Design of Telerobotic Drilling Control System with Haptic Feedback
Numerical values for drilling system parameters.
BHA + drill string inertia
Rotary table + drive inertia
Rotary table damping
Drill string stiffness
Motor armature resistance
Motor armature inductance
Combined gear ratio for bevel and gear box
Drill bit radius
Ratio of drilling strength to drilling specific energy
Mass of drill string (28120 Kg) + BHA (25080 Kg)
Submerged weight − applied weight from top of the Rig
100 or 1000
Viscous friction coefficient
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