This paper investigates control of stick-slip oscillations in drilling from a linear matrix inequality perspective. Stick-slip oscillations include a period of no angular motion at the bit caused by a large static friction torque followed by a period of rapid angular motion at the bit caused by a build up of torque in the drilling pipe. Many of the model parameters are uncertain but belong to convex sets, and the friction torques are not easily modeled. The linear matrix inequality approach facilitates design of state feedback controllers in the presence of polytopic uncertainties and can be optimized to reject disturbance effects relative to outputs. Results indicate that the linear matrix inequality approach leads to a simple controller, successfully alleviates the stick-slip problem, and is robust to uncertainties.
- Dynamic Systems and Control Division
LMI Based Control of Stick-Slip Oscillations in Drilling
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Harris, MW, Açıkmeşe, B, & van Oort, E. "LMI Based Control of Stick-Slip Oscillations in Drilling." Proceedings of the ASME 2014 Dynamic Systems and Control Conference. Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems. San Antonio, Texas, USA. October 22–24, 2014. V001T09A004. ASME. https://doi.org/10.1115/DSCC2014-6164
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