Backstepping design for controlling rotary drilling system

Author

Abdulgalil, Farag ; Siguerdidjane, Houria

Author_Institution

Dept. of Autom. Control, Supelec, Gif-sur-Yvette

fYear

2005

fDate

28-31 Aug. 2005

Firstpage

120

Lastpage

124

Abstract

This paper develops a nonlinear backstepping design for the control of rotary drilling system, in order to arrive at a robust controller capable of dealing with the torsional oscillations (stick-slip). This work is motivated by the complex problem of the nonlinearity in drillstring, which is rotated at a constant angular velocity by an electric motor, but exhibits superimposed torsional vibrations caused by a nonlinear relationship between torque and angular velocity at the rock-crushing tool. The effectiveness of the designed controller has been tested on the rotary drilling system through numerical simulations

Keywords

angular velocity control; control system synthesis; machine control; nonlinear control systems; oil drilling; robust control; torque control; torsion; angular velocity; drillstring nonlinearity; electric motor; nonlinear backstepping design; nonlinear relationship; numerical simulation; robust controller; rock-crushing tool; rotary drilling system control; stick-slip; superimposed torsional vibration; torque; torsional oscillations; Angular velocity; Backstepping; Control systems; Drilling; Electric motors; Nonlinear control systems; Numerical simulation; Robust control; System testing; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Conference_Location

Toronto, Ont.

Print_ISBN

0-7803-9354-6

Type

conf

DOI

10.1109/CCA.2005.1507111

Filename

1507111