Browsing by Author "NOUMAN, Muhammad"
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Item DESIGN OF NONLINEAR PID CONTROLLER FOR DRILLING RIG WITH ROBUST AND ADAPTIVE CONTROL FOR ALL OPERATING MODES(2022-09-16) NOUMAN, Muhammad; ÖZBEK, Mehmet EfeDrilling towers have different operating modes during a real operation like drilling, tripping etc. Each mode of operation has certain external disturbances and uncertainties. In this study the hardware and software structures of the system are presented. The drilling rig is modelled in MATLAB/SIMULINK and interfacing with TwinCAT-3 to observe the dynamics of the drill string hook, while hoisting and lowering by using real time external mode of MATLAB/SIMULINK. The optimum values of rise time and overshoot of velocity have been analyzed. Various tuning methods were applied but their results were not satisfactory due to distortions and vibrations. This comparison is based on manual tuning of linear and nonlinear PID parameters. By using the nonlinear model for modes of the operation, robust and or adaptive control systems are designed. The smoothness of the system is achieved by using nonlinear pid parameters. The study presents the design process of the controller and evaluates the performance of the proposed control system to track the reference signal and reject the uncertainties and external disturbances. The behavior of the controllers and their stabilities are studied during the kinetics of drill sting hook and tripping operation on prototype setup in the laboratory.