Semi-Physical Model of Drill-String System and A Speed Compensation Feedback Controller for Stick-Slip Vibrations of Drill-String

摘要

In drilling field, the undesired stick-slip vibrations of drill-string are the main reason for the failure of the drilling system. In order to simulate the stick-slip vibrations phenomenon of the drill-string, a semi-physical device including actual top drive is applied in this paper. To suppress the stick-slip vibrations existing in the drill-string system, a speed compensation feedback controller is proposed. The proposed controller is tested in the semi-physical device. Finally, the semi-physical device completes the hardware-in-the-loop simulation of the stick-slip vibrations of the drill-string. And, the performance of the speed compensation feedback controller is demonstrated.