摘要：AbstractA rotary steerable system (RSS) is a drilling technology which has been extensively studied and used for over the last 20 years in hydrocarbon exploration and it is expected to drill complex curved borehole trajectories. RSSs are commonly treated as dynamic robotic actuator systems, driven by a reference signal and typically controlled by using a feedback loop control law. However, due to spatial delays, parametric uncertainties and the presence of disturbances in such an unpredictable working environment, designing such control laws is not a straightforward process. Furthermore, due to their inherent delayed feedback, described by delay differential equations (DDE), directional drilling systems have the potential to become unstable given the requisite conditions. This paper proposes a Robust Model Predictive Control (RMPC) scheme for industrial directional drilling, which incorporates a simplified model described by ordinary differential equations (ODE), taking into account disturbances and system uncertainties which arise from design approximations within the formulation of RMPC. The stability and computational efficiency of the scheme are improved by a state feedback strategy computed offline using Robust Positive Invariant (RPI) sets control approach and model reduction techniques. A crucial advantage of the proposed control scheme is that it computes an optimal control input considering physical and designer constraints. The control strategy is applied in an industrial directional drilling configuration represented by a DDE model and its performance is illustrated by simulations.
