Analysis and control of stick-slip oscillations in drilling systems

B. Besselink, T. Vromen, N. Kremers, N. van de Wouw

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43 Citations (Scopus)

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
Pages (from-to)1582-1593
Number of pages12
JournalIEEE Transactions on Control Systems Technology
Volume24
Issue number5
DOIs
Publication statusPublished - Sep-2016
Externally publishedYes

Keywords

  • Analytical models
  • Delays
  • Drag
  • Mathematical model
  • Oscillators
  • Torque
  • Vibrations
  • Control of drilling systems
  • delay-differential equations (DDEs)
  • linearization of DDEs
  • stick-slip oscillations
  • time scale analysis and averaging
  • SELF-EXCITED VIBRATIONS
  • OIL-WELL DRILLSTRINGS
  • DRAG BITS
  • COUPLED VIBRATIONS
  • MODEL
  • STABILITY
  • DELAY

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