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Technical Brief

Observer-Based Boundary Control Design for the Suppression of Stick-Slip Oscillations in Drilling Systems With Only Surface Measurements

[+] Author and Article Information
Halil I. Basturk

Department of Mechanical Engineering Bogazici University, Istanbul, Turkey, 34342
halil.basturk@boun.edu.tr

1Corresponding author.

ASME doi:10.1115/1.4036549 History: Received February 03, 2016; Revised March 17, 2017

Abstract

We develop an observer based boundary controller for the rotary table to suppress stick-slip oscillations and maintain the angular velocity of the drill string at a desired value during a drilling process despite unknown friction torque and by using only surface measurements. The control design is based on a distributed model of the drill string. The obtained infinite dimensional model is converted to an ODE-PDE coupled system. The observer based controller is designed by reformulating the problem as the stabilization of an LTI system which is affected by a constant unknown disturbance and has simultaneous actuator and sensor delays. The main contribution of the controller is that it requires only surface measurements. We prove that the equilibrium of the closed loop system is exponentially stable and the angular velocity regulation is achieved with the estimations of unknown friction torque and drill bit velocity. The effectiveness of the controller is demonstrated in numerical simulations.

Copyright (c) 2017 by ASME
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