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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...
In this paper, a conventional model describing the torsional behavior of a generic vertical oilwell drillstring has been presented, and a PI control based on sliding mode is proposed for robust stabilization of nonlinear rotary drilling system. The controller is combined of a PI controller to compensate the nonlinearity in the drilling machine and sliding mode controller to ensure the robustness of...
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