Stick-Slip Vibration Suppression of Drill String Based on Fractional Order PID

Stick-slip vibration of drill string system is one of the important reasons leading to damage of drilling tools, decrease of drilling safety and decrease of drilling efficiency. In order to suppress stick-slip vibration and analyze the mechanism of stick-slip vibration, a torsional model of drill string system with four degrees of freedom is established. A fractional order PID controller is designed. The simulation results show that the control effect of the fractional-order PID controller is better than that of the traditional PID controller, which can control the drill string system faster and better, and effectively suppress the stick-slip vibration.