An algorithm for regulation of the vertical penetration rate in rotary drilling systems is developed under the assumption that parameters of the rock-bit interaction as well as those of the translational dynamics are unknown. The control design utilizes a multi-step approach, where the vertical penetration velocity is regulated through an appropriate assignment of a reference rotational velocity signal, while the tracking of the latter is achieved using tracking with disturbance rejection scheme. In contrast with the existing results, the algorithm does not require real-time measurement and communication to the ground level of the downhole variables, such as angular position, rotational velocity, and torque-on-bit. This is achieved through the use of high-order sliding mode observers which estimate the required downhole variables based on measurements performed at the ground level. Simulation results are presented which confirm efficiency of the proposed control method.

在岩石-钻头相互作用参数以及平移动力学参数未知的假设下，开发了一种用于调节旋转钻井系统中垂直钻进速率的算法。控制设计采用多步方法，其中垂直穿透速度通过参考旋转速度信号的适当分配来调节，而后者的跟踪是使用带有干扰抑制方案的跟踪来实现的。与现有结果相比，该算法不需要实时测量和与井下变量的地面通信，例如角位置、旋转速度和钻压。这是通过使用高阶滑模观测器来实现的，该观测器根据在地面进行的测量来估计所需的井下变量。仿真结果证实了所提出的控制方法的有效性。