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Published in: Optimization and Engineering 1/2021

19-10-2020 | Research Article

Cross-axis control system design for borehole drilling based on damping optimum criterion and utilization of proportional-integral controllers

Authors: Danijel Pavković, Pavle Šprljan, Mihael Cipek, Matija Krznar

Published in: Optimization and Engineering | Issue 1/2021

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Abstract

This paper presents a control system design methodology for the drill-string rotary drive and draw-works hoist system aimed at their coordinated control for the purpose of establishing a fully-automated mechatronic system suitable for borehole drilling applications. Both the drill-string rotary drive and the draw-works hoist drive are equipped with proportional-integral (PI) speed controllers, which are readily available within modern controlled electrical drives. Moreover, the rotary speed control system is equipped with torsional active damping system and drill-string back-spinning prevention scheme for the case of stuck drill-bit scenario, whereas the draw-works-based drill-bit normal force control system is extended with the auxiliary control system aimed at timely prevention of the drill-string torsional overload. The design of proposed control systems has been based on suitable reduced-order control-oriented process models and a practical tuning methodology based on the damping optimum criterion aimed at achieving the desired level of closed-loop system damping. The functionality of the proposed cross-axis control system has been systematically verified, first by experimental tests of individual rotary/vertical axis control systems on a downscaled laboratory experimental setup, followed by thorough simulation study of the overall control system for realistic scenarios encountered in the field.

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Metadata
Title
Cross-axis control system design for borehole drilling based on damping optimum criterion and utilization of proportional-integral controllers
Authors
Danijel Pavković
Pavle Šprljan
Mihael Cipek
Matija Krznar
Publication date
19-10-2020
Publisher
Springer US
Published in
Optimization and Engineering / Issue 1/2021
Print ISSN: 1389-4420
Electronic ISSN: 1573-2924
DOI
https://doi.org/10.1007/s11081-020-09566-z

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