liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Development, Modelling and Implementation of Cartesian Drill Bit Control
Linköping University, Department of Management and Engineering, Fluid and Mechanical Engineering Systems . Linköping University, Department of Management and Engineering.
Linköping University, Department of Management and Engineering, Fluid and Mechanical Engineering Systems . Linköping University, Department of Management and Engineering.
2009 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Atlas Copco Surface Drilling Equipment is one of the leading manufacturers of surface drill rigs. To stay in the top segment it is of great importance to have a well functioning development strategy as well as rig functions that makes the work as easy as possible for the operator. In this master thesis one development strategy has been evaluated and a dub tip control has been developed from idea to test on rig.

 

Today the conventional method to position the drill is to use two joysticks with three axes each where each axis corresponds to one hydraulic actuator on the boom and feeder structure. The dub tip control system enables the operator to position the drill in Cartesian coordinates with only one 3-axes joystick. After the definition of the desired drill angle is done, the control system makes sure that this angle is obtained throughout the positioning motion. This system makes it considerably easier for an inexperienced operator to position the drill.

 

For development, simulation and verification of the control algorithms and regulators Matlab/Simulink has been used. To test the control system on rig, a configuration with LabVIEW together with a compactDAQ has been evaluated. LabVIEW is chosen because it provides the opportunity to create a user friendly graphical user interface. To use this configuration is however not recommended for persons with little or none experience from using LabVIEW.

 

This development strategy can be used for tests and verifications of control algorithms, but since neither Windows nor the compactDAQ are real time systems, there are solutions that are better but of course to a higher price.

 

The master thesis work has shown that it is possible to implement a dub tip control on a rig of this dimension. It has also concluded that compensated valves are necessary to achieve optimal performance of a velocity controlled dub tip positioning.

Place, publisher, year, edition, pages
2009. , 61 p.
Keyword [en]
Crane tip control, Inverse Kinematics, Modelling
Keyword [sv]
Kranspetsstyrning, Invers kinematik, Modellering
Identifiers
URN: urn:nbn:se:liu:diva-17535ISRN: LIU-IEI-TEK-A--09/00564--SEOAI: oai:DiVA.org:liu-17535DiVA: diva2:211832
Presentation
2009-02-05, MASS, Linköping, 00:00 (English)
Uppsok
teknik
Supervisors
Examiners
Available from: 2009-04-20 Created: 2009-03-28 Last updated: 2009-04-20Bibliographically approved

Open Access in DiVA

fulltext(1791 kB)914 downloads
File information
File name FULLTEXT01.pdfFile size 1791 kBChecksum SHA-512
be1b553ee412a25519c4a03cbb9c192158778801c6642b693bd2dc4ac41e34a51b5d44b7669d0343c9ef02500aacf6992c6046506520af48c293227e635c84e7
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Larsen, ErikKällquist, Mathias
By organisation
Fluid and Mechanical Engineering Systems Department of Management and Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 914 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 520 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf