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Control of a slender rotary system subjected to dry friction and rub

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Abstract

The objective of this study is to present the results of implementing a robust tracking control strategy for a rotating and slender system, subject to dry friction and rubbing. This system corresponds to a physical model defined from the rotary drilling system used in the oil and gas industry. In the simulations, the system to be controlled is modeled using finite element, while for the control design, a lumped parameter model with adjustments is used. The control law is based on the sliding mode technique with a dynamic boundary layer. An important result is that the use of the boundary layer enabled the system to track the desired trajectory with a permanent error within acceptable limits, while also eliminating the high switching frequency at the input, a typical issue of the sliding mode method. Additionally, auxiliary functions are recursively defined to incorporate a smooth friction model into the control law, aiming to treat the friction torque not as a perturbation and to minimize the required actuation force. Another significant outcome is the proposal of a general methodology for representing the internal dynamics of the torsion system. Finally, the physical model served as the basis for the design and construction of a prototype, which is described throughout this study.

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Data availability

MATLAB source codes and experiments results are made available under the GitHub repository PhD-USP-AD https://github.com/AdrianoDomeny/PhD-USP-AD.

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Acknowledgements

My thanks go to the Graduate Program in Mechanical Engineering at USP, for supporting my technical training, and also to CAPES, for the financial support scholarship.

Funding

No funding was received to assist with the preparation of this manuscript.

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Author notes

  1. Adriano Domeny dos Santos and Agenor de Toledo Fleury have equally contributed to this work.

Authors and Affiliations

  1. Departamento de Engenharia Mecânica, Escola Politécnica da Universidade de São Paulo, Av. Prof. Mello Moraes, 2231, Engenharia Mecânica, Sala TT-11 térreo, São Paulo, 05508-030, Brazil

    Adriano Domeny dos Santos & Agenor de Toledo Fleury

Authors
  1. Adriano Domeny dos Santos
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  2. Agenor de Toledo Fleury
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The main author has written the first version of the article, and the second author has done the revision.

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Correspondence to Adriano Domeny dos Santos.

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Technical Editor: Samuel da Silva.

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dos Santos, A.D., de Toledo Fleury, A. Control of a slender rotary system subjected to dry friction and rub. J Braz. Soc. Mech. Sci. Eng. 46, 320 (2024). https://doi.org/10.1007/s40430-024-04914-x

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  • DOI: https://doi.org/10.1007/s40430-024-04914-x

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