and real time measurements. The model-based controller is configured with a wellbore propagation model that characterizes the tool's response dynamics. The curvature cruise controller utilizes real time drilling operation parameters measurements to tune the model-based controller.

Abstract: A method and system for estimating a wellbore curvature. The method may include disposing a rotary steerable system (RSS) into a borehole, storing a real-time curvature estimation for the borehole in an information handling system, wherein the information handling system is disposed on the RSS, taking a first attitude measurement at a first sensor, and taking a second attitude measurement at a second sensor. The method may further include applying a filter to at least the first attitude measurement and the second attitude measurement to form a filtered measurement set, performing a curvature estimation with the filtered measurement set to form an estimated curvature signal, comparing the estimated curvature signal to a curvature set point to find a difference, and adjusting at least one operating parameter of the RSS based on the difference.

Abstract: A computer-implemented method for drilling a curve section of a wellbore in a subsurface formation. The method comprises obtaining a curvature setpoint. The method comprises obtaining drilling process feedback from a drilling assembly drilling the curve section of the wellbore. The method comprises updating a scheduling parameter vector based on the drilling process feedback. The method comprises updating a controller, wherein the controller is configured with the scheduling parameter vector. The method comprises determining an error based on the curvature setpoint and the drilling process feedback. The method comprises inputting the error into the controller. The method comprises determining, via the controller, steering decisions based on the error and the scheduling parameter vector.

Abstract: A method for forming a model of a bottom hole assembly (BHA) in a borehole, wherein the BHA is connected to a drill string. The method may further comprise segmenting the model into one or more segments and solving a multipoint boundary value problem (BVP) based at least in part on the one or more segments.

Abstract: Methods and compositions for estimating one or more downhole qualities of a drilling apparatus by obtaining axial acceleration data. The axial acceleration data may be acquired by measuring an axial acceleration of a bottom hole assembly. The axial acceleration may then be used to estimate one or more of a downward weight on a drill bit of the drilling apparatus or a rate of penetration of the drill bit.

Abstract: A curvature cruise controller has been designed to maintain a desired curvature when drilling a curve section of a wellbore. The curvature cruise controller utilizes a model-based controller (such as an LQR controller) to generate steering inputs based on the desired curvature and attitude setpoints and real time measurements. The model-based controller is configured with a wellbore propagation model that characterizes the tool's response dynamics. The curvature cruise controller utilizes real time drilling operation parameters measurements to tune the model-based controller.

Abstract: A method and system for estimating a wellbore curvature. The method may include disposing a rotary steerable system (RSS) into a borehole, storing a real-time curvature estimation for the borehole in an information handling system, wherein the information handling system is disposed on the RSS, taking a first attitude measurement at a first sensor, and taking a second attitude measurement at a second sensor. The method may further include applying a filter to at least the first attitude measurement and the second attitude measurement to form a filtered measurement set, performing a curvature estimation with the filtered measurement set to form an estimated curvature signal, comparing the estimated curvature signal to a curvature set point to find a difference, and adjusting at least one operating parameter of the RSS based on the difference.

Abstract: Systems and methods for stochastically projecting a well trajectory of a bottom hole assembly in a subsurface formation, where the bottom hole assembly includes one or more transducers, a trajectory controller coupled to the bottom hole assembly, an information handling system coupled to the transducers, and the information system includes a processor, and a non-transitory computer readable medium for storing one or more instructions that, when executed, causes the processor to receive a first one or more system model parameters from a system model parameter probability distribution; receive a first one or more steering inputs; receive a first one or more values corresponding to the bottom hole assembly initial conditions from the one or more transducers at a first position within a subsurface formation; and stochastically project a trajectory of the bottom hole assembly from the first position within the subsurface formation to a second position within the subsurface formation.

Abstract: The disclosure provides a solution to problems associated with vibrations during drilling by applying metrics on post job data and providing inputs from past experiences to pre-job planning for drilling jobs. The vibration information and analysis can also be used during a current drilling operation wherein a vibration source can be automatically identified and operating parameters can be changed to mitigate the vibration. The disclosure provides a method of executing a drilling operation, a vibration analyzer, and a drilling system. In one example, the method includes: (1) collecting drilling job data from a completed drilling job, wherein the drilling job data includes sensor data collected from downhole sensors, (2) determining a vibration severity index from the sensor data, and (3) executing at least a portion of a drilling operation based on the vibration severity index.

Abstract: The disclosure provides a solution for monitoring stick-slip vibrations without using any surface torque measurements. Instead, the disclosure provides a method to monitor stick-slip vibrations based on rotational speed. A stick-slip monitor, a top drive controller and a method of operating a drill string are provided herein that use rotational speed for monitoring stick-slip vibrations. In one example, the method of operating a drill string includes: (1) performing a frequency domain analysis of an RPM signal associated with a top drive that is used to rotate a drill string, and (2) determining a presence of torsional oscillations of the drill string based on the frequency domain analysis of the RPM signal.

Abstract: A lubricity tester unit may comprise a housing, a shaft, wherein a first end of the shaft is disposed at a first end of the housing, wherein the shaft extends through housing along a central axis of the housing, and an encoder, wherein the encoder is disposed on an internal wall of the housing, wherein the shaft is disposed through a hole in the encoder, wherein the encoder is an optical encoder configured to measure angular position of the shaft. The lubricity tester unit may further comprise rotating rings, wherein the rotating rings are coupled to a second end of the shaft, a friction inducing surface, wherein the friction inducing surface is disposed around the rotating rings, a first sensor, wherein the first sensor is disposed through the housing, and a second sensor, wherein the second sensor is disposed through the housing.

Abstract: A lubricity tester unit may comprise a housing, a shaft, wherein a first end of the shaft is disposed at a first end of the housing, wherein the shaft extends through housing along a central axis of the housing, and an encoder, wherein the encoder is disposed on an internal wall of the housing, wherein the shaft is disposed through a hole in the encoder, wherein the encoder is an optical encoder configured to measure angular position of the shaft. The lubricity tester unit may further comprise rotating rings, wherein the rotating rings are coupled to a second end of the shaft, a friction inducing surface, wherein the friction inducing surface is disposed around the rotating rings, a first sensor, wherein the first sensor is disposed through the housing, and a second sensor, wherein the second sensor is disposed through the housing.

Abstract: A multi-use thermal cup device is provided that includes a cup, a sensor, a thermometer, a user interface, and an electronic controller. The cup has at least one heating element disposed between its inner and outer walls. Electro-mechanical connection points are included on the outer wall of the cup and the electronic controller, which are sized to allow the controller to be connected to the cup at a distance sufficient to insulate the controller from heat dispersed from the cup. An insulating air gap is formed between the cup and the electronic controller to protect the controller from any dissipating heat. The controller is programmable to direct the power supply to the heat conductors and to control the function of any device connected to the sensor in response to information received from the sensor and the user-defined sampling parameters.

Abstract: A multi-use thermal cup device is provided that includes a cup, a sensor, a thermometer, a user interface, and an electronic controller. The cup has at least one heating element disposed between its inner and outer walls. Electro-mechanical connection points are included on the outer wall of the cup and the electronic controller, which are sized to allow the controller to be connected to the cup at a distance sufficient to insulate the controller from heat dispersed from the cup. An insulating air gap is formed between the cup and the electronic controller to protect the controller from any dissipating heat. The controller is programmable to direct the power supply to the heat conductors and to control the function of any device connected to the sensor in response to information received from the sensor and the user-defined sampling parameters.