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Abstract: Unstable flow regimes occurring for multiphase flow in gas-lift wells have
successfully been stabilized using conventional linear control techniques. However,
the control systems rely on downhole measurements which are at best unreliable, if
at all available. In this paper, we employ a nonlinear observer for the states of the
multiphase flow in the gas-lift well. The observer relies on topside measurements
only, and downhole pressure for feedback control is estimated. Combining the
nonlinear observer with conventional PI control of the downhole pressure, we
demonstrate in laboratory experiments the potential for increasing production
from gas-lift oil wells by stabilizing the multiphase flow.
Keywords: Multiphase, Observer, Experiments, Gas-Lift
1. INTRODUCTION
2. GAS-LIFT WELL
Gas lift
choke
Gas in
Annulus
Tubing
Injection
valve
Reservoir
Production
choke
Oil out
Unstable
Stable
Optimal operating
region
Theoretical
production
Open loop
production
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
RTa
gLa
pa,i =
+
x1 ,
(12)
Va M
Va
RTt
x2
pt =
,
(13)
M Lt At + Lr Ar o x3
g
pt,i = pt +
(x2 + x3 o Lr Ar ) ,
(14)
At
pt,b = pt,i + o gLr .
(15)
M is the molar weight of the gas, R is the gas
constant, Ta is the temperature in the annulus, Tt
is the temperature in the tubing, Va is the volume
of the annulus, La is the length of the annulus,
Lt is the length of the tubing, At is the cross
sectional area of the tubing above the injection
point, Lr is the length from the bottom of the well
to the gas injection point, Ar is the cross sectional
area of the tubing below the injection point, g is
the gravity constant, o is the density of the oil,
and o is the specific volume of the oil. The oil is
considered incompressible, so o is constant. The
temperatures, Ta and Tt are slowly varying and
therefore treated as constants.
4. STATE ESTIMATION
The downhole pressure is often a measurement
which is not available. This measurement is suit-
(16)
Since the mass of gas in the annulus can be considered a measurement, a reduced order observer
is used for estimation of the remaining two states.
Before giving the observer equations, we state key
assumptions under which nominal performance of
the observer is guaranteed, see also Aamo et al.
(2004).
Assumption 1. The production choke is not allowed to close completely. That is,
u u > 0, t 0.
(17)
(18)
(19)
(20)
Ar
z2 = wgc + Cr pr o gLr +
o gLr
At
g
g
+ y1 y2
z2 v
At
At
+ k2 (
z2 , u, v, y1 , y2 ) ,
z1 2 + y1 , and z2 o Lr Ar + 3 + z1 ,
x
2 = z1 y1 ,
x
3 = z2 z1 ,
(22)
(23)
(24)
(25)
(26)
M
k1 (
z1 , z2 , y1 , y2 ) = c1
(Lt At + Lr Ar
RTt
o (
z2 z1 )) y2 (
z1 y1 ) ,
z2 y1 o Lr Ar
k2 (
z2 , y1 , y3 ) = c2 y3
.
Lt At
where c1 and c2 are arbitrary positive constants.
The convergence rate of the observer increases
with increasing c1 and c2 .
5. ANTI-SLUG CONTROL BY FEEDBACK
It has been shown in Eikrem et al. (2002) that
severe slugging can be eliminated by stabilizing
the downhole pressure using a control law of the
form
v = v + K(pt,b pt,b ),
(28)
u
Setpoint
pressure
PC
Nonlinear
observer
Production
choke
Oil out
Gas lift
choke
Gas in
Annulus
PTCHP
Tubing
PTTHP
Casing
Density
Injection
valve
Reservoir
Control
open loop
closed loop
open loop
Valve Opening
55%
controlled
83.2%
The estimated downhole pressure from the observer and the measured downhole pressure is
given in Figure 5. The results show that the downhole pressure given by the observer can be applied
to stabilize the laboratory gas-lift well. The controller stabilizes the system at a production choke
opening of 79%. After 43 minutes a large external
disturbance to the gas supply source is introduced
to the system, as can be seen from the peaks in
the experimental results. The controller is able to
handle this disturbance.
Downhole Pressure
lab
observer
setpoint
1
0.5
0
(29)
The gains and integral times applied by the controller are given in Table 1. The observer gains
applied in the experiments are given in Table 2.
Opening ()
t
uk = Kc (ek ek1 ) +
ek .
I
Pressure (barg)
1.5
Valve Opening
55% u < 65%
65% u < 73%
73% u < 100%
Gain
0.5
1.5
2.0
Integral Time
150 sec
150 sec
200 sec
Total mass, c2
0.01
20
10
20
30
40
Time (min)
Valve Opening
50
60
50
60
0.9
0.8
0.7
0.6
0.5
0
10
30
Time (min)
40
Fig. 5. The downhole pressure given by the observer, the measured downhole pressure and
the opening of the production choke.
The measurements applied in the observer, the
casing head pressure, the tubing head pressure
and the fluid density, are given in Figure 6 and
7. The measurements of the tubing head pressure
and the density are low-pass filtered, using a cutoff period of Tc,T HP = 20 seconds and Tc, = 10
seconds, respectively.
The flow rate from the well is given in Figure 6.
The production is achieved with an average production choke opening of 79%. The achieved liquid
production at several production choke openings
are given in Figure 8. The curve shows the liquid
production achieved by open loop production. For
the valve openings 55% to 70%, the production
is open loop stable. From 70% to 100% valve
opening the production is open loop unstable, and
is significantly lower compared to the production
at 70% valve opening.
The main objective is to compare the production
increase, gained by the use of feedback control,
with the maximum stable production achieved
without control (70% valve opening). The increase
7. CONCLUSIONS
Pressure (barg)
1.2
1
0
10
20
30
40
Time (min)
Flow Rate Liquid Topside
50
60
50
60
4
3.5
3
2.5
2
0
10
20
30
Time (min)
40
600
500
400
300
Pressure (barg)
200
0
10
20
30
40
Time (min)
Tubing Head Pressure
50
60
REFERENCES
0.4
0.2
0
0
10
20
30
Time (min)
40
50
60
3.2
Production (kg/min)
3
2.8
2.6
2.4
2.2
2
1.8
55
60
65
70
75
80
85
Valve Opening (%)
90
95
100
Fig. 8. Production achieved from the gas-lift laboratory by closed loop compared to open loop
production.