Predictive-based sliding mode control for mitigating torsional vibration of drill string in the presence of input delay and external disturbance

Abstract

Dealing with torsional vibrations and stick–slip oscillations of a drill string system is a challenging engineering task in the oil drilling process because of the harmful and costly consequences of such vibrations. In this article, the drill string system is modeled using a lumped-parameter model with four degrees of freedom, and the bit–rock contact is represented by a nonlinear function of a bit velocity. Also, tracking the desired velocity of a drill string system with known constant input delay is addressed in the presence of external disturbance and parameter uncertainties by applying the Smith predictor–based sliding mode control method. The performance of the smith predictor–based sliding mode control with input delay and disturbance in tracking the desired velocity and controlling the stick–slip oscillations is compared with the sliding mode control with/without input delay. The system output’s sensitivity to the delay parameter is also investigated, indicating how the bit velocity changes concerning the delay parameter. The proper choice of adaptation gain is determinative in the performance of the controller, and its impact is investigated. Moreover, the robustness of the smith predictor–based sliding mode control is shown by changing the weight on the bit parameter. Simulation results demonstrate the effectiveness of the proposed method.

Super twisting control of torsional vibration in non-minimum phase nonlinear drill string system

“…To verify the control results obtained in this work, in this section, a comparison with the results that was reported by Sadeghimehr et al(2020) -Castro, 2009). The authors applied the Smith-predictor-based SMC approach (SPSMC) in order to regulate the bit angular velocity in a constant speed.…”

“…They incorporated two control schemes, cascade and decentralized control algorithms based on error compensation methods. There are other researches (Fubin et al, 2010; Karkoub et al, 2010; Navarro-López and Licéaga-Castro, 2009; Sarker et al, 2012; Sadeghimehr et al, 2020; Shi et al, 2011; Ritto and Ghandchi-Tehrani, 2019) in which the drill-string has been modelled by a multi degrees-of-freedom lumped model. Although the lumped model can provide a simple benchmark to understand the system, and accordingly, design a controller, it fails to accurately model its inherent nonlinear behavior, which in severe cases leads to dynamic errors.…”

Active Control of Stick-Slip Torsional Vibrations of Drill-Strings using Non-Switching Sliding Mode Controller

“…Also, among the adopted advanced active control approaches is the sliding mode control approach (SMC) because it is a robust control method that can accommodate the effects of uncertainty of the drill-string parameters and reject the adverse effects of external disturbances. The SMC controller has been reported by Navarro-Lopez and Cortes [3] , Vaziri et al [4] , and Sadeghimehr et al [5] . It has been demonstrated that the method has effectively eliminated the stick-slip vibrations both theoretically and experimentally.…”

Drill Bit Stick-Slip Vibration Experiment Research and Analysis of Influencing Factors

“…Mohammad Javad Moharrami et al conducted a nonlinear analysis of the drill pipe under the state of stick-slip vibration, and proposed a finite element (FE) modeling method for the full drill string, and established a limited three-dimensional nonlinear FE model that can evaluate the entire response of the drill pipe system under different operating conditions [12]. Roya Sadeghimeh et al proposed a sliding mode control algorithm based on the Smith predictor and studied the effect of delay parameters on system output [13]. Vahid Vaziri et al made a parametric analysis of a sliding mode controller that can suppress stick-slip vibration.…”