NDLI: Suppressing stick-slip oscillations in underactuated multibody drill-strings with parametric uncertainties using sliding-mode control

Content Provider	IET Digital Library
Author	Liu, Yang
Abstract	Stabilisation of multibody drill-strings which exhibit stick-slip oscillations is studied in this paper from the point of view of underactuated system. The model has one control torque input acting on the rotary table from the land surface and multi-degree-of-freedom downhole parts to be controlled. Three motion regimes of the model including bit sticking, stick-slip oscillation and rotating at a constant speed are identified and their equilibria are analysed accordingly. The control objective of the system is to avoid the undesired bit sticking and stick-slip oscillation while tracking a desired angular velocity. Three sliding-mode controllers are studied for the drill-string with estimated physical parameters. The stabilities of the proposed controllers are proved by using the Lyapunov direct method ensuring that any trajectory of the system can reach and stays thereafter on the pre-designed sliding surface where the desired equilibrium is asymptotically stable. Extensive simulation results are given to demonstrate the effectiveness of the proposed controllers and their robustness to parametric uncertainties.
Starting Page	91
Ending Page	102
Page Count	12
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 1, Jan (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/1
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2014.0329
Journal	IET Control Theory & Applications
Publisher Date	2014-09-24
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Angular Velocity Asymptotic Stability Bit Sticking Control Application in Machining Processes And Machine Tools Control Technology And Theory Controller Stability Drilling Lyapunov Direct Method Lyapunov Method Machining Modelling And Identification Multibody Drill-string Stabilisation Multidegree-of-freedom Downhole Parts Multivariable Control System Parameter Estimation Parametric Uncertainty Physical Parameter Estimation Rotary Table Simulation Sliding Surface Sliding-mode Controller Stability in Control Theory Stick-slip Oscillation Suppression Stick-slip Oscillations Uncertain System Underactuated Multibody Drill-strings Underactuated System Variable Structure System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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Comment: Design of a stable sliding-mode controller for a class of second-order underactuated systems: Volume 1, Issue 4, Jul (2007)

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