Mitigation of torsional vibrations in drilling systems: a robust control approach

T.G.M. Vromen (Corresponding author), C.H. Dai, N. van de Wouw, T.A.E. Oomen, P. Astrid, A. Doris, H. Nijmeijer

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

15 Citaten (Scopus)
1 Downloads (Pure)


Stick-slip vibrations decrease the performance, reliability, and fail safety of drilling systems. The aim of this paper is to design a robust output-feedback control approach to eliminate torsional stick-slip vibrations in drilling systems. Current industrial controllers regularly fail to eliminate stick-slip vibrations, especially when multiple torsional flexibility modes play a role in the onset of stick-slip vibrations. As a basis for controller synthesis, a multimodal model of the torsional dynamics for a real drill-string system is employed. The proposed controller design strategy is based on skewed-\mu DK iteration and aims at optimizing the robustness with respect to uncertainty in the nonlinear bit-rock interaction. Moreover, a closed-loop stability analysis for the nonlinear drill-string model is provided. This controller design strategy offers several benefits compared with existing controllers. First, only surface measurements are employed, therewith avoiding the need for down-hole measurements. Second, multimodal drill-string dynamics are effectively dealt with in ways inaccessible to state-of-practice controllers. Third, robustness with respect to uncertainties in the bit-rock interaction is explicitly provided and closed-loop performance specifications are included in the controller design. Case study results confirm that stick-slip vibrations are indeed eliminated in realistic drilling scenarios using the designed controller in which state-of-practice controllers fail to achieve this.

Originele taal-2Engels
Pagina's (van-tot)249-265
Aantal pagina's17
TijdschriftIEEE Transactions on Control Systems Technology
Nummer van het tijdschrift1
StatusGepubliceerd - 1 jan 2019

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