Date : 2006
Editeur / Publisher : [s.l.] : [s.n.] , 2006
Type : Livre / Book
Type : Thèse / ThesisLangue / Language : français / French
Langue / Language : anglais / English
Résumé / Abstract : CETTE THESE PORTE SUR LA MODELISATION ET LA COMMANDE NON LINEAIRE D'UN SYSTEME DE FORAGE PETROLIER DANS LE BUT DU REPONDRE A CERTAINS SPECIFICATIONS.ACTUELLEMENT, LES COMMANDES DES SYSTEMES DE FORAGE PETROLIERS SONT REALISEES A L'AIDE DE REGULATEURS PI OU PID. LEURS PERFORMANCES SE DEGRADENT NOTABLEMENT LORS DE VIBRATIONS DE TORSION CAUSEE PAR LE " STICK-SLIP ", PHENOMENE QUI PEUT PROVOQUER DES COUPLES NON LINEAIRES ET DONC ENDOMMAGER LE TREPAN ET LE TRAIN DE TIGES. IL APPARAIT NECESSAIRE DE DISPOSER DE SYSTEMES DE COMMANDE PLUS PERFORMANTS.LES LOIS DE COMMANDES LINEAIRES DEVELOPPEES DANS LA LITTERATURE NE GARANTISSENT PAS LA STABILITE VIS-A-VIS DES INCERTITUDES. CECI NOUS A CONDUIT A PROPOSER UN MODELE NON LINEAIRE PRENANT EN COMPTE LA TOTALITE DE L'INFORMATION DU PHENOMENE DU STICK-SLIP, CE QUI AMENE A UNE MODELISATION GLOBALE DU FORAGE ROTARY APPROCHANT AU MIEUX LE COMPORTEMENT REEL DE LA PLATE-FORME PETROLIERE. POUR CELA, NOUS AVONS TOUT D'ABORD SUGGERE DEUX APPROCHES POUR AMELIORER LES PERFORMANCES :•COMMANDE PAR LA TECHNIQUE DE LINEARISATION PAR BOUCLAGE.•DEVELOPPEMENT D'UNE COMMANDE PAR LA TECHNIQUE DES MODES GLISSANTS ASSOCIEE A LA COMMANDE LINEARISANTE.COMME LE SYSTEME DE FORAGE EST SOUMIS AUX INCERTITUDES PARAMETRIQUES, NOUS AVONS PROPOSE, EN OUTRE, UNE LOI DE COMMANDE NON LINEAIRE PAR BACKSTEPPING PERMETTANT D'AMELIORER ENCORE LA REPONSE DE LA VITESSE DE ROTATION DU TREPAN.L'APPLICATION DE CES STRATEGIES DE COMMANDES APPARAIT POUR LA PREMIERE FOIS DANS CE DOMAINE. LES RESULTATS DE SIMULATIONS OBTENUS SONT CONCLUANTS ET LA SYNTHESE PAR BACKSTEPPING MONTRE UNE SUPERIORITE, DANS LA MESURE OU ELLE EST PLUS ROBUSTE VIS-A-VIS D'INCERTITUDES PARAMETRIQUES.
Résumé / Abstract : THIS WORKS DEALS WITH THE PROBLEM OF MODELLING AND NON LINEAR CONTROL OF ROTARY DRILLING SYSTEM IN ORDER TO MEET SOME SPECIFICATIONS. UP TO NOW, OIL ROTARY DRILLING SYSTEMS CONTROL IS ACHIEVED BY USING CLASSICAL REGULATORS PI OR PID. HOWEVER THE RELATED PERFORMANCE DRAMATICALLY DECREASES BY TORSIONAL VIBRATION CAUSED BY THE STICK-SLIP PHENOMENON, WHICH CAN PROVOKE ENORMOUSLY DESTRUCTIVE FLUCTUATING TORQUES IN THE DRILLSTRING AND INVARIABLY CAUSES DAMAGE TO THE BIT OR DRILLSTRING. SO THEN, AN ADEQUATE DESIGN CONTROLLER BECOMES NECESSARY IN ORDER TO REDUCE THIS DAMAGE AND TO BETTER MEET THE REQUIRED PERFORMANCE. THE EXISTING LINEAR CONTROL LAWS WHICH HAVE TREATED THE ROTARY SYSTEM ARE NOT SUFFICIENTLY TO GUARANTEE THE STABILITY IN THE FACE OF SYSTEM UNCERTAINTIES. WE HAVE THEN PROPOSED A NONLINEAR MODEL WHICH TAKES INTO ACCOUNT THE WHOLE INFORMATION OF THE STICK-SLIP PHENOMENON, LEADING TO A GLOBAL DRILLING ROTARY MODEL REFLECTING THE REAL WORLD OIL PLATFORM SYSTEM. THEREFORE, WE FIRST SUGGEST TWO APPROACHES IN ORDER TO IMPROVE THE PERFORMANCE:•FEEDBACK LINEARIZATION•DEVELOPMENT OF A SLIDING MODE CONTROLLER ASSOCIATED WITH AN INPUT STATE CONTROLLERHOWEVER, THE DRILLING SYSTEM IS KNOWN TO HAVE SOME UNCERTAINTIES IN DRILLSTRING, SO WE PROPOSE ONE NEW WAY BY A BACKSTEPPING BASED APPROACH ALLOWING TO FURTHER IMPROVE THE PERFORMANCE AND ROBUSTNESS OF THE BIT.THE APPLICATION OF THESE THREE CONTROL STRATEGIES, THAT WE HAVE DEVELOPED, IS HEREIN APPEARING FOR THE FIRST TIME IN THE OIL DOMAIN. THE OBTAINED RESULTS ARE SHOWN TO BE SATISFACTORY AND THE BACKSTEPPING CONTROLLER TURNS OUT TO OFFER THE SUPERIORITY IN TERMS OF, ROBUSTNESS WITH RESPECT TO PARAMETRICAL UNCERTAINTIES.