NonlinearIdentificationandModelBasedControlofanOilWellDrillingProcess.docVIP

Nonlinear Identification and Model Based Control of an Oil Well Drilling Process Marcia P. Vega,a ClaudiaMíriam Scheid,a Luis Americo Cal?ada, a Mauricio C. Mancini, a André L. Martins,b aUniversidade Federal Rural do Rio de Janeiro, BR465, km 7, Rio de Janeiro, 23890-000, Brazil. b PETROBRAS S.A./CENPES/PDP/TEP, Av. Hum Quadra 07, Ilha do Fund?o, Rio de Janeiro, 21494-900, Brazil. Abstract Dynamic simulation analysis and the investigation of bifurcation diagrams (open/closed loop analysis) of an oil well drilling process, using choke opening index and annulus pressure set point as the bifurcation parameters, were employed as synthesis criteria for nonlinear identification and model based control purposes. Keywords: Nonlinear model predictive control, Bifurcation theory, Pressure control. Introduction As pointed out by Hahn et al., 2004, bifurcation analysis and control theory are two areas of research that have been developed independently from one another. Bifurcation analysis by continuation involves linearizations of generally nonlinear process models. This often causes confusion as readers assume that linearizations inevitably imply that the analysis is local only. Bifurcation analysis by continuation can in fact be used for more than local analysis of nonlinear systems, despite using linearizations, for they are carried out along curves of steady states. The main objective of this paper is using open/closed loop bifurcation analysis for proper nonlinear empirical model (internal model) and model based control (nonlinear model predictive control, NMPC) synthesis. Nonlinear system identification involves model parameters selection, determination of the forcing function, which is introduced into the plant to generate the output response, estimation of model parameters and comparison of plant information and model predictions for data not used in model development. All steps represent very challenging theoretical and practical problems, for a general theory is not