Observer-based output-feedback control to eliminate torsional drill-string vibrations

Vromen, T.G.M.; Wouw, Nathan van de; Doris, A.; Astrid, P.; Nijmeijer, Henk

doi:10.1109/cdc.2014.7039491

Cited by 10 publications

(8 citation statements)

References 23 publications

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“…Axial/torsional loop transfer function Non-dimensional equivalents G i (st * ) = G i (s) Axial/torsional loop transfer function g i (st * ) = g i (s) Drill-string transfer function, single-section case is still an active field of ongoing research [7][8][9][10][11].…”

Section: Dimensionless Frequency Variablementioning

confidence: 99%

“…The linear axial and torsional drill string dynamics are described by the non-dimensional transfer functions g a (s), g t (s), respectively. These transfer functions can be found by combining (7) and (8). For the axial dynamics, g a (s) relates weight on bit W b to axial bit velocity V b as follows:…”

Section: Transmission Line Modelmentioning

confidence: 99%

“…Noting that the loop gain rolls of at higher frequencies due to the integration term, the main concern is addressing the resonances of the first couple of low frequency modes. This observation has also been the key driver behind the work in [8,10,37] on other control strategies for stick-slip mitigation specifically targeting the damping of the lowest resonance modes in the torsional dynamics.…”

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confidence: 92%

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Dynamics of a distributed drill string system: Characteristic parameters and stability maps

Aarsnes

Wouw

2018

Journal of Sound and Vibration

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Section: Dimensionless Frequency Variablementioning

confidence: 99%

Section: Transmission Line Modelmentioning

confidence: 99%

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confidence: 92%

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Dynamics of a distributed drill string system: Characteristic parameters and stability maps

Aarsnes

Wouw

2018

Journal of Sound and Vibration

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“…In many studies aiming at the analysis of torsional stick-slip vibrations in drilling systems, models are used that account for the torsional dynamics only (see [1], [4], [8], [22], [28], [37] as well as related experimental analysis in [25] and [26]). These models of the torsional dynamics have also been used to design controllers aiming at the elimination of stick-slip vibrations (see [5], [7], [21], [35], [36], [40], [41]). In these works, the resisting torque-on-bit caused by the bit-rock interaction is generally trivialized by modeling it as a frictional contact with a (locally) velocity-weakening effect (see [23] for a general account on stick-slip vibrations in drilling systems).…”

mentioning

confidence: 99%

Analysis and Control of Stick-Slip Oscillations in Drilling Systems

Besselink

Vromen

Kremers

et al. 2016

IEEE Trans. Contr. Syst. Technol.

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“…Two main reasons for this deficiency are the influence of multiple dynamical modes of the drill-string on torsional vibrations [32,33] and the uncertainty in the bit-rock interaction law.The main contribution of this paper is a nonlinear output-feedback control strategy mitigating torsional stick-slip vibrations while (i) only using surface measurements, that is, the top drive angular velocity, (ii) taking into account a multi-modal drill-string model and (iii) accounting for severe velocity-weakening and uncertainty in the bit-rock interaction. A preliminary version of this work has been presented in [34]. Additional contributions of the current paper are, firstly, an extensive robustness analysis of the proposed controller, secondly, validation of the proposed control strategy by application to a high-order FEM model of the drill-string dynamics and, thirdly, a complete proof regarding the stability properties of the closed-loop system.…”

mentioning

confidence: 99%

Nonlinear output‐feedback control of torsional vibrations in drilling systems

Vromen

Wouw

Doris

et al. 2017

Intl J Robust & Nonlinear

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Summary This paper considers the design of a nonlinear observer‐based output‐feedback controller for oil‐field drill‐string systems aiming to eliminate (torsional) stick–slip oscillations. Such vibrations decrease the performance and reliability of drilling systems and can ultimately lead to system failure. Current industrial controllers regularly fail to eliminate stick–slip vibrations under increasingly challenging operating conditions caused by the tendency towards drilling deeper and inclined wells, where multiple vibrational modes play a role in the occurrence of stick–slip vibrations. As a basis for controller synthesis, a multi‐modal model of the torsional drill‐string dynamics for a real rig is employed, and a bit–rock interaction model with severe velocity‐weakening effect is used. The proposed model‐based controller design methodology consists of a state‐feedback controller and a (nonlinear) observer. Conditions, guaranteeing asymptotic stability of the desired equilibrium, corresponding to nominal drilling operation, are presented. The proposed control strategy has a significant advantage over existing vibration control systems as it can effectively cope with multiple modes of torsional vibration. Case study results using the proposed control strategy show that stick–slip oscillations can indeed be eliminated in realistic drilling scenarios in which industrial controllers fail to do so. Moreover, key robustness aspects of the control system involving the robustness against uncertainties in the bit–rock interaction and changing operational conditions are evidenced. Copyright © 2017 John Wiley & Sons, Ltd.

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Observer-based output-feedback control to eliminate torsional drill-string vibrations

Cited by 10 publications

References 23 publications

Dynamics of a distributed drill string system: Characteristic parameters and stability maps

Dynamics of a distributed drill string system: Characteristic parameters and stability maps

Analysis and Control of Stick-Slip Oscillations in Drilling Systems

Nonlinear output‐feedback control of torsional vibrations in drilling systems

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