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No feed back
Relying on good knowledge
about process
Using RT Hydraulics without
feedback from BHP can be
defined as an open loop
control system
Components in a closed loop system
P Proportional
I Integral
D Derivative
1 t de
U (t ) K p e(t )
Ti 0 e( ) d Td dt
PID components; Proportional component
P-value = 0 Turns off the PID controller. (not only the P-component)
1 t de
U (t ) K p e(t )
Ti 0 e( ) d Td dt
PID components; Integral component
Integral wind-up Wind-up is that the I-component increase to very high value.
This can happen if e.g. the air to the choke panel is off while the pressure control
is on. Then the control output from the I-component will increase without
being able to influence the pressure.
The system should be swapped between position and pressure control to reset
(put to zero) the output from the I-component.
1 t de
U (t ) K p e(t )
Ti 0 e( ) d Td dt
PID components; Derivative component
General about The D-component is calculated by taking the derivative of the difference
the D-value between the set point and the pressure reading and multiplying it by the D-
value.
This value is therefore sensitive to measurement noise.
The D-component is a damping component that helps to suppress pressure
variations.
1 t de
U (t ) K p e(t )
Ti 0 e( ) d Td dt
Overview of MPD control system
Standby
Standby
No
Noremote
remotecontrol
controlactions,
actions,data
dataacquisition
acquisitiononly
only
Manual
Manualcontrol
control
Remote
Remotecontrol
controlof
ofchoke
chokeand
andBackpressure
Backpressurepump
pump
Surface
Surfacepressure
pressurecontrol
control
Automatic
Automaticpressure
pressurecontrol
controlto
tohold
holddesired
desiredupstream
upstreamchoke
choke
pressure. Hydraulic model is not in control loop.
pressure. Hydraulic model is not in control loop.
BHP
BHPpressure
pressurecontrol
control
Automatic
Automaticpressure
pressurecontrol
controlto
tohold
holddesired
desiredBHP.
BHP.Control
Control
depend on hydraulic models output.
depend on hydraulic models output.
Control Modes
ChkP
BHP Stand-By
ManualControl
Control
ControlMode
Mode
Mode
Pos.
Pos set point
control
Setpoint
In HMI
Position control
Mechanical components in control loop
PU / S PD / S
Qchoke Cv
SG
2 trim has
limitation at
high flow
rate @ low
pressure
Operational window for choke trim
Microsoft Excel
Worksheet
Check Smiley
charts
Default is for
3trim
Settings are for
To be able to calculate Gain scheduling
starting points for PID controller
settings.
25 s is recommended
Use excel sheet
QUESTIONS?