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Etienne MOREAU

General Overview

Solving


Equations

Fundamentals of Reservoir Simulation


---------Main Equations

Equations

Equations

Solutions

EP Reservoir Simulation Main Equations - E.M

General Overview
IMPES Scheme
Implicit Schemes

Numerical

General Overview
Diffusivity Equation
Transport Equation
General Equations

Numerical

General Overview
Diffusivity Equation
Transport Equation
General Equations

Mathematical

Outline

22

33









Mathematical Equations
General Overview

EP Reservoir Simulation Main Equations - E.M

EP Reservoir Simulation Main Equations - E.M

Hypothesis: Two phase incompressible flow


Main unknown : Saturation vs space & time
Main parameters:

Filtration Velocity

Reservoir Porosity

Fractional flow (fluids relative mobility, fluids density, Relative
permeability & capillary pressure)

Example 2: Transport Equation

Hypothesis: One phase flow, no gravity, low compressibility


Main unknown : Pressure vs space & time
Main parameters

Pore & Fluid compressibility
Reservoir permeability & porosity

Example 1: Diffusivity Equation

Mathematical Equations


44

55

Mathematical Equations

Diffusivity Equation

EP Reservoir Simulation Main Equations - E.M

c = Fluid compressibility
= Fluid Density
P = Fluid Pressure

Flow property: One phase flow, no gravity effect


Fluid behaviour: Slightly compressible fluid

Hypothesis



X=0

Basic Equations (Fluid behaviour)

1 d
c=
= Cte
dP

EP Reservoir Simulation Main Equations - E.M

X=L

Diffusivity Equation: Main Hypothesis & Basic Laws




66

Basic Equations (Flow Equation)

EP Reservoir Simulation Main Equations - E.M

{Q(x ) Q(x + dx )} dt
= d( A dx )

A = Section opened to flow


= Fluid Viscosity
P = Fluid Pressure along the flow line
x = Distance along the flow line

t = Time

= Fluid Density
x = Distance along the flow line

= Reservoir Porosity

Basic Equations (Material Balance)

k A dP
Q(x) =

dx

Q(x) = Flow Rate along the flow line


k = Reservoir Permeability

Diffusivity Equation: Main Hypothesis & Basic Laws




77

Diffusivity Equation

EP Reservoir Simulation Main Equations - E.M

dt

) dP A dx dt
k 2P
P
= (c p + c f )
x 2
t

d ( A dx ) = ( c p + c f

d
d
+ A dx dt
d ( A dx ) =
dt
dt
dP
d d dP
dP
d d dP
;
=

= cp
=

= cf
dt
dt dP dt
dt
dt dP dt

Accumulation Term

k A 2P
Q
{Q(x ) Q(x + dx )} dt =
dx dt =
dx dt
x
x 2

Flow Term

Diffusivity Equation: Material Balance Equation




88

1D horizontal flow, Slightly compressible fluid

2 P P

=0
x 2 t
;

K=

k
= Hydraulic Diffusivity
c

EP Reservoir Simulation Main Equations - E.M

2 P c P

=0
k t
x 2
, k = Reservoir Porosity & Permeability
= Fluid Viscosity , c = total Compressibility (pores + fluid)
----------

Mathematical Expression (1D flow)

Hypothesis

Diffusivity Equation: Summary (1/2)




99

2 P P

=0
x 2 t
;

K=

1D Flow (rectangular coordinates)

K
2D Flow (rectangular coordinates)

EP Reservoir Simulation Main Equations - E.M

2 P 1 P P
K
+
=0

2
r r t
r

2D Radial flow (radial circular coordinates)

2 P 2 P P
K
+
=0

2
y 2 t
x

k
= Hydraulic Diffusivity
c

Diffusivity Equation: Summary (2/2)




110

EP Reservoir Simulation Main Equations - E.M

Diffusivity Equation: Mathematical Solution (1/2)

111

Steady State Solution

P
=0
t
Semi Steady State Solution

P
= Cte
t
Transient Solution




2P
= Cte
K
x 2

2 P P
=
x 2 t

EP Reservoir Simulation Main Equations - E.M

Initial conditions
Boundary conditions

In any case Solutions of the diffusivity equation depend on

P
Cte
t

2P
=0
x 2

Diffusivity Equation: Mathematical Solution (2/2)




112

Pressure versus space & time

P
2P
=K
=0
t
x 2
Boundary Conditions

P (0, t ) = a
;

P
(0, t ) = b
x
P
(1, t ) = b
x

EP Reservoir Simulation Main Equations - E.M

P (1, t ) = a + b

P (x, t ) = a + b x

Diffusivity Equation: Steady State Solution (1/3)




113

EP Reservoir Simulation Main Equations - E.M

Diffusivity Equation: Steady State Solution (2/3)

114

EP Reservoir Simulation Main Equations - E.M

Diffusivity Equation: Steady State Solution (3/3)

115

Boundary Conditions

P
(0, t ) = b
x
P (0, t ) = a + c t

P
c
(
1, t ) = b +
x
K
c
+ct
2K
P (1, t ) = a + b +

EP Reservoir Simulation Main Equations - E.M

P
2P
P
c
=K 2 =c
= b + x + f (t )
t
x
x
K
c 2
P (x, t ) = a + b x +
x +ct
2K

Pressure versus space & time

Diffusivity Equation: Semi-Steady State Solution (1/3)




116

EP Reservoir Simulation Main Equations - E.M

Diffusivity Equation: Semi-Steady State Solution (2/3)

117

EP Reservoir Simulation Main Equations - E.M

Diffusivity Equation: Semi Steady State Solution (3/3)

118

Two examples are considered

Diffusivity Equation: Transient Solution (1/5)




Example 1






P
(
0, t ) = Cte ; P(L, t ) = Pi
x

Initial Condition : P(x,0) = Pi 0 < x < L


Boundary conditions

EP Reservoir Simulation Main Equations - E.M

Boundary conditions P(0, t ) = Pi + 1 ; P(L, t ) = Pi

Initial Condition : P(x,0) = Pi 0 < x < L

Initial Pressure Constant


Inlet and outlet Pressure constant with time

Example 2

Initial Pressure Constant


Inflow & Outlet Pressure constant with time

119

EP Reservoir Simulation Main Equations - E.M

Diffusivity Equation: Transient Solution (2/5)

220

EP Reservoir Simulation Main Equations - E.M

Diffusivity Equation: Transient Solution (3/5)

221

EP Reservoir Simulation Main Equations - E.M

Diffusivity Equation: Transient Solution (4/5)

222

EP Reservoir Simulation Main Equations - E.M

Transport Equation

Mathematical Equations

EP Reservoir Simulation Main Equations - E.M

Diffusivity Equation: Transient Solution (5/5)

223

224

Fluid behaviour: Incompressible fluids


Flow Geometry: Constant total rate

Hypothesis



X=0

o = Oil Density

Basic Equations (Fluid behaviour)

o = Cte
w = Water Density

EP Reservoir Simulation Main Equations - E.M

w = Cte

X=L

Transport Equation: Main Hypothesis & Basic Laws




225

Basic Equations (Flow Equation)

EP Reservoir Simulation Main Equations - E.M

= w A d(Sw dx )

w {Q w (x ) Q w (x + dx )} dt

Q w (x ) = Water Flow
f w (x ) = Water Fractional flow
f o (x ) = Oil Fractional flow

x = Distance along the flow line


t = Time

= Reservoir Porosity
w , Sw = Water Density & Saturation

A = Section opened to total flow

Q w (x) = Water Flow Rate

Basic Equations (Water Material Balance)

Q (x )
f (x ) = w
w
Q
f o (x ) = 1 f w (x )

Q = Total Flow Rate = Cte

Transport Equation: Main Hypothesis & Basic Laws




226

Flow Term

Sw
dx dt
t

f w f w Sw
=

x Sw x

w {Q w (x ) Q w (x + dx )} dt = w Q

Accumulation Term

w d(A Sw dx ) = w A
Transport Equation

Sw
Q f w Sw

=0
A Sw x
t
EP Reservoir Simulation Main Equations - E.M

f w
dx dt
x

Transport Equation: Material Balance Equation




227

1D flow, two phases; incompressible fluids; constant flow rate

EP Reservoir Simulation Main Equations - E.M

---------Q = total flow rate


A = Section opened to flow ; = Reservoir Porosity
Sw (x, t ) = Water Saturation ; f w (Sw ) = Fractional flow

Sw
Q f w Sw

=0
A Sw x
t

Mathematical Expression (1D flow)

Hypothesis

Transport Equation: Summary (1/2)




228

EP Reservoir Simulation Main Equations - E.M

Pc
M
kA
z
w,
o
w
fw =
+
Mw
+ (w o ) g

Mw + Mo Q
x
x

Fractional Flow

z
P
Q = k A M o g
o
o
o
x
x
P Pc o,w
z
Q = k A M o
g
w

x
x
x

Flow Equations

Transport Equation: Summary (2/2)




229

Mw
=
Mw + Mo

Mobility term, Capillary term and Gravity term

w,m

Pcw,o
kA
Mw
Q
x

kA
z
Mw (w o ) g
Q
x

f w,p =

f w,g =

EP Reservoir Simulation Main Equations - E.M

Gravity term

Capillary term

Mobility term

Fractional Flow is a combination of three terms

Transport Equation: Fractional Flow




330

EP Reservoir Simulation Main Equations - E.M

Transport Equation: Fractional Flow

331

EP Reservoir Simulation Main Equations - E.M

Transport Equation: Fractional Flow

332

EP Reservoir Simulation Main Equations - E.M

Transport Equation: Mathematical Solution (1/2)

333

Iso Saturation Equation

S (x, t ) = Cte
w

Iso Saturation velocity

Q df w U df w
Sw
=
=
x A dSw dSw

EP Reservoir Simulation Main Equations - E.M

dx
Sw
=
t
dt

Sw
S
dx + w dt = 0
x
t

Sw
Q f w Sw

=0

t
A Sw x

Transport Equation (1D)

Transport Equation: Mathematical Solution (2/2)




334

1
0.8
0.6
0.4
0.2
0

Injector

EP Reservoir Simulation Main Equations - E.M

Front

Distance along flow line

Residual oil

Producer

Transport Equation: Ideal Sweep along one flow line

336

2,5

1,5

0,5

0
0,2

0,6

W/O Mobilities

0,4

Mw

Water Saturation
Mow

0,8

EP Reservoir Simulation Main Equations - E.M











ratio
M = Mw / Mo
M = 0,500 / 2,286
M = 0,22

 Mobility

Sw = 1 -Sorw = 75%
Mw = 0,500 cP-1

 Saturation & Mobility behind


front

So = 1 - Swc = 78%
Mo = 2,286 cP-1

 Saturation & Mobility before


front

Transport Equation: Ideal Sweep along one flow line

335

Water saturation

Injector

Mixed zone

Front

Producer

Transport Equation: Real Sweep along one flow line

1
0.8
0.6
0.4
0.2
0

Distance along flow line

EP Reservoir Simulation Main Equations - E.M

Front Velocity is constant and can be defined as

EP Reservoir Simulation Main Equations - E.M

f (S )
df w
= w w,f
dSw Sw,f Sw,c

dx U df w U f w (Sw,f )
=
=
dt dSw Sw,f Sw,c

1
dx Water Velocity at front U f w (Sw,f )

=
=

Sw,f Sw,c
Oil Displaced at front
dt

Front velocity satisfies

338

Transport Equation: Real Sweep along one flow line

337

Water saturation

2,5

1,5

0,5

0
0

0,2

0,6

W/O Mobilities

0,4
Mow

0,8

EP Reservoir Simulation Main Equations - E.M

Mw











water saturation

oil saturation

ratio

M = Mw / Mo
M = 0,500 / 2,286
M = 0,22

 Mobility

Sorw = 25%
Mw = 0,500 cP-1

 Residual

Swc = 22%
Mo = 2,286 cP-1

 Connate

Transport Equation: Mobility ratio (w/o mixed zone)

339

0,8

0,6

0,4

0,2

Krw

0,6

Fw

Water Saturation

0,4

W/O Relative permeabilities

0,2

Krow

0,8

Welge

EP Reservoir Simulation Main Equations - E.M

So = 1 - Swc = 78%
Mo = 2,286 cP-1

Saturation & Mobility before front

















recovery @ front

ratio @ front
M* = (Mw*+Mo*) / Mo
M* = 0,261 / 2,286
M* = 0,11

 Mobility

Em* = (Swf-Swc) / (1-Swc)


Em* = (0,66-0,22) / (1-0,22)
Em* = 56%

 Microscopic

Swf = 66%
Mw* = 0,232 cP-1
Mo* = 0,029 cP-1

 Oil / Water sat. & Mobility behind


front

 Oil

Transport Equation: Real Sweep along one flow line

440




1 Swc Sorw
1 Swc

kr
Mo = o
o

fw =

1 Swc So min
1 Swc

EP Reservoir Simulation Main Equations - E.M

E' m =

Mw
Mw + Mo

Initial state: Oil saturation is equal to 1-Swc; oil cut is 100%


Final state : Oil saturation is equal to Somin; oil cut is minimum

kr
Mw = w
w

Real sweep: Is defined from relative mobility curves & fractional


flow

Em =

Initial state: Oil saturation is equal to 1-Swc; oil cut is 100%


Final state : Oil saturation is equal to Sorw; oil cut is 0%

Ideal sweep : Is defined from relative permeability curves

Transport Equation: Sweep along one flow line




441

EP Reservoir Simulation Main Equations - E.M

Transport Equation: Solution Examples

442

EP Reservoir Simulation Main Equations - E.M

General Equations

Mathematical Equations

EP Reservoir Simulation Main Equations - E.M

Transport Equation: Solution Examples

443

444

EP Reservoir Simulation Main Equations - E.M

General Equations: Black Oil Model

445

Oil Saturation

Gas Pressure

Pg = Po + Pc g,o (Sg )

Pw = Po Pc w,o (Sw )

EP Reservoir Simulation Main Equations - E.M

Water Pressure

S o = 1 S w Sg

General Equations: Black Oil Model




446

Material Balance Equation (Oil)

ab
g

ab
w

= m oa

= m aw

+ Q g,abd ) = m ga + m g,a d

EP Reservoir Simulation Main Equations - E.M

(Q

Material Balance Equation (Gas)

Material Balance Equation (Water)

ab
o

General Equations: Black Oil Model




447

EP Reservoir Simulation Main Equations - E.M

General Equations: Compositional Model

448

Oil Saturation

Gas Pressure

Pg = Po + Pc g,o (Sg )

Pw = Po Pc w,o (Sw )

EP Reservoir Simulation Main Equations - E.M

Water Pressure

S o = 1 S w Sg

General Equations: Compositional Model




449

i =1

Gas Oil Equilibrium


n

i =1

x = y

ab
p,o

=1 ;

+ Q

ab
p,g

x =
p

(S

+ Sg ) z p

So + Sg K p

= m ap,o + m ap,g

Material Balance Equation (HC component)

ab
w

= m aw

Material Balance Equation (Water)

Q
b

EP Reservoir Simulation Main Equations - E.M

yp = K p x p

p = 1 to N

General Equations: Compositional Model




550

551

Numerical Equations

General Overview

EP Reservoir Simulation Main Equations - E.M

Space Discretisation

Space Discretisation


First Derivative

EP Reservoir Simulation Main Equations - E.M

f
f
x

x
2f
f
i + 12 x i 12 f i +1 2f i + f i 1
(
xi ) =
=
(x i ) x
x 2
x x
x
x 2

Second Derivative

f
f (x i +1 ) f (x i )
f
f (x i ) f (x i-1 )
(
(
xi ) =
or
x
i)=
x
x
x
x

552

Time Discretisation

Time Discretisation


First Derivative

EP Reservoir Simulation Main Equations - E.M

;
implicit schema

explicit schema

Diffusivity Equation

Numerical Equations

EP Reservoir Simulation Main Equations - E.M

f
f (t ) f (t n )
(
t n ) = n +1
t
t
f (t ) f (t n )
f
(
t n +1 ) = n +1
t
t

553

554

2 P c P
=0

k t
x 2

EP Reservoir Simulation Main Equations - E.M

Space Discretisation

Diffusivity Equation (1D horizontal flow, Slightly compressible fluid)

Diffusivity Equation: Space & Time Discretisation




555

Space Discretisation

2 P c P

=0
k t
x 2

P
P
x 1
P
2P
x i+ 2 x
(
x )=
(x i )

i
x x
x
x 2
P i P i 1 P i + 1
2P
1 P Pi
(

xi)
i +1
=
x
x
x
x 2

EP Reservoir Simulation Main Equations - E.M

2P i + P i 1
x 2

i 12

Diffusivity Equation (1D horizontal flow, Slightly compressible fluid)

Diffusivity Equation: Space & Time Discretisation




556

Explicit: k=n

EP Reservoir Simulation Main Equations - E.M

with k = n or k = n + 1

Pi (n +1) Pi(n)
K
Pi(n+1+1) 2Pi(n +1) + Pi(n1+1) = 0

t
x 2
K t (n +1) K t (n +1)
K t

Pi 1 = Pi(n)
P (n +1) + 1 + 2

Pi

i
1
+
x 2
x 2
x 2

Implicit: k=n+1

Pi(n +1) =

Pi(n +1) Pi(n)


K
(n)

+ Pi(n)
Pi(n)
+1 2Pi
1 = 0
t
x 2
K t
K t
K t

(n)
Pi(n)
Pi(n)
Pi +
+1 + 1 2
1
x 2
x 2
x 2

P (k) 2Pi(k) + Pi(k)


2P
1
(
x i ) = K i +1
x 2
x 2

Two ways to compute the space derivate vs. time

Diffusivity Equation: Space & Time Discretisation




557

Explicit Scheme

2 P (n) P
i
K
= i (t n )
t
x 2

=P

(n)
i

n +1
n
Pi
(t ) Pi Pi
n
t
t

t
(n)
+K
Pi(n)
+ Pi(n)
+1 2Pi
1
x 2

Diffusivity equation becomes :

(n +1)
i

Stability condition :

t x 1 2K

EP Reservoir Simulation Main Equations - E.M

No linear algebraic system to be solved


Reduced numerical dispersion

Reminder



Diffusivity Equation: Space & Time Discretisation







558

Implicit Scheme

2 Pi(n +1) Pi
(t n )
K
=
t
x 2
Diffusivity equation becomes :

n +1
n
Pi
(t ) Pi Pi
n
t
t

Diffusivity Equation: Space & Time Discretisation




Always Stable

t
t
t

(n
1)
+
K
P (n +1) + 1 + 2K

K
Pi(n+1+1) = Pi(n)
Pi
i
1

x 2
x 2
x 2

Reminder



EP Reservoir Simulation Main Equations - E.M

Linear algebraic system to be solved


Risk of numerical dispersion

559

t
K 2
x
t
1 + 2K 2
x

t
K 2
x

t
1 + 2K 2
x

t
K 2
x
*

t
K 2
x

*
t
x 2

*
t
1 + 2K 2
x
t
x 2
K

Implicit Schema: Linear system to be solved

1 + K x 2

t
K 2
x

EP Reservoir Simulation Main Equations - E.M

Pn
2 n 1
t

P2 K
G (t n )

P3
P3n 1

Pn =
Pin 1

K
P n 1

x 2 n
N
2

t PN 2

1 + 2K 2
t

n 1
x
n PN 1 + K (x )2 PD (t n )

PN 1

Diffusivity Equation: Space & Time Discretisation




660

661

Numerical Equations

Transport Equation

EP Reservoir Simulation Main Equations - E.M

f
S
S
U w w = w
Sw x
t

EP Reservoir Simulation Main Equations - E.M

Space Discretisation

Transport Equation (1D horizontal flow, Slightly compressible fluid)

Transport Equation: Space & Time Discretisation




662

Transport Equation (1D flow, Two incompressible fluids)

Transport Equation: Space & Time Discretisation




Space Discretisation

EP Reservoir Simulation Main Equations - E.M

S (x ) Sw (x i 1 )
S
w
(
x )= w i
i
x
x

S
f Sw
U

= w
Sw x
t

663

Explicit Scheme

f w,(n)i
x

S
t

=S

(n)
w,i

S (nw,+i 1) S (n)
w,i
w,i
(
tn )

U t
+
f w,(n)i f w,(n)i-1
x

EP Reservoir Simulation Main Equations - E.M

(n +1)
w,i

Transport equation becomes :

w,i
(
tn )

Transport Equation: Space & Time Discretisation




664

f w,(ni+1)
x

Implicit Scheme

S
w,i
(
tn )

Transport equation becomes :

S
t

S (nw,+i 1) S (n)
w,i

w,i
(
tn )

U t

f w,(ni+1) f w,(ni+-11) = S (n)
w,i
x

EP Reservoir Simulation Main Equations - E.M

General Equations

Numerical Equations

EP Reservoir Simulation Main Equations - E.M

(n +1)
w,i

Transport Equation: Space & Time Discretisation




665

666

EP Reservoir Simulation Main Equations - E.M

3 main flow directions

I , J-1, K

I-1, J , K

I , J , K+1

I , J , K-1

I+1, J , K

I , J+1 , K

1 cell can communicate with


6 neighbours

General Equations: Space Discretisation

667

Bf

; Bf = Fluid Volume Factor

b =1

EP Reservoir Simulation Main Equations - E.M

b =1

6
6
Kr ab
Q fa = Q fab = T ab f Pfb Pfa + f g z ab
f

Flow related to phase f, cell a & its 6 neighbours

f = Fluid Stock Density

Tab = Transmissivity between cells a and b


Krf = Relative permeability
f = Viscosity

Pf = Fluid Pressure f = Fluid Density g= gravity acceleration


zab = za zb Depth difference between cells a and b

ab
f

Krab
Q = f,s Tab f Pfb Pfa + f g zab
f

Flow related to phase f between two adjacent cells

General Equations: Space Discretisation




668

b =1

Q
Explicit Schema

t = m a = m a (t n +1 ) m a (t n )

n +1

ab

b =1

ab

m (t ) = m (t ) + Q (t ) t

b =1

n +1

b =1

t = m ap = m ap (t n +1 ) m ap (t n )

m (t ) Q (t ) t = m (t )
n +1

EP Reservoir Simulation Main Equations - E.M

Implicit schema

ab

Material Balance Equation (Oil, water or gas)

General Equations: Time Discretisation




669








EP Reservoir Simulation Main Equations - E.M

Implicit for pressure only


Implicit for pressure and saturation
Implicit for pressure, saturation and other parameters (density, viscosity,
volume factor, ....)

Usual calculations are

Beginning of the time step (


 explicit schema)
End of the time step (
 implicit schema)

Parameters in the Flow term can be evaluated at

ab
p

Material Balance Equation (Component p)

General Equations: Time Discretisation




770

Flow Term
6

Qoab = o s
Bo

6
Kr ab
T ab o Pob Poa + o g z ab
o
b =1

EP Reservoir Simulation Main Equations - E.M

b =1

Kro = relative permeability


o = viscosity
Bo = formation volume factor
os = stock tank oil density

Tab = Transmissivity between cells a and b

Po = Oil pressure o = Oil density g= gravity acceleration


zab = za - zb, depth difference oil between cells a and b

ab
o

Krab
Q = os Tab o Pob Poa + o g zab
Bo
o

Oil flow between two adjacent cells

Black Oil Model: Material Balance (Oil)




771

EP Reservoir Simulation Main Equations - E.M

of cell a

mao = oa Va a Soa (Cp + Cw ) Poa + Soa

ma = Va Sa a
+ a o Pa + a a Sa
o
o
o
o
o

P
P

Accumulation Term

Va = volume
a = porosity
oa = oil density
Soa = oil saturation

moa = Va a oa Soa

Oil Mass contained in cell a

Black Oil Model: Material Balance (Oil)




772

Flow Term
6

Q = os
Bo
ab
o

= m oa

6
Kr ab
T ab o Pob Poa + o g z ab
o
b =1

Material Balance Equation

b =1

Q
EP Reservoir Simulation Main Equations - E.M

ab
o

m ao = V a oa a Soa (C p + C o ) Poa + Soa

Accumulation Term

b =1

Black Oil Model: Material Balance (Oil)




773

Flow Term
6

Qabw = w s
Bw
b =1

b =1

Accumulation Term

Material Balance Equation

= m aw

Pw = Po Pc w,o

b =1

EP Reservoir Simulation Main Equations - E.M

ab
w

m aw = V a aw a Saw (C p + C o ) Poa Pc aw,o + Saw

6
Kr ab
T ab w Pob Pc bw,o Pwa + Pcaw,o + w g z ab
w

Black Oil Model: Material Balance (Water)




774

Free gas

Bg

T
ab

b
o

(P

Solution gas

+ Pcg,b o Pga + Pcg,a o + g g zab +

))

ab
ab Kro
Pob Poa + o g zab = mga
o

ab
g

Kr

b=1

Rs T

b=1

g,s

( (

mga = Va a ga Sga + gs R s Soa

EP Reservoir Simulation Main Equations - E.M

General Overview

Numerical Solutions

EP Reservoir Simulation Main Equations - E.M

a
R
g
s

Pga
= Va ga Sga + gs R s Soa a + Va a Sga
+ Soa gs

P
P
+ Va aga Sga + Va ags Rs Soa

g,s

Black Oil Model: Material Balance (Gas)

775

776

EP Reservoir Simulation Main Equations - E.M

Centred difference

U U i 1
U = i +1
+R ;
2 x i
'
i

U i +1

2nd order truncation error

U =

2U i + U i 1
+R
2i

EP Reservoir Simulation Main Equations - E.M

2nd order truncation error

'
i

x 2
i
U i(4)
12

x i2 '''
Ui
6

M (n +1) M (n)
M
w
w
w

avec M w = w,s V S w /B w
t
t

Expansion term Approximation by forward difference

---------h = n (explicit in saturation) ; h = n + 1 (implicit in saturation)


k = n (explicit in pressure) ; k = n + 1 (implicit in pressure)

(k)
(k)
(k)
Fw Ti +1/2 (h)
Ti 1/2 (h)
Pi(k)
w,i +1/2 Pi +1 Pi
w,i 1/2 Pi
-1

Mathematical Expression
M w
Fw =
t
Flow term: Approximation by forward difference, at 1st order

Discretisation Of Water Conservation Equation




777

Second Derivative

First Derivative

Derivative Approximation


78

U i +1

x
i
U i''
2

x i ''
Ui
2

1st order truncation error

U i +1 U i
+R
x i

U i 1 = U i x i U i' +

Forward difference
U i' =

Backward difference
U U i 1
U = i
+R
x i
1st order trun cation error
EP Reservoir Simulation Main Equations - E.M

'
i

x i2 '' x i3 '''
= U i + x i U i' +
U i + ...
U
i +
3!
2
x i2 '' x 3i '''
U
U i + ...
i
2
3!

Taylor Expansion Series

Using Taylor Expansion Series




779

Related to truncation error of transport equation

Numerical Dispersion


1D analysis




EP Reservoir Simulation Main Equations - E.M

in 3D heterogeneous: behaviour difficult to predict a priori

Reduced in IMPES especially if time step lower than maximum time step.
Maximal for linear problem (Mt=1)
Decrease with the problem non-linearity; examples in 1D
homogeneous

880

S v
S
+ f' (S)
=0
t
x

EP Reservoir Simulation Main Equations - E.M

S v
S
2S
+ f' (S)
+ D num
=0
t
x
x2

The discretised equation approximates the convection-diffusion


equation at second-order:

2S
v
v
E=
f' (S) x f' t
+ 0(( 2 ) + 0(( 2 )
2

Truncation error in explicit upwind:

Transport equation:

Numerical Dispersion


881

Explicit Time Scheme

D num

v
v
=
f' (S) x + f' t

D num = 0 t =

num

EP Reservoir Simulation Main Equations - E.M

Implicit Scheme

v
v
=
f' (S) x f' t
2

x
= t lim
vf'

Numerical Dispersion (1D Case)




882

EXPLICIT:

(Ui), Un+1 =G(Un)

Time Schemes


IMPLICIT: (Ui), G(Un, Un+1)=0

stability condition (*)


no stability condition

STABILITY Convergence, condition linking t and x




For the pressure equation the stability conditions are too strong,
we always use




an implicit scheme for pressure G(Pn,Pn+1)=0

FIM

G(Pn,Pn+1,Sn,Sn+1)=0

IMPES G(Pn, Pn+1)=0, Sn+1 =G(Sn)

an explicit scheme

For the terms depending on saturation (,Pc) we may have:


an implicit scheme

EXPLICIT: (Ui), Un+1 =G(Un)

Time Schemes

EP Reservoir Simulation Main Equations - E.M

(*) like CFL condition (stands for Courant-Friedrich-Levy)




883

stability condition (*)


no stability condition

STABILITY Convergence, condition linking t and x

(Ui), G(Un, Un+1)=0

IMPLICIT:

IMPES G(Pn, Pn+1)=0, Sn+1 =G(Sn)


FIM
G(Pn,Pn+1,Sn,Sn+1)=0

For the terms depending on saturation (,Pc) we may have:

an implicit scheme for pressure G(Pn,Pn+1)=0

For the pressure equation the stability conditions are too strong,
we always use

 an explicit scheme
an implicit scheme

EP Reservoir Simulation Main Equations - E.M

(*) like CFL condition (stands for Courant-Friedrich-Levy)

884

885

Numerical Solutions

IMPES Scheme

EP Reservoir Simulation Main Equations - E.M

Two-phase case - no capillarity, no gravity

Oil Equation

E w = Vi

( So / Bo )
t

( Sw / Bw )
t

EP Reservoir Simulation Main Equations - E.M

(n+1)
(n+1)
Fo = Ti+1/2 (n)
Ti1/2 o,(n)i-1 (Pi Pi1 )
= Eo
o,i (Pi +1 Pi )
(n)
( So / Bo ) (n+1)

Eo = Vi

(n+1)
(n+1)
Ti1/2 (n)
= Ew
Fw = Ti+1/2 (n)
w,i (Pi +1 Pi )
w,i-1 (Pi Pi 1 )
(n)
( Sw / Bw ) (n+1)

Water Equation

Assumptions

IMPES Scheme: Two Phase Case (Simple Assumptions)




886

(n)
w,i

(P
i +1

(P
i +1

P )

P )
i

(n+1)

(n+1)

(n)
w,i-1

(n)
o,i-1

i 1

V S(n+1) S(n)
w
= i x w
t
Bw

V S(n+1) + S(n)
w
= i x w
Bo
t

(P P ) (n+1)
i

i 1

(P P ) (n+1)
i

(Pi+1 Pi ) (n+1) Ti1/2 ( w Bw + o Bo ) i(n)-1 (Pi Pi1 ) (n+1) = 0

i 1/2

i 1/2

Two-phase case - no capillarity, no gravity, incompressible fluids

(n)
o,i

(n)

EP Reservoir Simulation Main Equations - E.M

Ti+1/2 ( w Bw + o Bo )i

Water + Oil Equation

i +1/2

Oil Equation

i +1/2

Water Equation

Assumption

IMPES Scheme: Two Phase Case (Simple Assumptions)




887

Two-phase case - no capillarity, no gravity, incompressible fluids

Solving corresponding linear system yields pressure at time step (N+1)

B t
(n+1)
(n+1)
=S + w
Ti+1/2 (n)
Ti1/2 (n)
w,i (Pi +1 Pi )
w,i-1 (Pi Pi 1 )
Vi
(n)
w

EP Reservoir Simulation Main Equations - E.M

(n+1)
w

Solving corresponding equation yields saturation at time step (N+1)

Oil or Water Equation = Saturation Equation

Water + Oil Equation = Pressure Equation

Assumption

IMPES Scheme: Two Phase Case (Simple Assumptions)




888

IMPES Scheme : incompressible case


in P Pn+1
solving the equation in S with Pn+1 and
w(Swn)Swn+1




by solving the Buckley-Leverett equation

EP Reservoir Simulation Main Equations - E.M

n
n
S in +1 S in
vt
n S i +1 S i
=

f
'
(
S
i )
t

889

x
t
v t (max f' (S) )

is the front velocity


v
t
f' (S f )

Numerical dispersion is cancelled if

EP Reservoir Simulation Main Equations - E.M

lim

x
=
us

Stability condition states that one cell cant be swept by more than one
VP during one time-step

us =

Reminder:

It can be demonstrated the CFL stability condition is given by:

B.L. Equation: Stability Condition




990

By combining the 3 main equations in w, o, g and eliminating Sw


and Sg

IMPES (B.O. model) -1




we get:






EP Reservoir Simulation Main Equations - E.M

Iterative solution for equation in P


introducing Pn+1 in the water and gas conservation equations, we get
Swn+1 et Sgn+1 / Rsn+1

Solution:

one non linear equation in pressure (near elliptic)


and two linear equations in saturation (near hyperbolic)

991




EP Reservoir Simulation Main Equations - E.M

Instability display: GOR, Wcut oscillations

coning problems
gas displacements

The IMPES scheme is fine when the saturation gradients are large:

The stability limit is related to the cell pore volume and the front
propagation velocity

The CFL condition has no simple formulation;

IMPES (B.O. model) -2




992

993

Numerical Solutions

Implicit Schemes

(S wbw )n+1

Fully implicit scheme

EP Reservoir Simulation Main Equations - E.M

(S wbw )
=
t

n +1
n +1
n +1
n +1
(
w i +1 w i ) Ti 1/ 2 w i 1 ( w i w i 1 )

(S b )
o
o
=
t

(Sobo )n+1

Ti +1/ 2 w i

water

oil

V
i

o = Po + o g Z

n +1
n +1
n +1
n +1
(
o i +1 o i ) Ti 1/ 2 o i 1 ( o i o i 1 )

Ti +1/ 2 o i

EP Reservoir Simulation Main Equations - E.M

w = Po - Pcow + w g Z
994

We cannot decouple any more the resolution in Pressure and


Saturation as mobilities and capillary pressures depend on
saturation

Fully Implicit Scheme




We have per grid block :





EP Reservoir Simulation Main Equations - E.M

dM
c
R c (X) =
+ Fc + q c = 0 c = h, w, v
dt
X = Po , S w , S g /Rs

Synthetic form of the non linear equations :

2 coupled non-linear equations for dead-oil; unknowns Po, Sw


3 non-linear equations for black-oil: 3 unknowns Po, Sw, Sg/Rs

995




compromise between the fully implicit and IMPES procedures.

EP Reservoir Simulation Main Equations - E.M

The target fraction of implicit cells in a compositional run is 1%,

Interest: compositional simulations

throughput ratio are computed per block: t F/Vp


Cells with a high throughput ratio (wells, fronts, LGR) are chosen to be
implicit to obtain large time steps
while the majority of cells can still be treated as IMPES where the solution
may be changing little

Method:

AIM: adaptive implicit

Partially Implicit Scheme




996

EP Reservoir Simulation Main Equations - E.M

Advantages

Stable and possibility to use large time steps
Disadvantages

Dispersive; Longer calculations per time step
Usual Practices (E100 default method)
Should be used for difficult problems with high throughput ratios

FIM

Advantages

Faster calculations per time step (only one equation) and less
dispersive
Disadvantages

Potentially unstable limited time step
Usual Practices

May be used on easy problems or in cases where time steps are
small. (e.g. History match)

IMPES

IMPES or FIM ?


997

A priori criteria are case dependent

IMPES or FIM ?


IMPES








EP Reservoir Simulation Main Equations - E.M

Compositional

AIM

Forecasts
G/O , W/G or three phase systems
Stability problems with IMPES

FIM

History-matching (limited time-steps)


One phase or W/O systems
Need to reduce numerical dispersion

998




EP Reservoir Simulation Main Equations - E.M

General Overview

Solving Equations

EP Reservoir Simulation Main Equations - E.M

Sink terms per phase within perforated cells;


Calculation according to the type of constraint

Bottom Hole or Flow rate imposed
one additional equation per well

Wells:

Gridded Aquifer

water entry calculated explicit ly
Analytical Aquifer:

Water entry computed from tabulated functions and added to the
water equation aquifer connected cells

Aquifers

And The Sink Terms?




999

1100

In IMPES: N quations in P

Equation Solution


In FIM: (3N+Nw) non linear equations

EP Reservoir Simulation Main Equations - E.M

Linearization with Newton-Raphson method

dM
c
R c (X) =
+ Fc + q c = 0 c = h, w, v
dt
X = Po , S w , S g /Rs

1101

Objective is to solve equation g(x)=0

Newton Method


Lets consider the following situation


g (x 0 ) 0

with

x n -1 = g' (x n -1 ) / g(x n -1 )

x 0 = g' (x 0 ) / g(x 0 )

x 0 = g' (x 0 ) / g(x 0 )

x 1 = x 0 + x 0

with

EP Reservoir Simulation Main Equations - E.M

x n = x n -1 + x n -1

Lets consider the suite

g (x 0 + x 0 ) 0

g (x 0 + x ) g(x 0 ) + x g' (x 0 )

It is possible to write

1102

;
L

x 0 - x L = g(x 0 )/ g' ( 0 )
0

g' ( 0 ) g' (x 0 ) < g' ( 0 )

EP Reservoir Simulation Main Equations - E.M

with x L < 0 < x 0

g' (x 0 )/ < 2 g' ( 0 )

x 1 =equation
x 0 + x 0 can
with
x 0 = g' (x 0 )by
/ g (x 0 )
Solution of the
be approximated
x n = x n -1 + x n -1
with
x n -1 = g' (x n -1 ) / g(x n -1 )

x1 - x L < x 0 - x L

The suite (xi) is converging if

1
1
x - x = g(x )

g' (x 0 ) g' ( 0 )

x 0 - x 1 = g(x 0 )/ g' (x 0 )

It is possible to write

Newton Method


1103

EP Reservoir Simulation Main Equations - E.M

Newton Method

1104

k=1)

P0

(lets say
P = P0
P = P1

Solve g(P) = 0
Iteration #k
* k-1=0:
* k =1:

P1 = P0 - g(P0) / g(P0)
 g(P0) (P1 - P0) = - g(P0)
P1 - P0 = - (g(P0))-1 x g(P0)
* iterations are stopped when
|| g(pk) || <
EP Reservoir Simulation Main Equations - E.M

P2 P1

Principles of Newton method

EP Reservoir Simulation Main Equations - E.M

Newton Method

1105

g(P)

1106

k +1

][

] [

X k R' (X k ) = R(X k )

[R'] = Matrix of derivative s = Jacobian Matrix

[X

Iterative resolution of the linearized system: :

Convergence speed is quadratic


Divergence may occur if the first guess X0 is too far from the solution

EP Reservoir Simulation Main Equations - E.M

At each Newton iteration, resolution of the matrix with an iterative


solver (ORTHOMIN); in black-oil takes the 2/3 of TCPU

dM
c
R c (X) =
+ Fc + q c = 0 c = o, w, g
dt
X = Po , S w , S g /Rs

Principles of Newton method for linearization

Solving Equation System (2)




107

EP Reservoir Simulation Main Equations - E.M

Non Linear (Newton) and Linear (Solver) Iterations

1108

1109

A simulation
A report time step
A time step
A non-linear iteration

Time
one/more report time steps
one/more time steps
one/more non-linear iterations
one/more linear iterations

EP Reservoir Simulation Main Equations - E.M

A linear iteration is where most of the CPU time is spent


Non-linear iteration = Newton iteration




and

< 2

Convergence criteria minimises the equation residual

max i R i < 1

The criteria also limits the material balance error


There is a maximum number of iterations

EP Reservoir Simulation Main Equations - E.M

Convergence criteria
Maximum number of iterations

Resolution of the linear system (solver)

Resolution of the non linear system (Newton)

Convergence Criteria


1110

1111

tn+1 = tn

Time-Step Managment



Rt =

S S n +1 S n

t
t

) (

mass balance error limit per component:

Pmax ou Rtmax;

if resolution is OK, > 1 ; determined by:

S limit in IMPES
truncation error limit in time (Rt) defined by:

accus 0 accus n Np Ni n
B=
accus 0
if troubles, < 1

EP Reservoir Simulation Main Equations - E.M

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