engleski

Hardware-in-the-Loop laboratory testing of developed hydrocarbon drilling facility automation systems

This project report presents the results of real-time Hardware-in-the-Loop (HIL) verification of developed drilling automation systems based on the previously developed and commissioned laboratory test rig. The HIL setup comprises an industrial PC equipped with appropriate control and acquisition cards, which is intended to (i) run the real-time simulation models of drilling system electrical drives extended with the comprehensive dynamics of the drill-string system. An appropriate real-time software environment has been developed for that purpose. Mathematical models of the rotary and longitudinal dynamics of the hydrocarbon facility drilling systems have been used as a basis for the development of real-time emulation C-source code, comprising Runge-Kutta numerical integration methods in order to simulate the drilling system dynamic behavior. The principal implementation of drilling system control strategies has been based on the commonly-found Simatic S7 programmable-logic controller (PLC). The effectiveness of the proposed control strategies has been verified by the results of extensive real-time HIL tests performed on the laboratory test rig. The dynamic model of the drilling electrical drive (rotary or draw-works winch drive) has been implemented under the single-tasking MS DOS-based real-time "kernel" and used to provide the dynamic load to the main electrical drive commanded by the PLC running the control strategy executable code.

Hardware-in-the-loop testing ; active damping control ; automatic drilling systems

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