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Attitude control system for directional drilling bottom hole assemblies

IET control THEORY AND applications 2012年第7期6卷 884-892页

作者： Panchal, N. Bayliss, M. T. Whidborne, J. F. Cranfield Univ Sch Engn Cranfield MK43 OAL Beds England Schlumberger Stonehouse Technol Ctr Gloucester GL10 3SX England

A general approach for the attitude control of directional drilling tools for the oil and gas industry is proposed. The attitude is represented by a unit vector, thus the non-linearities introduced by Euler angle representations are avoided. Three control laws are proposed, and their stability is proven. Their behaviour is tested by numerical simulation. The merits of the laws from an engineering perspective are highlighted, and some details for the implementation of the laws on directional drilling tools are provided.

关键词： Mining, oil drilling and natural gas industries Spatial variables control machining Numerical analysis oil industry Euler angle representations numerical simulation stability directional drilling tools Stability in control theory control applications in machining processes and machine tools unit vector numerical analysis directional drilling bottom hole assemblies control applications in mining, oil and natural gas technology engineering perspective attitude control system petroleum industry general approach gas industry Other numerical methods drilling attitude control

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CONTOURING ACCURACY WITH 2-AXIS CONTINUOUS AND DISCRETE-DATA SERVOS

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PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON 1974年第8期121卷 899-904页

作者： COMPTON, WDR WILKINSON, AJ QUEENS UNIV DEPT ELECT & ELECTR ENGN BELFAST BT7 1NN NORTH IRELAND

This paper describes results obtained for the errors involved in describing various trajectories with a 2-axis position-control system of the type having appreciable velocity lag. A digital simulation was used to compute the results. It is shown that the machining accuracy depends largely on the servos having identical parameters and that even a small amount of mismatch may cause appreciable errors. Discrete-data servos are also considered, and it is shown that, for accurate machining of circular trajectories, there is an optimum value of the damping factor, which depends on the sampling period. The results given assist in the selection of a suitable sampling period.

关键词： machining control technology and theory velocity lag Spatial variables control continuous servomechanisms control applications in machining processes and machine tools contouring accuracy machining errors digital simulation sampling period damping factor two axis servomechanisms position control numerically controlled machine tool applications servomechanisms discrete data servomechanisms

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Hardware-in-the-loop simulation of machine tools and manufacturing systems

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COMPUTING AND control ENGINEERING 2005年第1期16卷 10-15页

作者： Stoeppler, G Menzel, T Douglas, S Siemens AG Automat & Dr Mot Control Syst D-8520 Erlangen Germany Liverpool John Moores Univ Sch Engn Liverpool L3 5UX Merseyside England

Simulation methods play an important role in the design loop of sophisticated machine tools. In this paper we present a different type of simulation strategy, a method that integrates control hardware within a simulation model of the machine tool. For motion control software developers, the benefits are twofold: a simulation test bed becomes available before the machine is available, while the quality of the software migration process can be improved using automated regression tests.

关键词： automatic test software computerised numerical control software migration process Testing automated regression tests control applications in machining processes and machine tools Manufacturing systems machining virtual machining control engineering computing discrete event simulation manufacturing systems Production equipment machine tools motion control software hardware-in-the-loop simulation

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Using circle criteria for verifying asymptotic stability in Pl-like fuzzy control systems: application to the milling process

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IEE PROCEEDINGS-control THEORY AND applications 2003年第6期150卷 619-627页

作者： Guerra, REH Schmitt-Braess, G Haber, RH Alique, A Alique, JR CSIC Inst Automat Ind Madrid 28500 Spain Univ Autonoma Madrid Escuela Politecn Super E-28049 Madrid Spain Univ Erlangen Nurnberg Lehrstuhl Regelungstech D-91058 Erlangen Germany Univ Oriente Dept Automat Control Santiago De Cuba Cuba

A fuzzy controller that is suitable for regulating the milling process and ensuring absolute stability with a finite domain (i.e. local asymptotic stability) is presented. The stability analysis is performed on the basis of two versions of the circle criterion: (i) the extended circle criterion reducing the problem to the scalar case;and (ii) the multiple-input multiple-output circle criterion, here stated using a linear matrix inequality in order to profit from the advantages of convex optimisation. In order to verify the robust stability of the fuzzy control system, the plant gain is considered to be uncertain, and the allowed range for this uncertainty is maximised. Simulations based on the linearised plant model demonstrate how the improvement of robust stability affects the dynamics of the control loop. The robust stability improvement turns out to also yield a better fuzzy controller performance. A real-time application proves both stability and dynamic performance in an industrial environment.

关键词： convex optimisation optimisation extended circle criterion control loop dynamics multiple-input multiple-output circle criterion asymptotic stability milling machining control technology and theory fuzzy control Optimisation techniques Optimisation linear matrix inequality linear matrix inequalities stability criteria control applications in machining processes and machine tools robust stability improvement scalar case uncertain plant gain MIMO systems Multivariable control systems real-time application PI control PI-like fuzzy control systems asymptotic stability criteria absolute stability Fuzzy control milling process circle criteria robust control Stability in control theory local asymptotic stability industrial environment finite domain linearised plant model

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In-process microsensor for ultraprecision machining

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IEE PROCEEDINGS-SCIENCE MEASUREMENT AND TECHNOLOGY 2004年第2期151卷 121-125页

作者： Yoshioka, H Hashizume, H Shinno, H Tokyo Inst Technol Precis & Intelligence Lab Midori Ku Yokohama Kanagawa 2268503 Japan

Future ultraprecision manufacturing systems will require intelligent machine tools equipped with effective in-process monitoring systems for the machining environment. To meet these requirements, a sensor is urgently required that combines multifunctionality, reliability, sensitivity and compactness. It is particularly difficult to monitor the machining status during ultraprecision machining, because the energy emissions and cutting forces are very small in comparison to conventional machining processes. A thermometry-type in-process microsensor is proposed to solve this problem. The proposed microsensor is made using a microfabrication process that is normally used in semiconductor production. The sensor size is 520 x 250 mum and the line width of the sensor device is 5 mum. The developed microsensor is mounted directly onto the surface of a tool tip at a distance of 0.8 mm from the cutting edge. The performance of the developed microsensor is Investigated through a series of ultraprecision cutting experiments.

关键词： Microsensors and nanosensors cutting ultraprecision machining in-process microsensor machining ultraprecision manufacturing systems in-process monitoring systems control applications in machining processes and machine tools microfabrication process precision engineering microsensors reliability intelligent machine tools thermometry-type microsensor sensitivity cutting forces ultraprecision cutting experiments 0.8 mm compactness 5 micron

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Efficient acceleration and deceleration technique for short distance movement in industrial robots and CNC machine tools

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ELECTRONICS LETTERS 2000年第8期36卷 766-768页

作者： Jeon, JW Sungkyunkwan Univ Sch Elect & Comp Engn Jangan Gu Suwon 440746 Kyungki Do South Korea

Previous techniques for accelerating and decelerating industrial robots and computer numerical control (CNC) machine tools either cannot be computed in real-time, fail to generate various motion profiles. or cannot fully utilise the maximum values of velocity and acceleration. An efficient technique is proposed that has been designed to generate various motion profiles that fully utilise the maximum values of velocity and acceleration.

关键词： motion control industrial robots machine tools control engineering computing Spatial variables control acceleration technique control technology and theory computerised numerical control deceleration technique control equipment and processes in production engineering machining motion profiles Robotics short distance movement CNC machine tools maximum values Industrial applications of IT control applications in machining processes and machine tools

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A MICROPROCESSOR controlLER FOR AN ACCURATE POSITIONING SYSTEM

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JOURNAL OF THE INSTITUTION OF ELECTRONIC AND RADIO ENGINEERS 1985年第4期55卷 151-157页

作者： GARSIDE, JR PICKARD, RM Department of Electrical Engineering University of Manchester Manchester UK

This paper describes a microprocessor-based (Zilog Z80) position control system for an X-Y table which is a precision specimen stage in an electron-beam lithographic machine used to define patterns on semiconductor wafers. The controller receives commands which specify the coordinates, on a user specified Cartesian grid, to which the workpiece is to be moved. After checking that the requested position is within the table's movement range the microprocessor rotates and translates these user coordinates into the representation used by the position sensor, a two-axis laser interferometer. This interferometer measures the positions of mirrors, which are mounted on the specimen table, to an accuracy of 79 nm. Coarse positioning of the table is achieved by means of stepper motors which drive a pair of crossed lead screws whilst fine adjustment of the specimen's effective position is provided by applying a small offset to the electron-beam deflection drivers via digital-to-analogue converters. Thus although the table is only near to the required position, the specimen is nevertheless effectively aligned with the working point of the electron-beam. When the table has been placed in the desired position and come to rest, a signal is given to indicate that processing may resume. An operator panel provides for push-button manual control of the drive motors and a liquid crystal display shows the table's position.

关键词： Semiconductor technology machining position measurement electron-beam lithographic machine laser interferometer electron beam lithography Lithography (semiconductor technology) positioning system semiconductor wafers Semiconductor integrated circuits drive motors control technology and theory digital-to-analogue converters X-Y table electron-beam deflection drivers microprocessor controller control engineering computing position control mirrors Spatial variables control position sensor computerised control electron beam machining Industrial applications of IT Ziglog Z80 position control system control applications in machining processes and machine tools LCD

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Steel-based bionic actuators for flapping microair-vehicles

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MICRO & NANO LETTERS 2013年第10期8卷 686-690页

作者： Yang, Lung-Jieh Jan, Dung-Lin Lin, Wei-Chung Tamkang Univ Dept Mech & Electromech Engn Tamsui Taiwan

Presented is an animation of the sporangial motion for making bionic tail actuators of flapping microair-vehicles regarding energy saving. A SUS-304 steel foil 40 mu m thick is used as the working substrate. The actuation area of the 40-50 comb-shaped cantilevers is designed to have maximum actuating angle change around the order of several degrees. An Nd-YAG laser cutting is performed to machine the surface tension-driven actuator. Surface modification including parylene coating and oxygen plasma treatment are added to enlarge the actuation stroke angle by up to 10 degrees-12 degrees for practical usage in flight control.

关键词： flight control actuation stroke angle aluminium compounds Actuating and final control devices parylene coating laser cutting comb-shaped cantilevers SUS-304 steel foil surface modihcation sporangial motion Nd-YAG aerospace control yttrium compounds energy saving coating techniques control applications in machining processes and machine tools steel neodymium bionic tail actuators steel-based bionic actuators space vehicles biocybernetics actuators working substrate Aerospace control surface tension-driven actuator laser beam cutting size 40 mum flapping microair-vehicles oxygen plasma treatment

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