Embedded predictive controller based on fuzzy linear parameter-varying model: A hardware-in-the-loop application to an ESP-lifted oil well system

Abstract

This work addresses the development of a fuzzy infinite horizon model predictive control (FIHMPC) strategy and its application to an ESP-lifted oil well system in an embedded hardware. The proposed scheme is based on a fuzzy model to approximate the nonlinear system to a linear parameter-varying model and incorporate it into the proposed MPC law. Slacked terminal constraints and zone control scheme are incorporated to the FIHMPC controller assuring optimization feasibility to handle ESP time-varying operation envelope. The implementable zone FIHMPC controller is applied through an ESP32 micro-controller to ESP-lifted oil well system equations, executed in MATLAB, composing a hardware-in-the-loop (HIL) simulation scheme. Nonlinear mismatch scenarios with unmeasured disturbances show the effectiveness of the proposed controller over multiple operating conditions. Computational memory and processing analysis over simulations also validates the controller application.

Keywords

• Artificial Oil Lift Methods
• Electrical Submersible Pump
• Zone control
• Fuzzy Model Predictive Control
• Data-based Model
• Fuzzy Takagi-Sugeno-Kang model