Statistical Verification of Hydraulic Units in a Heterogeneous Reservoir of the Liaohe Oilfield

The Liaohe Oil Field has passed peak production and correct discrimination of hydraulic units（HU） has vital significance for forecasting remaining oil distribution in a petroleum reservoir, enhancing the recovery ratio and adjusting development plans. A unified multi-parameter cluster analysis and fuzzy quality synthetic evaluations have been used for the identification of reservoir hydraulic units. This paper analyzes three predictions within Block Shen-95： intersection of multiple well-logs, independent mulitple well-logs and mutually exclusive multiple well-logs. HU has been delineated to conveniently compute permeability and serve as the basis of a structural model for enhanced simulation study. HU has been defined by the flow zone indicator concept using a modified Kozeny-Carmen equation. The Bayesian method was used to predict HU at uncored wells by constructing a probability database and then integrating established HU and well-log responses at cored wells. HU has then been inferred from the database using well-log responses. Estimated permeability from predicted HU gave an overall improved permeability match when compared with traditional statistical methods. The method proved most favourable when using mutually exclusive multiple well-logs, most significant by integrating reservoir performance with HU distribution and indicating that reasonable prediction had been obtained at uncored wells using this mutually exclusive approach. The distribution pattern was revealed by interwell HU correlation using modified depositional cycles as a framework, an integration step that qualitatively examines prediction accuracy. Detailed analysis has been carried out to determine and verify the characteristics of each kind of flow unit, providing a detailed geological basis for control of the oil field.

Nonlinear Mathematical Modeling and Sensitivity Analysis of Hydraulic Drive Unit

The previous sensitivity analysis researches are not accurate enough and also have the limited reference value, because those mathematical models are relatively simple and the change of the load and the initial displacement changes of the piston are ignored, even experiment verification is not conducted. Therefore, in view of deficiencies above, a nonlinear mathematical model is established in this paper, including dynamic characteristics of servo valve, nonlinear characteristics of pressure-flow, initial displacement of servo cylinder piston and friction nonlinearity. The transfer function block diagram is built for the hydraulic drive unit closed loop position control, as well as the state equations. Through deriving the time-varying coefficient items matrix and time-varying free items matrix of sensitivity equations respectively, the expression of sensitivity equations based on the nonlinear mathematical model are obtained. According to structure parameters of hydraulic drive unit, working parameters, fluid transmission characteristics and measured friction-velocity curves, the simulation analysis of hydraulic drive unit is completed on the MATLAB/Simulink simulation platform with the displacement step 2 mm, 5 mm and 10 mm, respectively. The simulation results indicate that the developed nonlinear mathematical model is sufficient by comparing the characteristic curves of experimental step response and simulation step response under different constant load. Then, the sensitivity function time-history curves of seventeen parameters are obtained, basing on each state vector time-history curve of step response characteristic. The maximum value of displacement variation percentage and the sum of displacement variation absolute values in the sampling time are both taken as sensitivity indexes. The sensitivity indexes values above are calculated and shown visually in histograms under different working conditions, and change rules are analyzed. Then the sensitivity indexes values of four measurable parameters, such as supply pressure, proportional gain, initial position of servo cylinder piston and load force, are verified experimentally on test platform of hydraulic drive unit, and the experimental research shows that the sensitivity analysis results obtained through simulation are approximate to the test results. This research indicates each parameter sensitivity characteristics of hydraulic drive unit, the performance-affected main parameters and secondary parameters are got under different working conditions, which will provide the theoretical foundation for the control compensation and structure optimization of hydraulic drive unit.

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

LVP Modeling and Dynamic Characteristics Prediction of A Hydraulic Power Unit in Deep-Sea

A hydraulic power unit （HPU） is the driving ＂heart＂ of deep-sea working equipment. It is critical to predict its dynamic performances in deep-water before being immerged in the seawater, while the experimental tests by simulating deep-sea environment have many disadvantages, such as expensive cost, long test cycles, and difficult to achieve low-temperature simulation, which is only used as a supplementary means for confirmatory experiment. This paper proposes a novel theoretical approach based on the linear varying parameters （LVP） modeling to foresee the dynamic performances of the driving unit. Firstly, based on the varying environment features, dynamic expressions of the compressibility and viscosity of hydranlic oil are derived to reveal the fluid performances changing. Secondly, models of hydraulic system and electrical system are accomplished respectively through studying the control process and energy transfer, and then LVP models of the pressure and flow rate control is obtained through the electro-hydraulic models integration. Thirdly, dynamic characteristics of HPU are obtained by the model simulating within bounded closed sets of varying parameters. Finally, the developed HPU is tested in a deep-sea imitating hull, and the experimental results are well consistent with the theoretical analysis outcomes, which clearly declare that the LVP modeling is a rational way to foresee dynamic performances of HPU. The research approach and model analysis results can be applied to the predictions of working properties and product designs for other deep-sea hydraulic pump.

Permeability prediction using hydraulic flow units and electrofacies analysis

It is essential to characterize fluid flow in porous media to have a better understanding of petrophysical properties.Many approaches were developed to determine reservoir permeability among which the integrated analysis of hydraulic flow unit(HFU)and electrofacies(EF)is considered to be useful one.However,the application of HFU and EF analysis has not been totally understood with a limited data to develop correlation for less distance offset wells.In this study,an attempt was made to show the application of integrating HFU and EF for reliable estimation of permeability using core and wireline log data in one of the gas fields in Pakistan.The results obtained indicate that the integrated approach proposed in this study can be used,especially in less distance offset wells when a limited number of data are available for petrophysical characterization.

Permeability Prediction Using Hydraulic Flow Units: Baltim North Gas Field, Nile Delta, Egypt

168 core samples data of two production wells in the Baltim North field were used to identify the complex discrepancies in reservoir pore geometry which governing the Abu Madi reservoir fluid flow properties. Permeability prediction from well logs is significant goal when the core data is rarely available in most cases because of its expensive cost. The hydraulic flow unit approach was used to classify reservoir rocks according to its pore aperture size in the cored wells. The predicted permeability was calculated from core porosity and core permeability relationship for each flow unit. The difference between Neutron porosity and Density porosity was recognized to distinguish different hydraulic flow units. The higher difference indicates higher quality flow unit and vice versa. For model’s verification the predicted permeability was plotted against the laboratory measured permeability in all studied wells and shows highly matching.

Biomimetic Lightweight Design of Legged Robot Hydraulic Drive Unit Shell Inspired by Geometric Shape of Fish Bone Rib Structure

The lightweight design of hydraulic quadruped robots,especially the lightweight design of the leg joint Hydraulic Drive Unit(HDU),can improve the robot's response speed,motion speed,endurance,and load capacity.However,the lightweight design of HDU is a huge challenge due to the need for structural strength.This paper is inspired by the geometric shape of fish bones and biomimetic reinforcing ribs on the surface of the HDU shell are designed to increase its strength and reduce its weight.First,a HDU shell with biomimetic fish bone reinforcing ribs structure is proposed.Then,the MATLAB toolbox and ANSYS finite element analysis module are used to optimize the parameters of the biomimetic reinforcing ribs structure and the overall layout of the shell.Finally,the HDU shell is manufactured using additive manufacturing technology,and a performance testing platform is built to conduct dynamic and static performance tests on the designed HDU.The experimental results show that the HDU with biomimetic fish bone reinforcing ribs has excellent dynamic performance and better static performance than the prototype model,and the weight of the shell is reduced by 20%compared to the prototype model.This work has broad application prospects in the lightweight and high-strength design of closed-pressure vessel components.

Design of a Hydraulic Control Unit for a Two-Speed Dedicated Electric Vehicle Transmission

Two-speed automatic transmission is one solution to increase the economic efficiency and dynamic performance of battery electric vehicles(BEV).Hydraulic control unit(HCU)is a key component in automatic transmissions,which determines the quality of shifting directly.Based on the structural scheme and shift logic of a two-speed dedicated electric vehicles transmission(2DET)with two wet clutches,we designs a 2DET hydraulic control unit composed of three subsystems:pressure regulating and flow control system,shift operated and control system and cooling and lubrication system.The results of the experiments,including the valve body bench test,transmission bench test and vehicle test,show that the design of hydraulic control unit meets the requirements.

Core-log integration and application of machine learning technique for better reservoir characterisation of Eocene carbonates,Indian offshore

Rock types,pore structures and permeability are essential petrophysical outputs,and they contribute considerably to the highest degree of uncertainty in reservoir characterisation.These factors have a strong influence on exploration and field development decisions.Core analysis is the best approach for estimating permeability,assigning rock types and characterising pore networks.Wireline logs are the most often employed method for estimating the parameters at each data point of reservoirs since there are more un-cored wells than cored wells.Artificial intelligence,on the other hand,is gaining popularity in the geosciences due to the ever-increasing complexity and volume of available subsurface data.This is also obvious in the demand for faster and more accurate interpretations in order to identify reservoir characteristics in increasingly difficult and complicated petroliferous basins.Artificial Neural Networks and Self-Organizing Maps are examples of machine learning approaches that can be used in both supervised and unsupervised modes for modelling and prediction.Eocene carbonates of Mukta oilfield are the major pay rocks of strong geological heterogeneity in terms of their porosity and permeability relationship with pore structures.This paper outlines a novel method of rock fabric classification,pore structure characterization,flow unit classification and robust reservoir permeability modelling based on an integrated approach that incorporates core measurements,log data and machine learning techniques.The pore structure has been characterised by the combination of conventional core,capillary pressure and nuclear magnetic resonance data.Artificial neural network has added an adequate benefit in accurate permeability modelling by utilizing the concepts of rock classifications and hydraulic flow units.

Pore size determination using normalized J-function for different hydraulic flow units

Pore size determination of hydrocarbon reservoirs is one of the main challenging areas in reservoir studies.Precise estimation of this parameter leads to enhance the reservoir simulation,process evaluation,and further forecasting of reservoir behavior.Hence,it is of great importance to estimate the pore size of reservoir rocks with an appropriate accuracy.In the present study,a modified J-function was developed and applied to determine the pore radius in one of the hydrocarbon reservoir rocks located in the Middle East.The capillary pressure data vs.water saturation(PceSw)as well as routine reservoir core analysis include porosity(4)and permeability(k)were used to develop the J-function.First,the normalized porosity(4z),the rock quality index(RQI),and the flow zone indicator(FZI)concepts were used to categorize all data into discrete hydraulic flow units(HFU)containing unique pore geometry and bedding characteristics.Thereafter,the modified J-function was used to normalize all capillary pressure curves corresponding to each of predetermined HFU.The results showed that the reservoir rock was classified into five separate rock types with the definite HFU and reservoir pore geometry.Eventually,the pore radius for each of these HFUs was determined using a developed equation obtained by normalized J-function corresponding to each HFU.The proposed equation is a function of reservoir rock characteristics including 4z,FZI,lithology index(J*),and pore size distribution index(3).This methodology used,the reservoir under study was classified into five discrete HFU with unique equations for permeability,normalized J-function and pore size.The proposed technique is able to apply on any reservoir to determine the pore size of the reservoir rock,specially the one with high range of heterogeneity in the reservoir rock properties.

Implementation of a Petrographical and Petrophysical Workflow Protocol for Studying the Impact of Heterogeneity on the Rock Typing and Reservoir Quality of Reefal Limestone:A Case Study on the Nullipore Carbonates in the Gulf of Suez

This study focuses on the heterogeneity of the middle Miocene syn-rift Belayim nullipore(reefal)marine sequences in the Gulf of Suez and its impacts on reservoir quality.The sequences consist of coralline algal reef limestones with a highly complex dual-porosity system of primary and secondary porosities of widely varying percentages.To achieve a precise mathematical modeling of these reservoir sequences,a workflow protocol was applied to separate these sequences into a number of hydraulic flow units(HFUs)and reservoir rock types(RRTs).This has been achieved by conducting a conventional core analysis on the nullipore marine sequence.To illustrate the heterogeneity of the nullipore reservoir,the Dykstra-Parsons coefficient(V)has been estimated(V=0.91),indicating an extremely heterogeneous reservoir.A slight to high anisotropy(λ_(k))has been assigned for the studied nullipore sequences.A stratigraphic modified Lorenz plot(SMLP)was applied to define the optimum number of HFUs and barriers/baffles in each of the studied wells.Integrating the permeability-porosity,reservoir quality index-normalized porosity index(RQI-NPI)and the RQI-flow zone indicator(RQIFZI)plots,the discrete rock types(DRT)and the R35 techniques enable the discrimination of the reservoir sequences into 4 RRTs/HFUs.The RRT4 packstone samples are characterized by the best reservoir properties(moderate permeability anisotropy,with a good-to-fair reservoir quality index),whereas the RRT1 mudstone samples have the lowest flow and storage capacities,as well as the tightest reservoir quality.

Force-controlled Compensation Scheme for P-Q Valve-controlled Asymmetric Cylinder used on Hydraulic Quadruped Robots

Under the requirement of the force controller of hydraulic quadruped robots,the goal of this work is to accurately track the force commands at the level of the hydraulic drive unit.The main contribution focuses on the development of a force-controlled compensation scheme,which is specifically aimed at the key issues affecting the hydraulic quadrupedal locomotion.With this idea,based on a P-Q valve-controlled asymmetric cylinder,we first establish a mathematical model for the hydraulic drive unit force control system.With the desired force commands,a force feed-forward algorithm is presented to improve the dynamic performance of the system.Meanwhile,we propose a disturbance compensation algorithm to reduce the influence induced by external disturbances due to foot-ground impacts.Afterwards,combining with a variable gain PI controller,a series of experiments are implemented on a force control performance test platform to verify the proposed scheme.The results demonstrate that the force-controlled compensation scheme has the ability to notably improve the force tracking accuracy,reduce the response time and redundant force.

A new integrated approach to resolve the saturation profile using high-resolution facies in heterogenous reservoirs

The saturation calculation in complex reservoirs remains a major challenge to the oil and gas industry.In simple formations,a tendency towards simple saturation models such as Archie or Simandoux for clean and shaly reservoirs respectively is always preferable.These models were found to be working effectively in homogeneous formations within which the porosity and permeability are linked in the light of a simple facies scheme.Where the rocks show some degrees of heterogeneity,the well-logs are usually affected by different factors.This adversely results in a compromised or averaged log profiles that may affect the saturation calculations.Four wells drilled across a shaly sand of high heterogeneity have been studied in the Perth Basin,Western Australia.The aim is to resolve the hydrocarbon saturation and explain the high productivity results,despite the high water saturation,obtained through a conducted formation well test across the interested reservoir zones.A new integration technique between a suite of conventional and advanced logging tools together with the capillary pressure measurements has been carried out to generate a high-resolution reservoir saturation profile,that is lithofacies dependent.Three different independent methods were used in the studied wells to calculate the saturation and to reduce the uncertainty of the final estimated profiles.The methods are the resistivity-based saturation,the NMR-based irreducible saturation,and a new application through saturation height modeling.Furthermore,through the workflow,an effective calibration for the magnetic resonance T2 cutoff has been applied that is supported by the excellent reservoir production behavior from such complex reservoir.The methodology will help resolve the saturation calculation as one of the most challenging reservoir parameters,particularly where the resistivity logs are affected in complicated shaly sand environments.The effectiveness of the workflow shines the possibility to predict high resolution facies and saturation profiles in the lack of resistivity logs.A further possibility can complete the analysis on real time basis,which can certainly provide facies and saturation profiles extended to the uncored wells.Application of this methodology in the uncored wells has shown very encouraging results in various well trajectories,either vertical,deviated or horizontal long boreholes.