Sliding-mode control of a multi-DOF oilwell drillstring with stick-slip oscillations

Navarro-López, Eva M.; Cortés, Domingo

doi:10.1109/acc.2007.4282198

Cited by 67 publications

(64 citation statements)

References 23 publications

(31 reference statements)

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“…The difference between the existing sliding-mode controllers, e.g. [5,9,10] and the proposed one is that the latter has tolerance for parameter uncertainties and is robust to the variation of WOB as measuring all these physical parameters precisely in The drill-string is an underactuated system [11] as it has one control torque input actuating on the rotary table from the ground and multi-degree-of-freedom downhole parts comprising the drill pipes, the drill collars and the drill bit to be controlled. For traditional underactuated systems, friction is always omitted or simplified despite it plays a significant role in some engineering applications, e.g.…”

Section: Introductionmentioning

confidence: 99%

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: Introductionmentioning

confidence: 99%

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 inequality was obtained using equation (31). Using the notations of the previous theorem yields:…”

Section: B Exponential Stability With a Guaranteed Decay-ratementioning

confidence: 99%

Practical Stability Analysis of a Drilling Pipe Under Friction With a PI-Controller

Barreau

Gouaisbaut

Seuret

2021

IEEE Trans. Contr. Syst. Technol.

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This paper deals with the stability analysis of a drilling pipe controlled by a PI controller. The model is a coupled ODE / PDE and is consequently of infinite dimension. Using recent advances in time-delay systems, we derive a new Lyapunov functional based on a state extension made up of projections of the Riemann coordinates. First, we will provide an exponential stability result expressed using the LMI framework. This result is dedicated to a linear version of the torsional dynamic. On a second hand, the influence of the nonlinear friction force, which may generate the well-known stick-slip phenomenon, is analyzed through a new stability theorem. Numerical simulations show the effectiveness of the method and that the stick-slip oscillations cannot be weaken using a PI controller.

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“…The following nonlinear equation introduced in [5] approximates the physical phenomenon at the bottom hole…”

Section: Nonlinear Model Of the Drilling Systemmentioning

confidence: 99%

Exponential stabilization of a class of nonlinear neutral type time-delay systems, an oilwell drilling model example

Saldivar

Seuret

Mondié

2011

2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control

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Sliding-mode control of a multi-DOF oilwell drillstring with stick-slip oscillations

Cited by 67 publications

References 23 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

Practical Stability Analysis of a Drilling Pipe Under Friction With a PI-Controller

Exponential stabilization of a class of nonlinear neutral type time-delay systems, an oilwell drilling model example

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