Publications Scientifiques

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    Stick-Slip Vibration Mitigation in Rotary Drilling Systems Using a Particle Swarm Optimization-based PID Controller under Varying Weight on Bit Conditions
    (Budapest Tech Polytechnical Institution, 2025) Tellaa, Mawloud; Aibeche, Abderrezak; Doghmane, Zinelabidine Mohamed; Kidouche, Madjid
    Rotary systems on drilling rigs are susceptible to various types of vibrations, which can lead to equipment damage, reduced borehole quality, decreased drilling efficiency, and increased non-productive time. These vibrations are typically managed through manual adjustments of drilling parameters, often resulting in higher costs and reduced productivity. To address this challenge, automatic control strategies have been developed, though the robustness of these controllers is still under refinement. Recently, a promising approach has emerged by combining PID controllers with Particle Swarm Optimization (PSO) algorithms, demonstrating significant success in other applications. However, its effectiveness in mitigating stick-slip vibrations, particularly under varying Weight on Bit (WOB) conditions, in rotary systems on drilling rigs has not been fully tested. This paper examines the application of a PSO-optimized PID controller to enhance the robustness of vibration mitigation strategies in rotary drilling systems, taking into account the effect of WOB. The results demonstrate that the proposed controller outperforms previously developed control approaches, offering superior vibration suppression even under varying WOB conditions
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    Axial-Torsional Vibrations Interaction Analysis and Decoupling in Drill String Systems
    (2024) Meddah, Sabrina; Tadjer, Sid Ahmed; Kidouche, Madjid
    Rotary drilling system is an important and crucial electromechanical system used in petroleum industry, it is used to drill holes and extract oil and gas from targeted reservoirs beneath the surface. The rate of penetration (ROP) is one of the quantitative metrics used to assess the performance of the drilling system. However, the appearance of unwanted vibrations generally leads to decrease of this performance and increase the nonproductive time (NPT), in addition to drill string damages and wears. These vibrations are classified according to their propagation direction into three types: Axial, Lateral and Torsional. Many researches have been dedicated to designing robust controller to mitigate such vibrations separately. Nevertheless, vibrations often occur simultaneously, with interactions between them. This interaction can have a direct influence on the robustness of the designed controllers. Thus, in order to design a robust controller that mitigate the most frequent vibrations (Axial and torsional), it is necessary to analyze the interaction between them and decouple them before application of any controller. The main objective of this study is to analyze the interaction between the axial and torsional vibrations in the Two-input two-output (TITO) drill string model and to design appropriate decouplers for the system. Based on the obtained results, we demonstrate a significant interaction between the torsional and axial vibrations, and proved that the introduced decouplers have omitted these interaction terms with a minimum influence on the whole dynamic of drill-string system. Therefore, applying this decoupling process is highly recommended to enhance the robustness of the controller in mitigating axial and torsional vibrations simultaneously.
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    PID Control Design of Strongly Coupled Axial-Torsional Vibrations in Rotary Drilling Systems
    (Wydawnictwo SIGMA-NOT, 2024) Meddah, Sabrina; Idir, Abdelhakim; Tadjer, Sid Ahmed; Doghmane, Mohamed Zinelabidine; Kidouche, Madjid
    Drilling operations can encounter considerable challenges posed by strong, coupled vibrations that exert a complex influence on rotary drilling system performance. These vibrations are classified into three distinct types based on their propagation direction: axial, lateral, and torsional. Previous research efforts have predominantly focused on examining each vibration type in isolation. However, the effectiveness and resilience of developed controllers are profoundly affected by the often overlooked coupling effects arising from other types of vibrations. In this study, we propose the implementation of a Proportional-Integral-Derivative (PID) controller for the coupled Axial-Torsional vibration system. The research presented herein is dedicated to investigate the performance of the controller under strongly coupled vibrations. To address the dynamic vibrations encountered during drilling, it is imperative to understand the intricate behavior of the drill bit in response to these vibrations before designing controllers to mitigate their impact. Numerous models have been proposed in the existing literature to elucidate the behavior of the drill string under axial-torsional vibrations. The objective of this research is to develop a comprehensive model of the drilling system and investigate the robustness of the PID controller to mitigate the adverse effects of coupled Axial-Torsional vibrations. By effectively analysing the obtained results, this study has contributed to the optimization and improvement of drilling operations under sever coupled vibrations.
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    Discretization Order Influences on Extended Kalman Filter Estimation for Doubly-Fed Induction Generator
    (Wydawnictwo SIGMA-NOT, 2024) Boussoufa, Ahmad; Ahriche, Aimad; Kidouche, Madjid; Doghmane, Mohammed Zinelabidine
    The main objective of this paper is to analyze the influence of the discretization step on the estimated states of the Doubly-Fed Induction Generator (DFIG). Although the Extended Kalman Filter (EKF) has been widely used for such systems, the discretization process is conventionally ensured by the first-order Forward Euler method. Therefore, the effects of the discretization order of the discrete state-space representation on the Extended Kalman Filter estimation have not been studied before. In this paper, we combine the Extended Kalman Filter with two second-order discretization methods: Central Difference and Adams-Bashforth methods, to estimate the states of a Doubly-Fed Induction Generator and improve the estimation precision of the rotor speed and the Flux of the generator. A comparative study has been conducted to analyze the qualitative and quantitative responses of the estimator for different cases. The obtained results have demonstrated the significance of the discretization order on the estimation process of the two states of the DFIG.
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    A Survey Study of Modeling, Analysis, and Control Drill String under Torsional, Axial, and Lateral Vibrations
    (Institute of Electrical and Electronics Engineers Inc, 2023) Benmir, Nora; Akroum, Hamza; Doghman, Mohamed Z.; Kidouche, Madjid
    The drill string behavior under different modes of vibrations and harmful oscillations during a drilling process make an essential challenge in the oil and gas industry for the high cost of oil well drilling. Several research and investigations conducted to understand and analyze drill string behavior under this unexpected dynamics. This review provides a substantial and systematic analysis of a collection of research papers published over the past two decades, elucidated the complex dynamics of drill strings subjected to diverse vibration modes.The investigation encompasses a range of scholarly articles dedicated to the examination of torsional, axial, and lateral vibrations inherent in the context of rotary drilling endeavors. Within this study, we summarize the main mathematical modeling methods used to describe drill string behaviors under harmful dynamics.A comparison between passive and active control strategies within the domain is included, coupled with an exploration of the importance of integrating advanced technologies in this field.
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    Stability and accuracy improvement of motor current estimator in low-speed operating based on sliding mode takagi-sugeno algorithm
    (Publishing House of the Romanian Academy, 2022) Ahriche, Aimad; Abdelhakim, Idir; Doghmane, Mohamed Zinlabidine; Kidouche, Madjid; Mekhilef, Saad
    This paper is devoted to presenting a new mathematical development and hardware implementation of an accurate and stable technique for the current estimation-based sliding mode observer in high-performance speed-sensorless ac-drive. The proposed algorithm is built by using induction motor (IM) flux equations in two referential frames to enhance the robustness of the observer. Indeed, all equations are given in both stator-flux and rotor-flux rotating frames. On the other hand, to eliminate the necessity of rotor-speed adaptation, a fully speed-sensorless scheme is adopted. Furthermore, to minimize chattering and improve accuracy, a new fuzzy sliding surface is introduced instead of the conventional correction vector. The observer stability is guaranteed by means of Lyapunov’s second method. The feasibility and the effectiveness of the proposed algorithm are verified by using a hardware setup based on the DS1104 controller board. Experimental results are shown and discussed
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    Stick-Slip vibration suppression in drill string using observer-based LQG controller
    (MDPI, 2022) Riane, Rami; Doghmane, Mohamed Zinelabidine; Kidouche, Madjid; Tee, Kong Fah; Djezzar, Sofiane
    Hydrocarbon exploration and production activities are guaranteed through various operations including the drilling process, which is realized by using rotary drilling systems. The process involves crushing the rock by rotating the drill bit along a drill string to create a borehole. However, during this operation, violent vibrations can occur at the level of the drill string due to its random interaction with the rocks. According to their axes of occurrence, there are three types of vibrations: axial, lateral, and torsional, where the relentless status of the torsional vibrations is terminologically known as the stick-slip phenomenon. Such a phenomenon can lead to increased fatigue of the drill string and cause its abortive fracture, in addition to reducing the efficiency of the drilling process and consequently making the exploration and production operations relatively expensive. Thus, the main objective of this paper is to eliminate the severe stick-slip vibrations that appear along the drill string of the rotary drilling system according to the LQG observer-based controller approach. The rock–bit interaction term is highly nonlinear, and the bit rotational velocity is unmeasurable; an observer was first designed to estimate the unknown inputs of the model, and then the controller was implemented in the drill string model with 10 degrees of freedom. The estimation process was essentially based on surface measurements, namely, the current and rotational velocity of the top drive. Thereafter, the performance of the proposed observer-based LQG controller was tested for different simulation scenarios in a SimScape/Matlab environment, for which the controller demonstrated good robustness in suppressing the severe stick-slip vibrations. Furthermore, the simulation and experimental results were compared to other controllers designed for the same model; the proposed observer-based LQG controller showed better performance, and it was less sensitive to structured disturbances than H∞. Thence, it is highly recommended to use the proposed approach in smart rotary drilling systems
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    Identification and modeling of a rotary kiln in cement plant based on ANN (MLP)
    (Springer, 2022) Doghmane, Mohamed Zinelabidine; Kidouche, Madjid; Eladj, S.; Ouali, A.
    The objective of this study is to identify and model a rotary cement kiln based on production history data by using an artificial neural network MLP algorithm. The usefulness of this algorithm is that it provides a reliable empirical relation between the inputs parameters (Flow, Temperature, and pressure) and the outputs, which indicate the cement quality. Where, the most critical process in a cement production facility is cooking the mixed raw material in a rotary kiln; its task is to gradually burn and bakes a suitable mixture of input material to produce clinker. Therefore, the rotary kiln is the most important part in a cement factory. From another side, the control of a cement kiln is a complex process due to many factors namely: The Non linearity of the system caused by the chemical reactions, its dynamic and high dimensionality. Therefore, identification, modelling, prediction and simulation of Kiln system is very crucial step in managing and optimizing the cement production. Since the ANN has demonstrated its effectiveness in identifying a large class of complex nonlinear systems, it has been proposed in this case study to model cement Kiln of plant based on Multi-Layer Perceptron (MLP) approach. The MLP algorithm has been trained by using history data of twenty four months, and it has been tested and validated through comparison with production data of the next six months after the training. The obtained results have demonstrated the superiority of the proposed ANN approach over the conventional modelling approaches
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    Hybrid adaptive Backstepping-Sliding mode control design for Non-linear Under-Actuated systems
    (Springer, 2022) Doghmane, Mohamed Zinelabidine; Kidouche, Madjid; Riache, Samah; Aibeche, Abderrazak
    This paper focuses on studying the inverted pendulum as a case study of under-actuated systems, which has two degrees of freedom and a single actuator. The Lagrangian dynamic model of the system is non-linear and its internal dynamic is not asymptotically stable. The control of this system has been the subject to many studies because the dynamics of the inverted pendulum is closer to those of more complex systems. Besides, this mechanism is a low cost tool for implementation and practical illustration of new control approaches. For the stabilization of the system, it is first necessarily to bring the pendulum from its equilibrium stable position (pendulum pointing downwards) to its unstable equilibrium position. In this study, different control approaches were applied to the system such as sliding mode control, Backstepping method, and their combination. These studied techniques are very implementable for under-actuated systems, where their algorithms are designed with an appropriate choice of parameters. Moreover, the obtained results are very interesting; they show the effectiveness of the proposed hybrid approach in improving the performances, namely, the controller robustness and convergence stability. The hybrid control system has been designed for both stabilization and external disturbances rejection. Hence, the main contribution of this study is the hybridization of adaptive backstepping approach with sliding mode control for under-actuated systems
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    Sliding mode controller design for torsional vibrations minimization under Rock-Bit interaction effects
    (Springer, 2022) Mendil, Chafiaa; Kidouche, Madjid; Doghmane, Mohamed Zinelabidine
    Torsional vibrations during drilling can have an adverse effect on drilling performance, as they generate Stick-slip phenomena, which reduces the quality of the drilling and the speed of penetration as well. The study of these vibrations can be done through the model of the torsion pendulum (mass-spring), because it is the model that responds to this type of systems. These models consist of several parallel discs, rotating around their common axis and connected to each other. Where, the drill pipes are represented by a torsion spring with a stiffness coefficient and the drill collars with a damping coefficient. The main objective of this study is to reduce the stick-slip vibrations in the drilling system so that the tool can follow the desired nominal angular velocity of the top drive in an optimal time. A simulation of a torsion model with two degrees of freedom has been tested in an open loop, and in order to analyze the severity of the vibrations, two rock-bit contact models with variable weight-on-bit has been studied. Moreover, a sliding mode controller is designed for each Rock-Bit model to achieve the goal of reducing torsional vibrations and to ensure that the Karnoop model global stability is guaranteed. The later implies that the stability is ensured for the other contact models. Furthermore, the obtained results demonstrated the effectiveness the designed controller in reducing the severe vibrations of the stick-slip phenomenon under the different rock-bit interaction effects, and also the robustness of the sliding mode control is verified for each rock-bit interaction