Underground tunnel face bolting and pipe umbrella
reinforcement are one of the most challenging tasks in construction
whether industrial or not, and infrastructures such as roads or
pipelines. It is one of the first sectors of economic activity in the
world. Through a variety of soil and rock, a cyclic Conventional
Tunneling Method (CTM) remains the best one for projects with
highly variable ground conditions or shapes. CTM is the only
alternative for the renovation of existing tunnels and creating
emergency exit. During the drilling process, a wide variety of
non-desired vibrations may arise, and a method using a robot arm
is proposed. The main kinds of drilling through vibration here is the
bit-bouncing phenomenon (resonant axial vibration). Hence, assisting
the task by a robot arm may play an important role on drilling
performances and security. We propose to control the axial-vibration
phenomenon along the drillstring at a practical resonant frequency,
and embed a Resonant Sonic Drilling Head (RSDH) as a robot end
effector for drilling. Many questionable industry drilling criteria and
stability are discussed in this paper.
[1] B. Maidl, L. Schmid, W. Ritz, and M. Herrenknecht, Hardrock tunnel
boring machines. John Wiley Sons, 2008.
[2] P. A. Lucon, Resonance: the science behind the art of sonic drilling. PhD
thesis, Montana State University - Bozeman, 2013.
[3] A. W. Leissa and M. S. Qatu, Vibrations of Continuous Systems.
McGraw-Hill, 2011.
[4] A. Shabana, Vibration of discrete and continuous systems. Springer
Science Business Media, 2012.
[5] X. Li, Observation et commande de quelques systmes paramtres
distribus. PhD thesis, Universit Claude Bernard-Lyon I, 2009. [6] J. Valein, Stabilit de quelques problmes d?volution. PhD thesis,
Valenciennes, 2008.
[7] L. Benchikh, D. Perpezat, L. BEJI, and S. CASCARINO, Method of
drilling a ground using a robotic arm, Jan. 14, 2016. WO Patent App.
PCT/FR2015/051,884.
[8] M. B. S. Mrquez, I. Boussaada, H. Mounier, and S.-I. Niculescu, Analysis
and Control of Oilwell Drilling Vibrations : A Time-delay Systems
Approach. Springer, 2015.
[9] B. Saldivar, I. Boussaada, H. Mounier, S. Mondie, and S.-I. Niculescu,
An overview on the modeling of oilwell drilling vibrations, in World
Congress, vol. 19, pp. 5169-5174, 2014.
[10] E. M. Navarro-Lpez and D. Corts, Sliding-mode control of a multi-dof
oilwell drillstring with stick-slip oscillations, in American Control
Conference, 2007. ACC’07, pp. 3837-3842, IEEE, 2007.
[11] T. Knppel, F. Woittennek, I. Boussaada, H. Mounier, and S.-I. Niculescu,
Flatness-based control for a non-linear spatially distributed model of a
drilling system, in Low-Complexity Controllers for Time-Delay Systems,
pp. 205?218, Springer, 2014.
[12] G. Halsey, A. Kyllingstad, A. Kylling, et al., Torque feedback used
to cure slip-stick motion, in SPE Annual Technical Conference and
Exhibition, Society of Petroleum Engineers, 1988.
[13] P. Sananikone, Method and apparatus for determining the torque applied
to a drillstring at the surface, Apr. 27 1993. US Patent 5, 205,163.
[14] D. Pavone, J. Desplans, et al., Application of high sampling rate
downhole measurements for analysis and cure of stick-slip in drilling, in
SPE Annual Technical Conference and Exhibition, Society of Petroleum
Engineers, 1994.
[15] J. Jansen and L. Van den Steen, Active damping of self-excited torsional
vibrations in oil well drillstrings, Journal of sound and vibration, vol.
179, no. 4, pp. 647-668, 1995.
[16] Serrarens, M. Van de Molengraft, J. Kok, and L. Van den Steen, H∞
control for suppressing stick-slip in oil well drillstrings, Control Systems,
IEEE, vol. 18, no. 2, pp. 1930-1998.
[17] C. Canudas-de Wit, M. A. Corchero, F. R. Rubio, and E. Navarro-Lpez,
D-oskil : A new mechanism for suppressing stick-slip in oil well
drillstrings, in Decision and Control, 2005 and 2005 European Control
Conference. CDC-ECC?05. 44th IEEE Conference on, pp. 8260-8265,
IEEE, 2005.
[18] M. E. Cobern, M. E. Wassell, and I. APS Technology, Laboratory testing
of an active drilling vibration monitoring and control system, in AADE
National Technical Conference and Exhibition, 2005.
[19] H. Puebla and J. Alvarez-Ramirez, Suppression of stick-slip in
drillstrings : A control approach based on modeling error compensation,
Journal of Sound and Vibration, vol. 310, no. 4, pp. 881-901, 2008.
[20] N. Challamel, Rock destruction effect on the stability of a drilling
structure, Journal of Sound and Vibration, vol. 233, no. 2, pp. 235-254,
2000.
[21] M. B. Saldivar, S. Mondi, J.-J. Loiseau, and V. Rasvan, Stick-slip
oscillations in oillwell drilstrings : distributed parameter and neutral type
retarded model approaches, in IFAC 18th world congress, pp. 283-289,
2011.
[22] B. Saldivar, S. Mondie, J. J. Loiseau, and V. Rasvan, Suppressing
axial-torsional coupled vibrations in drillstrings, Journal of Control
Engineering and Applied Informatics, vol. 15, no. 1, pp. 3-10, 2013.
[23] H. Alli and T. Singh, On the feedback control of the wave equation,
Journal of Sound and Vibration, vol. 234, no. 4, pp. 625-640, 2000.
[24] C. Sagert, F. Di Meglio, M. Krstic, and P. Rouchon, Backstepping and
flatness approaches for stabilization of the stick-slip phenomenon for
drilling, in IFAC symposium on system, structure and control, 2013.
[25] B. Saldivar, T. Knppel, F. Woittennek, I. Boussaada, H. Mounier, and
S.-I. Niculescu, Flatness-based control of torsional-axial coupled drilling
vibrations, in The 19th World Congress The International Federation of
Automatic Control, 2014.
[26] A. Seuret, H. zbay, C. Bonnet, and H. Mounier, Low-Complexity
Controllers for Time- Delay Systems. Springer, 2014.
[1] B. Maidl, L. Schmid, W. Ritz, and M. Herrenknecht, Hardrock tunnel
boring machines. John Wiley Sons, 2008.
[2] P. A. Lucon, Resonance: the science behind the art of sonic drilling. PhD
thesis, Montana State University - Bozeman, 2013.
[3] A. W. Leissa and M. S. Qatu, Vibrations of Continuous Systems.
McGraw-Hill, 2011.
[4] A. Shabana, Vibration of discrete and continuous systems. Springer
Science Business Media, 2012.
[5] X. Li, Observation et commande de quelques systmes paramtres
distribus. PhD thesis, Universit Claude Bernard-Lyon I, 2009. [6] J. Valein, Stabilit de quelques problmes d?volution. PhD thesis,
Valenciennes, 2008.
[7] L. Benchikh, D. Perpezat, L. BEJI, and S. CASCARINO, Method of
drilling a ground using a robotic arm, Jan. 14, 2016. WO Patent App.
PCT/FR2015/051,884.
[8] M. B. S. Mrquez, I. Boussaada, H. Mounier, and S.-I. Niculescu, Analysis
and Control of Oilwell Drilling Vibrations : A Time-delay Systems
Approach. Springer, 2015.
[9] B. Saldivar, I. Boussaada, H. Mounier, S. Mondie, and S.-I. Niculescu,
An overview on the modeling of oilwell drilling vibrations, in World
Congress, vol. 19, pp. 5169-5174, 2014.
[10] E. M. Navarro-Lpez and D. Corts, Sliding-mode control of a multi-dof
oilwell drillstring with stick-slip oscillations, in American Control
Conference, 2007. ACC’07, pp. 3837-3842, IEEE, 2007.
[11] T. Knppel, F. Woittennek, I. Boussaada, H. Mounier, and S.-I. Niculescu,
Flatness-based control for a non-linear spatially distributed model of a
drilling system, in Low-Complexity Controllers for Time-Delay Systems,
pp. 205?218, Springer, 2014.
[12] G. Halsey, A. Kyllingstad, A. Kylling, et al., Torque feedback used
to cure slip-stick motion, in SPE Annual Technical Conference and
Exhibition, Society of Petroleum Engineers, 1988.
[13] P. Sananikone, Method and apparatus for determining the torque applied
to a drillstring at the surface, Apr. 27 1993. US Patent 5, 205,163.
[14] D. Pavone, J. Desplans, et al., Application of high sampling rate
downhole measurements for analysis and cure of stick-slip in drilling, in
SPE Annual Technical Conference and Exhibition, Society of Petroleum
Engineers, 1994.
[15] J. Jansen and L. Van den Steen, Active damping of self-excited torsional
vibrations in oil well drillstrings, Journal of sound and vibration, vol.
179, no. 4, pp. 647-668, 1995.
[16] Serrarens, M. Van de Molengraft, J. Kok, and L. Van den Steen, H∞
control for suppressing stick-slip in oil well drillstrings, Control Systems,
IEEE, vol. 18, no. 2, pp. 1930-1998.
[17] C. Canudas-de Wit, M. A. Corchero, F. R. Rubio, and E. Navarro-Lpez,
D-oskil : A new mechanism for suppressing stick-slip in oil well
drillstrings, in Decision and Control, 2005 and 2005 European Control
Conference. CDC-ECC?05. 44th IEEE Conference on, pp. 8260-8265,
IEEE, 2005.
[18] M. E. Cobern, M. E. Wassell, and I. APS Technology, Laboratory testing
of an active drilling vibration monitoring and control system, in AADE
National Technical Conference and Exhibition, 2005.
[19] H. Puebla and J. Alvarez-Ramirez, Suppression of stick-slip in
drillstrings : A control approach based on modeling error compensation,
Journal of Sound and Vibration, vol. 310, no. 4, pp. 881-901, 2008.
[20] N. Challamel, Rock destruction effect on the stability of a drilling
structure, Journal of Sound and Vibration, vol. 233, no. 2, pp. 235-254,
2000.
[21] M. B. Saldivar, S. Mondi, J.-J. Loiseau, and V. Rasvan, Stick-slip
oscillations in oillwell drilstrings : distributed parameter and neutral type
retarded model approaches, in IFAC 18th world congress, pp. 283-289,
2011.
[22] B. Saldivar, S. Mondie, J. J. Loiseau, and V. Rasvan, Suppressing
axial-torsional coupled vibrations in drillstrings, Journal of Control
Engineering and Applied Informatics, vol. 15, no. 1, pp. 3-10, 2013.
[23] H. Alli and T. Singh, On the feedback control of the wave equation,
Journal of Sound and Vibration, vol. 234, no. 4, pp. 625-640, 2000.
[24] C. Sagert, F. Di Meglio, M. Krstic, and P. Rouchon, Backstepping and
flatness approaches for stabilization of the stick-slip phenomenon for
drilling, in IFAC symposium on system, structure and control, 2013.
[25] B. Saldivar, T. Knppel, F. Woittennek, I. Boussaada, H. Mounier, and
S.-I. Niculescu, Flatness-based control of torsional-axial coupled drilling
vibrations, in The 19th World Congress The International Federation of
Automatic Control, 2014.
[26] A. Seuret, H. zbay, C. Bonnet, and H. Mounier, Low-Complexity
Controllers for Time- Delay Systems. Springer, 2014.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:76657", author = "Lotfi Beji and Laredj Benchikh", title = "A Method of Drilling a Ground Using a Robotic Arm", abstract = "Underground tunnel face bolting and pipe umbrella
reinforcement are one of the most challenging tasks in construction
whether industrial or not, and infrastructures such as roads or
pipelines. It is one of the first sectors of economic activity in the
world. Through a variety of soil and rock, a cyclic Conventional
Tunneling Method (CTM) remains the best one for projects with
highly variable ground conditions or shapes. CTM is the only
alternative for the renovation of existing tunnels and creating
emergency exit. During the drilling process, a wide variety of
non-desired vibrations may arise, and a method using a robot arm
is proposed. The main kinds of drilling through vibration here is the
bit-bouncing phenomenon (resonant axial vibration). Hence, assisting
the task by a robot arm may play an important role on drilling
performances and security. We propose to control the axial-vibration
phenomenon along the drillstring at a practical resonant frequency,
and embed a Resonant Sonic Drilling Head (RSDH) as a robot end
effector for drilling. Many questionable industry drilling criteria and
stability are discussed in this paper.", keywords = "Drilling, PDE control, robotic arm, resonant vibration.", volume = "11", number = "11", pages = "1821-6", }
