Perforación Direccional y

10.1 Definiciones
Horizontal
 used to bypass
nomical way tothe overhanging
develop offshore hard
fields.salt
Sincecaptheincost
order to access
of drilling the
is high, bypass obstructions that have been lost in the well (fish) (Figure 10.5).
hydrocarbon
many wells can deposits beneath
be drilled from this saltplatform
a single dome (Figure 10.6).
to access many Thdeposits
is will vi. Salt Dome Drilling: Salt domes are natural traps of hydrocarbon wit
prevent
that are not directly below the rig thus reducing cost (Figure 10.1). for-
the problems associated with drilling a well through a salt the oil and gas accumulating beneath them. A directional well can b
ii.mation
Onshore such as a hole
drilling wash
to off out,
shore corrosion,
locations: Thisand loss circulation.
technique is cheaper since used to bypass the overhanging hard salt cap in order to access th
vii. Fault
land rigs are cheaper than offshore rigs (Figure 10.2). fault can cause
Controlling: Drilling a well through a steeply inclined hydrocarbon deposits beneath this salt dome (Figure 10.6). This wi
the bit to deflect
iii. Inaccessible when passing
locations: through the
Hydrocarbon fault plane
deposits belowora even follow
location of the
reli- prevent the problems associated with drilling a well through a salt fo
direction of the fault plane. A directional well can help to drill into faulted mation such as a hole wash out, corrosion, and loss circulation.
gious, traditional, or environmental importance such as community

Objetivos de la Perforación Direccional

574 FUNDAMENTALS
subsurface OF SUSTAINABLE DRILLING ENGINEERING vii. Fault Controlling: Drilling a well through a steeply inclined fault can caus
rivers andformations
farmlands,without crossing
shrines, burialthe fault line
ground, and(Figure
other 10.7).
environmen- the bit to deflect when passing through the fault plane or even follow th
tally sensitive areas (Figure 10.3). direction of theOFfault
574 FUNDAMENTALS plane. A directional
SUSTAINABLE DRILLING wellENGINEERING
can help to drill into faulte
Figure 10.1 Multiple wells from a single platform or single well. subsurface formations without crossing the fault line (Figure 10.7).

Side Fish
track
Side Fish
track

Figure 10.5 Side tracking pass a fish.

Figure 10.3 Inaccessible locations.

574 FUNDAMENTALS OF SUSTAINABLE DRILLING ENGINEERING Figure 10.5 Side tracking pass a fish. HORIZONTAL AND DIRECTIONAL DRILLING 575
Multiples
Figure 10.1 Multiple wells from a singlepozos
platform de unawell.
or single PlataformaFigure 10.2 Onshore to offshore drilling.Desde
onshore Debajo
Figure 10.3 Inaccessible locations. de zonas Sensibles
viii. Long and thin reservoirs: Horizontal wells are used in this type of res-
ervoir to optimize well-reservoir contact (Figure 10.8).
ix. Single well intercepting multiple targets: if the targets are well aligned
such that they can all be intercepted by a single directional well without
much complexities (Figure 10.9).
HORIZONTAL AND DIRECTIONAL DRILLING 575
There is no fixed shape a directional well can assume. There exist different shapes
of directional wells and the shape a directional well will take depends on the objec-
viii. Long and thin reservoirs: Horizontal wells are used in this type of res- tives of the well. Common shapes of directional wells are shown in the figures below
(Figures 10.1–10.9).
ervoir to optimize well-reservoir contact (Figure 10.8).
ix. Single well intercepting multiple targets: if the targets are well aligned
such that they can all be intercepted by a single directional well without
Fish
much complexities (Figure 10.9). Side
track

There is no fixed shape a directional well can assume. There exist different shapes
of directional wells and the shape a directional well will take depends on the objec-
tives of the well. Common shapes of directional wells are shown in the figures below
Figure 10.6 Target below Salt dome. Figure 10.4 Relief well drilling.
(Figures 10.1–10.9).
Figure10.4
Figure 10.2Relief
Onshore
well to Pozos
offshore drilling.
drilling. de Alivio Figure 10.5 Side tracking pass a fish. Sidetracks Figure 10.6 Target below Salt dome.
Figure 10.8 Thin reservoir.
Evitar Domos de Sal

Zonas de Falla Zonas Delgadas Múltiples Objetivos

Figure 10.9 Drilling multiple targets with a single wellbore.
Terminología
• Kick Off Point (KOP)

HORIZONTAL AND DIRECTIONAL DR

• Punto de desvío desde la
vertical

Dir
0
N N
• Inclinación

KOP Surface
• Angulo de desvío de la vertical
Inc E

• End of Buildup (EOB)

Target
TVD
HD MD EOW
EOH
• Punto final de incremento de
ángulo
Figure 10.10 Azimuth.

• Hold Angle

• El ángulo se mantiene
constante
 HORIZONTAL AND DIRECTIONAL D

Dir
0
N
Terminología N

KOP Surface
Inc E
• Tangent Section

Target
• Se mantiene sección con596 laFUNDAMENTALS
TVD OF SUSTAINABLE
HD DRILLING
EOH ENGINEERING
MD EOW
inclinación constante

Figure 10.10 Azimuth.

• Start of Drop

• Inicio de caída de pendiente

• End of Drop
Kick Off Point
Buildup Section
End of Buildup
• Sitio donde deja de caer en
Tangent Section
pendiente
Vertical Phase
Start of Drop
• Target Displacement
Drop Section
End of Drop
• Distancia lateral del objetivo Hold

Figure 10.28 Type 2 ( S Type Well).

Bu
ild
 HORIZONTAL AND DIRECTIONAL D

Dir
0
N
Terminología N

KOP Surface
Inc E
• Target Location

Target
• Coordenadas en True Vertical
596 FUNDAMENTALS
TVD OF SUSTAINABLE
HD DRILLING
EOH ENGINEERING
MD EOW
Depth) TVD

Figure 10.10 Azimuth.

• Drop Off Rate (DOR)

• Tasa de decremento de
inclinación

Kick Off Point

• Buildup Rate (BUR)
Buildup Section
End of Buildup
• Tasa de incremento de Tangent Section
inclinación
Vertical Phase
Start of Drop
Drop Section
• Turn Rate
End of Drop

Hold
• Tasa de crecimiento en azimut

Figure 10.28 Type 2 ( S Type Well).

Bu
ild
 HORIZONTAL AND DIRECTIONAL D
HORIZONTAL AND DIRECTIONAL DRILLING
Dir
Dir
0 0
NN
Terminología N N

KOP Surface
KOP Inc Surface E
Inc E
• Dog Leg Severity (DLS)
Target
TVD
HD MD EOW Target
• Severidad de la curvatura
TVD
Figure 10.10 Azimuth. HD MD EOW
EOH

• True Vertical Depth

Figure 10.10 Azimuth.

• Profundidad vertical real

• Measured Depth (MD)

• Profundidad perforada
Vertical Phase

• Horizontal Displacement (HD)

Vertical Phase
• Desplazamiento horizontal

Bu (C
ild on
• Vertical Section

Se tin
ct uo
io us
n
Ph )

Distancia en la vertical
as

•
e

Drain Hole Section

(Horizontal Phase)
Bu
ild
 HORIZONTAL
KOP AND DIRECTIONAL D
5374 ft
Dir
0
N
Terminología N

KOP Surface
Inc E
• Azimuth

Target
TVD Target
• Angulo con el norte HD MD EOW
EOH
geográfico
Figure 10.30 Offshore slant well profile of Example 10.3.
Figure 10.10 Azimuth.

• Geographic North
N

6° M
• Dirección del Polo Norte

• Grid North

• Dirección en las coordenadas W E

positivas X
Vertical Phase 3,226 ft
• Magnetic North

Target
2,147 ft
• Norte Magnético (Brújula)
M
S
Bu
ild
 Desplazamiento y Azimuth
Se usan coordenadas rectangulares para planear y medir el desplazamiento horizontal
HORIZONTAL AND DIRECTIONAL DRILLING 579
de un pozo. HORIZONTAL AND DIRECTIONAL DRILLING 579
Se obtienecan mediante la diferencia
be used to calculate entre(horizontal
the departure las coordenadas
displacement)de la localización
between the surface respecto a las
can location
be used
del objetivo topunto
y elandcalculate the departure
actual
the bottomhole (horizontal
target as follows: displacement) between the surface
location and the bottomhole target as follows:
1/2
2 2
Horizontal departure E 2 N2 1/2 (10.1)
Horizontal departure E W N S (10.1)
W S
Polar coordinates can be derived from the rectangular coordinates. They are
Polar coordinates
expressed aspolarescan be
a distance derived from
(departure) and the rectangular coordinates. Thazimuth).
ey are
Las coordenadas se derivan deaslasa direction (either
rectangulares Quadrant or
expressed as a distance
Polar coordinates are(departure) and
derived from theasrectangular
a directioncoordinates
(either Quadrant or azimuth).
as follows:
Polar coordinates are derived from the rectangular coordinates as follows:
Azimuth tan 1 E coordinates / N coordinates (10.2)
W S
Azimuth tan 1 E coordinates / N coordinates (10.2)
W S
where Δ denotes difference in coordinates between E/W or N/S. 
where Δ denotes difference in coordinates between E/W or N/S. 
Example 10.1: A directional driller monitors the direction of a well from a reference
location
Example point
10.1: O (Figure 10.13).
A directional driller Th e well has
monitors theprogressed
direction of300 meters
a well towards
from east and
a reference
500 meters
location point Otowards
(Figuresouth. What
10.13). The iswell
thehas
azimuth of the300
progressed bottom of the
meters well ateast
towards thisand
loca-
500 tion? What
meters is thesouth.
towards horizontal
Whatdeparture (closure
is the azimuth of distance)?
the bottom of the well at this loca-
tion?Solution:
What is the horizontal departure (closure distance)?
Given data:
Solution:
 ϵ = Azimuth, degree
HD = Horizontal departure, meter

Desplazamiento oy Azimuth
i) Azimuth, 90 tan
1 500

300
= 149.04horizontal
Cual es el azimuth y la distancia degreesdel pozo que se muestra en la figura,
conociendoor que ha avanzado 300 m hacia el Este y 500 m hacia el Sur del punto de
referencia O.
Є = S30.94E

O
W E

Well location
S

Figure 10.13 Well direction for Example 10.1.

 Azimuth
Azimuth tantan
1 1
E Ecoordinates
coordinates
/
N
N/ coo
e W W S
eparture, meter
where Δ denotes
where Δ denotes diffdifference
erence in coordinates
in coordinates between
between E/W E/W or
or N/S.

90 o Desplazamiento
tan 1 500 y Azimuth
Example
Example 10.1:
10.1: A directional
A directional driller
driller monitors
monitors the direction
the direction of a
300 location
location point
point O (Figure
O (Figure 10.13).
10.13). The Th e well
well has progressed
has progressed 300 m3
= 149.04 degrees 500 meters
500 towards
meters south.
towards What
south. is the
What is azimuth of theofbottom
the azimuth the botto
Cual es el azimuth y la distancia horizontal del pozo que se muestra en la figura,
tion? What is the horizontal departure (closure distance)?
tion? What is the horizontal departure (closure distance)?
conociendo que ha avanzado 300 m hacia
580 elFUNDAMENTALS
Este y 500 m OFhacia el SurDRILLING
SUSTAINABLE del punto de
ENGINEERING
referencia O. Solution:
Solution:
Given data:
Given data: N
∆E∆E
= 300
= meters
300 meters
N ∆S∆S
= 300 meters
= 300 meters
Required data: = 195
Required data: O
ϵ = Azimuth, degree W
ϵ = Azimuth, degree E
HD = Horizontal departure, meter
O HD = Horizontal departure, meter
W
W E 500
o 1
i) Azimuth, 90 tano 1 500
i) Azimuth, 90 tan 300
S
= 149.04 degrees300
= 149.04 degrees
Well location or
Figure 10.14 or
Well direction for Example 10.2.
S Є = S30.94E
Є = S30.94E
ii) Horizontal departure N 2
5003002
N
583.1meters
n for Example 10.1.
Example 10.2: Another well drilled O from same location as th
direction of 195 degrees Wfrom the rig and at a horizontalE displa
 Desplazamiento y Azimuth
Determine las coordenadas de un pozo perforado en la misma locación que se
encuentra a 195 grados de la torre de perforación y a un desplazamiento de 850 metros.
580 FUNDAMENTALS OF SUSTAINABLE DRILLING ENGINEERING

= 195
O
W E

Figure 10.14 Well direction for Example 10.2.

 Figure 10.14 Well direction for Example 10.2.

ii) Horizontal departure 5002 3002

Desplazamiento y Azimuth 583.1meters

Example 10.2: Another well drilled from same location as the wel
Determine las coordenadas de un direction
pozo perforado en la from
of 195 degrees misma
the locación
rig and at que se
a horizontal displaceme
encuentra aDRILLING
SUSTAINABLE 195 grados de la torre(Figure 10.14).
ENGINEERING de perforación y a unthe
Determine desplazamiento
well coordinates. de 850 metros.

Solution:
N
Given data:
Azimuth = 195 degrees
Horizontal displacement = 850 yards
mts
Angle SW = 195o- 180o
= 195
= 15o
O
W E SW = OW x Sin 15
= 850 x 0.25882
= 220 yards
mts
W OS = OW x Cos 15
= 850 x 0.96593
S = 821 yards
mts
Hence, the well coordinates are 220 yards
mts west and 821 yards
mts south

or Example 10.2. 10.4 Types of Directional Drilling

2 2 There are many types of directional drilling. The following are some of
 Target
TVD
HD MD EOW
Tipos de Perforación
Figure 10.10 Azimuth.

Direccional
• Perforación Horizontal

• Es la perforación en una
formación a 90 grados de la
vertical
Vertical Phase

• Aumenta el contacto con la

formación

• Normalmente en

Bu (C
formaciones delgadas o con

ild on
Se tin
buena permeabilidad vertical

ct uo
io us
n
Ph )
as
Inicia con un pozo vertical y
e
•
Drain Hole Section
se desvía hasta alcanzar los (Horizontal Phase)
90 grados
Figure 10.11 Horizontal well trajectory with one buildup trajectory.
Perforación 578 FUNDAMENTALS OF SUSTAINABLE DRILLING ENGINEERING
Horizontal
• Algunas veces se tiene una
sección tangente entre la
vertical y la horizontal

• De acuerdo con el crecimiento KOD Vertical Phase

de la tasa de desvío de la
horizontal se clasifican en:

Build Section 1
(deviated
• Radio Corto
phase)

(D Ho
• Radio Medio
ev ld
iat Se
ed cti
ph on
as
• Radio Largo
e)

Drainhole Section
• Radio Ulta Largo Build Section 2 (Horizontal Phase)
(approach section)
(deviated phase)

Figure 10.12 Horizontal trajectory with two build section.

 water coningconing
s and water problem by providing
problem the less
by providing thedrawdown pressure
less drawdown pressure
major major
Other applications of horizontal
applications drilling
of horizontal are related
drilling to naturally
are related to naturally
oirs, Perforación
thin dry
reservoirs, thinreservoirs, and less
dry reservoirs, andwells
less needed to develop
wells needed a field.a field.
to develop
gh-angle
and drilling
high-angle operations
drilling generally
operations are similar
generally to directional
are similar to directional
mplex
ore
Horizontal
because
complex of higher
because build rates
of higher build and
ratesdrift
andangles, and tangent
drift angles, and tangent

Long
Ultra Long MediumMedium Short Short
radius
Long radius radius radius radius radius
Radio BUR
Corto 1.5 - 6 grad/ft
Ground Ground
level level Medio 6 - 35 grad/100 ft
Largo 2 - 6 grad/100 ft
us s
Kickoff Kickoff
d i tf diu ft
ft
Ra – 6 Ra – 6
0
Ultralargo < 2 grad/100 ft
-6

2 2
20

depth depth 100 – 800100ft – 800 ft

u s t s
a di 0 f adiu 0 ft
R 90 R 90
– –
0 0 0
3 30 1,500 – 3,000 1,500ft– 3,000 ft
i us 0
ft ius ft
d 0
Ra ,00 Rad ,0
0
– 3 3
0 –
0 0 0
0 0
1, 1,
2,000 – 5,000
2,000ft– 5,000 ft

fiius
les profi
for horizontal wells. wells.
les for horizontal
4,000 - 36,000 ft

10.1
TableClassification cation
10.1 Classifi of horizontal wells. wells.
of horizontal
Perforación
Horizontal
• Los pozos horizontales
incrementan el contacto con el
yacimiento

• Disminuyen el drawdown

• Reducen la conificación

• Conecta fracturas en
yacimientos naturalmente
fracturados

• Yacimientos delgados

• Menos pozos para desarrollar

un campo
Perforación
584 FUNDAMENTALS OF SUSTAINABLE DRILLING ENGINEERING
Multilateral
• Se refiere a la perforación de
múltiples laterales desde un pozo

• Laterales: Son los pozos perforados

de un pozo principal.

Trunk
• Pueden ser horizontales,
direcciones o verticales

Radial
• Ramas o ramales: Pozos perforados
Junction
de un lateral

• El pozo central se denomina algunas Lateral

veces como tronco, principal, pozo
madre, etc.

Branch
• Unión o junction: Puntos donde se
interceptan pozos, laterales o
ramales
Figure 10.17 A Multilateral well.
 Tipos de Multilaterales
www.slb.com/defining
www.slb.com/defining

Stacked dualStacked
lateral dual lateral Dual opposedDual
andopposed
stacked and stacked Planar dual lateral
Planar dual lateral Planar (pitchfork)
Planar dual lateral dual lateral (pitchfork)
Planar oppos
opposed
opposed triple lateral triple lateral (gullwing)

Planar
Planar opposed dualopposed
lateral dual lateralLateral with Lateral with herringbone
herringbone pattern pattern
Lateral with Lateral
opposedwith opposed Planar quadrilateral
Planar quadrilateral Stacked plan
with herringbone
with herringbone pattern pattern herringbone herringbone
pattern pattern
Figure 2.laterals
Figure 2. Stacked Stacked laterals
are are in vertical
in the same the same vertical
plane; plane; or
opposed, opposed, or laterals
gullwing, gullwing, laterals
are are in zone
in the same the same zone
but run but run indirections
in opposite opposite
herringboneherringbone or whalebone
or whalebone patterns
patterns are created arebycreated
numerousby numerous laterals
laterals that extendthat extendfrom
outward outward fromhorizontal
a single a single horizontal
main boremain borethe
to cover to

Because ML Because
wells ML
thatwells
have that
higherhave
TAMLhigher TAML designations
designations are more arecom-moreandcom- and bore;
the main the main
TAMLbore; TAML
Levels Levels 26 through
2 through junctions6 j
lateral plex, they plex,
are morePlanar
they dual
are lateral
more
costly (pitchfork)
andcostly
their Planar
areopposed
and their configurations
configurations dual lateral
are more
more flexible. Asflexible.
they As they
well wellaincludes
includes a dual
dual upper upper completion
completion to keep thetoflow
keepst
(gullwing)
do with MLdogeometry,
with ML geometry,
engineers engineers
choose a TAMLchoose a TAML
level levelbased
junction junction based primar-
primar-
ily on characteristics,
ily on reservoir reservoir characteristics,
costs and costs and function.
function. Handling Handling the Pressure
the Pressure
Junctions Junctions
can fail ascan fail as a consequence
a consequence of high dra
of high drawdown p
Common Applications
Common Applications neers mustneers must understand
understand the scale of thethose
scalepressures
of those pres
whe
opposed Planar quadrilateral Stacked planar quadrilateral
patternThe most The most applications
frequent frequent applications
of ML wells of ML
are wells are in reservoirs
in reservoirs that requirethat require tion. drawdown
tion. Because Because drawdown
pressures pressures
are exertedaredirectly
exertedo
sand control
sand control and in heavy oil reservoirs. In of
thesand
casecontrol,
of sandthecontrol,
TAML TAML
the Levels 1, 2Levels
and 3 1,junctions
2 and 3 junctions and on asheat
and on a cement cem
wing, laterals are in and in heavy
the same zoneoilbutreservoirs. In thedirections;
run in opposite case and fishbone,
junctions, these junctions should be used onl
ateral Wells TAML (Technical
Clasificación Level 1 Level 2 Level 3

ern
Advancement of Multilaterals)

• Nivel 1: Pozo principal y lateral

en Hueco
90s, multilateral abierto:
wells proliferated No hay
worldwide as innovative
ompletion soporte
technologiesmecánico ni aislamiento
made construction of laterals less
s technically challenging. Multilateral (ML) wells comprise
en la conexión. Se aplica en
wellbore drilled from and connected to a single main bore. In
formaciones consolidadas. No
oirs, operators can leverage this approach to improve reser-
controla
n by accessing numerous laproduction
producciónzones orybyno se
increasing
ea betweengarantiza
a wellbore andre-entrada.

a formation with minimal increase Level 4 Level 5 Level 6

completion costs. These techniques also reduce the environ-
• Nivel
nt of drilling 2: subsequent
rigs and Principal cementado
production y
trees, particu-
perations.
lateral a hueco abierto: Se
usan deflectores recuperables
Configurations—TAML Levels
para re-entradas
e used rudimentary ML wells since a
thelaterales

1950s. However, by
e applying the strategy in an expanding variety of configura-
• Nivel
g an industry group3:of Principal
operators and cementado
service companiesyto
ium—Technology
lateral Advancement of Multilaterals (TAML)—to
con revestimiento: Hay
sification system for ML wells. The consortium chose to cate-
integridad mecánica pero no
s according to the type of junction used to join the main bore
controla
and produced standardspresiones
that were designated TAML Levels 1
Figure 1. Multilateral wells are characterized according to definitions
e ascending order of these levels reflects increasing mechani-
established
Fuente: in 1997 during the Technology Advancement of Multilaterals
Schlumberger
ure capability of the junction (Figure 1). As a consequence, (TAML) Forum held in Aberdeen. These standards classify junctions as
ty and risk also increase at the higher TAML levels. TAML Level 1, 2, 3, 4, 5 or 6 based on mechanical complexity, connectivity
ateral Wells TAML (Technical
Clasificación Level 1 Level 2 Level 3

ern
Advancement of Multilaterals)

• Nivel 4: Principal y lateral

cementados:
90s, multilateral Integridad
wells proliferated worldwide as innovative
ompletion technologies made construction of laterals less
mecánica y aislamiento
s technically challenging. Multilateral (ML) wells comprise
hidráulico

wellbore drilled from and connected to a single main bore. In

oirs, operators can leverage this approach to improve reser-
• Nivel
n by accessing 5: Cementados
numerous production zones orcon
by increasing
ea betweenintegridad
a wellbore and a formation
por with minimal increase Level 4 Level 5 Level 6
completion costs. These techniques also reduce the environ-
completamiento: La integridad
nt of drilling rigs and subsequent production trees, particu-
perations. de presión aumenta mediante
tubulares y empaques

Configurations—TAML Levels
e used •rudimentary ML wells since the 1950s. However, by
Nivel 6: Cementados con
e applying the strategy in an expanding variety of configura-
integridad
g an industry por and
group of operators revestimiento:
service companies to
Integridad
ium—Technology total
Advancement de presión.
of Multilaterals (TAML)—to
Requiere
sification system anulares
for ML wells. de gran
The consortium chose to cate-
s accordingtamaño
to the type of junction used to join the main bore
and produced standards that were designated TAML Levels 1
Figure 1. Multilateral wells are characterized according to definitions
e ascending order of these levels reflects increasing mechani-
established
Fuente: in 1997 during the Technology Advancement of Multilaterals
Schlumberger
ure capability of the junction (Figure 1). As a consequence, (TAML) Forum held in Aberdeen. These standards classify junctions as
ty and risk also increase at the higher TAML levels. TAML Level 1, 2, 3, 4, 5 or 6 based on mechanical complexity, connectivity
Pozos de Alcance Extendido
(Extended Reach Drilling)

• Pozo de radio largo en el que

la relación de TVD a
Desplazamiento Horizontal es
mayor a 2

• Es crítico la selección de la
broca para evitar sacar sarta
que pude tomar hasta 48 horas

• Facilita llegar a yacimientos en

zonas sensibles

• Con ERD la torre se puede

ubicar a mas de 12 km del
yacimiento
Coil Tubing Drilling
(CTD)
• Es principalmente un servicio de
re-entrada en busca de bolsas
de hidrocarburos

• Tubería metálica continua, de 1”

a 4” de diámetro

• Se encuentra enrollada en
carretes (reels)

• Se han fabricado
comercialmente con longitudes
de mas de 30000 ft con rangos
comunes entre 2000 y 15000 ft.

• Normalmente tienen resistencias

elásticas de 55000 a 120000 psi
Planeación de la
Trayectoria del pozo
• La trayectoria del pozo es de
los aspectos mas importantes
en perforación direccional

• Múltiples pozos desde una

misma plataforma

• Estudios anti colisión

• Efectos de los esfuerzos

terrestres
 DIRECTIONAL DRILLING
Types Of Well Profiles

Patrones direccionales . . . . . . . . . ..

Figure 11.12 Types of well profiles

TVD Departure
Type I Type II (S Type III

Kick-Off Point
Kick-off Point
Build-up Section
Build -up Section End Of Build-up
Tangent Section
End Of Build- up
Kick-Off Point

Start of Drop Drop Section

Tangent Section

End Of Drop
Build-Up
Hold Section

Target Target Target

Tomado del texto de Rabia, Well Engineering & Construction

There are three basic well profiles which include the design of most directional wells:
 HORIZONTAL AND DIRECTIONA
Patrones
Direccionales
• Tipo I, Buid and Hold

• El KOP está colocado a

superficies someras

Kick Off Point

• Sigue la sección curva

Buildup Section
• Termina con la tangente End of Buildup
hasta el objetivo

• Se aplica cuando se requiere

Tangent Section
desplazamientos
horizontales considerables

Figure 10.26 Type l (Build & Hold).

 To carry out the geometric planning for a Type I well, Figure 11.13, the followin
tion is required:
• Surface Co-ordinates
• Target Co-ordinates

Tipo I - Build & Hold •

DIRECTIONAL DRILLING
TVD of target
• TVD to KOP

. . .. .. .. . .
Build-up & Hold Design
DIRECTIONAL DRILLING
•Build-up
Build-up rate
• En ángulo de inclinación α & Hold Design
. . . . . . . . . ..

se R > D2máximo es:

. . . . . . . . . ..
Figure 11.13 Type I profile
ase R > D2
• Para
mum inclination angleR >αmax D2
for type I trajectory is given by:
ximum inclination angle
( V 3 – V 1max
α ) for type I trajectory is givenV by:
R  3 – V1
αmax = arc tan ------------------------ – arc cos   ------------------- x sin arc tan  -------------------  (11.4)
(V R 3––DV21) ) V3 R – V 1 VR – D
3 V 12 
 
   
αmax = arc tan ------------------------ – arc cos   ------------------- x sin arc tan  -------------------  (11.4)
( R – D2 ) V3 – V1 R – D2
Case R < D2
detailed
Case R < Dtrigonometry shown in Figure 11.13, the maximum inclination angle
2
ype
mumI inclination
trajectory angle can αmax beiscalculated
given by: for two cases:
• Paraangle
ximum inclination R <αD2 is given by:
V 3 –max V1 R  V3 – V1
: α max = 180 – arc tan  -------------------

V
 – arc cos ------------------- sin arc tan ------------------- 
   (11.5)
D32 – V R1   V3 R – V 1 VD3 2––VR1   α
: α max = 180 – arc tan  ------------------- – arc cos   ------------------- sin arc tan  ------------------- 
    (11.5)
D –R V –V D –R
ngineering & Construction
2 3 1 2
p Section
p Section
of curvature (R) of build-up section:
s of curvature (R) of build-up section:
360x100 Tomado del texto de Rabia, Well Engineering & Construction
R = -------------------------- (11.6)
Using the detailed trigonometry shown in Figure 11.13, the maximum inclina
2xπxBUR
360x100
R = -------------------------- (11.6)
2xπxBUR αmax for type I trajectory can be calculated for two cases:
where BUR = build-up rate, degrees/100ft
where BUR = build-up rate, degrees/100ft
ed length of build-up section:
 ation angle
inclination α isforgiven
αmax
angle type I by:
trajectory is given by:
max
V3 – V1 R • TVD of target V3 – V1

0 – arc tan -------------------
V
( V33 – V V )

11
– arc cos   -------------------
RV R sin arc
V tan
– V V -------------------
–
3 – R
V  
1   (11.4)
(11.5)
80  D
max– arc tan ( R2 – D )
= arc tan – R
-------------------
-----------------------
- –– arc cos
arc cos 
 
  -------------------
3
–xV
-------------------
sin 1
 •
sin
arc TVD
tanarc
3
tan to 1 D
 ------------------- -------------------
KOP 2 (11.5)
 D2 – R   V3– V 1  R – D 2 
2  V 3 – V 1 D2 – R  
Tipo I - Build & Hold
Rpe< ID2profile
• Build-up rate

inclination
(R) of angle de
build-up
• Radio is given by: R

section:
αmax
curvatura, Figure 11.13 Type I profile
e (R) of build-up section:
V3 – V1 R  V3 – V1
  360x100
= 180 – arc tan ------------------- – arc cos ------------------- sin arc tan ------------------- 
   (11.5)
ax  D 2 –RR =  -------------------------
360x100   V 3 –- V 1  D2 – R   (11.6)
R = 2xπxBUR
-------------------------- (11.6)
2xπxBUR
on = build-up
UR • BUR rate, degrees/100ft
= ogrados/100 ft

UR = build-up rate, degrees/100ft α

vature (R) of build-up section:
• Longitud
build-up section:medida de la sección
f build-up section:R = -------------------------
360x100
- (11.6)
curva:
2xπxBUR
α 1 x100
ere BUR = MD
build-up rate,
2 = α 1 x100-
------------------
degrees/100ft
MD 2 = ------------------
(11.7)
(11.7)
BUR -
BUR
ngth of build-up section:
==maximum inclination angle at end
end of
of build
buildup
upsection
section
maximum
• α inclination
es el máximo angle at
ángulo al
α
α 1 x100
MD 2 = ------------------- (11.7)
uild-up final de la sección
section: BUR curva
Using the detailed trigonometry shown in Figure 11.1
uild-up section:
αmax
ere α = maximum inclination angle at end of build for type I trajectory can be calculated for two ca
up section
V
V2 -- V
• Longitud
V1 == R
vertical
R1dexx sin
la sección
sin α
α (11.8)
(11.8)
2 1 1
curva
h of build-up section:
Tomado del texto de Rabia, Well Engineering & Construction
ment (departure)
ement (departure) V -atV end
= R ofx build-up
sin
2 at 1end 1of build-up section:
Using thesection:
α detailed
392 Well Engineering
trigonometry (11.8)
shown & Construction
in Figure 11.13, the maximum inclina
D = R x (1 - cos for type I trajectory can be calculated for two
αmaxα) cases:
(11.9)
D1 = Rat1 end
splacement (departure) x (1of-build-up
cos α)section: (11.9)
 α 1 x100
MD 2 = ------------------- • TVD of target (11.7)
BUR
• TVD to KOP
α = maximum inclination angle at end of build up section
Tipo I - Build & Hold
• Build-up rate
build-up section:
V2 - V1 = R1 x sin α (11.8)
• Desplazamiento horizontal al Figure 11.13 Type I profile
final de la sección curva:

ement (departure) at end of build-up section:

D I R E C T I OD
N1A=
LRD1RxI L(1L I- Ncos
G α) (11.9)
Build-up & Hold Design
D I• R ELongitud
C T I O N A L de
D R Ila
L Lsección
ING α
tangente:

Build-up & Hold Design

of
1
tangent
D I R Esection:
CTIONAL DRILLING
Build-up & Hold Design V3 – V2
MD 3 = ------------------- (11.10)
V 3cos– Vα2
MD 3 = ------------------- (11.10)
• Distancia vertical
cos αde
V3 – V2
la sección
Well Engineering & Construction
ngent section:
tangente:
3
MD = -------------------
cos α
(11.10) 393
α
tangent section:
V3 - V2 = MD3 x cos α
of tangent section: (11.11) shown in Figure 11.1
Using the detailed trigonometry
V3 - V2 = MD3 x cos α (11.11)
V3 - V2 = MD3 x cos α αmax for type I trajectory
(11.11) can be calculated for two ca
ment• atDesplazamiento
cement atend
endof
of tangent section:
al final de la
tangent section:
lacementsección
at end of tangente
tangent section:
DD22== DD11 + MD33xxsin
+ MD sinα α Well Engineering (11.12) (11.12)
Tomado del texto de Rabia, Well Engineering
& Construction
& Construction
D2 = D1 + MD3 x sinUsing
α the detailed
392 trigonometry shown
(11.12) in Figure 11.13, the maximum inclina
αmax for type I trajectory can be calculated for two cases:
epth for type I wells:
 V3 – V2
MD 3 = ------------------- • TVD of target (11.10)
cos α
• TVD to KOP
ength of tangent section:
Tipo I V-- Build
V = MD x &
3 cos αHold
2
• Build-up rate
3 (11.11)

al displacement at end of tangent section:

• ProfundidadD = D +total
MD xmedida
sin α en el Figure 11.13(11.12)
Type I profile
2 1 3
pozo Tipo I:

asured depth for type I wells:

TMD= MD1 + MD2 + MD3 (11.13)

TYPE WELL DESIGN α

• MD1 = V1
t the geometric planning for a type II well the following information is required:
Surface Co-ordinates
Target Co-ordinates
TVD of target
α
TVD at end of drop-off (usually end of well)
TVD to KOP Using the detailed trigonometry shown in Figure 11.1
Build-up rate αmax for type I trajectory can be calculated for two ca
drop-off rate
Final angle of inclination through target Tomado del texto de Rabia, Well Engineering & Construction
Using the detailed
392 Well Engineering
trigonometry & Construction
shown in Figure 11.13, the maximum inclina
ese wells have two curves, two radii need to befor
αmax calculated and compared
type I trajectory canwith
be the
calculated for two cases:
ure D . These quantities are then used to calculate the maximum possible
 ........

Figure 11.14 S-type well: D3>(R1 + R2)

Pozo Tipo II o S
V1 KOP
• Se requiere la siguiente información:

A R1 O
α
• Coordenadas en superficie
V2
β
B
• Coordenadas del objetivo

• TVD del objetivo

V3
• TVD al final del drop-off

• TVD del KOP

• BUR

C
R2
• Drop-off rate
V4
D
H F E
• Angulo final de inclinación al D1 D2
objetivo
V5 D3

Tomado del texto de Rabia, Well Engineering & Construction

 ........

Figure 11.14 S-type well: D3>(R1 + R2)

Pozo Tipo II o S
V1 KOP
• Como estos pozos tienen dos R1
A O
secciones curvas de deben α
calcular dos radios y V2
β
compararlos con la distancia B

total del objetivo D3.

• Estas distancias se usan para V3

calcular el máximo ángulo de
inclinación al final del build up

C
R2
V4
D
H F E
D1 D2

V5 D3

Tomado del texto de Rabia, Well Engineering & Construction

 D2
Figure 11.14 S-type well: D3>(R1 + R2)
D3
D3

Pozo Tipo II o S V1 KOP

r SS Type
Type Wells
Wells A R1 O
α
• Radio R1 del la sección de
R1)) of
(R of build-up section: V2
1 buildup:
section:
build-up
B
β

360x100 DIRECTIONAL DRILLING

(11.14)

.....
360x100-
RR1 == -------------------------
1 --------------------------
2xπxBUR (11.14) Build-up & Hold Design
2xπxBUR
R == build-up
UR build-up rate,
rate, degrees/100ft
degrees/100ft . . . . . . . . . ..
• Radio de curvatura de la V3

of sección
drop-off wheredrop-off:

section: DOR = Drop off rate, degrees/100ft

of drop-off section:
G
The total departure, 360x100
D3 (or-- horizontal displacement) of the target is calculated using
360x100
RR2 == --------------------------
-------------------------- (11.15)
(11.15)
2 2xπxDOR
Equation (11.2). 2xπxDOR C
• DOR = ogrados/100 ft
V4
R2

D
3. First Case D3 > R1 + R2, Figure 11.14 H F E
• Si D3 > R1+R2 y el pozo
Construction D1 D2
Construction
If the Stermina en vertical:
well returns to vertical at end of drop off section at point D, Figure 11.14, then the
V5 D3
maximum inclination angle is given by:
Tomado del texto de Rabia, Well Engineering & Construction
V4 – V1 R1 + R2 V4 – V1
α max = 180 – arc tan ------------------------------------- – arc cos ------------------- x sin arc tan -------------------------------------  

 D 3 – ( R 1 + R 2 )
  
  V 4 – V 1
 


 ( R 1 + R 2 ) – D 3  
(11.16)
maximum inclination angle is given by:
V4 – V1 R1 + R2 V4 – V1
α max = 180 – arc tan ------------------------------------- – arc cos ------------------- x sin arc tan -------------------------------------  

 D 3 – ( R 1 + R 2 )
  
  V 4 – V 1
 


 ( R 1 + R 2 ) – D 3  
(11.16)

Pozo Tipo II o S
4. Second Case D R + R , Figure 11.16
3< 1 2

The• maximum
Si D3 <allowable
R1+R2
inclination angle αmax is determined by:
DIRECTIONAL DRILLING
11 Build-up & Hold Design
( V4 – V1 ) R1 + R2 V4 – V1
α max = arc tan ------------------------------------- – arc cos ------------------- x sin arc tan -------------------------------------  
     (11.17)
( R1 + R2 ) – D3   V 4 – V 1   ( R 1 + R 2 ) – D 3  

Figure 11.15 S-Type well: D3<(R1 + R2)

The• above
y el equation is only valid
pozo vuelve a la ifvertical
the well returns to vertical at point D, Figure 11.16. If the
well does not return to vertical then the following further calculations need to be made at the
end of the drop off section using Figure 11.17. V1
R1
A
O
α1
V2

β
B

G
α1
V3

R2 Y
V4
α1
J
F E D
D1
FD = R2
D2

V5
D3
Tomado del texto de Rabia, Well Engineering & Construction
 1 2

α1− α2
D1

D1 D2
DIRECTIONAL DRILLING
D2 D3 Build-up & Hold Desig
V5
Pozo Tipo II o S D4
D3
α2

α2
TMD . . . . . . . . . ..
D4 TMD
well that do not return to vertical, first calculate D3, Figure 11.17
Figure 11.17 S Well that does not return to vertical
• Si el pozo no termina en
D3 = D4 - (V5-V4)tan α 2 (11.18)
that do not return to vertical, first calculate D3, Figure 11.17
vertical:

DIRECTIONAL DRILLING
11 Build-upD& Hold
V1 MD1
+ R2 cos α 2 = DDesign
3 - (V 4 5-V4)tan α 2 (11.18)
R1
•
11 Si D3 < R1+R2Cosα2

DIRECTIONAL DRILLING O

Build-up & Hold Design α1

2 cos α 2 V2
R 1 + R 2 ) sin a MD2
Y = R1 +b R cosα(----------------------------------
=2 asin 2 +(V5-V4)tan - α 2 -D4 (11.19)
(11.21)
 Y 

a b= =atan ( R1 +Y R 2 ) sin a-

 ---------------------------------------- (11.20)
α  =b-a
 V1----------------------------------
asin + R sin β – R - (11.22)
(11.21)
Y = R1 + R cos α4 +(V Y -V 1)tan α -D4 (11.19)
2 2 5 4 2 α1 MD3
V3
+ R2 cos α 2 α1 =b-a (11.22)
Y
a= atan  ----------------------------------------- (11.20)
+ R2 cos αSi D3 > R1+R2Cosα2
•  V 4 + R sin β – R 1 Well Engineering & Construction 399
2
MD4
R2
Y = H4 - R1 - R2 cos α 2 -(V5-V4)tan α 2 -D4 V4 (11.23)
α1− α2
Well Engineering & Construction 399
Y= H4 -aR=1 -atan
R2cos α2 Y -(V5-V-4)tan α 2 -D4
---------------------------------------- (11.23)
(11.24)
 V 4 + R sin β – R 1 D1
Y D2
a = atan  ----------------------------------------
(R + R sin a
- (11.24)
V 41 + R sin 2 )β – R 
b = asin  ---------------------------------- -1 (11.25) D3
Y 
V5 α2
( R 1 + R 2 ) sin a D4 TMD
b= asin  ----------------------------------
α 1 =b +Ya -

(11.25)
(11.26)
=b + a α1 Tomado del texto de Rabia, Well Engineering & Construction
(11.26)
5. For S well that
α 1 is calculated, the well geometry can be established as follows: do not return to vertical, first calculate D3, Figure 11.17
D = D - (V -V )tan α (11
 αα11 =b
=b + a (11.26)
(11.26)
( R 1 + R 2 ) sin a
b= asin -----------------------------------
 (11.25)
 Y 
culated, thewell
lated, the wellgeometry
geometry can
can be
beestablished
establishedasas
follows:
follows: DIRECTIONAL DRILLING
α1 =b + a 11(11.26)
Pozo Tipo II o S
Build-up & Hold Design

calculated, the well geometry can be established as follows:

uild-up section:
d-up •section:
on
Sección deα buildup:

Figure 11.16 S Well that returns to vertical

x1001
MD = ------------------
f build-up section: 2 αBUR x100 - (11.27)
1
MD = ------------------
2 - (11.27)
V1 MD1
αBUR
x100
1 = maximum inclination 1 angle at end of build up section
MD 2 = ------------------
- (11.27) R1
O
BUR
= maximum inclination angle at end of build up section α1
Vertical
= •maximum
eofα1build-up de Sección
inclination
section: buildup

angle at end of build up section V2

MD2
build-up
nd section:
V2section:
of build-up = V1 + R1 x sin α1 (11.28)
V2V=2 =VV
1 1++R
R11 xx sin
sinαα
11 (11.28) (11.28)
ent (departure) at end of build-up section: V3
α1 MD3

ement Horizontal
•(departure)
= at
D1 at
t (departure) 1end
Rendx ofal-build-up
of
(1 final
cos α1del
build-up buildup

)section:
section: (11.29)
D1 = R1 x (1 - cos α1) (11.29)
D1 = R1 x (1 - cos α1) (11.29) R2
MD4
V4
n α1
DIRECTIONAL DRILLING
of tangent section:

.....
D
• Vertical
nd of tangent section: de la tangente en Build-up & Hold Design D1

verticalpozos que terminan

section:vertical
D2
otangent at end of
section: drop-off . . . . . . . . . ..
rn to vertical at end of drop-off section: V5
D3
V3 = V4- R2 sin α1 (11.30) TMD
&vertical
Construction
at end of drop-off section:
g & Construction
Tomado del texto de Rabia, Well Engineering & Construction
t partially drop angle and maintain a certain inclination to target (Figure 11.17),
onstruction
V3 = V4 -R2 (sin α1 -sin α2) (11.31)
 DEI C
DIR RTEICOTNIAOLNDARLI LDLR
I NI G
LLING DIRECTIONAL DRILLING

.....
.....
Build-up
Build-up &Design
& Hold Hold Design Build-up & Hold Desig

Pozo Tipo II o S . . . .. .. .. .. ....... . . .. . . . . . . . . . ..

V = V - R sin α (11.30)
V3 3= V44- R22 sin α11 Figure
DIREC T I O N A L11.17
D R I L L ISN G
Well (11.30)
that does not return to vertical
• Para poso S que no terminan

.....
Build-up & Hold Design
that partially drop angle and maintain a certain inclination to target (Figure 11.17),
partiallyen
y: dropvertical

angle and maintain a certain inclination . . . .to

. . target
. . . .. (Figure 11.17),
V1 MD1
V3 =-RV4(sin
V3 = V - R2 sin α1 α )
α1 -sin (11.30)
(11.31)
4 2 2 R1 O

ells that partially V 3 =angle

drop V4 -Rand (sin α1a -sin
2maintain certain 2)
αinclination to target (FigureV211.17), (11.31) α1
ength of tangent section:
e by: MD2
• Medida
h of tangent section:deMDla =tangente

V3 – V2
3
-------------------
V = V -R (sin 4 32α -sin α ) (11.32)
(11.31)
cos α11 2
V3 – V2
MD
d length of tangent section: 3 = ------------------- (11.32) MD3
cos α 1
displacement at end of tangent section: V3
α1
V3 – V2
MD 3 = ------------------- (11.32)
D2 = D1 + (V3 -cos Vα21) x tan α1 (11.33)
• Desplazamiento
lacement horizontal
at end of tangent section: al
f Section
tal finalatde
displacement end la tangente
of tangent section: R2
MD4
D2 = D1 + (V3 - V2) x tan α1 V4 (11.33)
D2 = D1for
ength of drop-off section + (V - V2) that
S3wells x tanreturn
α1 to vertical: (11.33) α1− α2

ction
Off Section D1
α 2 x100
MD 4 = ------------------
- (11.34) D2
DOR
hd length
of drop-off section
of drop-off for
section forSS wells thatreturn
wells that return to vertical:
to vertical:
D3
where α2 = maximum inclination angle at end of drop off section
α 2 x100 V5 D4 α2
MD 4 = α
2 x100
------------------
- (11.34) TMD
ured depth for S wells that return
DOR
MD 4 = -------------------
to vertical:
(11.34)
DOR
where = maximum inclination angle at end of drop off
α2 section
Tomado del texto de Rabia, Well Engineering & Construction
ere α2 =TMD=
maximumMD1 +inclination
MD2 + MD3angle + MDat 4 +end5.
(V5ofFor S
-V4drop
) well
offthat do not return
section (11.35) to vertical, first calculate D3, Figure 11.17
easured depth for S wells that return to vertical:
D = D - (V -V )tan α (11
 MD 3 = ------------------- (11.32)
ength of tangent section: cos α 1

V3 – V2
acement at end of tangent
MD 3 = section:
------------------- (11.32)
DIRECTIONAL DRILLING
cos α 1 11
Pozo D2 =Tipo
D1 + (V3II - Vo ) xS
Build-up & Hold Design

2 tan α1 (11.33)
displacement at end of tangent section:
ction D2 = D1 + (V3 - V2) x tan α1 (11.33)
Figure 11.16 S Well that returns to vertical
• Vertical de drop-off en pozos
hf Section
of drop-off section for S wells that return to vertical:
que terminan en vertical:

ength of drop-off section for S wells that return to vertical: V1 MD1

α x100 2
MD 4 = ------------------
- (11.34) R1
O
DOR
α 2 x100
MD 4 = ------------------- (11.34) α1
DOR V2
ere α2 = maximum inclination angle at end of drop off section MD2
where• α2Profundidad total angle
= maximum inclination paraat pozos
end of drop off section
depth forque terminan
S wells entovertical:
that return vertical:
ured depth for S wells that return to vertical:
α1 MD3
TMD= MD
TMD= 1+
MD MD + MD + MD4 +
1 + MD22 + MD33 + MD4 + (V(V
5-V54-V
) 4)
V3
(11.35)(11.35)

at end
epth of aofpartial
at end a partialdrop
dropsection wherethethe
section where angle
angle of inclination
of inclination is maintained
is maintained MD4
R2
egure 11.17)
11.17) is givenby:
is given by: V4
α1
( α 1 – α 2 )x100 D
α 1 – α 2 )x100
MD 4 = (-----------------------------------
- (11.36)
DOR
MD = -----------------------------------
4 - (11.36) D1
DOR D2

ured depth at end of an S well where the angle of inclination is V5

maintained to
depth
en by: at end of an S well where the angle of inclination is maintained to
D3
TMD
y: ( α 1 – α 2 )x100 ( V 5 – V 4 ) Tomado del texto de Rabia, Well Engineering & Construction
TMD= MD1 + MD2 + MD3 + ------------------------------------ + ------------------------ (11.37)
DOR cos α 2
( α 1 – α 2 )x100 ( V5 – V4 )
TMD= MD1 + MD2 + MD3 + ------------------------------------ + ------------------------ (11.37)
DOR cos α 2
 isplacement at end of tangent section:
α 2 x100
MD 4 = ------------------- (11.34)
D2 = D1 + (V3 - DOR
V2) x tan α1 (11.33) DIRECTIONAL DRILLIN
Build-up & Hold Desi
eSection
Pozo Tipo II o S
α 2 = maximum inclination angle at end of drop off section
. . . . . . . . . ..

epth for
ngth of S wells
drop-off that for
section return to that
S wells vertical:
return to vertical:
Figure 11.17 S Well that does not return to vertical
• Vertical
TMD= MD1 + de drop-off en
MDpozos
MD α 2 x100
MD24 += MD
4 + (V5-V4) 3- +
------------------ (11.34) (11.35)
DOR
que no terminan en vertical y el
where α2 = maximum inclination angle at end of drop off section V1 MD1
at end ofángulo
a partial de
dropinclinación
section where sethe angle of inclination is maintained
R1
red depthismantieneby:thathasta elvertical:
objetivo

O
11.17) given
for S wells return to α1
V2
TMD= MD1 + MD2(+α 1MD
– α32+)x100
MD4 + (V5-V4) (11.35) MD2
MD 4 = ------------------------------------ (11.36)
DOR
epth at end of a partial drop section where the angle of inclination is maintained
• Profundidad
gure 11.17) is given by: total para pozos
epth at end of an S well where the angle of inclination MD3
V3 is maintained to
α1

: que no MDterminan
( α 1 – α 2en )x100vertical y el
= -----------------------------------
- (11.36)
4
ángulo de inclinación DOR se
( α 1 – α 2 )x100 ( V5 – V4 ) MD4
MD= MDmantiene
red depth at1end of an2 S+hasta
+ MD well 3 +el-----------------------------------
MDwhere objetivo:

the angle of inclination

- + ------------------------ (11.37) R2
DOR cos αis maintained to V4
2
n by: α1− α2

( α 1 – α 2 )x100 ( V5 – V4 ) D1
TMD= MD1 + MD2 + MD3 + ------------------------------------ + -----------------------
- (11.37) D2
DOR cos α 2
Well Engineering & Construction 401 D3
V5 D4 α2
TMD

Well Engineering & Construction 401

Tomado del texto de Rabia, Well Engineering & Construction
5. For S well that do not return to vertical, first calculate D3, Figure 11.17
D = D - (V -V )tan α (1
 Figure 10.28 Type 2 ( S Type Well).

Pozo Tipo III

• Se usa en casos de domos de
sal o para evaluar extensiones
de reservas

• Se requiere conocer:

• Coordenadas en superficie

• Coordenadas del objetivo

• TVD del KOP

• Buildup rate Kick Off Point

Buildup Section

Target
 • Target Coordinates
DIRECTION
one
• other
Thenparameter from:
one other parameter from:
Build-
•Maximum•Maximum
inclinationinclination
angle angle
....
Pozo Tipo III
•TVD to KOP
•TVD to KOP
•Build-up rate
•Build-up rate Figure 11.17 S Well that does not return to vertical
• El ángulo de inclinación final
nclination angleby:
ngle α ises:
give α is give by:

 D 
 α = D2 atan -------------------------  V1 (11.38)
MD1
α = 2 atan  -------------------------TVD – V 1  (11.38)
 TVD – V 1  R1 O
TVD – V 1
TVD – V R = ------------------------- (11.39) α1
R = -------------------------1 sin α TVD
V2 (11.39)
sin α MD2
18, 000
BUR = -----------------
- (11.40)
18, 000 πR
BUR = ------------------ (11.40)
πR
where
R = Radius of curvature α1 MD3
= Radius
V3 D
D of=curvature
total required horizontal displacement Tomado del texto de Rabia, Well Engineering & Construction

= totalTVD
required horizontal
= Target TVD displacement
= Target TVD MD4
R2
ple 11.3: Design of an S-type profile V4
Design of an lengths,
ate the measured S-typevertical
profiledepths and horizontal displacements of each section
α1− α2

following S-shaped well designed to avoid a salt dome, using the following data
D1 and
sured lengths, vertical depths and horizontal displacements of each section
11.16. D2
-shaped well designed to avoid a salt dome, using the following data and
Ejercicio
Calcule las longitudes, los desplazamientos verticales y horizontales para cada sección del
pozo tipo II (S), usando los siguientes datos:

Profundidad al KOP = 1200 ft

BUR = 2 o/100 ft
DOR = 3.5 o/100 ft
TVD al final del drop-off (V4) = 8157 ft
Desplazamiento Horizontal total, D3 = 2136 ft
Angulo de inclinación final = 0 grados
 Build-up & Hold Design

...
...
DIRECTIONAL DRILLING
. . . . . . . . . ..

.....
Build-up. &
. .Hold
. . .Design
. . . ..
Kick-offdepth
Kick-off depth = 1,200
= 1,200 ft ft . . . . . . . . . ..
EjercicioBuild-up
Kick-off
Build-updepth
rate
rate = 1,200 ftdegrees/100
= 2.0
= 2.0 degrees/100
ft ft
Build-up rate = 2.0 degrees/100 ft
Drop-off
Drop-offrate
Calcule las longitudes, los desplazamientos=verticales
rate 3.5 degrees/100
= 3.5 ft ft
degrees/100
y horizontales para cada sección del
Drop-off
pozo tipo II (S), usandorate los siguientes datos: = 3.5 degrees/100 ft
TVD
TVD atatend
endofofdrop-off
drop-offsection
section(V(V
4) ) = 8157 ft ft
= 8157 4
TVD at end of drop-off section (V4) = 8157 ft
Profundidad al KOP
Total
Total = 1200
horizontal
horizontal ft
displacement
displacement (D(D
3)3) = 2136
= 2136ft ft
BUR = 2 o/100 Total
ft horizontal displacement (D3) = 2136 ft
Final
Final inclination
inclinationangle
angleininreservoir
reservoir = zero
= degrees
zero degrees
DOR = 3.5 /100
o ft
Final inclination angle in reservoir = zero degrees
TVD al final del drop-off (V4) = 8157 ft
Solution,
Solution, see
see Figure
Figure 11.16
11.16
Desplazamiento Horizontal
Solution, total,11.16
see Figure D3 = 2136 ft
Angulo de inclinación final = 0 grados
1. Radius of curvature
1. Radius
1. Radiusofofcurvature
curvature
1. Radio de curvatura:
Build-up section
Build-up section
Build-up section
a. Sección de Buildup
360x100 - 360x100 360x100
R = -------------------------
360x100
360x100
R 11 = -------------------------- = = 360x100 - =- =
--------------------
-------------------- 2,865
2,865 ft ft
-------------------------- =
2xπxBUR
R 1 = 2xπxBUR 2xπx2
2xπx2--------------------- = 2,865 ft
2xπxBUR 2xπx2
Drop-off section
Drop-off section
b. Sección de Drop-off
Drop-off section
360x100- = 360x100
360x100 360x100
R22 == --------------------------
--------------------------- =-------------------- = 1,637
- =- 1,637
-------------------- ft ft
360x100 2xπx3.5
2xπxDOR
2xπxDOR 360x100
2xπx3.5
R 2 = --------------------------- = --------------------- = 1,637 ft
2xπxDOR 2xπx3.5
R11 ++ RR22==2,865
R 2,865++1,637 = 4,502
1,637 ft ft
= 4,502
R1 + R2 = 2,865 + 1,637 = 4,502 ft
D3 == 2,136
D ft (given)
3 2,136 ft (given)
 R 2 = --------------------------- = = 1,637 ft
2xπxDOR 360x100 2xπx3.5
360x100
R 2 = --------------------------- =
--------------------- = 1,637 ft
2xπxDOR 2xπx3.5
R1 + R2 = 2,865 + 1,637 = 4,502 ft
R1 + R2 = 2,865 + 1,637 = 4,502 ft
Ejercicio
D3 = 2,136 ft (given)
D3 = 2,136 ft (given)
Since (R1 + R2) is greater than D3, Equation (11.17) must be used for determining the
D3
Since=(R
2136
1 + R2ft) is greater than D3, Equation (11.17) must be used for determining the
maximum inclination angle αmax :
Como D3 es menorDDIque
maximum inclination angle α CTR1+R2,
IRREECmax
:
TI O
IONN
AAL LD R El
D IRLILLángulo
ILNIG
NG de inclinación máximo es:
11
11
( V–4V– V R
( V ) 1)
Build-up
Build-up &&Hold
HoldDesign
R Design
+  R 1 + R 2  V –
 V V4 – V1
α
α max arctan
max == arc
------------------------------------
tan------------------------------------
4 1
- – -arc– cos
arc cos 1 -------------------
2
 ------------------- x sin  arc x sin
tan arc tan ------------------------------------
4 1
------------------------------------
-  -  
( R(1R+1 R +2R ) –2 )D–3 D 3   V 4– V V 14 – V 1  ( R + R ( R
1
+R
2 ) –1 D 3 2
  ) – D 3  

V4 ==αα8157
8157= ft
ft
arc (given)
tan
8157
(given)
8157 ––R1200
1200
-----------------------------
D I E C -T I–O N
arcA L
cos
max = arc tan ------------------------------ – arc cos
D R
 I L 4502
L I4502
-----------------------------
N G - xsin  arc
-----------------------------
- x sin  tan
arc
 8157
tan  8157 – 1200 – 1200-  -   = 19
-----------------------------
----------------------------- = degrees
19 degrees
max 11 4502
4502 ––2136 8157
2136& Hold Design
Build-up
– 1200
 8157
– 1200     4502 – 2136
 4502 
– 2136  
V1== 1200
V ft (given)
1 1200 ft (given)
8157 – 1200 4502 8157 – 1200
2.
α maxKick-off ------------------------------ – arc cos   ------------------------------ x sin  arc tan  ------------------------------  
= arc tan point = 19 degrees
2. Kick-off point
4502 – 2136   8157 – 1200   4502 – 2136  

2. KOP: Well Engineering & Construction 403

V1 = 1,200 ft Well Engineering & Construction
V1 = 1,200 ft 40

2. Kick-off
MD = point
V = 1,200 ft
MD11 = V11 = 1,200 ft
V1 =3.1,200 ft section
Build-up
3. Sección 3.
deBuild-up
Buildup section
MDMD x100 ft19x100
1 = V=1 =
α 11,200
2 α x100- = -----------------
------------------
BUR
1 19x100
- = 950 ft
2
- = ------------------ = 950 ft
MD 2 = ------------------
BUR 2
3. Build-up section
V2 = V1 + R1 x sin α1 = 1,200 + 2,865 x sin 19 = 2,133 ft
V2 =
α 1V 1 + R19x100
x100 1 x sin α1 = 1,200 + 2,865 x sin 19 = 2,133 ft
MD 2 = ------------------- = ------------------ = 950 ft
D1 =BUR R1 x (1 - cos 2 α1) = 2,865 x (1 - cos 19) = 156 ft
D1 = R1 x (1 - cos α1) = 2,865 x (1 - cos 19) = 156 ft
V2 = V1 + R1 x sin α1 = 1,200 + 2,865 x sin 19 = 2,133 ft
 αα1 x100 19x100
1 x100 - = -----------------
MD 2 = ------------------ 19x100 - = 950 ft
MD 2 = α------------------
BUR
1 x100 - =19x100 2 - = 950 ft
-----------------
BUR- =
MD 2 = ------------------ 2
-----------------
- = 950 ft
BUR 2
V2 = V1 + R1 x sin α1 = 1,200 + 2,865 x sin 19 = 2,133 ft
VV22 == V
V11 ++RR1 1x xsinsin α1α=11,200 = 1,200 + 2,865
+ 2,865 x sin x19sin =192,133=ft2,133 ft
Ejercicio
D = R x (1 - cos α ) = 2,865 x (1 - cos 19) = 156 ft
DD = R
1
R xx(1(1- -cos
1
cosα α) =)2,865
= 2,865
x (1x- cos
(1 -19)
1
cos 19)
= 156 =
ft 156 ft
11 11 1 1
4. Tangent section (see Figure 11.16)
4. Sección
4. tangente:
4. Tangent
Tangent section
section(see Figure
(see 11.16)
Figure 11.16)
V3 = V4- R2 sin α1
V3 = V4- R2 sin α1
V3 = V4- R2 sin α1
= 8157 - 1637 sin 19 = 7624 ft
= 8157 - 1637 sin 19 = 7624 ft
= 8157 - 21637
V3 – V sin– 2133
7624 19 = 7624 ft
MD 3 = V 3 – V 2 = -----------------------------
------------------- 7624 – 2133-- = 5807 ft
MD 3 = cos α 2 = -----------------------------
------------------- cos 19 = 5807 ft
cos 19
cos
V – 2V α
3 2 7624 – 2133-
MD 3 = ------------------- = ----------------------------- = 5807 ft
cos α 2 cos 19

DD22 == D
D11 ++ (V
(V33 -- V
V22)) xx tan
tan α
α11

D2===156
D1 +++(7624
156 (V3 --2133)
(7624 V2) x tan
tan19
19
α1== 2047
2047ftft

5. Sección de Drop-off
5.5.Drop-off
+section
Drop-off
= 156 section
(7624 -2133) tan 19 = 2047 ft
αα11x100x100 19x100
-------------------- = ------------------
MD44 == ------------------
MD = 543
543 ftft DIRECTIONAL DRILLING

.....
5. Drop-off DOR section
DOR 3.5 Mud Motors

TMD= MD
TMD= MD
α 1 x100
11
+ MD19x100
22
+ MD33 ++ MD
MD44++ (V
(V55-V
-V44)) . . . . . . . . . ..
MD 4 = ------------------- = ------------------ = 543 ft
DOR 3.5
For this well, V5 = V4
404
404
Well Engineering
Well Engineering &
& Construction
Construction
TMD= MD1 + MD2 + MD3 + MD4 + (V5-V4)
TMD = 1200 + 950+ 5807 + 543 + (0) = 8500 ft

D
404
3 =Well Engineering
2,136 ft (given)=&total
Construction
hole displacement
 There are two types of mud motors, Figure 11.18:
• Turbines
• Positive displacement motors (PDM)

Motores de Fondo
The turbine motor consists of a multistage blade- type rotor and stator sections, a thrust
bearing section and a drive shaft. The number of rotor/stator sections can vary from 25 to 50.

• Dos tipos:
The rotor blades are
Figure 11.18 Operation principles of turbine and PDM
connected to the drive shaft
• Turbina
and are rotated by mud Turbine PDM
pumped under high
pressure.Positivo

• Desplazamiento The stator deflects

the mud onto the rotor
blades. Rotation of the rotor
• Motor de Turbina

is transmitted to the drive

shaft and drillbit.
• Consta de varias secciones
Turbines
estator-rotor (de 25werea widely
50), used
engranajesinde
the past, however, recent
empuje y eje

improvements in PDM
design have relegated the
• Se usa cada
use vez menos
the turbines to special
drilling applications.
Tomado del texto de Rabia, Well Engineering & Construction

Well Engineering & Construction 405

 7.1 POSITIVE DISPLACEMENT MOTORS (PDM)

A positive displacement motor (PDM) consists of (Figure 11.19):

Motores de Fondo- • Power section (rotor and stator)

Desplazamiento Positivo •
•
By-pass valve
Universal joint
• Bearing assembly
• Consta de:

Figure 11.19 Components of a positive displacement motor, courtesy of Baker Hughes

Inteq
• Sección de potencia:
Bearing Deflection Stator By-Pass
Estator-rotor
Assembly Device Valve

• Válvula de paso

Drive Sub
a) Mono Lobe
• Junta universal
(Bit Box) 1
Stage b) Multi Lobe

• Rodamientos
Drive Sub Universal Joint Rotor
Assembly

Tomado del texto de Rabia, Well Engineering & Construction

Power Section

The PDM consists of a helical steel rotor fitted inside a spirally -shaped elastomer moulded
stator. Mud flowing under pressure fills the cavities between the dissimilar shapes of the
rotor and stator and under the pressure of mud, the rotor is displaced and begins to rotate,
Figure 11.20.

The rotor actually moves in an elliptical shape. This eccentric movement is converted to true
circular motion by a universal joint assembly, Figure 11.19.
Herramientas de
Deflección-desviación
• Whipstocks

• Jetting

• Bent sub

• Steerable PDM

• RSS-Rortary Steerable
Systems
 vent the tool from turning, and a heavy collar at the top to withdraw the tool
Figure 11.23.
Herramientas de Deflección-
ocks are mainly used to mill casing windows for sidetracking existing wells.
desviación-Whipstocks
main types of Whipstocks: Figure 11.23 Whipstock
• Ampliamente usada como medio de
he standard removable Whipstock which is
desviación

sed to kick off wells and for sidetracking. The Necked

• Esisuna cuña invertida queassembly
guia la Whipstock
Whipstock used with a drilling
onsistingherramienta de limado

of a bit, a spiral stabilizer, and an

ientation sub, rigidly attached to the
• Tiene un soporte en fondo que evita el
Whipstock by meansyofrotación

movimiento a shear pin.To deflect

Neckless
e well, the whipstock and kick off assembly is
• Clases
Whipstock
n in hole and oriented in the required direction.
Weight is •then applied to shear the pin and allow
Removibles

e drilling bit to slide down the shute and drill

the set direction.
• Para sidetracking

he Permanent Casing Whipstock is designed to

• Permanentes

main permanently in the well.

Quedan permanentemente en el
•
hru tubing whipstock
pozo

• Thru tubing
Herramientas de Deflección-
desviación-Jetting

• Es una técnica antigua que se

usa algunas veces

• Se basa en la hidráulica y es
efectiva en formaciones no
consolidadas

• Uno de los jets es mayor a los

otros causando erosión en la
dirección que se encuentra

• Causa fuertes efectos de

severidad del dog leg
 direction of the jet coming out of the big nozzle. Jetting usually causes high dogleg
severities.

Herramientas
8.3 de Deflección-
DOWNHOLE MOTORS WITH BENT SUBS

desviación-Bent submotor with

A downhole
Figure 11.24 PDM BHA with bent sub
a bent sub, Figure
11.24, was a common Bent sub
• Los bent sub con for
method motores
deflectingde Nonmagnetic Drillcollars
fondo fueronwells
muy usados
until replaced by
hasta que se impuso
steerable el
motors.The Orienting sub
steerable motor

bent sub is run directly

above the motor and its Float sub
• El bent sub pin
se iscoloca
offset at an angle
of 1-3 degrees.The bent
directamente sobre el motor y
sub has a scribe line cut Body
Bent sub

su pin es desviado

on its outside body

(casing) above the pin Bent sub Mud motor
• La inclinación varía
offset. Thisde 1 aline
scribe 3 is angle

grados
used to orient the BHA Drill bit
in the required direction.
Offset pin
The orienting sub
• Al lograrse la curvatura se POH
(Figure 11.24) allows
y se cambiasingle
por shot
BHAsurveys
rotatorio
to be
taken to confirm the
orientation of the BHA.

Deflection of the wellbore occurs when drilling is carried out with no surface rotation to the
drillstring. The drillbit is forced to follow the curve of the bent sub. The degree of curvature
Herramientas de Deflección-
desviación-Steerable PDM

• El motor incluye un bent en la

sección del motor con ángulos
de 0.25 a 1.5 grados

• El motor se trabaja orientado

en el modo deslizable y la
tubería no se rota

• En modo rotación el motor se

bloquea y se mantiene la
trayectoria debido a la rotación
de la tubería

• Se corre con MWD para

orientar el pozo

Herramientas de Deflección-
desviación-RSS-Rotary
steerable system
• Permite la rotación eliminando
necesidad de deslizar
• Utiliza una sección que no rota
Sleeve
• Se programa con el MWD
• Responde a comandos desde
superficie para dirigir la broca en
la dirección deseada
Shaft
• Push de bit: usa elementos que
presionan contra el pozo y dirige
en sentido contrario la broca
Steering ribs & Inclination Sensors
• Point de bit: dobla el eje de la
broca y la ubica en la dirección
deseada
angle change is required, the system is put in neutral mode by pushing the pads in every
direction thereby cancelling each other.
If changes in angle and direction are required, the electronics within the instruments caus
each pad to extend against the side the hole opposite the intended bias direction, Figure
11.31. The resultant action of these forces then cause the bit to build or drop angles as
required. Signals can be sent from surface to the instrument downhole as is the case with
most current rotary steerable systems or the hole inclination and direction are programme
into the instrument at surface and the instrument then automatically corrects the hole
latrajectory without driller’s intervention.
Figure 11.31 Autotrack, courtesy of Baker Hughes Inteq
Non rotating
Triple Combo
MWD
Rotating Drive
Formation Evaluation
“Gamma Ray + Resistivity”
Non rotating Sleeve w/
Autotrak from Baker Inteq is an example of a rotary steerable system,Figure 11.31.
422 Well Engineering & Construction
BHAs
• Compuesta por la broca, bit sub,
DC, HWDP, estabilizadores,
martillos, motores de fondo y
herramientas MWD/LWD

• Se debe seleccionar
adecuadamente para controlar la
desviación

• Hay tres formas de que el BHA

facilite la desviación

• Principio del péndulo

• Principio Fulcrum

• Estabilización por
empaquetamiento
BHAs
• Principio del péndulo:

• Se usa para bajar el ángulo-

drop-off

• Usa la fuerza de la gravedad

para llevar el pozo a la
vertical

• La distancia entre la broca y

el primer estabilizador
aumenta el efecto

• Genera tendencia a
desviarse hacia la derecha
BHAs
• Efecto Flulcrum:

• Se usa para bajar construir o

incrementar ángulo

• Se usa un estabilizador cerca a

la broca como pivote

• Se aplica peso y genera que la

broca se ubique en la parte
superior del hueco

• A mayor peso la tubería tiende

a doblarse mas aumentando el
efecto

• Aumenta con reducción de

RPM y con el diámetro del DC
 DIRECTIONAL DRILLING
11 Standard BHA Configurations

• BHAs
reduction in drillcollar diameter

cked Hole Stabilisation Principle

• Estabilización por
empaquetamiento:
s used to hold or maintain hole inclination and Figure 11.29 Packed BHA
ion and are typically used to drill the tangent section principle
• Se utiliza para mantener la
well. The packed BHA relies on the principle that two
inclinación lograda

s will contact and follow a sharp curve, while three

s will follow a straight line, Figure 11.29. Packed
• Se usa para construir la
have several full gauge stabilizers in the lowest
tangente

n of the BHA, typically three or four stabilisers. This

s the BHA stiff and hence it tends to maintain hole
• Usa el principio de los tres
and direction.
puntos

STANDARD BHA CONFIGURATIONS

• El BHA se ajusta con tres o
cuatro estabilizadores
g the three principles of BHA control discussed above,
are five basic types of BHA’s which may be used to
Two points
ol the direction of the well, see Figure 11.30: Three points
contact contact
1. Pendulum assembly
Monitoreo del pozo-
Well Survey
• Es el proceso de registrar la
posición de la broca

• Se realiza para:

• Asegurar que el pozo sigue la

trayectoria planeada

• Evitar colisiones con otros pozos

• Estimar la severidad de la
curvatura (DLS)

• Asegurar que no sale de las

fronteras legales

• Conocer el sitio en caso de

requerirse pozo de alivio
Monitoreo del pozo-
Well Survey
• La selección de la herramienta
depende de:

• Tipo de pozo

• TVD

• Máxima inclinación

• Problemas potenciales

• Limitaciones de la
herramienta

• Frecuencia de registro
Monitoreo del pozo-
Well Survey
• Herramientas de monitoreo
(well survey tool)

• Herramientas magnéticas

• MWD

• Giroscopios
Monitoreo del pozo-
Herramientas Magnéticas

• Miden el componente
horizontal del campo
magnético de la tierra

• Estima inclinación y azimut

• Se afecta con materiales

magnéticos como
revestimientos y tuberías

• No se corren mientras de
perfora

• Sec corren con monel o DC no

magnéticos
MWD-Measurement
while drilling
• Los datos llegan a superficie a
medida que se perfora y se envía
la información por pulsos en el
lodo

• Se introdujo en 1970s

• Antes de paraba el pozo para

bajar la herramienta

• Se detiene la perforación por

unos minutos mientras se mide y
se transmite la información.
También se filtra el ruido de la
bomba

• Otros modos son por

electromagnética y por acústica
 Sensors
NMDC Electronic control system
Transmitter
MWD-Measurement while Bit
drilling-Sistemas de transmisión
Figure 10.60 Mud pulse telemetry components.

• Sistema positivo:

• Usa una válvula tipo pistón

• Le imprime un pulso positivo

• Se opera varias veces

• Los pulsos son

Pressure
decodificados en superficie

Time
• El código binario es
Positive Pulse
transformado a código
decimal
Figure 10.61 Positive mud telemetry.

ECD, Strain gauge to measure WOB and torque on bit. MWD tools
information about the conditions at the drill bit. This may include i) r
the drill string, ii) type and severity of any vibration downhole, iii) t
MWD-Measurement while
drilling-Sistemas de transmisión
622 FUNDAMENTALS OF SUSTAINABLE DRILLING ENGINEERING
• Sistema Negativo:

• Usa una válvula tipo que

ventea parte del fluido hacia el
anular

• Le imprime un pulso negativo

• Reduce la presión
temporalmente en el stand de

Pressure
tubería

Time
• Los pulsos son decodificados
en superficie
Negative Pulse

• El código binario es 10.62 Negative mud telemetry.

Figure
transformado a código decimal
 Figure 10.62 Negative
MWD-Measurement while mud telemetry.
drilling-Sistemas de transmisión

• Sistema Contínuo:

• Utiliza dos discos uno fijo y

otro rotatorio que
interrumpen el flujo
continuamente

• Esto genera ondas de baja

Pressure
frecuencia de alrededor de
50 psi en la tubería
Time
Continuous Wave

Figure 10.63 Continuous mud telemetry.

transmit data to surface, this valve is operated several times, cre

 Figure 10.62 Negative
MWD-Measurement while mud telemetry.
drilling-Sistemas de transmisión

• Otros sistemas de telemetría

• Telemetría Electromagnética

• Transmisión acústica

• Fuidic Vortex (en

investigación)

Pressure
Time
Continuous Wave

Figure 10.63 Continuous mud telemetry.

transmit data to surface, this valve is operated several times, cre

 ment has the same mule shoe feature as the magnetic single shot us

Giroscopios Compass Card (North is in

Line with the Spin Axis)

Vertical Gimbals
• Se usan para medir cambios
en el azimut respecto a una t al
n
dirección definida
ir zo als
Ho imb
G
• Se selecciona la dirección
referencia antes de iniciar
mediciones

• El componente principal es el
Spin
rotor montado en estructura Axis
que permite mantener la
dirección de rotación
a ls
b
Gim F
al
Se mantiene la rotación por un ic
•
e rt
V is
motor y el movimiento libre Ax

Figure 10.64 Conventional gyroscope.