scholarly journals Research on a rotational speed control strategy of the mandrel in a rotary steering system

Open Physics ◽  
2018 ◽  
Vol 16 (1) ◽  
pp. 668-674 ◽  
Author(s):  
Liancheng Zhang ◽  
Guibin Zhang ◽  
John Spillian
Keyword(s):  
Rotational Speed ◽  
Control Method ◽  
Steering System ◽  
Drill Bit ◽  
Loop Control ◽  
Oil Drilling ◽  
Face To Face ◽  
Speed Tracking ◽  
Rotational Speed Control ◽  
Drill Collar

AbstractRotary steering systems are cutting-edge, intelligent oil drilling and steering equipment developed at the end of the twentieth century. The core function of the bit pointing rotary steering system is to control the eccentric shaft with bit pointing function to track the outer drill collar for reverse rotation [1]. When the relative speed thereof is offset, the mandrel tool face remains stationary, and the directive function of the drill bit is realized [2]. Therefore, it is important to precisely control mandrel rotational speed and make it follow the outer drill collar to conduct face-to-face rotation at all times. A double closed loop control method for realizing rotational speed loop and position loop through controlling mandrel rotational speed is proposed in this paper. Relative rotational speed of drill bit shaft (or mandrel) and drill collar of zero can be realized within the shortest time, thereby realizing rapid and precise rotational speed tracking. Relative positions of mandrel and drill collar at several angles on 360° circumferences, thereby proving the feasibility of the method. The method can provide a technical reference and basis for prototype production of directional rotary steering system [3].

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

scholarly journals Continuous Control Set Predictive Current Control for Induction Machine

2021 ◽  
Vol 11 (13) ◽  
pp. 6230
Author(s):  
Toni Varga ◽  
Tin Benšić ◽  
Vedrana Jerković Štil ◽  
Marinko Barukčić
Keyword(s):  
Control Method ◽  
Induction Machine ◽  
Current Control ◽  
Continuous Control ◽  
Loop Model ◽  
Voltage Reference ◽  
Control Loop ◽  
Speed Tracking ◽  
Finite Control ◽  
Control Set

A speed tracking control method for induction machine is shown in this paper. The method consists of outer speed control loop and inner current control loop. Model predictive current control method without the need for calculation of the weighing factors is utilized for the inner control loop, which generates a continuous set of voltage reference values that can be modulated and applied by the inverter to the induction machine. Interesting parallels are drawn between the developed method and state feedback principles that helped with the analysis of the stability and controllability. Simple speed and rotor flux estimator is implemented that helps achieve sensorless control. Simulation is conducted and the method shows great performance for speed tracking in a steady state, and during transients as well. Additionally, compared to the finite control set predictive current control, it shows less harmonic content in the generated torque on the rotor shaft.

Design and control of 2-DoF joystick using MR-fluid rotary actuator

2021 ◽  
pp. 1045389X2110639
Author(s):  
Bao Tri Diep ◽  
Quoc Hung Nguyen ◽  
Thanh Danh Le
Keyword(s):  
Pid Controller ◽  
Force Feedback ◽  
Control Method ◽  
Open Loop ◽  
Friction Torque ◽  
Feedback Controls ◽  
Loop Control ◽  
Fuzzy Logic Algorithm ◽  
Experimental Apparatus ◽  
Close Loop Control

The purpose of this paper is to design a control algorithm for a 2-DoF rotary joystick model. Firstly, the structure of the joystick, which composes of two magneto-rheological fluid actuators (shorten MRFA) with optimal configuration coupled perpendicularly by the gimbal mechanism to generate the friction torque for each independent rotary movement, is introduced. The control strategy of the designed joystick is then suggested. Really, because of two independent rotary movements, it is necessary to design two corresponding controllers. Due to hysteresis and nonlinear dynamic characteristics of the MRFA, controllers based an accurate dynamic model are difficult to realize. Hence, to release this issue, the proposed controller (named self-turning fuzzy controllers-STFC) will be built through the fuzzy logic algorithm in which the parameters of controllers are learned and trained online by Levenberg-Marquardt training algorithm. Finally, an experimental apparatus will be constructed to assess the effectiveness of the force feedback controls. Herein, three experimental cases are performed to compare the control performance of open-loop and close-loop control method, where the former is done through relationship between the force at the knob and the current supplied to coil while the latter is realized based on the proposed controller and PID controller. The experimental results provide strongly the ability of the proposed controller, meaning that the STFC is robust and tracks well the desirable force with high accuracy compared with both the PID controller and the open-loop control method.

scholarly journals A Robust Inner and Outer Loop Control Method for Trajectory Tracking of a Quadrotor

Sensors ◽  
2017 ◽  
Vol 17 (9) ◽  
pp. 2147 ◽  
Author(s):  
Dunzhu Xia ◽  
Limei Cheng ◽  
Yanhong Yao
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
Outer Loop ◽  
Loop Control

DUTY-CYCLED SPINNING BASED 3D MOTION CONTROL APPROACH FOR BEVEL-TIPPED FLEXIBLE NEEDLE INSERTION

2018 ◽  
Vol 18 (07) ◽  
pp. 1840017 ◽  
Author(s):  
QIN YAO ◽  
XUMING ZHANG
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Tracking Error ◽  
Open Loop ◽  
Loop Control ◽  
3D Motion ◽  
Control Approach ◽  
Target Error ◽  
The Mean ◽  
Simulation Results

Flexible needle has been widely used in the therapy delivery because it can advance along the curved lines to avoid the obstacles like important organs and bones. However, most control algorithms for the flexible needle are still limited to address its motion along a set of arcs in the two-dimensional (2D) plane. To resolve this problem, this paper has proposed an improved duty-cycled spinning based three-dimensional (3D) motion control approach to ensure that the beveled-tip flexible needle can track a desired trajectory to reach the target within the tissue. Compared with the existing open-loop duty-cycled spinning method which is limited to tracking 2D trajectory comprised of few arcs, the proposed closed-loop control method can be used for tracking any 3D trajectory comprised of numerous arcs. Distinctively, the proposed method is independent of the tissue parameters and robust to such disturbances as tissue deformation. In the trajectory tracking simulation, the designed controller is tested on the helical trajectory, the trajectory generated by rapidly-exploring random tree (RRT) algorithm and the helical trajectory. The simulation results show that the mean tracking error and the target error are less than 0.02[Formula: see text]mm for the former two kinds of trajectories. In the case of tracking the helical trajectory, the mean tracking error target error is less than 0.5[Formula: see text]mm and 1.5[Formula: see text]mm, respectively. The simulation results prove the effectiveness of the proposed method.

scholarly journals Computer Simulation Algorithm of Gymnastics Formation Change Path Based on Wireless Sensor

2021 ◽  
Author(s):  
Bingxin Chen ◽  
Lifei Kuang ◽  
Wei He
Keyword(s):  
Computer Simulation ◽  
Control Method ◽  
Rapid Development ◽  
Mobile Node ◽  
Wireless Sensor ◽  
Target Point ◽  
Simulation Algorithm ◽  
Mobile Nodes ◽  
Loop Control ◽  
Beacon Node

Abstract Today, with the rapid development of information age, the communication of science and technology is getting closer to each other, and our country has begun to conduct in-depth research on WSN. This study mainly discusses the computer simulation algorithm of gymnastics formation transformation path based on wireless sensor. In this study, an improved leader follower method is designed. In the research of gymnastics formation transformation of mobile nodes in wireless sensor network environment, the traditional three types of nodes are divided into four categories according to different formation responsibilities, namely coordinator, beacon node, leader and follower. When it makes accurate positioning with the help of beacon node information, it will send the information in the form of broadcast, and then the coordinator will send the information to the host computer through the serial port for tracking display. In order to make the mobile nodes in the network keep the current gymnastics formation moving towards the target point after completing the gymnastics formation transformation, this paper uses the L - φ closed-loop control method to modify the gymnastics formation in real time. The method based on the received signal strength is used to locate the mobile node. Combined with the positioning engine in the core processor CC2431 of the mobile node, the efficient and low-energy wireless positioning can be realized. Multiple mobile nodes coordinate and control each other, and each node communicates with each other through wireless mode, and senses its own heading angle information through geomagnetic sensor, so as to judge and adjust the maintenance and transformation of the current gymnastics formation. In the process of formation transformation, the analysis shows that the maximum offset of follower2 relative to the ideal path is + 0.28M in the process of marching to the desired position in the triangle queue. This research effectively realizes the computer simulation of autonomous formation.

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