Extremum seeking for real-time optimal drilling control

Abstract

This paper demonstrate the feasibility and illustrates some challenges of applying extremum seeking control to online optimization of the drilling process. Specifically, we consider the problem of finding the hook-load (and consequently the weight on bit) which optimizes the rate of penetration while drilling. To this end, a phenomenological drilling model is presented which includes the bit foundering that occurs at too high weight on bit. We then propose an Extremum Seeking (ES) controller architecture which can be used in conjunction with existing auto-driller systems. The effectiveness of this ES architecture is illustrated by simulation examples with the presented model.