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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
URN: urn:nbn:se:liu:diva-17535ISRN: LIU-IEI-TEK-A--09/00564--SEOAI: diva2:211832
2009-02-05, MASS, Linköping, 00:00 (English)
Available from: 2009-04-20 Created: 2009-03-28 Last updated: 2009-04-20Bibliographically approved

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Larsen, ErikKällquist, Mathias
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