A new efficient adaptive control of torsional vibrations induced by switched nonlinear disturbances

• Autorzy: Wasilewski Maciej , Pisarski Dominik , Konowrocki Robert , Bajer Czesław I.

Identyfikatory

DOI

10.2478/amcs-2019-0021

• Języki publikacji: EN

Abstrakty

EN

Torsional vibrations induced in drilling systems are detrimental to the condition of the machine and to the effectiveness of the engineering process. The cause of vibrations is a nonlinear and unknown friction between a drill string and the environment, containing jumps in its characteristics. Nonlinear behaviour of the friction coefficient results in self-excited vibration and causes undesirable stick-slip oscillations. The aim of this paper is to present a novel adaptive technique of controlling vibrating systems. The scheme is based on the linear quadratic regulator and uses direct measurements of the friction torque to synthesize its linear dynamic approximation. This approach allows generating a control law that takes into account the impact of the friction on the system dynamics and optimally steers the system to the desired trajectory. The controller’s performance is examined via numerical simulations of the stabilization of the drilling system. The proposed solution outperforms the comparative LQG regulator in terms of the minimization of the assumed cost functional and the overall stability of the control system under the nonlinear disturbance.

Słowa kluczowe

EN

vibration control; adaptive control; linear quadratic regulator; drilling control

PL

sterowanie drganiami; sterowanie adaptacyjne; regulator liniowo-kwadratowy

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2019
• Tom: Vol. 29, no. 2
• Strony: 285--303
• Opis fizyczny: Bibliogr. 33 poz., rys., tab., wykr.

Twórcy

autor

Wasilewski Maciej

• Institute of Fundamental Technological Research, Polish Academy of Sciences, Pawińskiego 5B, 02-105 Warsaw, Poland

autor

Pisarski Dominik

• Institute of Fundamental Technological Research, Polish Academy of Sciences, Pawińskiego 5B, 02-105 Warsaw, Poland

autor

Konowrocki Robert

• Institute of Fundamental Technological Research, Polish Academy of Sciences, Pawińskiego 5B, 02-105 Warsaw, Poland

autor

Bajer Czesław I.

• Institute of Fundamental Technological Research, Polish Academy of Sciences, Pawińskiego 5B, 02-105 Warsaw, Poland

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).