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.

本文提出了一种用于钻柱旋转驱动和绞车提升系统的控制系统设计方法，旨在实现它们的协调控制，以建立适合于井眼钻探应用的全自动机电系统。钻柱旋转驱动器和绞车提升驱动器均配备有比例积分（PI）速度控制器，可在现代受控电气驱动器中轻松使用。此外，转速控制系统配备了扭力主动阻尼系统和防止钻头卡死的情况下的钻柱反向旋转方案，而基于绞车的钻头法向力控制系统则扩展了辅助控制系统旨在及时防止钻柱扭转过载。所提出的控制系统的设计基于适当的面向降序控制的过程模型，以及基于阻尼最佳标准的实用调整方法，旨在达到所需的闭环系统阻尼水平。所提出的横轴控制系统的功能已得到系统地验证，首先是在缩小规模的实验室实验装置上对单个旋转/垂直轴控制系统进行了实验测试，然后针对整个控制系统进行了全面的仿真研究，以针对实际环境中遇到的实际情况进行研究。领域。