Title :
Modeling and control of quad-rotor Directional Steering System
Author :
Talib, Mohammad ; Elshafei, M. ; Khoukhi, A. ; Saif, Abdul-Wahid A. ; Abdulazeez, A.
Author_Institution :
Syst. Eng. Dept., King Fahd Univ. of Pet. & Miner., Dhahran, Saudi Arabia
Abstract :
Directional Steering Systems (DSS) have been developed in the oil and gas industry to achieve high well production when compared to conventional drilling systems. In this paper a dynamic modeling of a DSS using four DC motors was developed. A controller was designed using Feedback Linearization technique for the cancellation of non-linear dynamics and LQR for the optimal linear control. Simulation of the proposed 4-motors DSS is provided, and the performance of the Feedback Linearization Controller (FLC) - Linear Quadratic Regulator (LQR) based command and control in executing steering tasks is demonstrated.
Keywords :
DC motors; control system synthesis; feedback; gas industry; linear quadratic control; linearisation techniques; nonlinear control systems; oil drilling; petroleum industry; rotors; steering systems; DC motors; DSS; DSS dynamic modeling; LQR; controller design; feedback linearization controller technique; gas industry; linear quadratic regulator based command-and-control; nonlinear dynamics cancellation; oil industry; optimal linear control; quad-rotor directional steering system control; Decision support systems; Equations; Force; Force measurement; Mathematical model; Rocks; Rotors; directional drilling; non-linear control; rock-bit interaction; simulation;
Conference_Titel :
Innovations in Intelligent Systems and Applications (INISTA) Proceedings, 2014 IEEE International Symposium on
Conference_Location :
Alberobello
Print_ISBN :
978-1-4799-3019-7
DOI :
10.1109/INISTA.2014.6873600
