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Study on load control model and WOB-ROP control laws of drilling robot.

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Title: Study on load control model and WOB-ROP control laws of drilling robot.
Authors: Lu, Hongjun1 (AUTHOR), Zhao, Jianguo2,3 (AUTHOR) zhaojianguo_1@qq.com, Gui, Jie1 (AUTHOR), Dong, Xuecheng3 (AUTHOR) 77651690@qq.com, Yu, Zhigang1 (AUTHOR), Wang, Shangwei1 (AUTHOR), Luo, Yougang1 (AUTHOR)
Source: Advances in Mechanical Engineering (Sage Publications Inc.). Jun2026, Vol. 18 Issue 6, p1-20. 20p.
Subjects: Multivariable control systems, Feedback control systems, Kinematics, Directional drilling, Bits (Drilling & boring), Simulation methods & models
Abstract: At present, the motion characteristics of the drilling robot have not been studied in detail. So, the control of weight on bit (WOB) and rate of penetration (ROP) the drilling robot lacks theoretical basis. The control of WOB and ROP of the drilling robot is either severely delayed or uncontrollable. A motion model with load of the drilling robot was established. Analyzed the motion characteristics of the drilling robot based on the motion model through simulation. On the basis, the univariate control model and multivariable control model of the drilling robot based on the load sensitive principle were established. Analyzed the control response law of the univariate control model and multivariable control model of the drilling robot trough the simulation of control models. Results shows that the main factor determining the motion characteristics of the drilling robot is the distribution of flowrate. Quantitative results show that the multivariable control model achieved a fluctuation attenuation rate exceeding 95% and regulated WOB with a precise sensitivity of approximately 0.7 l/min per bar, proving superior to the univariate model in maintaining stable downhole operations. The univariate control model and multivariable control model of the drilling robot can effectively control WOB and ROP. The proposed univariate control model and multivariable control model of the drilling robot can provide reference and basis for the development of controlled algorithm of drilling robot. [ABSTRACT FROM AUTHOR]
Copyright of Advances in Mechanical Engineering (Sage Publications Inc.) is the property of Sage Publications Inc. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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Header DbId: egs
DbLabel: Engineering Source
An: 194971422
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
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Items – Name: Title
  Label: Title
  Group: Ti
  Data: Study on load control model and WOB-ROP control laws of drilling robot.
– Name: Author
  Label: Authors
  Group: Au
  Data: <searchLink fieldCode="AR" term="%22Lu%2C+Hongjun%22">Lu, Hongjun</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Zhao%2C+Jianguo%22">Zhao, Jianguo</searchLink><relatesTo>2,3</relatesTo> (AUTHOR)<i> zhaojianguo_1@qq.com</i><br /><searchLink fieldCode="AR" term="%22Gui%2C+Jie%22">Gui, Jie</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Dong%2C+Xuecheng%22">Dong, Xuecheng</searchLink><relatesTo>3</relatesTo> (AUTHOR)<i> 77651690@qq.com</i><br /><searchLink fieldCode="AR" term="%22Yu%2C+Zhigang%22">Yu, Zhigang</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Wang%2C+Shangwei%22">Wang, Shangwei</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Luo%2C+Yougang%22">Luo, Yougang</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Advances+in+Mechanical+Engineering+%28Sage+Publications+Inc%2E%29%22">Advances in Mechanical Engineering (Sage Publications Inc.)</searchLink>. Jun2026, Vol. 18 Issue 6, p1-20. 20p.
– Name: Subject
  Label: Subjects
  Group: Su
  Data: <searchLink fieldCode="DE" term="%22Multivariable+control+systems%22">Multivariable control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Feedback+control+systems%22">Feedback control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Kinematics%22">Kinematics</searchLink><br /><searchLink fieldCode="DE" term="%22Directional+drilling%22">Directional drilling</searchLink><br /><searchLink fieldCode="DE" term="%22Bits+%28Drilling+%26+boring%29%22">Bits (Drilling & boring)</searchLink><br /><searchLink fieldCode="DE" term="%22Simulation+methods+%26+models%22">Simulation methods & models</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: At present, the motion characteristics of the drilling robot have not been studied in detail. So, the control of weight on bit (WOB) and rate of penetration (ROP) the drilling robot lacks theoretical basis. The control of WOB and ROP of the drilling robot is either severely delayed or uncontrollable. A motion model with load of the drilling robot was established. Analyzed the motion characteristics of the drilling robot based on the motion model through simulation. On the basis, the univariate control model and multivariable control model of the drilling robot based on the load sensitive principle were established. Analyzed the control response law of the univariate control model and multivariable control model of the drilling robot trough the simulation of control models. Results shows that the main factor determining the motion characteristics of the drilling robot is the distribution of flowrate. Quantitative results show that the multivariable control model achieved a fluctuation attenuation rate exceeding 95% and regulated WOB with a precise sensitivity of approximately 0.7 l/min per bar, proving superior to the univariate model in maintaining stable downhole operations. The univariate control model and multivariable control model of the drilling robot can effectively control WOB and ROP. The proposed univariate control model and multivariable control model of the drilling robot can provide reference and basis for the development of controlled algorithm of drilling robot. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Advances in Mechanical Engineering (Sage Publications Inc.) is the property of Sage Publications Inc. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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        Value: 10.1177/16878132261450771
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        Text: English
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        PageCount: 20
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      – SubjectFull: Multivariable control systems
        Type: general
      – SubjectFull: Feedback control systems
        Type: general
      – SubjectFull: Kinematics
        Type: general
      – SubjectFull: Directional drilling
        Type: general
      – SubjectFull: Bits (Drilling & boring)
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      – SubjectFull: Simulation methods & models
        Type: general
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      – TitleFull: Study on load control model and WOB-ROP control laws of drilling robot.
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          Name:
            NameFull: Lu, Hongjun
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            NameFull: Zhao, Jianguo
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            NameFull: Gui, Jie
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            NameFull: Dong, Xuecheng
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            NameFull: Yu, Zhigang
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            NameFull: Wang, Shangwei
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            – D: 01
              M: 06
              Text: Jun2026
              Type: published
              Y: 2026
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            – TitleFull: Advances in Mechanical Engineering (Sage Publications Inc.)
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