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Prediction-Based control for mitigation of axial-torsional vibrations in a distributed drill-string system
Tashakori, S ; Sharif University of Technology | 2022
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- Type of Document: Article
- DOI: 10.1109/TCST.2021.3065669
- Publisher: Institute of Electrical and Electronics Engineers Inc , 2022
- Abstract:
- This article proposes a control strategy to stabilize the axial-torsional dynamics of a distributed drill-string system. An infinite-dimensional model for the vibrational dynamics of the drill string is used as a basis for controller design. In this article, both the cutting process and frictional contact effects are considered in the bit-rock interaction model. Moreover, models for the top-side boundary conditions regarding axial and torsional actuation are considered. The resulting model is formulated in terms of neutral-type delay differential equations that involve constant state delays, state-dependent state delays, and constant input delays arising from the distributed nature of the drill-string dynamics and the cutting process at the bit. Using a spectral approach, the stability and stabilizability of the associated linearized dynamics are analyzed to support controller design. An optimization-based continuous pole-placement technique has been employed to design a stabilizing controller. Since the designed state-feedback control law needs state prediction, a predictor with observer structure is proposed. Both the controller and the predictor only employ top-side measurements. The effectiveness of the control strategy, in the presence of measurement noise, is shown in a representative case study. It is also shown that the controller is robust to parametric uncertainty in the bit-rock interaction. © 2021 IEEE
- Keywords:
- Continuous pole-placement method ; Distributed dynamics ; Drill-string dynamics ; Neutral-type time-delay (NTD) model ; Prediction-based control ; Spectral approach ; Stability analysis ; Boundary conditions ; Drill strings ; Drills ; Infill drilling ; Robust control ; State feedback ; Vibrations (mechanical) ; Drill string systems ; Infinite dimensional ; Parametric uncertainties ; Pole placement technique ; Presence of measurement noise ; Stabilizing controllers ; State feedback control law ; Vibrational dynamics ; Controllers
- Source: IEEE Transactions on Control Systems Technology ; Volume 30, Issue 1 , 2022 , Pages 277-293 ; 10636536 (ISSN)
- URL: https://ieeexplore.ieee.org/document/9385933