摘要：We investigate experimentally and numerically suppression of drill-string torsional vibration while drilling by using a sliding mode control. The experiments are conducted on the novel experimental drilling rig developed at the University of Aberdeen [1] and using PDC commercial drill-bits and real rock-samples. A mathematical model of the experimental setup which takes into account the dynamics of the drill-string and the driving motor, is proposed. Then a sliding mode control method is employed to suppress stick-slip oscillations. The experimental and numerical results considering a time delay of the actuator are in a close agreement. Stick-slip vibration is eliminated and significant reduction in vibration amplitude has been observed when using the controller.
