期刊
EUROPEAN JOURNAL OF APPLIED MATHEMATICS
卷 29, 期 5, 页码 805-825出版社
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0956792518000232
关键词
Drill-string dynamics; stick-slip; torsional vibration; nonlinear behaviour; experimental studies; mathematical modelling; sliding mode control
资金
- BG Group plc
We investigate experimentally and numerically suppression of drill-string torsional vibration while drilling by using a sliding mode control. The experiments are conducted on the novel experimental drill-string dynamics rig developed at the University of Aberdeen (Wiercigroch, M., 2010, Modelling and Analysis of BHA and Drill-string Vibrations) and using commercial Polycrystalline Diamond Compact (PDC) drill-bits and rock-samples. A mathematical model of the experimental setup, which takes into account the dynamics of the drill-string and the driving motor, is constructed. Physical parameters of the experimental rig are identified in order to calibrate the mathematical model and consequently to ensure robust predictions and a close agreement between experimental and numerical results for stick-slip vibration is shown. Then, a sliding mode control method is employed to suppress stick-slip vibration. A special attention is paid to prove the Lyapunov stability of the controller in presence of model parameter uncertainties by defining a robust Lyapunov function. Again experimental and numerical results for the control cases are in a close agreement. Stick-slip vibration is eliminated and a significant reduction in vibration amplitude has been observed when using the sliding controller.
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