Feedback Control Method to Suppress Stick-slip in Drill-strings Featuring Delay and Actuation Constraints

James Donald Maclean* (Corresponding Author), Vahid Vaziri, Sumeet S. Aphale, Marian Wiercigroch

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

Abstract

In this work, performance of a modified-integral resonant controller with integral tracking is investigated numerically under the effects of actuator delay and actuation constraints. Actuation delay and constraints naturally limit controller performance, so much so that it can cause instabilities. A 2-DOF drill-string m with nonlinear bit–rock interactions is analysed. The aforementioned control scheme is implemented on this system and analysed under the effects of actuation delay and constraints and it is found to be highly effective at coping with these limitations. The scheme is then compared to sliding-mode control and shows to be superior in many regimes of operation. Lastly, the scheme is analysed in detail by varying its gains as well as varying system parameters, most notably that of actuation delay
Original languageEnglish
Number of pages16
JournalThe European Physical Journal. Special Topics
Early online date6 Aug 2021
DOIs
Publication statusE-pub ahead of print - 6 Aug 2021

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