Academic Journal of Engineering and Technology Science, 2023, 6(3); doi: 10.25236/AJETS.2023.060306.
Jie Luo, Jun Liu, Qiang Li
School of Mechatronic Engineering, Southwest Petroleum University, Chengdu, 610500, China
The stick-slip vibration phenomenon of drill string widely exists in the drilling process, which has a great negative impact on drilling equipment, efficiency, cost and safety. In order to effectively suppress the stick-slip vibration of the drill string system, a two-degree-of-freedom torsional vibration model of the drill string system is established considering the nonlinear friction between the drill bit and rock. Based on this model, an optimal LQR controller is designed to suppress the stick-slip vibration of drill string, and the driving torque is fed back in real time through the state error. The effectiveness of the controller under parameter perturbation is verified by simulation analysis. The results show that the controller can effectively suppress the stick-slip vibration of drill string system under the desired speed, feedforward torque, start time and bit weight parameter perturbation, achieve real-time feedback of driving torque, and ensure that the angular velocity of rotary table and BHA can be tracked and maintained at the desired speed in a short time. The control effect shows good steady-state error and dynamic performance. The research results have a certain reference significance for suppressing stick-slip vibration of drill string system and improving drilling efficiency.
drill string system; stick-slip vibration; lqr; parameter perturbation; active control
Jie Luo, Jun Liu, Qiang Li. Study on Active Control of Stick-slip Vibration of Drill String System. Academic Journal of Engineering and Technology Science (2023) Vol. 6, Issue 3: 30-37. https://doi.org/10.25236/AJETS.2023.060306.
 Yao G S, Wu X Z, Sun Z D, et al. Status and prospects of exploration andexploitation key technologies of the deep oil &. gas resources in onshore China [J]. Natural Gas Geoscience, 2017, 28(08): 1154-1164.
 Saldivar B, S Mondié, Niculescu S I, et al. A control oriented guided tour in oilwell drilling vibration modeling [J]. Annual Reviews in Control, 2016, 42: 100–113.
 Cheng J, Wu M, Chen L F. Observer-based tracking control for suppressing stick-slip vibration of drillstring system[C]. In: Proceedings of the 37th Chinese control conference (CCC), Wuhan, China, 25–27 July 2018: 10254–10258. IEEE.
 Jansen J D, Van-Den-Steen L. Active damping of self-excited torsional vibrations in oil well drillstrings [J]. Journal of Sound and Vibration, 1995, 179(4): 647–668.
 Xiao X M. Study on Adaptive Control Method of Soft Torque for Rig Rotation System [D]. China University of Petroleum (Beijing), 2018.
 Zhang Q Z, Xu S. Suppression of Stick-Slip Vibration of Drill String by Fractional-Order PID Control [J]. China Petroleum Machinery, 2020, 48(3):44-50.
 Monteiro H L S, Trindade M A. Performance analysis of proportional-integral feedback control for the reduction of stick-slip-induced torsional vibrations in oil well drillstrings [J]. Journal of Sound and Vibration, 2017, 398: 28-38.
 Lin W, Chávez J P, Liu Y, et al. Stick-slip suppression and speed tuning for a drill-string system via proportional-derivative control [J]. Applied Mathematical Modelling, 2020, 82, 487-502.
 Massinissa D, Mohamed G, Shady S R, et al. Fractional-order controllers for stick-slip vibration mitigation in oil well drill-strings [J]. Journal of Low Frequency Noise, Vibration & Active Control, 2021, 40(03): 1571-1584.
 Gong Q C. Nonlinear characteristic analysis and robust control for drillstring stick-slip vibrations [D]. Northwestern Polytechnical University (Xi'an), 2016.
 Vromen T, Dai C H, Wouw N, et al. Mitigation of torsional vibrations in drilling systems: a robust control approach [J]. IEEE Transactions on Control Systems Technology, 2019, 27(01): 249–265.
 Sadeghimehr R, Nikoofard A, Sedigh A K. Predictive-based sliding mode control for mitigating torsional vibration of drill string in the presence of input delay and external disturbance [J]. Journal of Vibration and Control, 2021, 27(21-22): 2432-2450.
 Mlayeh R, Toumi S, Beji L. Backstepping boundary observer based-control for hyperbolic PDE in rotary drilling system [J]. Applied Mathematics and Computation, 2018, 322: 66-78.
 Navarro-López E M, Cortés D. Avoiding harmful oscillations in a drillstring through dynamical analysis [J]. Journal of Sound and Vibration, 2007, 307(1-2): 152-171.
 Yigit A S, Christoforou A P. Coupled torsional and bending vibrations of actively controlled drillstrings [J]. Journal of Sound & Vibration, 2000, 234(1): 67-83.