Journal of Control Science and Engineering / 2013 / Article / Tab 1

Research Article

Design of Telerobotic Drilling Control System with Haptic Feedback

Table 1

Numerical values for drilling system parameters.

Parameter Description Value Unit

BHA + drill string inertia 374 [kgm2]
Rotary table + drive inertia 2120 [kgm2]
BHA damping 42
Rotary table damping 425
Drill string stiffness 473
Motor armature resistance 0.010
Motor armature inductance 0.005 [H]
Motor constant 6 [Vs]
Combined gear ratio for bevel and gear box 7.2
Drill bit radius 0.108 [m]
Ratio of drilling strength to drilling specific energy 0.7
Mass of drill string (28120 Kg) + BHA (25080 Kg) 53000 [kg]
Submerged weight   − applied weight from top of the Rig 100 or 1000[N]
Viscous friction coefficient 20

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