scholarly journals State Feedback and Torque Feed Forward Combined Control System for Suppressing Drill-Strings Stick-Slip Vibration

2019 ◽  
Vol 37 (2) ◽  
pp. 291-298
Author(s):  
Meng Fu ◽  
Jianghong Li ◽  
Yafeng Wu ◽  
Shubiao Song ◽  
Aiqi Zhao ◽  
...  
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
State Feedback ◽  
Dynamic Performance ◽  
Experimental Tests ◽  
State Observer ◽  
Lumped Parameter Model ◽  
Stick Slip ◽  
Feed Forward ◽  
Reference Governor

In drilling field, drill-strings stick-slip vibration is a common phenomenon and may lead to a series of drilling accidents. In order to improve drilling efficiency, this paper commits to study a new control system to suppress the undesired stick-slip vibration. In this work, a two degrees of freedom lumped parameter model is established to imitate the drill-strings. A state observer is proposed to estimate the unknown drill-strings states. A reference governor is put forward to optimize drilling parameters. In addition, in order to enhance the anti-interference ability of the closed-loop system, a torque feed forward is introduced into the control system. Based on the state observer and the reference governor, a state feedback and torque feed forward combined controller is designed. The simulation results indicate preliminarily that the designed state feedback and torque feed forward controller, compared with the drilling industry PI controller, has better dynamic performance and stronger ability to eliminate the drill-strings stick-slip vibration. Finally, the control system is applied in the drilling field. The experimental tests demonstrate that the designed controller can effectively suppress the drill-strings stick-slip vibration.

Development of a Ring Permeability Test System

2010 ◽  
Vol 136 ◽  
pp. 153-157
Author(s):  
Yu Hong Du ◽  
Xiu Ming Jiang ◽  
Xiu Ren Li
Keyword(s):  
Control System ◽  
Control Method ◽  
Dynamic Performance ◽  
Experimental Tests ◽  
Measuring Method ◽  
Test System ◽  
Fluid Theory ◽  
And Control ◽  
Relationship Of ◽  
The Mathematical Model

To solve the problem of detecting the permeability of the textile machinery, a dedicated test system has been developed based on the pressure difference measuring method. The established system has a number of advantages including simple, fast and accurate. The mathematical model of influencing factors for permeability is derived based on fluid theory, and the relationship of these parameters is achieved. Further investigations are directed towards the inherent characteristics of the control system. Based on the established model and measuring features, an information fusion based clustering control system is proposed to implement the measurement. Using this mechanical structure, a PID control system and a cluster control system have been developed. Simulation and experimental tests are carried out to examine the performance of the established system. It is noted that the clustering method has a high dynamic performance and control accuracy. This cluster fusion control method has been successfully utilized in powder metallurgy collar permeability testing.

Modeling and Optimizing of Control System with Full-State Feedback and Integral Output Feedback for DC Motor

2011 ◽  
Vol 130-134 ◽  
pp. 2876-2880
Author(s):  
Qiang He
Keyword(s):  
Control System ◽  
Output Feedback ◽  
State Feedback ◽  
Dynamic Performance ◽  
State Space Model ◽  
Poor Performance ◽  
Dc Motor ◽  
Dc Motors ◽  
Full State ◽  
Full State Feedback

Conventional single closed-loop system of DC motor with speed-feedback has poor performance when some stochastic disturbances take place. To handle this shortcoming, the control system with full-state feedback and integral output feedback of DC motor is proposed. The state-space model of the full-state feedback of DC motors is established. The feedback gains of the control system are optimized by Particle Swarm Optimization algorithms based the simulation model. The simulation results show that the control system with full-state feedback of DC motors has better dynamic performance.

Research on Dynamic Performance of Independent Metering Control System

2017 ◽  
Author(s):  
Qi Zhong ◽  
Bin Zhang ◽  
Mingjie Niu ◽  
Haocen Hong ◽  
Huayong Yang
Keyword(s):  
Control System ◽  
Energy Efficient ◽  
Degrees Of Freedom ◽  
Dynamic Performance ◽  
Voice Coil Motor ◽  
Pressure Control ◽  
Control Mode ◽  
Fuzzy Pid Control ◽  
Efficient Control ◽  
Valve Control

Compared with traditional valve control systems, the independent metering valve control system (IMVCS) broke down the mechanical connection of the meter-in and meter-out orifices so that it increased the control degrees of freedom. More importantly, it achieved a more energy-efficient control mode for hydraulic system. This paper studied the dynamic characteristics of IMVCS based on fuzzy PID control algorithm. A controller included power amplifier module, voice coil motor (VCM) drive module, data acquisition module and CAN communication module was designed. A SYS/BIOS based embedded operating system was adopted in this controller for fast response. A host computer program based on CAN bus was developed to monitor status of the IMVCS. A series of experiments of displacement control and pressure control have been carried out, and results showed a good dynamic performance and huge potential of energy-efficient control.

Application of Self-Tuning PID Control with Feed-Forward Compensator Based on LS_SVM Inverse Model in Nonlinear System

2013 ◽  
Vol 401-403 ◽  
pp. 1577-1580
Author(s):  
Qing Ling Dai
Keyword(s):  
Control System ◽  
Dynamic Performance ◽  
Inverse Model ◽  
Control Effect ◽  
Feed Forward ◽  
Compound Control ◽  
Good Ability ◽  
Model Control ◽  
Nonlinear Object ◽  
Self Tuning

Aiming at the difficulty to building inverse model in the inverse model control system, the modeling method of inverse model based on the LS_SVM is proposed. In order to obtain better static and dynamic performance, the feed-forward compensator and self-tuning PID controller are consisted of the compound control system. As can be seen from the simulation results that the compound control system has a good ability to control nonlinear object with high tracking precision, good dynamic performance and better control effect.

scholarly journals Fractional-order controllers for stick-slip vibration mitigation in oil well drill-strings

2021 ◽  
pp. 146134842098404
Author(s):  
Massinissa Derbal ◽  
Mohamed Gharib ◽  
Shady S Refaat ◽  
Alan Palazzolo ◽  
Sadok Sassi
Keyword(s):  
Fractional Order ◽  
Degrees Of Freedom ◽  
Lumped Parameter Model ◽  
Oil Well ◽  
Proportional Integral Derivative ◽  
Stick Slip ◽  
Proportional Integral ◽  
Drilling Performance ◽  
Weight On Bit ◽  
Rotary Speed

Drillstring–borehole interaction can produce severely damaging vibrations. An example is stick–slip vibration, which negatively affects drilling performance, tool integrity and completion time, and costs. Attempts to mitigate stick–slip vibration typically use passive means and/or change the operation parameters, such as weight on bit and rotational speed. Automating the latter approach, by means of feedback control, holds the promise of quicker and more effective mitigation. The present work presents three separate fractional-order controllers for mitigating drillstring slip–stick vibrations. For the sake of illustration, the drillstring is represented by a torsional vibration lumped parameter model with four degrees of freedom, including parameter uncertainty. The robustness of these fractional-order controllers is compared with traditional proportional-integral-derivative controllers under variation of the weight on bit and the drill bit’s desired rotary speed. The results confirm the proposed controllers effectiveness and feasibility, with rapid time response and less overshoot than conventional proportional-integral-derivative controllers.

Simulation Research on the Compound Control System of Internal Model Add Feed-Forward Compensator

2014 ◽  
Vol 597 ◽  
pp. 372-375
Author(s):  
Sheng Bo Zhang
Keyword(s):  
Control System ◽  
Internal Model ◽  
Dynamic Performance ◽  
Internal Model Control ◽  
Simulation Research ◽  
Feed Forward ◽  
Online Identification ◽  
Compound Control ◽  
Model Control ◽  
Internal Model Controller

According to the characteristics of the internal model control and feed-forward control and Combining the both advantages, the compound control system of the internal model add feed-forward compensator was designed. In order to improve the dynamic performance of the control system, online identification method is adopted to establish the internal model. The designs of the internal model controller and feed-forward compensator were detailed instructions. The simulation shows that the compound control system have not only good dynamic performance, high tracking precision and strong anti-jamming capability, but also have the change of system parameters with strong robustness.

A Two-Stage State Feedback Controller Supported by Disturbance-State Observer for Vibration Control of a Flexible-Joint Robot

Robotica ◽  
2019 ◽  
Vol 38 (6) ◽  
pp. 1082-1104
Author(s):  
Minh-Nha Pham ◽  
Philippe Hamelin ◽  
Bruce Hazel ◽  
Zhaoheng Liu
Keyword(s):  
Degrees Of Freedom ◽  
State Feedback ◽  
State Observer ◽  
Position Tracking ◽  
Control Input ◽  
Vibration Modes ◽  
Harmonic Drive ◽  
Two Stage ◽  
Indirect Measurements ◽  
Flexible Joint

SUMMARYJoint flexibility introduces additional degrees of freedom and vibration modes, thus limiting the performance of the manipulator. To improve control bandwidth, this paper proposes an enhanced two-stage state feedback (SFB) controller, which combines two parts. The first is a SFB loop, which considers the motor position as a virtual control input for the link side dynamics. The second is a disturbance-state observer, which compensates disturbances and reconstructs indirect measurements. Experimental results show the effectiveness of the proposed controller in terms of position tracking, link vibration, and rejection of the kinematic error from the joint’s harmonic drive reducer.

scholarly journals Theoretical and Numerical Analysis of Coupled Axial-Torsional Nonlinear Vibration of Drill Strings

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Xinye Li ◽  
Tao Yu ◽  
Lijuan Zhang ◽  
Hao Zeng ◽  
Congcong Duan
Keyword(s):  
Angular Velocity ◽  
Nonlinear Vibration ◽  
Degrees Of Freedom ◽  
Period Doubling ◽  
Relative Displacement ◽  
Lumped Parameter Model ◽  
Stick Slip ◽  
Periodic Response ◽  
Variation Of Parameters ◽  
Theoretical And Numerical Analysis

Based on a lumped parameter model with two degrees of freedom, the periodic response of the coupled axial-torsional nonlinear vibration of drill strings is studied by HB-AFT (harmonic balance and alternating frequency/time domain) method and numerical simulations. The amplitude-frequency characteristic curves of axial relative displacement and torsional relative angular velocity are given to reveal the mechanism of bit bounce and stick-slip motion. The stability of periodic response is analyzed by Floquet theory, and the boundary conditions of bifurcation of periodic response are given when parameters such as nominal drilling pressure, angular velocity of turntable, and formation stiffness are varied. The results show that the amplitude of the periodic response of the system precipitates a spontaneous jump and Hopf bifurcation may occur when the angular velocity of the turntable is varied. The variation of parameters may lead to the complex dynamic behavior of the system, such as period-doubling motion, quasiperiodic motion, and chaos. Bit bounce and stick-slip phenomenon can be effectively suppressed by varying the angular velocity of turntable and nominal drilling pressure.

scholarly journals Analytical optimization of IMC-PID design based on performance/robustness tradeoff tuning strategy for the modified Smith structure

2019 ◽  
Vol 39 (1) ◽  
pp. 158-173
Author(s):  
Liu Li-Ye ◽  
Jin Qi-Bing
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Control Structure ◽  
Design Method ◽  
Dynamic Performance ◽  
Internal Model Control ◽  
Stability Performance ◽  
Model Control ◽  
System Robustness ◽  
Tuning Strategy

In this paper, a modified two degrees of freedom Smith control structure is proposed to realize tradeoff tuning strategy between the dynamic performance and system robustness based on analytical optimization of internal model control proportion integration differentiation design method. By analyzing the stability performance of the modified Smith control structure, the control characteristic between the modified Smith control structure and two adjustment parameters is obtained. The different input responses are discussed based on the performance of modified control system. Moreover, the set point response and the disturbance response of the closed-loop system are adjusted by two parameters, respectively. The multiplicative uncertainty plant is imposed into the modified Smith control system to analyze the system robustness from the aspect of the structure uncertainty. The proposed control strategy is applied to the second order plus delay time plant. The simulation result reflects that the modified Smith control structure is the method which is based on the tradeoff between the performance and the robustness tuning strategy.

Robust Two-degree-of-freedom Control Based on H∞ Method for PMSM Drive System

2020 ◽  
Vol 13 (4) ◽  
pp. 496-506
Author(s):  
Qixin Zhu ◽  
Lei Xiong ◽  
Hongli Liu ◽  
Yonghong Zhu ◽  
Guoping Zhang
Keyword(s):  
Control System ◽  
Control Theory ◽  
Position Control ◽  
Dynamic Performance ◽  
Servo System ◽  
Degree Of Freedom ◽  
Trade Off ◽  
Standard Design ◽  
Position Controller ◽  
Two Degree Of Freedom

Background: The conventional method using one-degree-of-freedom (1DOF) controller for Permanent Magnet Synchronous Motor (PMSM) servo system has the trade-off problem between the dynamic performance and the robustness. Methods: In this paper, by using H∞ control theory, a novel robust two-degree-of-freedom (2DOF) controller has been proposed to improve the position control performance of PMSM servo system. Using robust control theory and 2DOF control theory, a H∞ robust position controller has been designed and discussed in detail. Results: The trade-off problem between the dynamic performance and robustness which exists in one-degree-of-freedom (1DOF) control can be dealt with by the application of 2DOF control theory. Then, through H∞ control theory, the design of robust position controller can be translated to H∞ robust standard design problem. Moreover, the control system with robust controller has been proved to be stable. Conclusion: Further simulation results demonstrate that compared with the conventional PID control, the designed control system has better robustness and attenuation to the disturbance of load impact.

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