Analysis and control of stick-slip oscillations in drilling systems

Besselink, B., Vromen, T., Kremers, N. & van de Wouw, N., Sep-2016, In : IEEE Transactions on Control Systems Technology. 24, 5, p. 1582-1593 12 p.

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  • Analysis and Control of Stick-Slip Oscillations in Drilling Systems

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This paper proposes feedback control strategies for the mitigation of torsional stick-slip oscillations in drilling systems using drag bits. Herein, we employ a model for the coupled axial–torsional drill-string dynamics in combination with a rate-independent bit-rock interaction law including both cutting and frictional effects. Using a singular perturbation and averaging approach, we show that the dynamics of this model generate an apparent velocity-weakening effect in the torque-on-bit, explaining the onset of torsional stick-slip vibrations. Based on this dynamic analysis, the (decoupled) torsional dynamics can be described by a delay-differential equation with a state-dependent delay. Using this model, we propose both state- and output-feedback control strategies for the mitigation of torsional stick-slip oscillations, where the latter strategy uses surface measurements only. The effectiveness of the proposed approaches is shown in a simulation study.
Original languageEnglish
Pages (from-to)1582-1593
Number of pages12
JournalIEEE Transactions on Control Systems Technology
Issue number5
Publication statusPublished - Sep-2016
Externally publishedYes


  • Analytical models, Delays, Drag, Mathematical model, Oscillators, Torque, Vibrations, Control of drilling systems, delay-differential equations (DDEs), linearization of DDEs, stick-slip oscillations, time scale analysis and averaging, SELF-EXCITED VIBRATIONS, OIL-WELL DRILLSTRINGS, DRAG BITS, COUPLED VIBRATIONS, MODEL, STABILITY, DELAY

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