Analysis and control of stick-slip oscillations in drilling systems

B. Besselink, T.G.M. Vromen, Niek Kremers, N. Van De Wouw

Research output: Contribution to journalArticleAcademicpeer-review

46 Citations (Scopus)
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Abstract

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.

Original languageEnglish
Article number7353168
Pages (from-to)1582-1593
Number of pages12
JournalIEEE Transactions on Control Systems Technology
Volume24
Issue number5
DOIs
Publication statusPublished - 1 Sep 2016

Keywords

  • Control of drilling systems
  • delay-differential equations (DDEs)
  • linearization of DDEs
  • stick-slip oscillations
  • time scale analysis and averaging

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