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

fYear

2014

fDate

23-25 June 2014

Firstpage

76

Lastpage

83

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/INISTA.2014.6873600

Filename

6873600