Flatness-Based Control of Torsional-Axial Coupled Drilling Vibrations

Martha Belem Saldivar (1) , Torsten Knüppel (2) , Frank Woittennek (2) , Islam Boussaada (3, 1) , Hugues Mounier (1) , Silviu-Iulian Niculescu (1, 4)

1 L2S - Laboratoire des signaux et systèmes
2 RST - Institut für Regelungs- und Steuerungstheorie
3 IPSA - Institut Polytechnique des Sciences Avancées
4 DISCO - Dynamical Interconnected Systems in COmplex Environments

The main purpose of this contribution is the control of both torsional and axial vibrations occurring along a rotary oil well drilling system. The considered model consists of a system of wave equations with non-linear coupled boundary conditions. We propose a flatness-based control approach to tackle the trajectory tracking problem guaranteeing the suppression of harmful dynamics. The closed loop control design ensures the stability of the error dynamics. Moreover, numerical simulations illustrate the efficiency of the established control laws.

Domaines: Automatique / Robotique; Systèmes dynamiques [math.DS]

Martha Belem Saldivar, Torsten Knüppel, Frank Woittennek, Islam Boussaada, Hugues Mounier, et al.. Flatness-Based Control of Torsional-Axial Coupled Drilling Vibrations. 19th IFAC World Congress on International Federation of Automatic Control (IFAC 2014), Aug 2014, Le Cap, South Africa. ⟨10.3182/20140824-6-ZA-1003.02205⟩. ⟨hal-01123670⟩