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In this paper, a conventional model describing the torsional behaviour of a generic vertical oilwell drillstring has been presented, and a dynamical sliding mode control has been used to eliminate bit sticking phenomena. In the control system, the bit angular velocities are driven to a desired reference value in spite of the presence of a dry friction modelling the bit-rock contact. The key idea of...
There is a clear non-linear characteristic of friction torque to the control axis on stable platform control system. Based on the structure of this system, the article establishes the basic model of the control system and the disk valve model of friction torque. For the non-linear friction torque, integral sliding mode controller was designed, and an adaptive control was presented to realize the adaptive...
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