engleski

Cross-Axis Control System Design Suitable for Geothermal Well Drilling Systems

draw-works hoist system aimed at their coordinated control for the purpose of establishing a fully-automated mechatronic system suitable for geothermal 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 drill-string back-spinning prevention scheme for the case of stuck tool scenario, whereas the draw-works-based tool 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 control-oriented process models and so-called damping optimum criterion which guarantees a desired level of closed-loop system damping. The functionality of the proposed cross-axis control system has been verified by means of simulations, augmented by additional testing of individual rotary/draw-works control systems on a down-scaled laboratory experimental setup.

Rotary drilling electrical drive ; draw-works hoist electrical drive ; coordinated control ; PI controller ; torsional vibrations ; active damping ; mechatronic systems

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