Robust output-feedback control to eliminate stick-slip oscillations in drill-string systems

Vromen, Tgm Thijs; Dai, CH; Wouw, van de N Nathan; Oomen, Tom; Astrid, P.; Nijmeijer, Henk

doi:10.1016/j.ifacol.2015.08.042

Cited by 24 publications

(21 citation statements)

References 12 publications

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“…In real practice, such a measurement is difficult due to delays and noise in downhole and an observer-based controller is always preferable, e.g. [25,26]. However as this is outside of the scope of this paper, such results will be reported in a separated publication in due course.…”

Section: Sliding-mode Controlmentioning

confidence: 98%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory and Applications and is subject to Institution of Engineering and Technology Copyright. AbstractStabilization of multibody drill-strings which exhibit stick-slip oscillations is studied in this paper from the point of view of underactuated system. The model has one control torque input acting on the rotary table from the land surface and multi-degree-of-freedom downhole parts to be controlled. Three motion regimes of the model including bit sticking, stick-slip oscillation, and rotating at a constant speed are identified and their equilibria are analyzed accordingly. The control objective of the system is to avoid the undesired bit sticking and stick-slip oscillation while tracking a desired angular velocity. Three slidingmode controllers are studied for the drill-string with estimated physical parameters. The stabilities of the proposed controllers are proved by using the Lyapunov direct method ensuring that any trajectory of the system can reach and stays thereafter on the predesigned sliding surface where the desired equilibrium is asymptotically stable. Extensive simulation results are given to demonstrate the effectiveness of the proposed controllers and their robustness to parametric uncertainties.

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Section: Sliding-mode Controlmentioning

confidence: 98%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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“…This class of models has been widely employed in studies focusing in drill-string torsional vibration. The number of disks varies in those studies, for example 2 disks [8], 3 disks [9], 4 disks [10] and even 18 disks [11]. In the current work a 2-disk model has been employed (see Fig.2(b)) to model the CADR experimental drilling rig, following the work presented in [8].…”

Section: Mathematical Model and Sliding Model Controlmentioning

confidence: 99%

Suppression of Drill-String Stick-Slip Vibration

2018

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Abstract. We investigate experimentally and numerically suppression of drill-string torsional vibration while drilling by using a sliding mode control. The experiments are conducted on the novel experimental drilling rig developed at the University of Aberdeen [1] and using PDC commercial drill-bits and real rock-samples. A mathematical model of the experimental setup which takes into account the dynamics of the drill-string and the driving motor, is proposed. Then a sliding mode control method is employed to suppress stick-slip oscillations. The experimental and numerical results considering a time delay of the actuator are in a close agreement. Stick-slip vibration is eliminated and significant reduction in vibration amplitude has been observed when using the controller.

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“…These models have been widely employed in studies focusing in drill-string torsional vibration. The number of disks varies in those studies, for example, 2 disks [13], 3 disks [11,14], 4 disks [15] and even 18 disks [16]. In the current work a 2-disk model has been employed to model the Centre for Applied Dynamic Research (CADR) experimental drilling rig, following the work presented in [13].…”

Section: Introductionmentioning

confidence: 99%

“…Bayliss et al [29] applied pole placement method to obtain controller gain value in order to control the motor's torque. Vromen et al [16] presented a design of a nonlinear observer-based output-feedback control strategy to vary the motor's torque, and thereby eliminate torsional vibrations.…”

Section: Introductionmentioning

confidence: 99%

Suppression of drill-string stick–slip vibration by sliding mode control: Numerical and experimental studies

Vaziri¹,

Kapitaniak²,

Wiercigroch³

2018

Eur. J. Appl. Math

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We investigate experimentally and numerically suppression of drill-string torsional vibration while drilling by using a sliding mode control. The experiments are conducted on the novel experimental drill-string dynamics rig developed at the University of Aberdeen (Wiercigroch, M., 2010, Modelling and Analysis of BHA and Drill-string Vibrations) and using commercial Polycrystalline Diamond Compact (PDC) drill-bits and rock-samples. A mathematical model of the experimental setup, which takes into account the dynamics of the drill-string and the driving motor, is constructed. Physical parameters of the experimental rig are identified in order to calibrate the mathematical model and consequently to ensure robust predictions and a close agreement between experimental and numerical results for stick–slip vibration is shown. Then, a sliding mode control method is employed to suppress stick–slip vibration. A special attention is paid to prove the Lyapunov stability of the controller in presence of model parameter uncertainties by defining a robust Lyapunov function. Again experimental and numerical results for the control cases are in a close agreement. Stick–slip vibration is eliminated and a significant reduction in vibration amplitude has been observed when using the sliding controller.

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Robust output-feedback control to eliminate stick-slip oscillations in drill-string systems

Cited by 24 publications

References 12 publications

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Suppression of Drill-String Stick-Slip Vibration

Suppression of drill-string stick–slip vibration by sliding mode control: Numerical and experimental studies

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