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Modeling and Control of Automated Pipe Hoisting in Oil and Gas Well Construction

[+] Author Affiliations
Parham Pournazari, Pradeepkumar Ashok, Eric van Oort

University of Texas at Austin, Austin, TX

Paper No. DSCC2015-9936, pp. V002T20A004; 8 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5725-0
  • Copyright © 2015 by ASME


This paper presents a robust control algorithm for automatic hoisting of a drill string in oil and gas drilling operations. We demonstrate an iterative scheme for trajectory design and present a lumped dynamic model of the hoisting system. The trajectory is used along with the dynamic model to design a hybrid sliding mode and gain scheduled PI controller to deal with the frictional nonlinearities of the system. The simulation results demonstrate the feasibility of this approach in optimally performing the pipe hoisting task.

Copyright © 2015 by ASME



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