Volume 37, Number 2, April 2019
|Page(s)||291 - 298|
|Published online||05 August 2019|
State Feedback and Torque Feed Forward Combined Control System for Suppressing Drill-Strings Stick-Slip Vibration
School of Power and Energy, Northwestern Polytechnical University, Xi’an 710072, China
2 Systems Engineering Research Institute, China State Shipbuilding Corporation, Beijing 100094, China
3 Department of Municipal and Environmental Engineering, Taiyuan College, Taiyuan 044300, China
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.
Key words: drill-strings / stick-slip vibration / closed loop control system / lumped parameter model / state observer / reference governor / state feedback control / feedforward control / nonlinear friction torque / angular velocity / damping / dynamics / estimation / MATLAB / nonlinear systems / optimization / robustness / state estimation / velocity control
关键字 : 钻柱 / 黏滑振动 / 参考值优化 / 状态观测器 / 前馈控制 / 状态反馈控制
© 2019 Journal of Northwestern Polytechnical University. All rights reserved.
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