Mitigation of Torsional Vibrations in Drilling Systems: A Robust Control Approach

Vromen, T.G.M.; Dai, Cam-Hing; Wouw, Nathan van de; Oomen, Tom; Astrid, P.; Doris, A.; Nijmeijer, Henk

doi:10.1109/tcst.2017.2762645

Cited by 47 publications

(19 citation statements)

References 35 publications

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“…The control input to the drill-string itself, whether it be toptorque, WOB or top-drive rpm, acts as other potential control parameters for the prevention of stick-slip. In recent times, the μ-synthesis control method [27,28] has been proposed as a way with which to overcome stick-slip oscillations, however this methodology relies on linearisation methods which only possess expected performance in a very small range around the equilibria of interest. There has also been the suggestion that a linear quadratic regulator-based controller to suppress stick-slip using a discretised model of axial and torsional dynamics [29].…”

Section: Introductionmentioning

confidence: 99%

Feedback control method to suppress stick-slip in drill-strings featuring delay and actuation constraints

MacLean

Vaziri

Aphale

et al. 2021

Eur. Phys. J. Spec. Top.

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In this work, performance of a modified-integral resonant controller with integral tracking is investigated numerically under the effects of actuator delay and actuation constraints. Actuation delay and constraints naturally limit controller performance, so much so that it can cause instabilities. A 2-DOF drill-string m with nonlinear bit–rock interactions is analysed. The aforementioned control scheme is implemented on this system and analysed under the effects of actuation delay and constraints and it is found to be highly effective at coping with these limitations. The scheme is then compared to sliding-mode control and shows to be superior in many regimes of operation. Lastly, the scheme is analysed in detail by varying its gains as well as varying system parameters, most notably that of actuation delay.

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Section: Introductionmentioning

confidence: 99%

Feedback control method to suppress stick-slip in drill-strings featuring delay and actuation constraints

MacLean

Vaziri

Aphale

et al. 2021

Eur. Phys. J. Spec. Top.

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“…Lu et al [32] developed an advanced control system using a lumped parameter model to describe downhole information to mitigate the torsional vibration of the drill string using communication tools for drilling measurements. Vromen et al [33] designed a robust output feedback control method to eliminate torsional stick-slip vibration in the drilling system and performed closed-loop stability analysis on the nonlinear drill string model.…”

Section: Introductionmentioning

confidence: 99%

Non-Linear Dynamic Analysis of Drill String System with Fluid-Structure Interaction

et al. 2021

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In this research, the non-linear dynamics of the drill string system model, considering the influence of fluid—structure coupling and the effect of support stiffness, are investigated. Using Galerkin’s method, the equation of motion is discretized into a second-order differential equation. On the basis of an improved mathematical model, numerical simulation is carried out using the Runge—Kutta integration method. The effects of parameters, such as forcing frequency, perturbation amplitude, mass ratio and flow velocity, on the dynamic characteristics of the drill string system are studied under different support stiffness coefficients, in which bifurcation diagrams, waveforms, phase diagrams and Poincaré maps of the system are provided. The results indicate that there are various dynamic model behaviors for different parameter excitations, such as periodic, quasi-periodic, chaotic motion and jump discontinuity. The system changes from chaotic motion to periodic motion through inverse period-doubling bifurcation, and the support stiffness has a significant influence on the dynamic response of the drill string system. Through in-depth study of this problem, the dynamic characteristics of the drill string can be better understood theoretically, so as to provide a necessary theoretical reference for prevention measures and a reduction in the number of drilling accidents, while facilitating the optimization of the drilling process, and provide basis for understanding the rich and complex nonlinear dynamic characteristics of the deep-hole drill string system. The study can provide further understanding of the vibration characteristics of the drill string system.

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“…In Ritto and Ghandchi-Tehrani (2019), a proportional integral controller is applied, and a parametric analysis of the proportional and integral control gains to reach the stable regions for bit velocity is provided. Because parametric uncertainty is one of the critical issues that need to be addressed, H ∞ control is also proposed (Vromen et al, 2017). In Vromen et al (2017), a robust output feedback control approach, based on skewed-µ DK iteration, aims to optimize the robustness concerning uncertainty in the nonlinear bit-rock interaction and eliminate stick-slip oscillations in drilling systems.…”

Section: Introductionmentioning

confidence: 99%

“…Because parametric uncertainty is one of the critical issues that need to be addressed, H ∞ control is also proposed (Vromen et al, 2017). In Vromen et al (2017), a robust output feedback control approach, based on skewed-µ DK iteration, aims to optimize the robustness concerning uncertainty in the nonlinear bit-rock interaction and eliminate stick-slip oscillations in drilling systems. Observer-based output feedback (Cheng et al, 2018;Doris, 2014) are also used to reduce vibrations.…”

Section: Introductionmentioning

confidence: 99%

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

Sadeghimehr

Nikoofard

Sedigh

2020

Journal of Vibration and Control

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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.

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Mitigation of Torsional Vibrations in Drilling Systems: A Robust Control Approach

Cited by 47 publications

References 35 publications

Feedback control method to suppress stick-slip in drill-strings featuring delay and actuation constraints

Feedback control method to suppress stick-slip in drill-strings featuring delay and actuation constraints

Non-Linear Dynamic Analysis of Drill String System with Fluid-Structure Interaction

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

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