A Torque Estimator-based Control Strategy for Oil-Well Drill-string Torsional Vibrations Active Damping Including an Auto-tuning Algorithm
Control Engineering Practice, Vol. 19, No. 8, pp. 836-8502011Considerable compliance of the lengthy oil-well drill string combined with low tool inertia and stick-slip friction between the tool and the rock bed causes notable undesired torsional vibrations of the drill-string electrical drive. In order to attenuate the torsional vibrations and, thus, improve both the quality and the productivity of the drilling process, an automatically-tuned active damping control strategy based on drill-string torque estimation is proposed in the paper. The core of the strategy includes a proportional-integral (PI) controller extended with estimator-based drill-string torque feedback loop. Furthermore, an appropriate algorithm that prevents drill-string back-spinning caused by the limited braking power of the power converter is presented. Finally, an auto-tuning algorithm is proposed, which is built around an adaptive Kalman filter-based estimator of drill-string drive natural frequencies. The drill-string control strategy is verified experimentally using a drill string hardware-in-the-loop setup under the laboratory conditions, as well as on an actual oil-drilling rig. torsional vibration; active damping; observers; auto-tuning; Kalman filter
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[1]
State-of-the-Art Review on Automatic Vertical Drilling Tools: Addressing Vibrational Load Challenges in Oil and Gas Operations🔗
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[2]
PID-Based Kalman Filter Controller Design Stick-Slip Vibrations Suppression in Drill String Systems🔗
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[3]
Measurement-Based Load Modelling of Oil Drilling Rig Microgrid Using Machine Learning🔗
International Middle East Power Systems Conference, 2023
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[4]
Multivariable control of the undesirable axial vibrations of the horizontal drill string🔗
International Journal of Dynamics and Control, 2023
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[6]
Single-step auto-tuning of external active damping control strategy for a drill-string speed-controlled electrical drive🔗
Optimization and Engineering, 2023
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[7]
Enhancement of drill string system operations with adaptive robust controller and hardware in-the-loop validation🔗
Journal of Sound and Vibration, 2023
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[8]
Control of drill string torsional vibrations using optimal static output feedback🔗
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[9]
Design and application of weight-on-bit control system for drilling process: A variable-gain integrated controller with multiple-model parameter estimation🔗
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[10]
Design and comparison of passive and active control methods in absorbing torsional vibrations of a vertical drilling string with time delay🔗
International Conference on Modern Circuits and Systems Technologies, 2022
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[11]
New algorithm based active method to eliminate stick-slip vibrations in drill string systems🔗
Systems Science & Control Engineering, 2022
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[12]
A retrofitting control system design suitable for deep borehole drilling using legacy draw-works mechanical brake hardware🔗
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[15]
Modeling and Control of Drill-String System With Stick-Slip Vibrations Using LPV Technique🔗
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[17]
Cross-axis control system design for borehole drilling based on damping optimum criterion and utilization of proportional-integral controllers🔗
Optimization and Engineering, 2020
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[18]
Disturbance estimator and smith predictor-based active rejection of stick–slip vibrations in drill-string systems🔗
International Journal of Systems Science, 2020
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[19]
Analysis of stick-slip reduction for a new torsional vibration tool based on PID control🔗
Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2020
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[20]
Automation Systems Design and Laboratory Prototyping Aimed at Mature Petroleum Drilling Rig Retrofitting🔗
Tehnički Vjesnik, 2020
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[21]
Observer and reference governor based control strategy to suppress stick-slip vibrations in oil well drill-string🔗
Journal of Sound and Vibration, 2019
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[22]
Nonlinear Self-Excited Vibration Mechanism for Under-Actuated Oil-Well Drilling System with Stick-Slip Vibration🔗
Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University, 2019
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[23]
Damping Optimum-based Design of State Controller and Observer for Drill-String Rotary Speed Control🔗
EUROCON Conference, 2019
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[24]
Damping Optimum Tuning of Drill-string Torque-based Torsional Vibrations Suppression System🔗
EUROCON Conference, 2019
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[25]
Two-level intelligent modeling method for the rate of penetration in complex geological drilling process🔗
Applied Soft Computing, 2019
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[26]
Nonlinear multivariable modeling and stability analysis of vibrations in horizontal drill string🔗
Applied Mathematical Modelling, 2019
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[27]
State Feedback and Torque Feed Forward Combined Control System for Suppressing Drill-Strings Stick-Slip Vibration🔗
Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University, 2019
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[28]
Avoiding stick slip vibrations in drilling through startup trajectory design🔗
Journal of Process Control, 2018
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[29]
Torsional vibration control of drill-string systems with time-varying measurement delays🔗
Information Sciences, 2018
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[31]
Semi-Physical Model of Drill-String System and A Speed Compensation Feedback Controller for Stick-Slip Vibrations of Drill-String🔗
International Conference Control Science and Systems Engineering, 2018
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[34]
Downhole-friction-estimation-based rotary speed control for drillstring system with stick-slip vibrations🔗
Asian Control Conference, 2017
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[38]
An intuitive and efficient approach to integrated modelling and control of three-dimensional vibration in long shafts🔗
International Journal of Simulation and Process Modelling, 2015
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[40]
PID Controller tuning based on differential forward🔗
Fifth International Conference on Intelligent Control and Information Processing, 2014
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[46]
PID controller auto-tuning based on process step response and damping optimum criterion.🔗
ISA transactions, 2014
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Control Engineering Practice, Vol. 19, No. 8, pp. 836-850
2011
Cited by 49
▾
-
[1] State-of-the-Art Review on Automatic Vertical Drilling Tools: Addressing Vibrational Load Challenges in Oil and Gas Operations🔗Results in Engineering, 2025
-
[2] PID-Based Kalman Filter Controller Design Stick-Slip Vibrations Suppression in Drill String Systems🔗2024 2nd International Conference on Electrical Engineering and Automatic Control (ICEEAC), 2024
-
[3] Measurement-Based Load Modelling of Oil Drilling Rig Microgrid Using Machine Learning🔗International Middle East Power Systems Conference, 2023
-
[4] Multivariable control of the undesirable axial vibrations of the horizontal drill string🔗International Journal of Dynamics and Control, 2023
-
[6] Single-step auto-tuning of external active damping control strategy for a drill-string speed-controlled electrical drive🔗Optimization and Engineering, 2023
-
[7] Enhancement of drill string system operations with adaptive robust controller and hardware in-the-loop validation🔗Journal of Sound and Vibration, 2023
-
[8] Control of drill string torsional vibrations using optimal static output feedback🔗Control Engineering Practice, 2023
-
[9] Design and application of weight-on-bit control system for drilling process: A variable-gain integrated controller with multiple-model parameter estimation🔗Control Engineering Practice, 2023
-
[10] Design and comparison of passive and active control methods in absorbing torsional vibrations of a vertical drilling string with time delay🔗International Conference on Modern Circuits and Systems Technologies, 2022
-
[11] New algorithm based active method to eliminate stick-slip vibrations in drill string systems🔗Systems Science & Control Engineering, 2022
-
[12] A retrofitting control system design suitable for deep borehole drilling using legacy draw-works mechanical brake hardware🔗Energy Conversion and Management, 2022
-
[15] Modeling and Control of Drill-String System With Stick-Slip Vibrations Using LPV Technique🔗IEEE Transactions on Control Systems Technology, 2021
-
[17] Cross-axis control system design for borehole drilling based on damping optimum criterion and utilization of proportional-integral controllers🔗Optimization and Engineering, 2020
-
[18] Disturbance estimator and smith predictor-based active rejection of stick–slip vibrations in drill-string systems🔗International Journal of Systems Science, 2020
-
[19] Analysis of stick-slip reduction for a new torsional vibration tool based on PID control🔗Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2020
-
[20] Automation Systems Design and Laboratory Prototyping Aimed at Mature Petroleum Drilling Rig Retrofitting🔗Tehnički Vjesnik, 2020
-
[21] Observer and reference governor based control strategy to suppress stick-slip vibrations in oil well drill-string🔗Journal of Sound and Vibration, 2019
-
[22] Nonlinear Self-Excited Vibration Mechanism for Under-Actuated Oil-Well Drilling System with Stick-Slip Vibration🔗Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University, 2019
-
[23] Damping Optimum-based Design of State Controller and Observer for Drill-String Rotary Speed Control🔗EUROCON Conference, 2019
-
[24] Damping Optimum Tuning of Drill-string Torque-based Torsional Vibrations Suppression System🔗EUROCON Conference, 2019
-
[25] Two-level intelligent modeling method for the rate of penetration in complex geological drilling process🔗Applied Soft Computing, 2019
-
[26] Nonlinear multivariable modeling and stability analysis of vibrations in horizontal drill string🔗Applied Mathematical Modelling, 2019
-
[27] State Feedback and Torque Feed Forward Combined Control System for Suppressing Drill-Strings Stick-Slip Vibration🔗Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University, 2019
-
[28] Avoiding stick slip vibrations in drilling through startup trajectory design🔗Journal of Process Control, 2018
-
[29] Torsional vibration control of drill-string systems with time-varying measurement delays🔗Information Sciences, 2018
-
[31] Semi-Physical Model of Drill-String System and A Speed Compensation Feedback Controller for Stick-Slip Vibrations of Drill-String🔗International Conference Control Science and Systems Engineering, 2018
-
[34] Downhole-friction-estimation-based rotary speed control for drillstring system with stick-slip vibrations🔗Asian Control Conference, 2017
-
[38] An intuitive and efficient approach to integrated modelling and control of three-dimensional vibration in long shafts🔗International Journal of Simulation and Process Modelling, 2015
-
[40] PID Controller tuning based on differential forward🔗Fifth International Conference on Intelligent Control and Information Processing, 2014
-
[46] PID controller auto-tuning based on process step response and damping optimum criterion.🔗ISA transactions, 2014