Stabilizing the Rate of Penetration (ROP) in rotary Drilling Systems using Robust Model Predictive Control

This paper presents a formulation of a robust model predictive controller (RMPC) to track piecewise constant references. The drilling system is assumed to be a test bed for the proposed control scheme and is modelled as a linear system with additive bounded uncertainties using Bourgoyne and young model which is known as a complete mathematical drilling model. The aim of this paper is to regulate the Rate of Penetration (ROP) of the system with top drive rotary motor Torque. In order to achieve this aim, a tube-based robust MPC is introduced in which the tubes are based on reachable sets. Simulations demonstrate the effectiveness of the proposed Robust MPC scheme.

کلیدواژه ها:

Robust Control ، Model Predictive Control ، Optimal Control ، Rotary Drilling Control ، Rate of Penetration