Hybrid Backstepping Sliding Mode Controller for Stick–slip Vibrations Mitigation in Rotary Drilling Systems

Abstract

The main objective of this paper is to suppress the stick–slip vibrations in the drilling system so that the drill bit can follow the desired nominal angular velocity of the Top Drive in an optimal time. Hence to protect drilling equipment from hazards and increase drilling performances by decreasing the non-productive time (NPT). Three control systems have been proposed to achieve this objective, a sliding controller is firstly designed and then a backstepping approach is discussed secondly. Furthermore, a hybridization of sliding mode control with a backstepping approach has been proposed on the so-called hybrid backstepping sliding mode controller. The latter has not been proposed before in the literature for rotary drilling systems. Moreover, two torsion models of the system have been discussed for different degrees of freedom. Based on the comparison between controllers’ responses, the effectiveness and the robustness of the hybrid controller have been demonstrated and highlighted, whose fast response can protect the drilling equipment from hazards that may be caused by the slip phase of the vibrations. Hence, it is recommended to implement the proposed controller in smart rotary drilling systems for petroleum industry.

Keywords:

• Backstepping sliding controller
• Petroleum industry
• Rotary drilling systems
• Stick–slip vibrations
• Torsion models

Additional information

Funding

This work was supported by Direction Generale de la Recherche Scientifique et du Developpement Technologique (DGRSDT), for the ongoing PRFU project A01L08UN350120190002 (2019–2022), Algiers, Algeria.

Notes on contributors

C. Mendil

Chafiaa Mendil was born in Sidi Aich, Bejaia, Algeria. She holds a master’s degree in automation from the Faculty of Hydrocarbons and Chemistry, University M’hamed Boughara of Boumerdes, Algeria. She is now a member in research group of “Control of complex dynamical systems” at Applied Automatic Control Laboratory (LAA), Faculty of Hydrocarbons and Chemistry, M’hamed Bougara University of Boumerdes where she prepares for her PhD thesis. She is currently interested in research development of nonlinear control in the petroleum industry. Corresponding author. Email: [email protected]

M. Kidouche

Madjid Kidouche was born in Bordj-Menaiel, Algeria. He received Engineering, Master of Sciences, and PhD degrees all in control theory. He joined M'hamed Bougara University of Boumerdes, Algeria, in 1990 where he is a full professor in the Department of Automation and Electrification of Industrial Process. He is a research group head on “Control of complex dynamical systems” at Applied Automatic Control Laboratory. He has been actively involved in several research projects in the fields of control and power system analysis. He is the author and co-author of numerous research publications in international conferences and journals. His research interests include modeling and control of dynamic non-linear systems, stability of large scale systems, fuzzy and sliding mode control. E-mail: [email protected]

M. Z. Doghmane

Mohamed Zinelabidine Doghmane was born in Bousàada, Algeria. He holds a PhD degree in electrical engineering from Faculty of Hydrocarbons and Chemistry, University M’hamed Bougara of Boumerdes, magister degree in geophysics from IAP, magisters degree in applied Automation from the Department of Automation and Electrification of Industrial Process, Faculty of Hydrocarbons and Chemistry, University of Boumerde, an engineering degree from the National Institute of Electrical and Electronics Engineering (Ex-INELEC) Boumerdes, Algeria. Now, he is working as a petrophysicist in Exploration Operations Direction of SONATRACH (Algeria), and he is member in research laboratory, University of Boumerdes. His current research interest is reservoir evaluation and optimization of control design for complex systems in petroleum engineering. E-mail: [email protected]