Design of Telerobotic Drilling Control System with Haptic Feedback

Table 1

Numerical values for drilling system parameters.

Parameter	Description	Value	Unit
𝐽1	BHA + drill string inertia	374	[kgm^2]
𝐽2	Rotary table + drive inertia	2120	[kgm^2]
𝑐1	BHA damping	42	[Nms/rad]
𝑐2	Rotary table damping	425	[Nms/rad]
𝑘	Drill string stiffness	473	[Nm/rad]
𝑅	Motor armature resistance	0.010	[Ω]
𝐿	Motor armature inductance	0.005	[H]
𝐾	Motor constant	6	[Vs]
𝑛	Combined gear ratio for bevel and gear box	7.2	—
𝑎	Drill bit radius	0.108	[m]
𝜁	Ratio of drilling strength to drilling specific energy	0.7	—
𝑀	Mass of drill string (28120 Kg) + BHA (25080 Kg)	53000	[kg]
𝑊𝑠−𝐻0	Submerged weight 𝑊𝑠  − applied weight from top of the Rig 𝐻0	100 or 1000	[N]
𝐾𝑓	Viscous friction coefficient	20	[Nm/rad]