scholarly journals Hybrid sliding PID controller for torsional vibrations mitigation in rotary drilling systems

2021 ◽  
Vol 22 (1) ◽  
pp. 146
Author(s):  
Chafiaa Mendil ◽  
Madjid Kidouche ◽  
Mohamed Zinelabidine Doghmane
Keyword(s):  
Pid Controller ◽  
Sliding Mode ◽  
Research Work ◽  
Drilling Process ◽  
Torsional Vibrations ◽  
Rotary Drilling ◽  
Stick Slip ◽  
Dynamical Interaction ◽  
Drilling System ◽  
Slip Phenomenon

During the drilling process, the drilling system devices can be exposed to several types of phenomena incited by lateral, axial, and torsional vibrations. The latter can lead to severe damages if they are not efficiently controlled and quickly mitigated. This research work is focused on the torsional vibrations, which are stimulated by the nonlinear dynamical interaction between the geological rocks and the drill bit. Wherein, a model with three degrees of freedom was designed to demonstrate the severity of the stick-slip phenomenon as consequence of torsional vibrations. The main objective of this study was to design a robust controller based on hybridizing a conventional PID controller with sliding mode approach in order to mitigate rapidly the torsional vibrations. Moreover, a comparative study between PI, PID and sliding mode controllers allowed us to emphasize the effectiveness of the new hybrid controller and improve the drilling system performances. Furthermore, the chattering phenomenon in the sliding surface was overcome by using the saturation function rather than the sign function. The obtained results proved the usefulness of the proposed controller in suppressing the stick-slip phenomenon for smart industrial drilling systems.

Rock–bit interaction effects on high-frequency stick-slip vibration severity in rotary drilling systems

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chafiaa Mendil ◽  
Madjid Kidouche ◽  
Mohamed Zinelabidine Doghmane ◽  
Samir Benammar ◽  
Kong Fah Tee
Keyword(s):  
High Frequency ◽  
Drill String ◽  
System Stability ◽  
Practical Implementation ◽  
Rotary Drilling ◽  
Stick Slip ◽  
Content Type ◽  
Drilling System ◽  
Rock Bit ◽  
Slip Phenomenon

PurposeThe drill string vibrations can create harmful effects on drilling performance because they generate the stick-slip phenomenon which reduces the quality of drilling and decreases the penetration rate and may affect the robustness of the designed controller. For this reason, it is necessary to carefully test the different rock-bit contact models and analyze their influences on system stability in order to mitigate the vibrations. The purpose of this paper is to investigate the effects of rock-bit interaction on high-frequency stick-slip vibration severity in rotary drilling systems.Design/methodology/approachThe main objective of this study is an overview of the influence of the rock-bit interaction models on the bit dynamics. A total of three models have been considered, and the drilling parameters have been varied in order to study the reliability of the models. Moreover, a comparison between these models has allowed the determination of the most reliable function for stick-slip phenomenon.FindingsThe torsional model with three degrees of freedom has been considered in order to highlight the effectiveness of the comparative study. Based on the obtained results, it has been concluded that the rock-bit interaction model has big influences on the response of the rotary drilling system. Therefore, it is recommended to consider the results of this study in order to design and implement a robust control system to mitigate harmful vibrations; the practical implementation of this model can be advantageous in designing a smart rotary drilling system.Originality/valueMany rock-bit functions have been proposed in the literature, but no study has been dedicated to compare them; this is the main contribution of this study. Moreover, a case study of harmonic torsional vibrations analysis has been carried out in well-A, which is located in an Algerian hydrocarbons field, the indices of vibrations detection are given with their preventions.

Study of stick–slip suppression and robustness to parametric uncertainty in drill strings containing torsional vibration tool using sliding-mode control

2021 ◽  
pp. 146441932110452
Author(s):  
Jialin Tian ◽  
Jie Wang ◽  
Siqi Zhou ◽  
Yinglin Yang ◽  
Liming Dai
Keyword(s):  
Torsional Vibration ◽  
Complex Dynamics ◽  
Sliding Mode ◽  
Parametric Uncertainty ◽  
Drill String ◽  
Lumped Parameter Model ◽  
Drilling Process ◽  
Drill Bit ◽  
Stick Slip ◽  
Drilling Operations

Excessive stick–slip vibration of drill strings can cause inefficiency and unsafety of drilling operations. To suppress the stick–slip vibration that occurred during the downhole drilling process, a drill string torsional vibration system considering the torsional vibration tool has been proposed on the basis of the 4-degree of freedom lumped-parameter model. In the design of the model, the tool is approximated by a simple torsional pendulum that brings impact torque to the drill bit. Furthermore, two sliding mode controllers, U1 and U2, are used to suppress stick–slip vibrations while enabling the drill bit to track the desired angular velocity. Aiming at parameter uncertainty and system instability in the drilling operations, a parameter adaptation law is added to the sliding mode controller U2. Finally, the suppression effects of stick–slip and robustness of parametric uncertainty about the two proposed controllers are demonstrated and compared by simulation and field test results. This paper provides a reference for the suppression of stick–slip vibration and the further study of the complex dynamics of the drill string.

Torsional Vibrations and Nonlinear Dynamic Characteristics of Drill Strings and Stick-Slip Reduction Mechanism

2019 ◽  
Vol 14 (8) ◽  
Author(s):  
Jialin Tian ◽  
Genyin Li ◽  
Liming Dai ◽  
Lin Yang ◽  
Hongzhi He ◽  
...  
Keyword(s):  
Torsional Vibration ◽  
Nonlinear Dynamic ◽  
Drill String ◽  
Drilling Process ◽  
Drill Bit ◽  
Torsional Vibrations ◽  
Reduction Mechanism ◽  
Nonlinear Dynamic Model ◽  
Stick Slip ◽  
Research Results

Torsional stick–slip vibrations easily occur when the drill bit encounters a hard or a hard-soft staggered formation during drilling process. Moreover, serious stick–slip vibrations of the drill string is the main factor leading to low drilling efficiency or even causing the downhole tools failure. Therefore, establishing the stick–slip theoretical model, which is more consistent with the actual field conditions, is the key point for new drilling technology. Based on this, a new torsional vibration tool is proposed in this paper, then the multidegree-of-freedom torsional vibrations model and nonlinear dynamic model of the drill string are established. Combined with the actual working conditions in the drilling process, the stick–slip reduction mechanism of the drill string is studied. The research results show that the higher rotational speed of the top drive, smaller viscous damping of the drill bit, and smaller WOB (weight on bit) will prevent the stick–slip vibration to happen. Moreover, the new torsional vibration tool has excellent stick–slip reduction effect. The research results and the model established in this paper can provide important references for reducing the stick–slip vibrations of the drill string and improving the rock-breaking efficiency.

Torsional Vibration Analysis of Drillstrings in Blasthole Drilling

2008 ◽  
Author(s):  
Omid Aminfar ◽  
Amir Khajepour
Keyword(s):  
Torsional Vibration ◽  
Natural Frequencies ◽  
Element Model ◽  
Drilling Process ◽  
Torsional Vibrations ◽  
Rotary Drilling ◽  
Well Drilling ◽  
State Response ◽  
Drilling Performance ◽  
Overall Performance

Reducing vibrations in well drilling has a significant effect on improving the overall performance of the drilling process. Vibrations may affect the drilling process in different ways, i.e., reducing durability of the drillstring’s elements, reducing the rate of penetration, and deviating the drilling direction. In rotary drilling, which is used to open mine and oil wells, torsional vibration of the drillstring is an important component of the overall system’s vibration that has received less attention in the literature. In this paper, we propose a finite element model for a sample blasthole drillstring used to open mine wells to investigate its torsional vibrations. Boundary conditions and elements’ specifications are applied to this model. In the model, the interaction between the insert and the rock is represented by a set of repetitive impulses according to the insert pattern. The steady-state response of the system to the repetitive impulses is found and natural frequencies, kinetic energy, and potential energy of the drillstring are calculated. The root mean square (RMS) of the total energy can be used as the measure for reducing the torsional vibration of the system. Finally, an optimum combination of inserts on the cone’s rows was found based on minimizing the total vibratory energy of the drillstring. The optimum design can reduce the torsional vibrations of the drillstring and improve the drilling performance.

Trajectory Tracking Control for Rotary Drilling Systems Via Integral Sliding Mode Control Approach

2020 ◽  
Vol 1 (3) ◽  
Author(s):  
Chien-Chih Weng ◽  
Mansour Karkoub ◽  
Wen-Shyong Yu ◽  
Ming-Guo Her ◽  
Hsuan-Yi Chen
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Drill String ◽  
Rotary Table ◽  
Rotary Drilling ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Drilling System

Abstract Active and passive control techniques have been devised over the years to mitigate the effect of vibrations on drill-string life with varying degrees of success. Here, it is proposed to design a robust trajectory tracking controller, which ultimately forces the rotary table and the drill-bit to move with the same speed (speed synchronization), hence reducing/eliminating torsional vibrations from the drill pipes. A model of the rotary drilling system, which includes torsional stick-slip, is first developed; then, an integral sliding mode control with time-varying exponent (ISMC-TVE) scheme is developed such that the bit motion tracks that of the rotary table to mitigate the effects of the induced vibrations. The ISMC-TVE is able to control the transient stage of the drill-string system’s response, maintain the system in the sliding state even under abrupt or existing external disturbances, and guarantee asymptotic stability of the rotary drilling system. The Lyapunov stability theorem is used here to analyze the performance of the closed-loop system, and the simulation results showed that the ISMC-TVE law is capable of accurately synchronizing the bit and rotary table speeds.

Friction-driven vibro-impact system for percussive-rotary drilling: A numerical study of the system dynamics

2008 ◽  
Vol 222 (10) ◽  
pp. 1925-1934 ◽  
Author(s):  
A D L Batako ◽  
P T Piiroinen
Keyword(s):  
Detrimental Effect ◽  
Numerical Study ◽  
Drill String ◽  
Phase Portraits ◽  
Rotary Drilling ◽  
Stick Slip ◽  
Impact System ◽  
Drilling System ◽  
Numerical Bifurcation ◽  
Further Development

Stick—slip-induced vibration in drilling has a detrimental effect on the drilling system and may lead to the failure of the drill string. This study is a further development of a friction-driven vibro-impact system which was investigated previously. The system used the stick—slip properties to generate a vibratory motion of a hammer that collides with the bit. The previous study focused on the influence of the friction on the response of the system without impacts. This paper investigates the full dynamic response of the model including friction and impact. Numerical bifurcation analysis of the system is undertaken to establish various motions and dynamical changes. This study focuses on the system performance outside the stable interval identified in the earlier investigation. The response of the system is illustrated along with the phase portraits.

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

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.

Trajectory Tracking and Rate of Penetration Control of Downhole Vertical Drilling System

2018 ◽  
Vol 140 (9) ◽  
Author(s):  
Masood Ghasemi ◽  
Xingyong Song
Keyword(s):  
Trajectory Tracking ◽  
High Speed ◽  
Control Design ◽  
Second Phase ◽  
Drilling Process ◽  
Stick Slip ◽  
Rock Interaction ◽  
Rate Of Penetration ◽  
Modeling Uncertainties ◽  
Drilling System

This paper investigates a nonlinear control design for trajectory tracking and rate of penetration (ROP) control of the vertical downhole drilling process. The drilling system dynamics are first built incorporating the coupled axial and torsional dynamics together with a velocity-independent drill bit–rock interaction model. Given the underactuated, nonlinear, and nonsmooth feature of the drilling dynamics, we propose a control design that can prevent significant downhole vibrations, enable accurate tracking, and achieve desired rate of penetration. It can also ensure robustness against modeling uncertainties and external disturbances. The controller is designed using a sequence of hyperplanes given in a cascade structure. The tracking control is achieved in two phases, where in the first phase the drilling system states converge to a high-speed drilling regime free of stick–slip behavior, and in the second phase, the error dynamics can asymptotically converge. Finally, we provide simulation results considering different case studies to evaluate the efficacy and the robustness of the proposed control approach.

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