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Commande non linéaire dans les systèmes de forage pétrolier : contribution à la suppression du phénomène de « stick-slip ».

Abstract : This works deals with the problem of the modelling and non linear control of rotary drilling system. The principal task consist of propose a non linear model of rotary drilling system and applied some of advanced non linear control approaches in order to arrive a controller capable to achieve good performance of the bit velocity.
Thus far, oil rotary drilling systems control is achieved by using classical regulators by means of PI or PID. However the related performance dramatically decreases by torsional vibration by means of stick-slip during drilling processes. This phenomenon can provoke to enormously destructive fluctuating torques in the drillstring that and invariably causes damage to the bit or drillstring. So then, an adequate design controller becomes necessary in order to be off this damage and to better answer to the required performance.
Despite of existing linear controls laws which treated the rotary system but still not sufficient to guarantee the stability in opposition system uncertainties. This led us to propose a nonlinear model by taking in account the totality of the information of the phenomenon of stick-slip, which led to a global drilling rotary model similar to real the oil platform system. There for, we suggested two approaches to improve the performance of the rotary drilling system:
• feedback linearization
• development of a sliding mode controller associated with an input state controller
However, the drilling system is a system which has generally some uncertainties in drillstring length and the lumped damping, we proposed, moreover, one new law by Backstepping based approach allowing to better improve the performance and robustness of the bit.
These three strategies of non linear control, that we have developed, herein appear for the first time in the relevant domain. The obtained results are shown to be satisfactory, the required performance are met and the Backstepping controller offer the superiority of, where the question of robustness could be considered
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Submitted on : Monday, April 14, 2008 - 10:12:38 AM
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  • HAL Id : tel-00272937, version 1



Farag Abdulgalil. Commande non linéaire dans les systèmes de forage pétrolier : contribution à la suppression du phénomène de « stick-slip ».. Automatique / Robotique. Université Paris Sud - Paris XI, 2006. Français. ⟨tel-00272937⟩



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