TY - JOUR
T1 - Analysis and control of stick-slip oscillations in drilling systems
AU - Besselink, Bart
AU - Vromen, Thijs
AU - Kremers, Niek
AU - Van De Wouw, Nathan
PY - 2016
Y1 - 2016
N2 - This paper proposes feedback control strategies for the mitigation of torsional stick-slip oscillations in drilling systems using drag bits. Herein, we employ a model for the coupled axial-torsional drill-string dynamics in combination with a rate-independent bit-rock interaction law including both cutting and frictional effects. Using a singular perturbation and averaging approach, we show that the dynamics of this model generate an apparent velocity-weakening effect in the torque-on-bit, explaining the onset of torsional stick-slip vibrations. Based on this dynamic analysis, the (decoupled) torsional dynamics can be described by a delay-differential equation with a state-dependent delay. Using this model, we propose both state-and output-feedback control strategies for the mitigation of torsional stick-slip oscillations, where the latter strategy uses surface measurements only. The effectiveness of the proposed approaches is shown in a simulation study.
AB - This paper proposes feedback control strategies for the mitigation of torsional stick-slip oscillations in drilling systems using drag bits. Herein, we employ a model for the coupled axial-torsional drill-string dynamics in combination with a rate-independent bit-rock interaction law including both cutting and frictional effects. Using a singular perturbation and averaging approach, we show that the dynamics of this model generate an apparent velocity-weakening effect in the torque-on-bit, explaining the onset of torsional stick-slip vibrations. Based on this dynamic analysis, the (decoupled) torsional dynamics can be described by a delay-differential equation with a state-dependent delay. Using this model, we propose both state-and output-feedback control strategies for the mitigation of torsional stick-slip oscillations, where the latter strategy uses surface measurements only. The effectiveness of the proposed approaches is shown in a simulation study.
KW - Control of drilling systems
KW - delay-differential equations (DDEs)
KW - linearization of DDEs
KW - stick-slip oscillations
KW - time scale analysis and averaging
UR - http://www.scopus.com/inward/record.url?scp=84949947222&partnerID=8YFLogxK
U2 - 10.1109/TCST.2015.2502898
DO - 10.1109/TCST.2015.2502898
M3 - Article
AN - SCOPUS:84949947222
SN - 1063-6536
VL - 24
SP - 1582
EP - 1593
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 5
ER -