Suppression of drill-string stick–slip vibration by sliding mode control: Numerical and experimental studies

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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Predictive-based sliding mode control for mitigating torsional vibration of drill string in the presence of input delay and external disturbance

Journal of Vibration and Control ◽

10.1177/1077546320960995 ◽

2020 ◽

pp. 107754632096099

Author(s):

Roya Sadeghimehr ◽

Amirhossein Nikoofard ◽

Ali Khaki Sedigh

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

External Disturbance ◽

Drill String ◽

Smith Predictor ◽

Input Delay ◽

Drilling Process ◽

Parameter Uncertainties ◽

Stick Slip ◽

Mode Control

Dealing with torsional vibrations and stick–slip oscillations of a drill string system is a challenging engineering task in the oil drilling process because of the harmful and costly consequences of such vibrations. In this article, the drill string system is modeled using a lumped-parameter model with four degrees of freedom, and the bit–rock contact is represented by a nonlinear function of a bit velocity. Also, tracking the desired velocity of a drill string system with known constant input delay is addressed in the presence of external disturbance and parameter uncertainties by applying the Smith predictor–based sliding mode control method. The performance of the smith predictor–based sliding mode control with input delay and disturbance in tracking the desired velocity and controlling the stick–slip oscillations is compared with the sliding mode control with/without input delay. The system output’s sensitivity to the delay parameter is also investigated, indicating how the bit velocity changes concerning the delay parameter. The proper choice of adaptation gain is determinative in the performance of the controller, and its impact is investigated. Moreover, the robustness of the smith predictor–based sliding mode control is shown by changing the weight on the bit parameter. Simulation results demonstrate the effectiveness of the proposed method.

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Suppression of Drill-String Stick-Slip Vibration

MATEC Web of Conferences ◽

10.1051/matecconf/201814816008 ◽

2018 ◽

Vol 148 ◽

pp. 16008 ◽

Cited By ~ 1

Author(s):

Vahid Vaziri ◽

Marcin Kapitaniak ◽

Marian Wiercigroch

Keyword(s):

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Drill String ◽

The Novel ◽

Stick Slip ◽

Drilling Rig ◽

Mode Control ◽

Drill Bits ◽

The University

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 drilling rig developed at the University of Aberdeen [1] and using PDC commercial drill-bits and real rock-samples. A mathematical model of the experimental setup which takes into account the dynamics of the drill-string and the driving motor, is proposed. Then a sliding mode control method is employed to suppress stick-slip oscillations. The experimental and numerical results considering a time delay of the actuator are in a close agreement. Stick-slip vibration is eliminated and significant reduction in vibration amplitude has been observed when using the controller.

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Research on predictive sliding mode control strategy for horizontal vibration of ultra-high-speed elevator car system based on adaptive fuzzy

Measurement and Control ◽

10.1177/00202940211003926 ◽

2021 ◽

Vol 54 (3-4) ◽

pp. 360-373

Author(s):

Hong Wang ◽

Mingqin Zhang ◽

Ruijun Zhang ◽

Lixin Liu

Keyword(s):

Sliding Mode Control ◽

High Speed ◽

Sliding Mode ◽

Mode Switching ◽

Parameter Uncertainties ◽

Horizontal Vibration ◽

Adaptive Fuzzy ◽

Mode Control ◽

System A ◽

Ultra High Speed

In order to effectively suppress horizontal vibration of the ultra-high-speed elevator car system. Firstly, considering the nonlinearity of guide shoe, parameter uncertainties, and uncertain external disturbances of the elevator car system, a more practical active control model for horizontal vibration of the 4-DOF ultra-high-speed elevator car system is constructed and the rationality of the established model is verified by real elevator experiment. Secondly, a predictive sliding mode controller based on adaptive fuzzy (PSMC-AF) is proposed to reduce the horizontal vibration of the car system, the predictive sliding mode control law is achieved by optimizing the predictive sliding mode performance index. Simultaneously, in order to decrease the influence of uncertainty of the car system, a fuzzy logic system (FLS) is designed to approximate the compound uncertain disturbance term (CUDT) on-line. Furthermore, the continuous smooth hyperbolic tangent function (HTF) is introduced into the sliding mode switching term to compensate the fuzzy approximation error. The adaptive laws are designed to estimate the error gain and slope parameter, so as to increase the robustness of the system. Finally, numerical simulations are conducted on some representative guide rail excitations and the results are compared to the existing solution and passive system. The analysis has confirmed the effectiveness and robustness of the proposed control method.

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Sliding Mode Control of Rotary Drilling System with Stick Slip Oscillation

2010 2nd International Workshop on Intelligent Systems and Applications ◽

10.1109/iwisa.2010.5473281 ◽

2010 ◽

Cited By ~ 3

Author(s):

Qi-zhi Zhang ◽

Yu-yao He ◽

Lin Li ◽

Nurzat Nurzat

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Rotary Drilling ◽

Stick Slip ◽

Mode Control ◽

Drilling System

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Research on Adaptive Backstepping Global Sliding Control for CPS

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.846-847.134 ◽

2013 ◽

Vol 846-847 ◽

pp. 134-138

Author(s):

Jue Wang ◽

Fei Li ◽

Ye Huang ◽

Jian Hao Wang ◽

Hong Lin Zhang

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Flight Simulator ◽

Position Tracking ◽

Adaptive Backstepping ◽

Parameter Uncertainties ◽

Servo Systems ◽

Mode Control ◽

Global Sliding Mode Control ◽

Compensation Methods

The paper studies the problem of tracking control for flight simulator servo systems, one typical CPS, with parameter uncertainties and nonlinear friction compensation. Methods of adaptive global sliding mode control and backstepping control are respectively proposed to realize the control of virtual rotational speed and position tracking. Adaptive backstepping global sliding mode control strategy for flight simulator servo systems is proposed and its stability is analyzed. Simulation results show the effectiveness of the proposed method, which could achieve the precision position tracking performance and eliminate the chattering.

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Tracking control of an underwater manipulator using fractional integral sliding mode and disturbance observer

Transactions of the Canadian Society for Mechanical Engineering ◽

10.1139/tcsme-2019-0225 ◽

2020 ◽

pp. 1-12

Author(s):

Lijun Han ◽

Guoyuan Tang ◽

Ruikun Xu ◽

Hui Huang ◽

De Xie

Keyword(s):

Sliding Mode Control ◽

Disturbance Observer ◽

Fractional Integral ◽

Controller Design ◽

Sliding Mode ◽

Parameter Uncertainties ◽

Integral Sliding Mode ◽

Finite Time Stability ◽

Mode Control ◽

Underwater Manipulator

In this paper, a fractional integral sliding mode control (FISMC) strategy with a disturbance observer (DO) is proposed for the trajectory tracking problem of the underwater manipulator, under lumped disturbances namely parameter uncertainties and external disturbances. The modified fractional integral sliding mode surface (FISMS) is designed to guarantee the fast convergence of system states. The DO method and the second-order sliding mode control law are used in the controller design, in which the former is introduced to compensate the effect of the lumped disturbances. Also, a saturated function is selected to replace the sign function to attenuate the chattering phenomenon. The stability of the overall closed-loop system is proved via Lyapunov’s finite-time stability theory. Numerical simulations are performed on a 6 degree of freedom (DOF) underwater manipulator. Simulation results demonstrate that the proposed control scheme can achieve better tracking performance and stronger robustness against disturbances, by comparing with the DO-based PD control and the DO-based PID-type linear sliding mode control (SMC).

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

IET Control Theory and Applications ◽

10.1049/iet-cta.2014.0329 ◽

2015 ◽

Vol 9 (1) ◽

pp. 91-102 ◽

Cited By ~ 20

Author(s):

Yang Liu

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Parametric Uncertainties ◽

Stick Slip ◽

Mode Control

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Sliding Mode Control of the Human Vestibular System

Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Structural Health Monitoring ◽

10.1115/smasis2012-7988 ◽

2012 ◽

Author(s):

Rachael McCarty ◽

S. Nima Mahmoodi ◽

Keith Williams

Keyword(s):

Mathematical Model ◽

Sliding Mode Control ◽

Vestibular System ◽

Head Movement ◽

Sliding Mode ◽

Sliding Mode Controller ◽

Control Parameters ◽

Mode Control ◽

The Mathematical Model ◽

The Brain

An original sliding mode controller is designed, based on an existing mathematical model for response control of the human vestibular system. The human vestibular system is located in the inner ear and significantly contributes to the functions of detecting head motion, maintaining balance and posture, and realizing gaze stabilization. The vestibular system sends signals to the brain to tell it how the head and body are moving, and the brain reacts by changing eye position accordingly. The nonlinearities of the vestibular system are not completely understood. The biggest nonlinearity is the nystagmus, a bouncing of the eyes to compensate for quick head movement. Another nonlinearity is that the quick phase does not start until head movement reaches a certain frequency. Considering these nonlinearities as well as the uncertainties of the system, sliding mode control a good choice for controlling the system. Several mathematical models of the human vestibular system are considered for use in the control design. The best model of those considered is chosen based on the models’ consideration of nonlinearities and their levels of complexity. The mathematical model used in this paper is a nonlinear transfer function. The output is controlled with a robust sliding mode controller. Results demonstrate the need to increase control parameters as frequency of the sinusoidal input increases to minimize overshoot error. However, since the human head cannot tolerate an infinitely large frequency input, control parameters also will necessarily be limited. Therefore, results show that the designed sliding mode robust controller is an effective mechanism for controlling the mathematical model of the human vestibular system.

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ESO-Based Fuzzy Sliding-Mode Control for a 3-DOF Serial-Parallel Hybrid Humanoid Arm

Journal of Control Science and Engineering ◽

10.1155/2014/304590 ◽

2014 ◽

Vol 2014 ◽

pp. 1-9 ◽

Cited By ~ 3

Author(s):

Yueling Wang ◽

Runjie Shi ◽

Hongbin Wang

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

External Disturbance ◽

Parameter Uncertainties ◽

Trajectory Tracking Control ◽

Mode Control ◽

Parallel Hybrid ◽

Fuzzy Sliding Mode ◽

Fuzzy Parameter ◽

Humanoid Arm

This paper presents a unique ESO-based fuzzy sliding-mode controller (FSMC-ESO) for a 3-DOF serial-parallel hybrid humanoid arm (HHA) for the trajectory tracking control problem. The dynamic model of the HHA is obtained by Lagrange method and is nonlinear in dynamics with inertia uncertainty and external disturbance. The FSMC-ESO is based on the combination of the sliding-mode control (SMC), extended state observer (ESO) theory, and fuzzy control (FC). The SMC is insensitive to both internal parameter uncertainties and external disturbances. The motivation for using ESO is to estimate the disturbance in real-time. The fuzzy parameter self-tuning strategy is proposed to adjust the switching gain on line according to the running state of the system. The stability of the system is guaranteed in the sense of the Lyapunov stability theorem. The effectiveness and robustness of the designed FSMC-ESO are illustrated by simulations.

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