Stick-slip suppression and speed tuning for a drill-string system via proportional-derivative control

摘要

This paper studies the problems of stick-slip mitigation and speed tuning for a lumped-parameter drill-string system by using a proportional-derivative feedback controller via path-following analysis. In this study, we consider two main control parameters, the weight-on-bit and the desired drill-bit speed. In particular, we determine the combinations of these two parameters for which the proposed control scheme is applicable, which is affected by the non-smooth nature of the system induced by bit-rock interaction. Our analysis using path-following techniques for non-smooth systems reveals the inherent coexistence of stick-slip vibration and constant rotation, and identifies a critical point where the drill-bit speed coincides with the desired angular speed. Furthermore, our analysis proposes a strategy that allows controlling the drill-bit speed to suppress stick-slip, by tuning the controller in a suitable manner.