In this work, performance of a modified-integral resonant controller with integral tracking is investigated numerically under the effects of actuator delay and actuation constraints. Actuation delay and constraints naturally limit controller performance, so much so that it can cause instabilities. A 2-DOF drill-string m with nonlinear bit–rock interactions is analysed. The aforementioned control scheme is implemented on this system and analysed under the effects of actuation delay and constraints and it is found to be highly effective at coping with these limitations. The scheme is then compared to sliding-mode control and shows to be superior in many regimes of operation. Lastly, the scheme is analysed in detail by varying its gains as well as varying system parameters, most notably that of actuation delay.

在这项工作中，在致动器延迟和致动约束的影响下，对具有积分跟踪的修正积分谐振控制器的性能进行了数值研究。驱动延迟和约束自然会限制控制器的性能，以至于会导致不稳定。分析了具有非线性钻头-岩石相互作用的 2-DOF 钻柱 m。上述控制方案在该系统上实施并在致动延迟和约束的影响下进行分析，发现它在应对这些限制方面非常有效。然后将该方案与滑模控制进行比较，并显示在许多操作方式中都具有优越性。最后，通过改变其增益以及改变系统参数（最显着的是驱动延迟的参数）来详细分析该方案。