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Vers la robotisation du forage sonique de pré-soutènement : contrôle frontière de vibration axiale

Abstract : The tunnel pre-reinforcement during the conventional tunneling method in sonic drilling can lead to subsidence and significant ground movement with important human and economic consequences. In this context, this thesis aims to present solutions for developing a new generation of automatic drilling machines to circumvent these problems. In the first place, we were interested in controlling axial vibrations produced during this process in order to optimize the drilling by channeling the energy along the drill-string and later the possibility of embedding the drill head by a robot. For this purpose, a distributed parameter model of axial vibrations, represented by hyperbolic PDEs with dynamic boundary conditions, has been established. Then, we generated a reference model under a percussion input force whose amplitude depends on a resonant rotation frequency to reach a maximum amplitude of the drill bit. Once these two models were defined, we tackled the control problem of axial vibrations. Firstly, an energy-based controllers have been proposed to ensure the convergence of both top and bottom axial displacements toward the references. Then, in order to improve these stability results, the flatness method was used to guarantee an exponential convergence of the error dynamics and a desired drilling dynamical behavior. In spite of the efficiency of the control laws proposed in terms of simulations carried out, the implementation of these controllers on a real drilling machine remains impossible. In fact, experimental validation requires knowledge of the drill-string variables at the down-hole (position, velocity and acceleration). Nevertheless, the down-hole system’s variables measurements, are unrealizable during drilling in underground tunneling. To circumvent this problem, a collocated boundary observer in infinite dimension has been proposed using the top axial displacement of vibrations. Therefore, the study of the existence and uniqueness of the solutions of this observer using the semigroup theory, allowed us to ensure the Lyapunov stability of this proposed distributed parameter observer. In the second part, we study the process of fluid injection allowing to remove the cuttings and to avoid the clogging during the drilling operation. Once the phenomena related to the fluid injection, the flow resulting from the interaction of the drill bit with the soil, the system for removing the cuttings through the annular space and the translational movement of the slide have been coupled , we constructed an observer based control to stabilize the downhole pressure. In the last part, with a view to carrying out test campaigns using a sonic drilling machine on a known type of soil, we were interested in the design of an acquisition and control system in real time. Next, a Human–computer interaction has been created for the display and storage of data so that they can be reused in post-processing analyzes.
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Submitted on : Tuesday, March 19, 2019 - 1:38:21 PM
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Khouloud Latrach. Vers la robotisation du forage sonique de pré-soutènement : contrôle frontière de vibration axiale. Automatique / Robotique. Université Paris-Saclay; Université d'Evry-Val-d'Essonne, 2018. Français. ⟨NNT : 2018SACLE046⟩. ⟨tel-02072738⟩



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