id sid tid token lemma pos fcis-7989 1 1 frontiers frontier NOUN fcis-7989 1 2 in in ADP fcis-7989 1 3 computing computing NOUN fcis-7989 1 4 and and CCONJ fcis-7989 1 5 intelligent intelligent ADJ fcis-7989 1 6 systems system NOUN fcis-7989 1 7 issn issn VERB fcis-7989 1 8 : : PUNCT fcis-7989 1 9 2832 2832 NUM fcis-7989 1 10 - - SYM fcis-7989 1 11 6024 6024 NUM fcis-7989 1 12 | | NOUN fcis-7989 1 13 vol vol NOUN fcis-7989 1 14 . . PROPN fcis-7989 2 1 3 3 NUM fcis-7989 2 2 , , PUNCT fcis-7989 2 3 no no INTJ fcis-7989 2 4 . . NOUN fcis-7989 2 5 3 3 NUM fcis-7989 2 6 , , PUNCT fcis-7989 2 7 2023 2023 NUM fcis-7989 2 8 30 30 NUM fcis-7989 2 9 stick stick NOUN fcis-7989 2 10 slip slip VERB fcis-7989 2 11 vibration vibration NOUN fcis-7989 2 12 control control NOUN fcis-7989 2 13 of of ADP fcis-7989 2 14 drill drill NOUN fcis-7989 2 15 string string NOUN fcis-7989 2 16 based base VERB fcis-7989 2 17 on on ADP fcis-7989 2 18 torque torque NOUN fcis-7989 2 19 feedforward feedforward NOUN fcis-7989 2 20 and and CCONJ fcis-7989 2 21 sliding slide VERB fcis-7989 2 22 mode mode NOUN fcis-7989 2 23 controller controller NOUN fcis-7989 2 24 yinling yinling PROPN fcis-7989 2 25 jiang jiang PROPN fcis-7989 2 26 1,2 1,2 NUM fcis-7989 2 27 , , PUNCT fcis-7989 2 28 ke ke PROPN fcis-7989 2 29 zhu zhu PROPN fcis-7989 2 30 1 1 NUM fcis-7989 2 31 , , PUNCT fcis-7989 2 32 qiang qiang PROPN fcis-7989 2 33 zhang zhang PROPN fcis-7989 2 34 3 3 NUM fcis-7989 2 35 , , PUNCT fcis-7989 2 36 shuai shuai PROPN fcis-7989 2 37 zhao zhao PROPN fcis-7989 2 38 3 3 NUM fcis-7989 2 39 1 1 NUM fcis-7989 2 40 school school NOUN fcis-7989 2 41 of of ADP fcis-7989 2 42 electrical electrical ADJ fcis-7989 2 43 engineering engineering NOUN fcis-7989 2 44 and and CCONJ fcis-7989 2 45 information information NOUN fcis-7989 2 46 , , PUNCT fcis-7989 2 47 northeast northeast ADJ fcis-7989 2 48 petroleum petroleum NOUN fcis-7989 2 49 university university NOUN fcis-7989 2 50 , , PUNCT fcis-7989 2 51 daqing daqe VERB fcis-7989 2 52 163318 163318 NUM fcis-7989 2 53 , , PUNCT fcis-7989 2 54 china china PROPN fcis-7989 2 55 2 2 NUM fcis-7989 2 56 college college NOUN fcis-7989 2 57 of of ADP fcis-7989 2 58 intelligent intelligent ADJ fcis-7989 2 59 systems system NOUN fcis-7989 2 60 science science NOUN fcis-7989 2 61 and and CCONJ fcis-7989 2 62 engineering engineering NOUN fcis-7989 2 63 , , PUNCT fcis-7989 2 64 harbin harbin PROPN fcis-7989 2 65 engineering engineering PROPN fcis-7989 2 66 university university PROPN fcis-7989 2 67 , , PUNCT fcis-7989 2 68 harbin harbin PROPN fcis-7989 2 69 150001 150001 NUM fcis-7989 2 70 , , PUNCT fcis-7989 2 71 china china PROPN fcis-7989 2 72 3 3 NUM fcis-7989 2 73 school school NOUN fcis-7989 2 74 of of ADP fcis-7989 2 75 mechanical mechanical ADJ fcis-7989 2 76 science science NOUN fcis-7989 2 77 and and CCONJ fcis-7989 2 78 engineering engineering NOUN fcis-7989 2 79 , , PUNCT fcis-7989 2 80 northeast northeast ADJ fcis-7989 2 81 petroleum petroleum NOUN fcis-7989 2 82 university university NOUN fcis-7989 2 83 , , PUNCT fcis-7989 2 84 daqing daqe VERB fcis-7989 2 85 163318 163318 NUM fcis-7989 2 86 , , PUNCT fcis-7989 2 87 china china PROPN fcis-7989 2 88 abstract abstract NOUN fcis-7989 2 89 : : PUNCT fcis-7989 2 90 the the DET fcis-7989 2 91 drill drill NOUN fcis-7989 2 92 string string NOUN fcis-7989 2 93 system system NOUN fcis-7989 2 94 in in ADP fcis-7989 2 95 drilling drilling NOUN fcis-7989 2 96 engineering engineering NOUN fcis-7989 2 97 has have VERB fcis-7989 2 98 significant significant ADJ fcis-7989 2 99 geometric geometric ADJ fcis-7989 2 100 nonlinearity nonlinearity NOUN fcis-7989 2 101 . . PUNCT fcis-7989 3 1 due due ADP fcis-7989 3 2 to to ADP fcis-7989 3 3 the the DET fcis-7989 3 4 frictional frictional ADJ fcis-7989 3 5 torque torque NOUN fcis-7989 3 6 generated generate VERB fcis-7989 3 7 by by ADP fcis-7989 3 8 the the DET fcis-7989 3 9 interaction interaction NOUN fcis-7989 3 10 between between ADP fcis-7989 3 11 the the DET fcis-7989 3 12 drill drill NOUN fcis-7989 3 13 bit bit NOUN fcis-7989 3 14 and and CCONJ fcis-7989 3 15 the the DET fcis-7989 3 16 rock rock NOUN fcis-7989 3 17 and and CCONJ fcis-7989 3 18 soil soil NOUN fcis-7989 3 19 , , PUNCT fcis-7989 3 20 it it PRON fcis-7989 3 21 is be AUX fcis-7989 3 22 easy easy ADJ fcis-7989 3 23 to to PART fcis-7989 3 24 cause cause VERB fcis-7989 3 25 the the DET fcis-7989 3 26 drill drill NOUN fcis-7989 3 27 string string NOUN fcis-7989 3 28 to to PART fcis-7989 3 29 fall fall VERB fcis-7989 3 30 into into ADP fcis-7989 3 31 a a DET fcis-7989 3 32 sticky sticky ADJ fcis-7989 3 33 sliding slide VERB fcis-7989 3 34 vibration vibration NOUN fcis-7989 3 35 state state NOUN fcis-7989 3 36 . . PUNCT fcis-7989 4 1 based base VERB fcis-7989 4 2 on on ADP fcis-7989 4 3 the the DET fcis-7989 4 4 two two NUM fcis-7989 4 5 lumped lump VERB fcis-7989 4 6 mass mass NOUN fcis-7989 4 7 torsion torsion NOUN fcis-7989 4 8 pendulum pendulum NOUN fcis-7989 4 9 model model NOUN fcis-7989 4 10 of of ADP fcis-7989 4 11 the the DET fcis-7989 4 12 drill drill NOUN fcis-7989 4 13 string string NOUN fcis-7989 4 14 , , PUNCT fcis-7989 4 15 this this DET fcis-7989 4 16 paper paper NOUN fcis-7989 4 17 establishes establish VERB fcis-7989 4 18 an an DET fcis-7989 4 19 observer observer NOUN fcis-7989 4 20 of of ADP fcis-7989 4 21 the the DET fcis-7989 4 22 bit bit NOUN fcis-7989 4 23 speed speed NOUN fcis-7989 4 24 , , PUNCT fcis-7989 4 25 and and CCONJ fcis-7989 4 26 designs design VERB fcis-7989 4 27 a a DET fcis-7989 4 28 sliding slide VERB fcis-7989 4 29 mode mode NOUN fcis-7989 4 30 controller controller NOUN fcis-7989 4 31 ( ( PUNCT fcis-7989 4 32 tf tf PROPN fcis-7989 4 33 - - PUNCT fcis-7989 4 34 smc smc PROPN fcis-7989 4 35 ) ) PUNCT fcis-7989 4 36 considering consider VERB fcis-7989 4 37 the the DET fcis-7989 4 38 bit bit NOUN fcis-7989 4 39 torque torque NOUN fcis-7989 4 40 to to PART fcis-7989 4 41 suppress suppress VERB fcis-7989 4 42 the the DET fcis-7989 4 43 stick stick NOUN fcis-7989 4 44 slip slip VERB fcis-7989 4 45 vibration vibration NOUN fcis-7989 4 46 of of ADP fcis-7989 4 47 the the DET fcis-7989 4 48 drill drill NOUN fcis-7989 4 49 string string NOUN fcis-7989 4 50 . . PUNCT fcis-7989 5 1 the the DET fcis-7989 5 2 simulation simulation NOUN fcis-7989 5 3 results result NOUN fcis-7989 5 4 show show VERB fcis-7989 5 5 that that SCONJ fcis-7989 5 6 compared compare VERB fcis-7989 5 7 with with ADP fcis-7989 5 8 pid pid NOUN fcis-7989 5 9 controller controller NOUN fcis-7989 5 10 and and CCONJ fcis-7989 5 11 sliding slide VERB fcis-7989 5 12 mode mode NOUN fcis-7989 5 13 controller controller NOUN fcis-7989 5 14 , , PUNCT fcis-7989 5 15 torque torque NOUN fcis-7989 5 16 feed feed NOUN fcis-7989 5 17 - - PUNCT fcis-7989 5 18 forward forward ADV fcis-7989 5 19 sliding slide VERB fcis-7989 5 20 mode mode NOUN fcis-7989 5 21 controller controller NOUN fcis-7989 5 22 can can AUX fcis-7989 5 23 achieve achieve VERB fcis-7989 5 24 better well ADJ fcis-7989 5 25 control control NOUN fcis-7989 5 26 effect effect NOUN fcis-7989 5 27 on on ADP fcis-7989 5 28 drill drill NOUN fcis-7989 5 29 string string NOUN fcis-7989 5 30 at at ADP fcis-7989 5 31 low low ADJ fcis-7989 5 32 speed speed NOUN fcis-7989 5 33 . . PUNCT fcis-7989 6 1 when when SCONJ fcis-7989 6 2 torque torque NOUN fcis-7989 6 3 feedforward feedforward NOUN fcis-7989 6 4 sliding slide VERB fcis-7989 6 5 mode mode NOUN fcis-7989 6 6 controller controller NOUN fcis-7989 6 7 and and CCONJ fcis-7989 6 8 pid pid NOUN fcis-7989 6 9 controller controller NOUN fcis-7989 6 10 are be AUX fcis-7989 6 11 used use VERB fcis-7989 6 12 in in ADP fcis-7989 6 13 parallel parallel NOUN fcis-7989 6 14 , , PUNCT fcis-7989 6 15 the the DET fcis-7989 6 16 control control NOUN fcis-7989 6 17 effect effect NOUN fcis-7989 6 18 is be AUX fcis-7989 6 19 better well ADJ fcis-7989 6 20 than than ADP fcis-7989 6 21 the the DET fcis-7989 6 22 first first ADJ fcis-7989 6 23 three three NUM fcis-7989 6 24 controllers controller NOUN fcis-7989 6 25 . . PUNCT fcis-7989 7 1 keywords keyword NOUN fcis-7989 7 2 : : PUNCT fcis-7989 7 3 stick stick VERB fcis-7989 7 4 slip slip NOUN fcis-7989 7 5 vibration vibration NOUN fcis-7989 7 6 control control NOUN fcis-7989 7 7 of of ADP fcis-7989 7 8 drill drill NOUN fcis-7989 7 9 string string NOUN fcis-7989 7 10 ; ; PUNCT fcis-7989 7 11 torque torque NOUN fcis-7989 7 12 feedforward feedforward NOUN fcis-7989 7 13 ; ; PUNCT fcis-7989 7 14 sliding slide VERB fcis-7989 7 15 mode mode NOUN fcis-7989 7 16 controller controller NOUN fcis-7989 7 17 . . PUNCT fcis-7989 8 1 1 1 X fcis-7989 8 2 . . X fcis-7989 8 3 introduction introduction NOUN fcis-7989 8 4 the the DET fcis-7989 8 5 drill drill NOUN fcis-7989 8 6 string string NOUN fcis-7989 8 7 system system NOUN fcis-7989 8 8 has have VERB fcis-7989 8 9 a a DET fcis-7989 8 10 large large ADJ fcis-7989 8 11 aspect aspect NOUN fcis-7989 8 12 ratio ratio NOUN fcis-7989 8 13 , , PUNCT fcis-7989 8 14 resulting result VERB fcis-7989 8 15 in in ADP fcis-7989 8 16 significant significant ADJ fcis-7989 8 17 geometric geometric ADJ fcis-7989 8 18 nonlinearity nonlinearity NOUN fcis-7989 8 19 of of ADP fcis-7989 8 20 the the DET fcis-7989 8 21 drill drill NOUN fcis-7989 8 22 string string NOUN fcis-7989 8 23 . . PUNCT fcis-7989 9 1 during during ADP fcis-7989 9 2 rotary rotary ADJ fcis-7989 9 3 drilling drilling NOUN fcis-7989 9 4 , , PUNCT fcis-7989 9 5 the the DET fcis-7989 9 6 contact contact NOUN fcis-7989 9 7 and and CCONJ fcis-7989 9 8 collision collision NOUN fcis-7989 9 9 between between ADP fcis-7989 9 10 the the DET fcis-7989 9 11 drill drill NOUN fcis-7989 9 12 string string NOUN fcis-7989 9 13 and and CCONJ fcis-7989 9 14 the the DET fcis-7989 9 15 wellbore wellbore NOUN fcis-7989 9 16 , , PUNCT fcis-7989 9 17 as as ADV fcis-7989 9 18 well well ADV fcis-7989 9 19 as as ADP fcis-7989 9 20 the the DET fcis-7989 9 21 rock rock NOUN fcis-7989 9 22 breaking breaking NOUN fcis-7989 9 23 of of ADP fcis-7989 9 24 the the DET fcis-7989 9 25 drill drill NOUN fcis-7989 9 26 bit bit NOUN fcis-7989 9 27 and and CCONJ fcis-7989 9 28 the the DET fcis-7989 9 29 flow flow NOUN fcis-7989 9 30 of of ADP fcis-7989 9 31 drilling drilling NOUN fcis-7989 9 32 fluid fluid NOUN fcis-7989 9 33 , , PUNCT fcis-7989 9 34 can can AUX fcis-7989 9 35 cause cause VERB fcis-7989 9 36 vibration vibration NOUN fcis-7989 9 37 in in ADP fcis-7989 9 38 the the DET fcis-7989 9 39 drill drill NOUN fcis-7989 9 40 string string NOUN fcis-7989 9 41 system[1 system[1 PROPN fcis-7989 9 42 - - PUNCT fcis-7989 9 43 3 3 NUM fcis-7989 9 44 ] ] PUNCT fcis-7989 9 45 . . PUNCT fcis-7989 10 1 among among ADP fcis-7989 10 2 them they PRON fcis-7989 10 3 , , PUNCT fcis-7989 10 4 the the DET fcis-7989 10 5 vibration vibration NOUN fcis-7989 10 6 form form NOUN fcis-7989 10 7 that that PRON fcis-7989 10 8 causes cause VERB fcis-7989 10 9 significant significant ADJ fcis-7989 10 10 damage damage NOUN fcis-7989 10 11 to to ADP fcis-7989 10 12 the the DET fcis-7989 10 13 drill drill NOUN fcis-7989 10 14 bit bit NOUN fcis-7989 10 15 assembly assembly NOUN fcis-7989 10 16 ( ( PUNCT fcis-7989 10 17 bha bha X fcis-7989 10 18 ) ) PUNCT fcis-7989 10 19 is be AUX fcis-7989 10 20 the the DET fcis-7989 10 21 stick stick NOUN fcis-7989 10 22 - - PUNCT fcis-7989 10 23 slip slip NOUN fcis-7989 10 24 vibration vibration NOUN fcis-7989 10 25 phenomenon[2 phenomenon[2 VERB fcis-7989 10 26 ] ] PUNCT fcis-7989 10 27 . . PUNCT fcis-7989 11 1 when when SCONJ fcis-7989 11 2 the the DET fcis-7989 11 3 drill drill NOUN fcis-7989 11 4 string string NOUN fcis-7989 11 5 is be AUX fcis-7989 11 6 in in ADP fcis-7989 11 7 a a DET fcis-7989 11 8 stick stick NOUN fcis-7989 11 9 - - PUNCT fcis-7989 11 10 slip slip NOUN fcis-7989 11 11 vibration vibration NOUN fcis-7989 11 12 state state NOUN fcis-7989 11 13 , , PUNCT fcis-7989 11 14 the the DET fcis-7989 11 15 drill drill NOUN fcis-7989 11 16 bit bit NOUN fcis-7989 11 17 will will AUX fcis-7989 11 18 enter enter VERB fcis-7989 11 19 a a DET fcis-7989 11 20 stationary stationary ADJ fcis-7989 11 21 high high ADJ fcis-7989 11 22 - - PUNCT fcis-7989 11 23 speed speed NOUN fcis-7989 11 24 sliding slide VERB fcis-7989 11 25 motion motion NOUN fcis-7989 11 26 cycle cycle NOUN fcis-7989 11 27 . . PUNCT fcis-7989 12 1 the the DET fcis-7989 12 2 speed speed NOUN fcis-7989 12 3 of of ADP fcis-7989 12 4 a a DET fcis-7989 12 5 drill drill NOUN fcis-7989 12 6 bit bit NOUN fcis-7989 12 7 in in ADP fcis-7989 12 8 a a DET fcis-7989 12 9 general general ADJ fcis-7989 12 10 high high ADJ fcis-7989 12 11 - - PUNCT fcis-7989 12 12 speed speed NOUN fcis-7989 12 13 sliding slide VERB fcis-7989 12 14 state state NOUN fcis-7989 12 15 can can AUX fcis-7989 12 16 be be AUX fcis-7989 12 17 several several ADJ fcis-7989 12 18 times time NOUN fcis-7989 12 19 the the DET fcis-7989 12 20 normal normal ADJ fcis-7989 12 21 working working NOUN fcis-7989 12 22 speed speed NOUN fcis-7989 12 23 , , PUNCT fcis-7989 12 24 which which PRON fcis-7989 12 25 can can AUX fcis-7989 12 26 lead lead VERB fcis-7989 12 27 to to ADP fcis-7989 12 28 high high ADJ fcis-7989 12 29 - - PUNCT fcis-7989 12 30 speed speed NOUN fcis-7989 12 31 wear wear NOUN fcis-7989 12 32 , , PUNCT fcis-7989 12 33 tooth tooth NOUN fcis-7989 12 34 skipping skipping NOUN fcis-7989 12 35 , , PUNCT fcis-7989 12 36 and and CCONJ fcis-7989 12 37 even even ADV fcis-7989 12 38 drill drill VERB fcis-7989 12 39 string string NOUN fcis-7989 12 40 fracture fracture NOUN fcis-7989 12 41 accidents accident NOUN fcis-7989 12 42 . . PUNCT fcis-7989 13 1 therefore therefore ADV fcis-7989 13 2 , , PUNCT fcis-7989 13 3 it it PRON fcis-7989 13 4 is be AUX fcis-7989 13 5 necessary necessary ADJ fcis-7989 13 6 to to PART fcis-7989 13 7 control control VERB fcis-7989 13 8 the the DET fcis-7989 13 9 stick stick NOUN fcis-7989 13 10 - - PUNCT fcis-7989 13 11 slip slip NOUN fcis-7989 13 12 vibration vibration NOUN fcis-7989 13 13 behavior behavior NOUN fcis-7989 13 14 of of ADP fcis-7989 13 15 the the DET fcis-7989 13 16 drill drill NOUN fcis-7989 13 17 string string NOUN fcis-7989 13 18 . . PUNCT fcis-7989 14 1 in in ADP fcis-7989 14 2 order order NOUN fcis-7989 14 3 to to PART fcis-7989 14 4 suppress suppress VERB fcis-7989 14 5 the the DET fcis-7989 14 6 stick stick NOUN fcis-7989 14 7 - - PUNCT fcis-7989 14 8 slip slip NOUN fcis-7989 14 9 vibration vibration NOUN fcis-7989 14 10 of of ADP fcis-7989 14 11 the the DET fcis-7989 14 12 drill drill NOUN fcis-7989 14 13 string string NOUN fcis-7989 14 14 , , PUNCT fcis-7989 14 15 researchers researcher NOUN fcis-7989 14 16 have have AUX fcis-7989 14 17 studied study VERB fcis-7989 14 18 methods method NOUN fcis-7989 14 19 such such ADJ fcis-7989 14 20 as as ADP fcis-7989 14 21 increasing increase VERB fcis-7989 14 22 the the DET fcis-7989 14 23 rigidity rigidity NOUN fcis-7989 14 24 of of ADP fcis-7989 14 25 the the DET fcis-7989 14 26 drill drill NOUN fcis-7989 14 27 string string NOUN fcis-7989 14 28 system system NOUN fcis-7989 14 29 and and CCONJ fcis-7989 14 30 reducing reduce VERB fcis-7989 14 31 impact impact NOUN fcis-7989 14 32 vibration vibration NOUN fcis-7989 14 33 [ [ X fcis-7989 14 34 4 4 NUM fcis-7989 14 35 - - SYM fcis-7989 14 36 5 5 NUM fcis-7989 14 37 ] ] PUNCT fcis-7989 14 38 , , PUNCT fcis-7989 14 39 but but CCONJ fcis-7989 14 40 these these DET fcis-7989 14 41 methods method NOUN fcis-7989 14 42 require require VERB fcis-7989 14 43 modification modification NOUN fcis-7989 14 44 of of ADP fcis-7989 14 45 the the DET fcis-7989 14 46 original original ADJ fcis-7989 14 47 control control NOUN fcis-7989 14 48 system system NOUN fcis-7989 14 49 . . PUNCT fcis-7989 15 1 without without ADP fcis-7989 15 2 changing change VERB fcis-7989 15 3 the the DET fcis-7989 15 4 basic basic ADJ fcis-7989 15 5 structure structure NOUN fcis-7989 15 6 of of ADP fcis-7989 15 7 the the DET fcis-7989 15 8 drill drill NOUN fcis-7989 15 9 string string NOUN fcis-7989 15 10 system system NOUN fcis-7989 15 11 , , PUNCT fcis-7989 15 12 reference reference NOUN fcis-7989 15 13 [ [ X fcis-7989 15 14 6 6 NUM fcis-7989 15 15 ] ] PUNCT fcis-7989 15 16 studied study VERB fcis-7989 15 17 a a DET fcis-7989 15 18 stick stick NOUN fcis-7989 15 19 - - PUNCT fcis-7989 15 20 slip slip NOUN fcis-7989 15 21 vibration vibration NOUN fcis-7989 15 22 control control NOUN fcis-7989 15 23 system system NOUN fcis-7989 15 24 that that PRON fcis-7989 15 25 directly directly ADV fcis-7989 15 26 controls control VERB fcis-7989 15 27 the the DET fcis-7989 15 28 drilling drilling NOUN fcis-7989 15 29 speed speed NOUN fcis-7989 15 30 of of ADP fcis-7989 15 31 the the DET fcis-7989 15 32 drill drill NOUN fcis-7989 15 33 bit bit NOUN fcis-7989 15 34 . . PUNCT fcis-7989 16 1 however however ADV fcis-7989 16 2 , , PUNCT fcis-7989 16 3 due due ADP fcis-7989 16 4 to to ADP fcis-7989 16 5 factors factor NOUN fcis-7989 16 6 such such ADJ fcis-7989 16 7 as as ADP fcis-7989 16 8 highfrequency highfrequency NOUN fcis-7989 16 9 vibration vibration NOUN fcis-7989 16 10 of of ADP fcis-7989 16 11 the the DET fcis-7989 16 12 drill drill NOUN fcis-7989 16 13 string string NOUN fcis-7989 16 14 itself itself PRON fcis-7989 16 15 , , PUNCT fcis-7989 16 16 drilling drill VERB fcis-7989 16 17 fluid fluid NOUN fcis-7989 16 18 flow flow NOUN fcis-7989 16 19 induced induce VERB fcis-7989 16 20 vibration vibration NOUN fcis-7989 16 21 , , PUNCT fcis-7989 16 22 and and CCONJ fcis-7989 16 23 the the DET fcis-7989 16 24 need need NOUN fcis-7989 16 25 for for ADP fcis-7989 16 26 frequent frequent ADJ fcis-7989 16 27 single single ADJ fcis-7989 16 28 connections connection NOUN fcis-7989 16 29 in in ADP fcis-7989 16 30 the the DET fcis-7989 16 31 drill drill NOUN fcis-7989 16 32 string string NOUN fcis-7989 16 33 system system NOUN fcis-7989 16 34 , , PUNCT fcis-7989 16 35 there there PRON fcis-7989 16 36 are be VERB fcis-7989 16 37 great great ADJ fcis-7989 16 38 difficulties difficulty NOUN fcis-7989 16 39 in in ADP fcis-7989 16 40 measuring measure VERB fcis-7989 16 41 and and CCONJ fcis-7989 16 42 transmitting transmit VERB fcis-7989 16 43 the the DET fcis-7989 16 44 drilling drilling NOUN fcis-7989 16 45 speed speed NOUN fcis-7989 16 46 at at ADP fcis-7989 16 47 the the DET fcis-7989 16 48 bottom bottom NOUN fcis-7989 16 49 of of ADP fcis-7989 16 50 the the DET fcis-7989 16 51 drill drill NOUN fcis-7989 16 52 bit bit NOUN fcis-7989 16 53 . . PUNCT fcis-7989 17 1 therefore therefore ADV fcis-7989 17 2 , , PUNCT fcis-7989 17 3 there there PRON fcis-7989 17 4 are be VERB fcis-7989 17 5 significant significant ADJ fcis-7989 17 6 difficulties difficulty NOUN fcis-7989 17 7 in in ADP fcis-7989 17 8 the the DET fcis-7989 17 9 application application NOUN fcis-7989 17 10 of of ADP fcis-7989 17 11 control control NOUN fcis-7989 17 12 strategies strategy NOUN fcis-7989 17 13 that that PRON fcis-7989 17 14 directly directly ADV fcis-7989 17 15 use use VERB fcis-7989 17 16 real real ADJ fcis-7989 17 17 drill drill NOUN fcis-7989 17 18 bit bit NOUN fcis-7989 17 19 drilling drilling NOUN fcis-7989 17 20 speed speed NOUN fcis-7989 17 21 as as ADP fcis-7989 17 22 signal signal ADJ fcis-7989 17 23 feedback feedback NOUN fcis-7989 17 24 in in ADP fcis-7989 17 25 engineering engineering NOUN fcis-7989 17 26 . . PUNCT fcis-7989 18 1 when when SCONJ fcis-7989 18 2 the the DET fcis-7989 18 3 physical physical ADJ fcis-7989 18 4 quantities quantity NOUN fcis-7989 18 5 to to PART fcis-7989 18 6 be be AUX fcis-7989 18 7 measured measure VERB fcis-7989 18 8 in in ADP fcis-7989 18 9 the the DET fcis-7989 18 10 general general ADJ fcis-7989 18 11 control control NOUN fcis-7989 18 12 system system NOUN fcis-7989 18 13 can can AUX fcis-7989 18 14 not not PART fcis-7989 18 15 be be AUX fcis-7989 18 16 measured measure VERB fcis-7989 18 17 accurately accurately ADV fcis-7989 18 18 , , PUNCT fcis-7989 18 19 the the DET fcis-7989 18 20 engineering engineering NOUN fcis-7989 18 21 personnel personnel NOUN fcis-7989 18 22 will will AUX fcis-7989 18 23 use use VERB fcis-7989 18 24 the the DET fcis-7989 18 25 state state NOUN fcis-7989 18 26 observer observer NOUN fcis-7989 18 27 to to PART fcis-7989 18 28 estimate estimate VERB fcis-7989 18 29 the the DET fcis-7989 18 30 physical physical ADJ fcis-7989 18 31 quantities quantity NOUN fcis-7989 18 32 to to PART fcis-7989 18 33 be be AUX fcis-7989 18 34 measured measure VERB fcis-7989 18 35 . . PUNCT fcis-7989 19 1 therefore therefore ADV fcis-7989 19 2 , , PUNCT fcis-7989 19 3 reference reference NOUN fcis-7989 19 4 [ [ X fcis-7989 19 5 7 7 NUM fcis-7989 19 6 ] ] PUNCT fcis-7989 19 7 designed design VERB fcis-7989 19 8 a a DET fcis-7989 19 9 bit bit NOUN fcis-7989 19 10 speed speed NOUN fcis-7989 19 11 observer observer NOUN fcis-7989 19 12 . . PUNCT fcis-7989 20 1 then then ADV fcis-7989 20 2 , , PUNCT fcis-7989 20 3 researchers researcher NOUN fcis-7989 20 4 designed design VERB fcis-7989 20 5 observer observer NOUN fcis-7989 20 6 - - PUNCT fcis-7989 20 7 based base VERB fcis-7989 20 8 smc smc PROPN fcis-7989 21 1 [ [ X fcis-7989 21 2 8 8 NUM fcis-7989 21 3 ] ] PUNCT fcis-7989 21 4 , , PUNCT fcis-7989 21 5 h∞ h∞ X fcis-7989 22 1 [ [ X fcis-7989 22 2 9 9 NUM fcis-7989 22 3 ] ] PUNCT fcis-7989 22 4 controller controller NOUN fcis-7989 22 5 , , PUNCT fcis-7989 22 6 etc etc X fcis-7989 22 7 . . X fcis-7989 22 8 to to PART fcis-7989 22 9 control control VERB fcis-7989 22 10 the the DET fcis-7989 22 11 bit bit NOUN fcis-7989 22 12 speed speed NOUN fcis-7989 22 13 and and CCONJ fcis-7989 22 14 suppress suppress VERB fcis-7989 22 15 the the DET fcis-7989 22 16 stick stick NOUN fcis-7989 22 17 slip slip VERB fcis-7989 22 18 vibration vibration NOUN fcis-7989 22 19 behavior behavior NOUN fcis-7989 22 20 of of ADP fcis-7989 22 21 the the DET fcis-7989 22 22 drill drill NOUN fcis-7989 22 23 string string NOUN fcis-7989 22 24 . . PUNCT fcis-7989 23 1 however however ADV fcis-7989 23 2 , , PUNCT fcis-7989 23 3 these these DET fcis-7989 23 4 controllers controller NOUN fcis-7989 23 5 generally generally ADV fcis-7989 23 6 consider consider VERB fcis-7989 23 7 the the DET fcis-7989 23 8 frictional frictional ADJ fcis-7989 23 9 torque torque NOUN fcis-7989 23 10 generated generate VERB fcis-7989 23 11 by by ADP fcis-7989 23 12 the the DET fcis-7989 23 13 interaction interaction NOUN fcis-7989 23 14 between between ADP fcis-7989 23 15 the the DET fcis-7989 23 16 drill drill NOUN fcis-7989 23 17 bit bit NOUN fcis-7989 23 18 and and CCONJ fcis-7989 23 19 rock rock NOUN fcis-7989 23 20 soil soil NOUN fcis-7989 23 21 as as ADP fcis-7989 23 22 interference interference NOUN fcis-7989 23 23 , , PUNCT fcis-7989 23 24 and and CCONJ fcis-7989 23 25 there there PRON fcis-7989 23 26 is be VERB fcis-7989 23 27 not not PART fcis-7989 23 28 much much ADJ fcis-7989 23 29 research research NOUN fcis-7989 23 30 on on ADP fcis-7989 23 31 incorporating incorporate VERB fcis-7989 23 32 the the DET fcis-7989 23 33 frictional frictional ADJ fcis-7989 23 34 torque torque NOUN fcis-7989 23 35 of of ADP fcis-7989 23 36 the the DET fcis-7989 23 37 drill drill NOUN fcis-7989 23 38 string string NOUN fcis-7989 23 39 into into ADP fcis-7989 23 40 the the DET fcis-7989 23 41 structural structural ADJ fcis-7989 23 42 design design NOUN fcis-7989 23 43 of of ADP fcis-7989 23 44 the the DET fcis-7989 23 45 controller controller NOUN fcis-7989 23 46 . . PUNCT fcis-7989 24 1 the the DET fcis-7989 24 2 frictional frictional ADJ fcis-7989 24 3 torque torque NOUN fcis-7989 24 4 generated generate VERB fcis-7989 24 5 by by ADP fcis-7989 24 6 the the DET fcis-7989 24 7 interaction interaction NOUN fcis-7989 24 8 between between ADP fcis-7989 24 9 the the DET fcis-7989 24 10 drill drill NOUN fcis-7989 24 11 bit bit NOUN fcis-7989 24 12 and and CCONJ fcis-7989 24 13 the the DET fcis-7989 24 14 rock rock NOUN fcis-7989 24 15 is be AUX fcis-7989 24 16 the the DET fcis-7989 24 17 main main ADJ fcis-7989 24 18 cause cause NOUN fcis-7989 24 19 of of ADP fcis-7989 24 20 the the DET fcis-7989 24 21 stick stick NOUN fcis-7989 24 22 - - PUNCT fcis-7989 24 23 slip slip NOUN fcis-7989 24 24 vibration vibration NOUN fcis-7989 24 25 of of ADP fcis-7989 24 26 the the DET fcis-7989 24 27 drill drill NOUN fcis-7989 24 28 string string NOUN fcis-7989 24 29 . . PUNCT fcis-7989 25 1 due due ADP fcis-7989 25 2 to to ADP fcis-7989 25 3 the the DET fcis-7989 25 4 fact fact NOUN fcis-7989 25 5 that that SCONJ fcis-7989 25 6 the the DET fcis-7989 25 7 input input NOUN fcis-7989 25 8 torque torque NOUN fcis-7989 25 9 of of ADP fcis-7989 25 10 the the DET fcis-7989 25 11 top top ADJ fcis-7989 25 12 drive drive NOUN fcis-7989 25 13 in in ADP fcis-7989 25 14 actual actual ADJ fcis-7989 25 15 drilling drilling NOUN fcis-7989 25 16 engineering engineering NOUN fcis-7989 25 17 may may AUX fcis-7989 25 18 lose lose VERB fcis-7989 25 19 its its PRON fcis-7989 25 20 original original ADJ fcis-7989 25 21 control control NOUN fcis-7989 25 22 performance performance NOUN fcis-7989 25 23 due due ADP fcis-7989 25 24 to to ADP fcis-7989 25 25 changes change NOUN fcis-7989 25 26 in in ADP fcis-7989 25 27 the the DET fcis-7989 25 28 bottom bottom ADJ fcis-7989 25 29 layer layer NOUN fcis-7989 25 30 or or CCONJ fcis-7989 25 31 low low ADJ fcis-7989 25 32 top top ADJ fcis-7989 25 33 drive drive NOUN fcis-7989 25 34 speed speed NOUN fcis-7989 25 35 . . PUNCT fcis-7989 26 1 in in ADP fcis-7989 26 2 the the DET fcis-7989 26 3 study study NOUN fcis-7989 26 4 of of ADP fcis-7989 26 5 control control NOUN fcis-7989 26 6 systems system NOUN fcis-7989 26 7 for for ADP fcis-7989 26 8 drill drill NOUN fcis-7989 26 9 strings string NOUN fcis-7989 26 10 , , PUNCT fcis-7989 26 11 the the DET fcis-7989 26 12 friction friction NOUN fcis-7989 26 13 torque torque NOUN fcis-7989 26 14 at at ADP fcis-7989 26 15 the the DET fcis-7989 26 16 drill drill NOUN fcis-7989 26 17 bit bit NOUN fcis-7989 26 18 is be AUX fcis-7989 26 19 usually usually ADV fcis-7989 26 20 described describe VERB fcis-7989 26 21 using use VERB fcis-7989 26 22 stribeck stribeck NOUN fcis-7989 26 23 and and CCONJ fcis-7989 26 24 karnopp karnopp PROPN fcis-7989 26 25 models model NOUN fcis-7989 26 26 that that PRON fcis-7989 26 27 consider consider VERB fcis-7989 26 28 the the DET fcis-7989 26 29 maximum maximum ADJ fcis-7989 26 30 static static ADJ fcis-7989 26 31 friction friction NOUN fcis-7989 26 32 and and CCONJ fcis-7989 26 33 viscous viscous ADJ fcis-7989 26 34 resistance resistance NOUN fcis-7989 26 35 . . PUNCT fcis-7989 27 1 this this DET fcis-7989 27 2 paper paper NOUN fcis-7989 27 3 will will AUX fcis-7989 27 4 establish establish VERB fcis-7989 27 5 a a DET fcis-7989 27 6 dual dual ADJ fcis-7989 27 7 mass mass NOUN fcis-7989 27 8 torsion torsion NOUN fcis-7989 27 9 pendulum pendulum NOUN fcis-7989 27 10 model model NOUN fcis-7989 27 11 of of ADP fcis-7989 27 12 the the DET fcis-7989 27 13 drill drill NOUN fcis-7989 27 14 string string NOUN fcis-7989 27 15 based base VERB fcis-7989 27 16 on on ADP fcis-7989 27 17 the the DET fcis-7989 27 18 karnopp karnopp PROPN fcis-7989 27 19 model model PROPN fcis-7989 27 20 , , PUNCT fcis-7989 27 21 design design VERB fcis-7989 27 22 the the DET fcis-7989 27 23 torque torque NOUN fcis-7989 27 24 feedforward feedforward NOUN fcis-7989 27 25 link link NOUN fcis-7989 27 26 of of ADP fcis-7989 27 27 the the DET fcis-7989 27 28 drill drill NOUN fcis-7989 27 29 string string NOUN fcis-7989 27 30 system system NOUN fcis-7989 27 31 , , PUNCT fcis-7989 27 32 and and CCONJ fcis-7989 27 33 combine combine VERB fcis-7989 27 34 smc smc PROPN fcis-7989 27 35 , , PUNCT fcis-7989 27 36 torque torque NOUN fcis-7989 27 37 feedforward feedforward NOUN fcis-7989 27 38 controller controller NOUN fcis-7989 27 39 , , PUNCT fcis-7989 27 40 and and CCONJ fcis-7989 27 41 pid pid NOUN fcis-7989 27 42 controller controller NOUN fcis-7989 27 43 to to PART fcis-7989 27 44 design design VERB fcis-7989 27 45 a a DET fcis-7989 27 46 new new ADJ fcis-7989 27 47 stick stick NOUN fcis-7989 27 48 - - PUNCT fcis-7989 27 49 slip slip NOUN fcis-7989 27 50 vibration vibration NOUN fcis-7989 27 51 controller controller NOUN fcis-7989 27 52 for for ADP fcis-7989 27 53 the the DET fcis-7989 27 54 drill drill NOUN fcis-7989 27 55 string string NOUN fcis-7989 27 56 . . PUNCT fcis-7989 28 1 2 2 X fcis-7989 28 2 . . X fcis-7989 28 3 dynamic dynamic ADJ fcis-7989 28 4 model model NOUN fcis-7989 28 5 of of ADP fcis-7989 28 6 drill drill NOUN fcis-7989 28 7 string string NOUN fcis-7989 28 8 according accord VERB fcis-7989 28 9 to to ADP fcis-7989 28 10 the the DET fcis-7989 28 11 concentrated concentrate VERB fcis-7989 28 12 mass mass NOUN fcis-7989 28 13 torsion torsion NOUN fcis-7989 28 14 pendulum pendulum NOUN fcis-7989 28 15 model model NOUN fcis-7989 28 16 of of ADP fcis-7989 28 17 the the DET fcis-7989 28 18 drill drill NOUN fcis-7989 28 19 string string NOUN fcis-7989 28 20 used use VERB fcis-7989 28 21 in in ADP fcis-7989 28 22 reference reference NOUN fcis-7989 28 23 [ [ X fcis-7989 28 24 7 7 NUM fcis-7989 28 25 ] ] PUNCT fcis-7989 28 26 , , PUNCT fcis-7989 28 27 the the DET fcis-7989 28 28 dynamic dynamic ADJ fcis-7989 28 29 model model NOUN fcis-7989 28 30 of of ADP fcis-7989 28 31 the the DET fcis-7989 28 32 drill drill NOUN fcis-7989 28 33 string string NOUN fcis-7989 28 34 established establish VERB fcis-7989 28 35 in in ADP fcis-7989 28 36 this this DET fcis-7989 28 37 paper paper NOUN fcis-7989 28 38 is be AUX fcis-7989 28 39 shown show VERB fcis-7989 28 40 in in ADP fcis-7989 28 41 figure figure NOUN fcis-7989 28 42 1 1 NUM fcis-7989 28 43 . . PUNCT fcis-7989 28 44 figure figure NOUN fcis-7989 28 45 1 1 NUM fcis-7989 28 46 . . PUNCT fcis-7989 28 47 drill drill NOUN fcis-7989 28 48 string string NOUN fcis-7989 28 49 two two NUM fcis-7989 28 50 concentrated concentrate VERB fcis-7989 28 51 mass mass NOUN fcis-7989 28 52 torsion torsion NOUN fcis-7989 28 53 pendulum pendulum NOUN fcis-7989 28 54 model model NOUN fcis-7989 28 55 . . PUNCT fcis-7989 29 1 π‘˜ π‘˜ DET fcis-7989 29 2 𝑐 𝑐 PROPN fcis-7989 29 3 π‘‡π‘š π‘‡π‘š PROPN fcis-7989 29 4 𝑇𝑓 𝑇𝑓 PROPN fcis-7989 29 5 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 29 6 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 29 7 π‘π‘Ÿ π‘π‘Ÿ VERB fcis-7989 29 8 𝑐𝑏 𝑐𝑏 ADV fcis-7989 29 9 31 31 NUM fcis-7989 29 10 for for ADP fcis-7989 29 11 the the DET fcis-7989 29 12 system system NOUN fcis-7989 29 13 in in ADP fcis-7989 29 14 figure figure NOUN fcis-7989 29 15 1 1 NUM fcis-7989 29 16 , , PUNCT fcis-7989 29 17 the the DET fcis-7989 29 18 dynamic dynamic ADJ fcis-7989 29 19 equation equation NOUN fcis-7989 29 20 of of ADP fcis-7989 29 21 the the DET fcis-7989 29 22 system system NOUN fcis-7989 29 23 can can AUX fcis-7989 29 24 be be AUX fcis-7989 29 25 established establish VERB fcis-7989 29 26 based base VERB fcis-7989 29 27 on on ADP fcis-7989 29 28 the the DET fcis-7989 29 29 theory theory NOUN fcis-7989 29 30 of of ADP fcis-7989 29 31 rigid rigid ADJ fcis-7989 29 32 body body NOUN fcis-7989 29 33 dynamics dynamic NOUN fcis-7989 29 34 . . PUNCT fcis-7989 30 1 the the DET fcis-7989 30 2 dynamic dynamic ADJ fcis-7989 30 3 equation equation NOUN fcis-7989 30 4 at at ADP fcis-7989 30 5 the the DET fcis-7989 30 6 top top ADJ fcis-7989 30 7 drive drive NOUN fcis-7989 30 8 turntable turntable NOUN fcis-7989 30 9 is be AUX fcis-7989 30 10 : : PUNCT fcis-7989 30 11 π½π‘Ÿ π½π‘Ÿ AUX fcis-7989 30 12 οΏ½ οΏ½ PROPN fcis-7989 30 13 Μ‡ Μ‡ VERB fcis-7989 30 14 οΏ½ οΏ½ NOUN fcis-7989 30 15 π‘Ÿ π‘Ÿ NOUN fcis-7989 30 16 = = SYM fcis-7989 30 17 π‘‡π‘š π‘‡π‘š PROPN fcis-7989 30 18 βˆ’ βˆ’ NOUN fcis-7989 30 19 π‘‡π‘Žπ‘Ÿ π‘‡π‘Žπ‘Ÿ NOUN fcis-7989 30 20 βˆ’ βˆ’ PUNCT fcis-7989 31 1 𝑇𝑑 𝑇𝑑 PROPN fcis-7989 31 2 ( ( PUNCT fcis-7989 31 3 1 1 NUM fcis-7989 31 4 ) ) PUNCT fcis-7989 31 5 π‘‡π‘Žπ‘Ÿ π‘‡π‘Žπ‘Ÿ NOUN fcis-7989 31 6 = = SYM fcis-7989 31 7 πœ”π‘Ÿπ‘π‘Ÿ πœ”π‘Ÿπ‘π‘Ÿ PROPN fcis-7989 31 8 ( ( PUNCT fcis-7989 31 9 2 2 X fcis-7989 31 10 ) ) PUNCT fcis-7989 31 11 𝑇𝑑 𝑇𝑑 PROPN fcis-7989 31 12 = = SYM fcis-7989 31 13 𝑐(πœ”π‘Ÿ 𝑐(πœ”π‘Ÿ PROPN fcis-7989 31 14 βˆ’ βˆ’ NOUN fcis-7989 31 15 πœ”π‘ πœ”π‘ NOUN fcis-7989 31 16 ) ) PUNCT fcis-7989 31 17 + + CCONJ fcis-7989 31 18 π‘˜(πœ‘π‘Ÿ π‘˜(πœ‘π‘Ÿ NUM fcis-7989 31 19 βˆ’ βˆ’ NOUN fcis-7989 31 20 πœ‘π‘ πœ‘π‘ NOUN fcis-7989 31 21 ) ) PUNCT fcis-7989 31 22 ( ( PUNCT fcis-7989 31 23 3 3 X fcis-7989 31 24 ) ) PUNCT fcis-7989 31 25 the the DET fcis-7989 31 26 dynamic dynamic ADJ fcis-7989 31 27 equation equation NOUN fcis-7989 31 28 of of ADP fcis-7989 31 29 the the DET fcis-7989 31 30 drill drill NOUN fcis-7989 31 31 bit bit NOUN fcis-7989 31 32 part part NOUN fcis-7989 31 33 : : PUNCT fcis-7989 32 1 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 32 2 οΏ½ οΏ½ PROPN fcis-7989 32 3 Μ‡ Μ‡ NOUN fcis-7989 32 4 οΏ½ οΏ½ PROPN fcis-7989 32 5 𝑏 𝑏 NOUN fcis-7989 32 6 = = SYM fcis-7989 32 7 𝑇𝑑 𝑇𝑑 PROPN fcis-7989 32 8 βˆ’ βˆ’ PROPN fcis-7989 32 9 π‘‡π‘Žπ‘ π‘‡π‘Žπ‘ PROPN fcis-7989 32 10 βˆ’ βˆ’ PROPN fcis-7989 32 11 𝑇𝑓 𝑇𝑓 PROPN fcis-7989 32 12 ( ( PUNCT fcis-7989 32 13 4 4 NUM fcis-7989 32 14 ) ) PUNCT fcis-7989 32 15 π‘‡π‘Žπ‘ π‘‡π‘Žπ‘ PROPN fcis-7989 32 16 = = SYM fcis-7989 32 17 π‘π‘πœ”π‘ π‘π‘πœ”π‘ NOUN fcis-7989 32 18 ( ( PUNCT fcis-7989 32 19 5 5 NUM fcis-7989 32 20 ) ) PUNCT fcis-7989 32 21 where where SCONJ fcis-7989 32 22 , , PUNCT fcis-7989 32 23 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 32 24 and and CCONJ fcis-7989 32 25 jb jb PROPN fcis-7989 32 26 is be AUX fcis-7989 32 27 the the DET fcis-7989 32 28 rotational rotational ADJ fcis-7989 32 29 inertia inertia NOUN fcis-7989 32 30 of of ADP fcis-7989 32 31 the the DET fcis-7989 32 32 top top ADJ fcis-7989 32 33 drive drive ADJ fcis-7989 32 34 rotary rotary NOUN fcis-7989 32 35 table table NOUN fcis-7989 32 36 and and CCONJ fcis-7989 32 37 the the DET fcis-7989 32 38 equivalent equivalent ADJ fcis-7989 32 39 drill drill NOUN fcis-7989 32 40 bit bit NOUN fcis-7989 32 41 ; ; PUNCT fcis-7989 32 42 πœ‘π‘Ÿ πœ‘π‘Ÿ X fcis-7989 32 43 , , PUNCT fcis-7989 32 44 πœ”π‘Ÿ πœ”π‘Ÿ ADP fcis-7989 32 45 , , PUNCT fcis-7989 32 46 πœ‘π‘ πœ‘π‘ ADV fcis-7989 32 47 , , PUNCT fcis-7989 32 48 πœ”π‘ πœ”π‘ NOUN fcis-7989 32 49 is be AUX fcis-7989 32 50 the the DET fcis-7989 32 51 torsional torsional ADJ fcis-7989 32 52 angle angle NOUN fcis-7989 32 53 and and CCONJ fcis-7989 32 54 rotational rotational ADJ fcis-7989 32 55 speed speed NOUN fcis-7989 32 56 of of ADP fcis-7989 32 57 the the DET fcis-7989 32 58 top top ADJ fcis-7989 32 59 drive drive ADJ fcis-7989 32 60 rotary rotary NOUN fcis-7989 32 61 table table NOUN fcis-7989 32 62 and and CCONJ fcis-7989 32 63 drill drill NOUN fcis-7989 32 64 bit bit NOUN fcis-7989 32 65 , , PUNCT fcis-7989 32 66 respectively respectively ADV fcis-7989 32 67 ; ; PUNCT fcis-7989 32 68 π‘‡π‘š π‘‡π‘š PROPN fcis-7989 32 69 is be AUX fcis-7989 32 70 the the DET fcis-7989 32 71 input input NOUN fcis-7989 32 72 speed speed NOUN fcis-7989 32 73 of of ADP fcis-7989 32 74 the the DET fcis-7989 32 75 top top ADJ fcis-7989 32 76 drive drive NOUN fcis-7989 32 77 , , PUNCT fcis-7989 32 78 π‘‡π‘Žπ‘Ÿ π‘‡π‘Žπ‘Ÿ PROPN fcis-7989 32 79 is be AUX fcis-7989 32 80 the the DET fcis-7989 32 81 viscous viscous ADJ fcis-7989 32 82 torque torque NOUN fcis-7989 32 83 of of ADP fcis-7989 32 84 the the DET fcis-7989 32 85 top top ADJ fcis-7989 32 86 drive drive ADJ fcis-7989 32 87 rotary rotary NOUN fcis-7989 32 88 table table NOUN fcis-7989 32 89 ; ; PUNCT fcis-7989 32 90 𝑇𝑑 𝑇𝑑 PROPN fcis-7989 32 91 is be AUX fcis-7989 32 92 the the DET fcis-7989 32 93 coupling couple VERB fcis-7989 32 94 torque torque NOUN fcis-7989 32 95 of of ADP fcis-7989 32 96 the the DET fcis-7989 32 97 drill drill NOUN fcis-7989 32 98 string string NOUN fcis-7989 32 99 ; ; PUNCT fcis-7989 32 100 π‘‡π‘Žπ‘ π‘‡π‘Žπ‘ PROPN fcis-7989 32 101 is be AUX fcis-7989 32 102 the the DET fcis-7989 32 103 viscous viscous ADJ fcis-7989 32 104 torque torque NOUN fcis-7989 32 105 of of ADP fcis-7989 32 106 the the DET fcis-7989 32 107 drill drill NOUN fcis-7989 32 108 bit bit NOUN fcis-7989 32 109 ; ; PUNCT fcis-7989 33 1 𝑇𝑓 𝑇𝑓 X fcis-7989 33 2 is be AUX fcis-7989 33 3 the the DET fcis-7989 33 4 friction friction NOUN fcis-7989 33 5 torque torque NOUN fcis-7989 33 6 of of ADP fcis-7989 33 7 the the DET fcis-7989 33 8 drill drill NOUN fcis-7989 33 9 bit bit NOUN fcis-7989 33 10 . . PUNCT fcis-7989 34 1 π‘π‘Ÿ π‘π‘Ÿ VERB fcis-7989 34 2 , , PUNCT fcis-7989 34 3 𝑐𝑏 𝑐𝑏 INTJ fcis-7989 34 4 , , PUNCT fcis-7989 34 5 𝑐 𝑐 PROPN fcis-7989 34 6 is be AUX fcis-7989 34 7 the the DET fcis-7989 34 8 damping damp VERB fcis-7989 34 9 coefficient coefficient NOUN fcis-7989 34 10 of of ADP fcis-7989 34 11 the the DET fcis-7989 34 12 top top ADJ fcis-7989 34 13 drive drive ADJ fcis-7989 34 14 rotary rotary NOUN fcis-7989 34 15 table table NOUN fcis-7989 34 16 , , PUNCT fcis-7989 34 17 drill drill NOUN fcis-7989 34 18 bit bit NOUN fcis-7989 34 19 , , PUNCT fcis-7989 34 20 and and CCONJ fcis-7989 34 21 equivalent equivalent ADJ fcis-7989 34 22 drill drill NOUN fcis-7989 34 23 string string NOUN fcis-7989 34 24 , , PUNCT fcis-7989 34 25 respectively respectively ADV fcis-7989 34 26 ; ; PUNCT fcis-7989 34 27 π‘˜ π‘˜ PRON fcis-7989 34 28 is be AUX fcis-7989 34 29 the the DET fcis-7989 34 30 torsional torsional ADJ fcis-7989 34 31 stiffness stiffness NOUN fcis-7989 34 32 of of ADP fcis-7989 34 33 the the DET fcis-7989 34 34 drill drill NOUN fcis-7989 34 35 string string NOUN fcis-7989 34 36 . . PUNCT fcis-7989 35 1 take take VERB fcis-7989 35 2 the the DET fcis-7989 35 3 state state NOUN fcis-7989 35 4 variable variable NOUN fcis-7989 36 1 π‘₯ π‘₯ PROPN fcis-7989 36 2 = = PUNCT fcis-7989 36 3 ( ( PUNCT fcis-7989 36 4 πœ”π‘Ÿ πœ”π‘Ÿ VERB fcis-7989 36 5 , , PUNCT fcis-7989 36 6 πœ”π‘ πœ”π‘ ADV fcis-7989 36 7 , , PUNCT fcis-7989 36 8 πœ‘π‘Ÿ πœ‘π‘Ÿ INTJ fcis-7989 36 9 βˆ’ βˆ’ NOUN fcis-7989 36 10 πœ‘π‘ πœ‘π‘ NOUN fcis-7989 36 11 ) ) PUNCT fcis-7989 36 12 𝑇 𝑇 PROPN fcis-7989 36 13 , , PUNCT fcis-7989 36 14 the the DET fcis-7989 36 15 friction friction NOUN fcis-7989 36 16 torque torque NOUN fcis-7989 36 17 𝑇𝑓 𝑇𝑓 PROPN fcis-7989 36 18 of of ADP fcis-7989 36 19 the the DET fcis-7989 36 20 drill drill NOUN fcis-7989 36 21 bit bit NOUN fcis-7989 36 22 is be AUX fcis-7989 36 23 represented represent VERB fcis-7989 36 24 by by ADP fcis-7989 36 25 the the DET fcis-7989 36 26 karnopp karnopp PROPN fcis-7989 36 27 model model NOUN fcis-7989 36 28 in in ADP fcis-7989 36 29 equation equation NOUN fcis-7989 36 30 6 6 NUM fcis-7989 36 31 . . PUNCT fcis-7989 37 1 𝑇𝑓(π‘₯ 𝑇𝑓(π‘₯ NOUN fcis-7989 37 2 ) ) PUNCT fcis-7989 37 3 = = PRON fcis-7989 37 4 { { PUNCT fcis-7989 37 5 𝑇𝑒𝑏(π‘₯ 𝑇𝑒𝑏(π‘₯ NOUN fcis-7989 37 6 ) ) PUNCT fcis-7989 37 7 , , PUNCT fcis-7989 37 8 |πœ”π‘| |πœ”π‘| VERB fcis-7989 37 9 < < X fcis-7989 37 10 𝐷𝑣 𝐷𝑣 PROPN fcis-7989 37 11 , , PUNCT fcis-7989 37 12 |𝑇𝑒𝑏| |𝑇𝑒𝑏| X fcis-7989 37 13 < < X fcis-7989 37 14 𝑇𝑠𝑏 𝑇𝑠𝑏 PROPN fcis-7989 37 15 𝑇𝑠𝑏𝑠𝑔𝑛(𝑇𝑒𝑏(π‘₯ 𝑇𝑠𝑏𝑠𝑔𝑛(𝑇𝑒𝑏(π‘₯ NOUN fcis-7989 37 16 ) ) PUNCT fcis-7989 37 17 ) ) PUNCT fcis-7989 37 18 , , PUNCT fcis-7989 37 19 |πœ”π‘| |πœ”π‘| VERB fcis-7989 37 20 < < X fcis-7989 37 21 𝐷𝑣 𝐷𝑣 PROPN fcis-7989 37 22 , , PUNCT fcis-7989 37 23 |𝑇𝑒𝑏| |𝑇𝑒𝑏| X fcis-7989 37 24 β‰₯ β‰₯ NOUN fcis-7989 37 25 𝑇𝑠𝑏 𝑇𝑠𝑏 PROPN fcis-7989 37 26 𝑓𝑏(πœ”π‘)𝑠𝑔𝑛(πœ”π‘ 𝑓𝑏(πœ”π‘)𝑠𝑔𝑛(πœ”π‘ PROPN fcis-7989 37 27 ) ) PUNCT fcis-7989 37 28 , , PUNCT fcis-7989 37 29 |πœ”π‘| |πœ”π‘| NOUN fcis-7989 37 30 β‰₯ β‰₯ PRON fcis-7989 37 31 𝐷𝑣 𝐷𝑣 PROPN fcis-7989 37 32 ( ( PUNCT fcis-7989 37 33 6 6 NUM fcis-7989 37 34 ) ) PUNCT fcis-7989 37 35 where where SCONJ fcis-7989 37 36 sgn sgn NOUN fcis-7989 37 37 ( ( PUNCT fcis-7989 37 38 … … PUNCT fcis-7989 37 39 ) ) PUNCT fcis-7989 37 40 is be AUX fcis-7989 37 41 the the DET fcis-7989 37 42 sign sign NOUN fcis-7989 37 43 function function NOUN fcis-7989 37 44 , , PUNCT fcis-7989 37 45 𝐷𝑣 𝐷𝑣 PROPN fcis-7989 37 46 is be AUX fcis-7989 37 47 the the DET fcis-7989 37 48 karnopp karnopp PROPN fcis-7989 37 49 velocity velocity PROPN fcis-7989 37 50 boundary boundary ADJ fcis-7989 37 51 layer layer NOUN fcis-7989 37 52 . . PUNCT fcis-7989 38 1 𝑇𝑒𝑏 𝑇𝑒𝑏 PROPN fcis-7989 38 2 = = PUNCT fcis-7989 39 1 𝑇𝑑 𝑇𝑑 PROPN fcis-7989 39 2 βˆ’ βˆ’ PROPN fcis-7989 39 3 π‘‡π‘Žπ‘ π‘‡π‘Žπ‘ PROPN fcis-7989 39 4 ( ( PUNCT fcis-7989 39 5 7 7 X fcis-7989 39 6 ) ) PUNCT fcis-7989 39 7 𝑇𝑠𝑏 𝑇𝑠𝑏 PROPN fcis-7989 39 8 = = PUNCT fcis-7989 39 9 πœ‡π‘ π‘π‘Šπ‘œπ‘π‘…π‘ πœ‡π‘ π‘π‘Šπ‘œπ‘π‘…π‘ PROPN fcis-7989 39 10 ( ( PUNCT fcis-7989 39 11 8) 8) NUM fcis-7989 39 12 𝑓𝑏 𝑓𝑏 NOUN fcis-7989 39 13 = = SYM fcis-7989 39 14 πœ‡π‘(πœ”π‘)π‘Šπ‘œπ‘π‘…π‘ πœ‡π‘(πœ”π‘)π‘Šπ‘œπ‘π‘…π‘ PROPN fcis-7989 39 15 ( ( PUNCT fcis-7989 39 16 9 9 NUM fcis-7989 39 17 ) ) PUNCT fcis-7989 39 18 πœ‡π‘(πœ”π‘ πœ‡π‘(πœ”π‘ NOUN fcis-7989 39 19 ) ) PUNCT fcis-7989 40 1 = = SYM fcis-7989 41 1 πœ‡π‘π‘ πœ‡π‘π‘ NOUN fcis-7989 41 2 + + CCONJ fcis-7989 41 3 ( ( PUNCT fcis-7989 41 4 πœ‡π‘ π‘ πœ‡π‘ π‘ ADP fcis-7989 41 5 βˆ’ βˆ’ PROPN fcis-7989 41 6 πœ‡π‘π‘)𝑒 πœ‡π‘π‘)𝑒 PROPN fcis-7989 41 7 βˆ’π›Ύπ‘|πœ”π‘|/𝑣𝑓 βˆ’π›Ύπ‘|πœ”π‘|/𝑣𝑓 PUNCT fcis-7989 41 8 ) ) PUNCT fcis-7989 41 9 where where SCONJ fcis-7989 41 10 , , PUNCT fcis-7989 41 11 𝑇𝑒𝑏 𝑇𝑒𝑏 PROPN fcis-7989 41 12 is be AUX fcis-7989 41 13 the the DET fcis-7989 41 14 static static ADJ fcis-7989 41 15 equilibrium equilibrium NOUN fcis-7989 41 16 torque torque NOUN fcis-7989 41 17 of of ADP fcis-7989 41 18 the the DET fcis-7989 41 19 drill drill NOUN fcis-7989 41 20 string string NOUN fcis-7989 41 21 ; ; PUNCT fcis-7989 41 22 𝑇𝑠𝑏 𝑇𝑠𝑏 PROPN fcis-7989 41 23 is be AUX fcis-7989 41 24 the the DET fcis-7989 41 25 maximum maximum ADJ fcis-7989 41 26 static static ADJ fcis-7989 41 27 friction friction NOUN fcis-7989 41 28 torque torque NOUN fcis-7989 41 29 ; ; PUNCT fcis-7989 41 30 𝑓𝑏 𝑓𝑏 PROPN fcis-7989 41 31 is be AUX fcis-7989 41 32 the the DET fcis-7989 41 33 dynamic dynamic ADJ fcis-7989 41 34 friction friction NOUN fcis-7989 41 35 torque torque NOUN fcis-7989 41 36 ; ; PUNCT fcis-7989 41 37 πœ‡π‘ πœ‡π‘ NOUN fcis-7989 41 38 ( ( PUNCT fcis-7989 41 39 ... ... PUNCT fcis-7989 41 40 ) ) PUNCT fcis-7989 41 41 is be AUX fcis-7989 41 42 the the DET fcis-7989 41 43 dynamic dynamic ADJ fcis-7989 41 44 friction friction NOUN fcis-7989 41 45 coefficient coefficient NOUN fcis-7989 41 46 function function NOUN fcis-7989 41 47 ; ; PUNCT fcis-7989 41 48 πœ‡π‘π‘ πœ‡π‘π‘ ADJ fcis-7989 41 49 and and CCONJ fcis-7989 41 50 πœ‡π‘ π‘ πœ‡π‘ π‘ NOUN fcis-7989 41 51 is be AUX fcis-7989 41 52 the the DET fcis-7989 41 53 coefficient coefficient NOUN fcis-7989 41 54 of of ADP fcis-7989 41 55 viscous viscous ADJ fcis-7989 41 56 friction friction NOUN fcis-7989 41 57 and and CCONJ fcis-7989 41 58 the the DET fcis-7989 41 59 coefficient coefficient NOUN fcis-7989 41 60 of of ADP fcis-7989 41 61 dynamic dynamic ADJ fcis-7989 41 62 friction friction NOUN fcis-7989 41 63 ; ; PUNCT fcis-7989 41 64 𝛾𝑏 𝛾𝑏 NOUN fcis-7989 41 65 and and CCONJ fcis-7989 41 66 𝑣𝑓 𝑣𝑓 ADP fcis-7989 41 67 are be AUX fcis-7989 41 68 karnopp karnopp VERB fcis-7989 41 69 empirical empirical ADJ fcis-7989 41 70 constants constant NOUN fcis-7989 41 71 . . PUNCT fcis-7989 42 1 in in ADP fcis-7989 42 2 summary summary NOUN fcis-7989 42 3 , , PUNCT fcis-7989 42 4 the the DET fcis-7989 42 5 dynamic dynamic ADJ fcis-7989 42 6 equation equation NOUN fcis-7989 42 7 of of ADP fcis-7989 42 8 the the DET fcis-7989 42 9 drill drill NOUN fcis-7989 42 10 string string NOUN fcis-7989 42 11 system system NOUN fcis-7989 42 12 is be AUX fcis-7989 42 13 : : PUNCT fcis-7989 42 14 { { PUNCT fcis-7989 43 1 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 43 2 οΏ½ οΏ½ NOUN fcis-7989 43 3 ̈ ̈ X fcis-7989 43 4 οΏ½ οΏ½ NOUN fcis-7989 43 5 π‘Ÿ π‘Ÿ NOUN fcis-7989 43 6 + + SYM fcis-7989 43 7 𝑐( 𝑐( PROPN fcis-7989 43 8 οΏ½ οΏ½ PROPN fcis-7989 43 9 Μ‡ Μ‡ PROPN fcis-7989 43 10 οΏ½ οΏ½ PROPN fcis-7989 43 11 π‘Ÿ π‘Ÿ PART fcis-7989 43 12 βˆ’ βˆ’ PROPN fcis-7989 43 13 οΏ½ οΏ½ PROPN fcis-7989 43 14 Μ‡ Μ‡ PROPN fcis-7989 43 15 οΏ½ οΏ½ PROPN fcis-7989 43 16 𝑏 𝑏 NOUN fcis-7989 43 17 ) ) PUNCT fcis-7989 43 18 + + CCONJ fcis-7989 43 19 𝑐(πœ‘π‘Ÿ 𝑐(πœ‘π‘Ÿ PROPN fcis-7989 43 20 βˆ’ βˆ’ NOUN fcis-7989 43 21 πœ‘π‘ πœ‘π‘ NOUN fcis-7989 43 22 ) ) PUNCT fcis-7989 44 1 + + CCONJ fcis-7989 44 2 π‘π‘Ÿ π‘π‘Ÿ AUX fcis-7989 44 3 οΏ½ οΏ½ PROPN fcis-7989 44 4 Μ‡ Μ‡ NOUN fcis-7989 44 5 οΏ½ οΏ½ NOUN fcis-7989 44 6 π‘Ÿ π‘Ÿ NOUN fcis-7989 44 7 = = SYM fcis-7989 44 8 π‘‡π‘š π‘‡π‘š PROPN fcis-7989 44 9 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 44 10 οΏ½ οΏ½ PROPN fcis-7989 44 11 ̈ ̈ X fcis-7989 44 12 οΏ½ οΏ½ NOUN fcis-7989 44 13 𝑏 𝑏 NOUN fcis-7989 44 14 + + NOUN fcis-7989 44 15 𝑐( 𝑐( PROPN fcis-7989 44 16 οΏ½ οΏ½ PROPN fcis-7989 44 17 Μ‡ Μ‡ PROPN fcis-7989 44 18 οΏ½ οΏ½ PROPN fcis-7989 44 19 π‘Ÿ π‘Ÿ PART fcis-7989 44 20 βˆ’ βˆ’ PROPN fcis-7989 44 21 οΏ½ οΏ½ PROPN fcis-7989 44 22 Μ‡ Μ‡ PROPN fcis-7989 44 23 οΏ½ οΏ½ PROPN fcis-7989 44 24 𝑏 𝑏 NOUN fcis-7989 44 25 ) ) PUNCT fcis-7989 44 26 + + CCONJ fcis-7989 44 27 𝑐(πœ‘π‘Ÿ 𝑐(πœ‘π‘Ÿ PROPN fcis-7989 44 28 βˆ’ βˆ’ NOUN fcis-7989 44 29 πœ‘π‘ πœ‘π‘ NOUN fcis-7989 44 30 ) ) PUNCT fcis-7989 45 1 + + CCONJ fcis-7989 45 2 𝑐𝑏 𝑐𝑏 PRON fcis-7989 45 3 οΏ½ οΏ½ PROPN fcis-7989 45 4 Μ‡ Μ‡ NOUN fcis-7989 45 5 οΏ½ οΏ½ PROPN fcis-7989 45 6 𝑏 𝑏 NOUN fcis-7989 45 7 = = SYM fcis-7989 45 8 βˆ’π‘‡π‘“(π‘₯ βˆ’π‘‡π‘“(π‘₯ PROPN fcis-7989 45 9 ) ) PUNCT fcis-7989 45 10 ( ( PUNCT fcis-7989 45 11 11 11 NUM fcis-7989 45 12 ) ) PUNCT fcis-7989 45 13 ⟹ ⟹ NOUN fcis-7989 46 1 [ [ PUNCT fcis-7989 46 2 οΏ½ οΏ½ NOUN fcis-7989 46 3 Μ‡ Μ‡ NOUN fcis-7989 46 4 οΏ½ οΏ½ PROPN fcis-7989 46 5 π‘Ÿ π‘Ÿ NOUN fcis-7989 46 6 οΏ½ οΏ½ PROPN fcis-7989 46 7 Μ‡ Μ‡ PROPN fcis-7989 46 8 οΏ½ οΏ½ NOUN fcis-7989 46 9 π‘Ÿ π‘Ÿ PART fcis-7989 46 10 βˆ† βˆ† PROPN fcis-7989 46 11 οΏ½ οΏ½ PROPN fcis-7989 46 12 Μ‡ Μ‡ PROPN fcis-7989 46 13 οΏ½ οΏ½ PROPN fcis-7989 46 14 ] ] PUNCT fcis-7989 47 1 = = PUNCT fcis-7989 48 1 [ [ PUNCT fcis-7989 48 2 βˆ’ βˆ’ NOUN fcis-7989 48 3 𝑐+π‘π‘Ÿ 𝑐+π‘π‘Ÿ NOUN fcis-7989 48 4 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 48 5 πœ”π‘Ÿ πœ”π‘Ÿ ADP fcis-7989 48 6 + + NOUN fcis-7989 48 7 𝑐 𝑐 X fcis-7989 48 8 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 48 9 πœ”π‘ πœ”π‘ NOUN fcis-7989 48 10 βˆ’ βˆ’ NOUN fcis-7989 48 11 π‘˜ π‘˜ X fcis-7989 48 12 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 48 13 βˆ†πœ‘ βˆ†πœ‘ PROPN fcis-7989 48 14 + + CCONJ fcis-7989 48 15 1 1 NUM fcis-7989 48 16 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 48 17 π‘‡π‘š π‘‡π‘š PROPN fcis-7989 48 18 𝑐 𝑐 NOUN fcis-7989 48 19 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 48 20 πœ”π‘Ÿ πœ”π‘Ÿ ADP fcis-7989 48 21 βˆ’ βˆ’ NOUN fcis-7989 48 22 𝑐+𝑐𝑏 𝑐+𝑐𝑏 NOUN fcis-7989 48 23 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 48 24 πœ”π‘ πœ”π‘ ADV fcis-7989 48 25 + + NOUN fcis-7989 48 26 π‘˜ π‘˜ DET fcis-7989 48 27 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 48 28 βˆ†πœ‘ βˆ†πœ‘ NOUN fcis-7989 48 29 βˆ’ βˆ’ NOUN fcis-7989 48 30 1 1 NUM fcis-7989 48 31 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 48 32 𝑇𝑓𝑏 𝑇𝑓𝑏 PROPN fcis-7989 48 33 πœ”π‘Ÿ πœ”π‘Ÿ VERB fcis-7989 48 34 βˆ’πœ”π‘ βˆ’πœ”π‘ PROPN fcis-7989 48 35 ] ] X fcis-7989 48 36 ( ( PUNCT fcis-7989 48 37 12 12 NUM fcis-7989 48 38 ) ) PUNCT fcis-7989 48 39 3 3 NUM fcis-7989 48 40 . . X fcis-7989 49 1 design design NOUN fcis-7989 49 2 of of ADP fcis-7989 49 3 speed speed NOUN fcis-7989 49 4 observer observer NOUN fcis-7989 49 5 and and CCONJ fcis-7989 49 6 controller controller NOUN fcis-7989 49 7 based base VERB fcis-7989 49 8 on on ADP fcis-7989 49 9 the the DET fcis-7989 49 10 proportional proportional ADJ fcis-7989 49 11 integral integral ADJ fcis-7989 49 12 observer observer NOUN fcis-7989 49 13 design design NOUN fcis-7989 49 14 method method NOUN fcis-7989 49 15 , , PUNCT fcis-7989 49 16 this this DET fcis-7989 49 17 paper paper NOUN fcis-7989 49 18 considers consider VERB fcis-7989 49 19 𝑇𝑓 𝑇𝑓 PROPN fcis-7989 49 20 as as ADP fcis-7989 49 21 an an DET fcis-7989 49 22 observable observable ADJ fcis-7989 49 23 interference interference NOUN fcis-7989 49 24 . . PUNCT fcis-7989 50 1 the the DET fcis-7989 50 2 observer observer NOUN fcis-7989 50 3 structure structure NOUN fcis-7989 50 4 of of ADP fcis-7989 50 5 the the DET fcis-7989 50 6 drill drill NOUN fcis-7989 50 7 string string NOUN fcis-7989 50 8 rotary rotary NOUN fcis-7989 50 9 speed speed NOUN fcis-7989 50 10 is be AUX fcis-7989 50 11 as as SCONJ fcis-7989 50 12 follows follow VERB fcis-7989 50 13 [ [ X fcis-7989 50 14 7 7 NUM fcis-7989 50 15 ] ] X fcis-7989 50 16 : : PUNCT fcis-7989 50 17 { { PUNCT fcis-7989 50 18 οΏ½ οΏ½ NOUN fcis-7989 50 19 Μ‡Μ‚ Μ‡Μ‚ PART fcis-7989 50 20 οΏ½ οΏ½ NOUN fcis-7989 50 21 π‘Ÿ π‘Ÿ NOUN fcis-7989 50 22 = = SYM fcis-7989 51 1 βˆ’ βˆ’ PROPN fcis-7989 51 2 𝑐+π‘π‘Ÿ 𝑐+π‘π‘Ÿ NOUN fcis-7989 51 3 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 51 4 οΏ½ οΏ½ PROPN fcis-7989 51 5 Μ‚ Μ‚ NOUN fcis-7989 51 6 οΏ½ οΏ½ NOUN fcis-7989 51 7 π‘Ÿ π‘Ÿ NOUN fcis-7989 51 8 + + NOUN fcis-7989 51 9 𝑐 𝑐 PROPN fcis-7989 51 10 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 51 11 οΏ½ οΏ½ PROPN fcis-7989 51 12 Μ‚ Μ‚ NOUN fcis-7989 51 13 οΏ½ οΏ½ NOUN fcis-7989 51 14 𝑏 𝑏 NOUN fcis-7989 51 15 βˆ’ βˆ’ PROPN fcis-7989 51 16 π‘˜ π‘˜ PRON fcis-7989 51 17 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 51 18 βˆ† βˆ† PROPN fcis-7989 51 19 οΏ½ οΏ½ PROPN fcis-7989 51 20 Μ‚ Μ‚ VERB fcis-7989 51 21 οΏ½ οΏ½ NOUN fcis-7989 51 22 + + CCONJ fcis-7989 51 23 1 1 NUM fcis-7989 51 24 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 51 25 π‘‡π‘š π‘‡π‘š PROPN fcis-7989 51 26 + + PROPN fcis-7989 51 27 𝐾1(πœ”π‘Ÿ 𝐾1(πœ”π‘Ÿ PROPN fcis-7989 51 28 βˆ’ βˆ’ PROPN fcis-7989 51 29 οΏ½ οΏ½ PROPN fcis-7989 51 30 Μ‚ Μ‚ NOUN fcis-7989 51 31 οΏ½ οΏ½ NOUN fcis-7989 51 32 π‘Ÿ π‘Ÿ NOUN fcis-7989 51 33 ) ) PUNCT fcis-7989 51 34 οΏ½ οΏ½ PROPN fcis-7989 51 35 Μ‡Μ‚ Μ‡Μ‚ PART fcis-7989 51 36 οΏ½ οΏ½ NOUN fcis-7989 51 37 𝑏 𝑏 NOUN fcis-7989 51 38 = = SYM fcis-7989 51 39 𝑐 𝑐 PROPN fcis-7989 51 40 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 51 41 οΏ½ οΏ½ PROPN fcis-7989 51 42 Μ‚ Μ‚ NOUN fcis-7989 51 43 οΏ½ οΏ½ NOUN fcis-7989 51 44 π‘Ÿ π‘Ÿ NOUN fcis-7989 51 45 βˆ’ βˆ’ PROPN fcis-7989 51 46 𝑐+𝑐𝑏 𝑐+𝑐𝑏 ADJ fcis-7989 51 47 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 51 48 οΏ½ οΏ½ PROPN fcis-7989 51 49 Μ‚ Μ‚ NOUN fcis-7989 51 50 οΏ½ οΏ½ NOUN fcis-7989 51 51 𝑏 𝑏 NOUN fcis-7989 51 52 + + X fcis-7989 51 53 π‘˜ π‘˜ DET fcis-7989 51 54 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 51 55 βˆ† βˆ† X fcis-7989 51 56 οΏ½ οΏ½ PROPN fcis-7989 51 57 Μ‚ Μ‚ SYM fcis-7989 51 58 οΏ½ οΏ½ NOUN fcis-7989 51 59 βˆ’ βˆ’ PROPN fcis-7989 51 60 1 1 NUM fcis-7989 51 61 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 51 62 𝑇𝑓 𝑇𝑓 PROPN fcis-7989 51 63 + + CCONJ fcis-7989 51 64 𝐾2(πœ”π‘Ÿ 𝐾2(πœ”π‘Ÿ PROPN fcis-7989 51 65 βˆ’ βˆ’ PROPN fcis-7989 51 66 οΏ½ οΏ½ PROPN fcis-7989 51 67 Μ‚ Μ‚ NOUN fcis-7989 51 68 οΏ½ οΏ½ NOUN fcis-7989 51 69 π‘Ÿ π‘Ÿ NOUN fcis-7989 51 70 ) ) PUNCT fcis-7989 51 71 βˆ† βˆ† PROPN fcis-7989 51 72 οΏ½ οΏ½ PROPN fcis-7989 51 73 Μ‡Μ‚ Μ‡Μ‚ NOUN fcis-7989 51 74 οΏ½ οΏ½ PROPN fcis-7989 51 75 = = SYM fcis-7989 51 76 οΏ½ οΏ½ PROPN fcis-7989 51 77 Μ‚ Μ‚ NOUN fcis-7989 51 78 οΏ½ οΏ½ PROPN fcis-7989 51 79 π‘Ÿ π‘Ÿ PART fcis-7989 51 80 βˆ’ βˆ’ PROPN fcis-7989 51 81 οΏ½ οΏ½ PROPN fcis-7989 51 82 Μ‚ Μ‚ NOUN fcis-7989 51 83 οΏ½ οΏ½ NOUN fcis-7989 51 84 𝑏 𝑏 PRON fcis-7989 51 85 + + PROPN fcis-7989 51 86 𝐾3(πœ”π‘Ÿ 𝐾3(πœ”π‘Ÿ PROPN fcis-7989 51 87 βˆ’ βˆ’ PROPN fcis-7989 51 88 οΏ½ οΏ½ PROPN fcis-7989 51 89 Μ‚ Μ‚ NOUN fcis-7989 51 90 οΏ½ οΏ½ NOUN fcis-7989 51 91 π‘Ÿ π‘Ÿ NOUN fcis-7989 51 92 ) ) PUNCT fcis-7989 51 93 οΏ½ οΏ½ PROPN fcis-7989 51 94 Μ‡Μ‚ Μ‡Μ‚ PRON fcis-7989 51 95 οΏ½ οΏ½ PROPN fcis-7989 51 96 𝑓 𝑓 NOUN fcis-7989 51 97 = = SYM fcis-7989 51 98 𝐾4(πœ”π‘Ÿ 𝐾4(πœ”π‘Ÿ PROPN fcis-7989 51 99 βˆ’ βˆ’ PROPN fcis-7989 51 100 οΏ½ οΏ½ PROPN fcis-7989 51 101 Μ‚ Μ‚ NOUN fcis-7989 51 102 οΏ½ οΏ½ NOUN fcis-7989 51 103 π‘Ÿ π‘Ÿ NOUN fcis-7989 51 104 ) ) PUNCT fcis-7989 51 105 ( ( PUNCT fcis-7989 51 106 13 13 NUM fcis-7989 51 107 ) ) PUNCT fcis-7989 51 108 due due ADP fcis-7989 51 109 to to ADP fcis-7989 51 110 the the DET fcis-7989 51 111 observation observation NOUN fcis-7989 51 112 of of ADP fcis-7989 51 113 four four NUM fcis-7989 51 114 physical physical ADJ fcis-7989 51 115 quantities quantity NOUN fcis-7989 51 116 by by ADP fcis-7989 51 117 the the DET fcis-7989 51 118 observer observer NOUN fcis-7989 51 119 , , PUNCT fcis-7989 51 120 according accord VERB fcis-7989 51 121 to to ADP fcis-7989 51 122 the the DET fcis-7989 51 123 optimal optimal ADJ fcis-7989 51 124 damping damp VERB fcis-7989 51 125 principle principle NOUN fcis-7989 51 126 , , PUNCT fcis-7989 51 127 the the DET fcis-7989 51 128 optimal optimal ADJ fcis-7989 51 129 damping damp VERB fcis-7989 51 130 polynomial polynomial ADJ fcis-7989 51 131 corresponding corresponding NOUN fcis-7989 51 132 to to ADP fcis-7989 51 133 the the DET fcis-7989 51 134 observer observer NOUN fcis-7989 51 135 is be AUX fcis-7989 51 136 of of ADP fcis-7989 51 137 order order NOUN fcis-7989 51 138 4 4 NUM fcis-7989 51 139 . . PUNCT fcis-7989 52 1 the the DET fcis-7989 52 2 gain gain NOUN fcis-7989 52 3 coefficients coefficient NOUN fcis-7989 52 4 of of ADP fcis-7989 52 5 the the DET fcis-7989 52 6 observer observer NOUN fcis-7989 52 7 are be AUX fcis-7989 52 8 : : PUNCT fcis-7989 52 9 𝐾1 𝐾1 PROPN fcis-7989 52 10 = = SYM fcis-7989 52 11 1 1 NUM fcis-7989 52 12 𝐷2𝐷3𝐷4𝑇𝑒 𝐷2𝐷3𝐷4𝑇𝑒 NOUN fcis-7989 52 13 βˆ’ βˆ’ NOUN fcis-7989 52 14 𝑐+π‘π‘Ÿ 𝑐+π‘π‘Ÿ NOUN fcis-7989 53 1 π½π‘Ÿ π½π‘Ÿ ADP fcis-7989 53 2 βˆ’ βˆ’ PROPN fcis-7989 53 3 𝑐+π‘π‘Ÿ 𝑐+π‘π‘Ÿ NOUN fcis-7989 53 4 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 53 5 ( ( PUNCT fcis-7989 53 6 14 14 NUM fcis-7989 53 7 ) ) PUNCT fcis-7989 53 8 𝐾2 𝐾2 NOUN fcis-7989 54 1 = = PUNCT fcis-7989 54 2 π‘˜(βˆ’π½π‘Ÿπ‘π‘+𝐾1π½π‘Ÿπ½π‘βˆ’π‘π‘π·2𝑇𝑒 π‘˜(βˆ’π½π‘Ÿπ‘π‘+𝐾1π½π‘Ÿπ½π‘βˆ’π‘π‘π·2𝑇𝑒 NUM fcis-7989 54 3 2𝐾4+π‘π‘Ÿπ½π‘+𝐽𝑏𝑇𝑒𝐾4 2𝐾4+π‘π‘Ÿπ½π‘+𝐽𝑏𝑇𝑒𝐾4 NUM fcis-7989 54 4 ) ) PUNCT fcis-7989 54 5 𝑐𝑏(π‘π‘π‘βˆ’π‘˜π½π‘ 𝑐𝑏(π‘π‘π‘βˆ’π‘˜π½π‘ NOUN fcis-7989 54 6 ) ) PUNCT fcis-7989 54 7 βˆ’π‘π‘ βˆ’π‘π‘ PROPN fcis-7989 54 8 2(π‘π‘Ÿ+𝑐+𝐾1π½π‘Ÿ)+𝑐(π‘π‘π‘π‘Ÿ+𝑐𝑏𝐾1π½π‘Ÿ+𝐽𝑏𝐾4 2(π‘π‘Ÿ+𝑐+𝐾1π½π‘Ÿ)+𝑐(π‘π‘π‘π‘Ÿ+𝑐𝑏𝐾1π½π‘Ÿ+𝐽𝑏𝐾4 NUM fcis-7989 54 9 ) ) PUNCT fcis-7989 54 10 𝑐𝑏(π‘π‘π‘βˆ’π‘˜π½π‘ 𝑐𝑏(π‘π‘π‘βˆ’π‘˜π½π‘ NOUN fcis-7989 54 11 ) ) PUNCT fcis-7989 54 12 ( ( PUNCT fcis-7989 54 13 15 15 NUM fcis-7989 54 14 ) ) PUNCT fcis-7989 54 15 𝐾3 𝐾3 NOUN fcis-7989 55 1 = = PUNCT fcis-7989 55 2 π‘˜2(π½π‘Ÿ+𝐽𝑏+𝐷2𝑇𝑒 π‘˜2(π½π‘Ÿ+𝐽𝑏+𝐷2𝑇𝑒 PROPN fcis-7989 55 3 2𝐾4)+π‘˜(π‘π‘π‘π‘Ÿ+𝐾1π½π‘Ÿπ‘π‘βˆ’π‘πΎ4𝑇𝑒)+𝐾4𝑐 2𝐾4)+π‘˜(π‘π‘π‘π‘Ÿ+𝐾1π½π‘Ÿπ‘π‘βˆ’π‘πΎ4𝑇𝑒)+𝐾4𝑐 NUM fcis-7989 55 4 2 2 NUM fcis-7989 55 5 π‘˜(βˆ’π‘π‘π‘+π‘˜π½π‘ π‘˜(βˆ’π‘π‘π‘+π‘˜π½π‘ NOUN fcis-7989 55 6 ) ) PUNCT fcis-7989 55 7 ( ( PUNCT fcis-7989 55 8 16 16 NUM fcis-7989 55 9 ) ) PUNCT fcis-7989 55 10 𝐾4 𝐾4 NOUN fcis-7989 55 11 = = SYM fcis-7989 55 12 π½π‘Ÿπ½π‘ π½π‘Ÿπ½π‘ PROPN fcis-7989 55 13 π‘˜π·4𝐷3 π‘˜π·4𝐷3 NOUN fcis-7989 55 14 2𝐷2 2𝐷2 NUM fcis-7989 55 15 3𝑇𝑒 3𝑇𝑒 NUM fcis-7989 55 16 4 4 NUM fcis-7989 55 17 ( ( PUNCT fcis-7989 55 18 17 17 NUM fcis-7989 55 19 ) ) PUNCT fcis-7989 55 20 where where SCONJ fcis-7989 55 21 𝐷2 𝐷2 NOUN fcis-7989 55 22 , , PUNCT fcis-7989 55 23 𝐷3 𝐷3 PROPN fcis-7989 55 24 , , PUNCT fcis-7989 55 25 𝐷4 𝐷4 PROPN fcis-7989 55 26 take take VERB fcis-7989 55 27 as as ADP fcis-7989 55 28 0.5 0.5 NUM fcis-7989 55 29 ; ; PUNCT fcis-7989 55 30 the the DET fcis-7989 55 31 time time NOUN fcis-7989 55 32 coefficient coefficient NOUN fcis-7989 55 33 𝑇𝑒 𝑇𝑒 PROPN fcis-7989 55 34 is be AUX fcis-7989 55 35 taken take VERB fcis-7989 55 36 as as ADP fcis-7989 55 37 0.2 0.2 NUM fcis-7989 55 38 . . PUNCT fcis-7989 56 1 in in ADP fcis-7989 56 2 order order NOUN fcis-7989 56 3 to to PART fcis-7989 56 4 suppress suppress VERB fcis-7989 56 5 stick stick NOUN fcis-7989 56 6 slip slip NOUN fcis-7989 56 7 vibration vibration NOUN fcis-7989 56 8 of of ADP fcis-7989 56 9 drill drill NOUN fcis-7989 56 10 string string NOUN fcis-7989 56 11 , , PUNCT fcis-7989 56 12 an an DET fcis-7989 56 13 observer observer NOUN fcis-7989 56 14 - - PUNCT fcis-7989 56 15 based base VERB fcis-7989 56 16 torque torque NOUN fcis-7989 56 17 feedforward feedforward NOUN fcis-7989 56 18 sliding slide VERB fcis-7989 56 19 mode mode NOUN fcis-7989 56 20 controller controller NOUN fcis-7989 56 21 ( ( PUNCT fcis-7989 56 22 tf tf PROPN fcis-7989 56 23 - - PUNCT fcis-7989 56 24 smc smc NOUN fcis-7989 56 25 - - NOUN fcis-7989 56 26 pid pid NOUN fcis-7989 56 27 ) ) PUNCT fcis-7989 56 28 is be AUX fcis-7989 56 29 designed design VERB fcis-7989 56 30 in in ADP fcis-7989 56 31 this this DET fcis-7989 56 32 paper paper NOUN fcis-7989 56 33 . . PUNCT fcis-7989 57 1 the the DET fcis-7989 57 2 controller controller NOUN fcis-7989 57 3 structure structure NOUN fcis-7989 57 4 is be AUX fcis-7989 57 5 shown show VERB fcis-7989 57 6 in in ADP fcis-7989 57 7 figure figure NOUN fcis-7989 57 8 2 2 NUM fcis-7989 57 9 . . PUNCT fcis-7989 57 10 figure figure NOUN fcis-7989 57 11 2 2 NUM fcis-7989 57 12 . . PUNCT fcis-7989 57 13 controller controller NOUN fcis-7989 57 14 structure structure NOUN fcis-7989 57 15 according accord VERB fcis-7989 57 16 to to ADP fcis-7989 57 17 equation equation NOUN fcis-7989 57 18 12 12 NUM fcis-7989 57 19 , , PUNCT fcis-7989 57 20 when when SCONJ fcis-7989 57 21 the the DET fcis-7989 57 22 drill drill NOUN fcis-7989 57 23 string string NOUN fcis-7989 57 24 system system NOUN fcis-7989 57 25 does do AUX fcis-7989 57 26 not not PART fcis-7989 57 27 experience experience VERB fcis-7989 57 28 stick stick NOUN fcis-7989 57 29 - - PUNCT fcis-7989 57 30 slip slip NOUN fcis-7989 57 31 vibration vibration NOUN fcis-7989 57 32 , , PUNCT fcis-7989 57 33 οΏ½ οΏ½ PROPN fcis-7989 57 34 Μ‡ Μ‡ PROPN fcis-7989 57 35 οΏ½ οΏ½ NOUN fcis-7989 57 36 =0 =0 PROPN fcis-7989 57 37 . . PUNCT fcis-7989 58 1 the the DET fcis-7989 58 2 top top ADJ fcis-7989 58 3 drive drive NOUN fcis-7989 58 4 torque torque NOUN fcis-7989 58 5 π‘‡π‘šπ‘  π‘‡π‘šπ‘  PROPN fcis-7989 58 6 of of ADP fcis-7989 58 7 the the DET fcis-7989 58 8 system system NOUN fcis-7989 58 9 is be AUX fcis-7989 58 10 : : PUNCT fcis-7989 58 11 π‘‡π‘šπ‘  π‘‡π‘šπ‘  PROPN fcis-7989 58 12 = = SYM fcis-7989 58 13 πœ”π‘Ÿπ‘’π‘“(π‘π‘Ÿ πœ”π‘Ÿπ‘’π‘“(π‘π‘Ÿ PROPN fcis-7989 58 14 + + CCONJ fcis-7989 58 15 𝑐𝑏 𝑐𝑏 X fcis-7989 58 16 ) ) PUNCT fcis-7989 58 17 + + CCONJ fcis-7989 58 18 οΏ½ οΏ½ PROPN fcis-7989 58 19 Μ‚ Μ‚ NOUN fcis-7989 58 20 οΏ½ οΏ½ NOUN fcis-7989 58 21 𝑓 𝑓 PRON fcis-7989 58 22 ( ( PUNCT fcis-7989 58 23 18 18 NUM fcis-7989 58 24 ) ) PUNCT fcis-7989 58 25 therefore，this therefore，this DET fcis-7989 58 26 paper paper NOUN fcis-7989 58 27 uses use VERB fcis-7989 58 28 π‘‡π‘šπ‘  π‘‡π‘šπ‘  PROPN fcis-7989 58 29 as as ADP fcis-7989 58 30 the the DET fcis-7989 58 31 output output NOUN fcis-7989 58 32 of of ADP fcis-7989 58 33 the the DET fcis-7989 58 34 torque torque NOUN fcis-7989 58 35 feedforward feedforward NOUN fcis-7989 58 36 controller controller NOUN fcis-7989 58 37 and and CCONJ fcis-7989 58 38 refers refer VERB fcis-7989 58 39 to to ADP fcis-7989 58 40 it it PRON fcis-7989 58 41 as as ADP fcis-7989 58 42 π‘‡π‘šπ‘“. π‘‡π‘šπ‘“. PROPN fcis-7989 58 43 this this DET fcis-7989 58 44 paper paper NOUN fcis-7989 58 45 takes take VERB fcis-7989 58 46 πœ”π‘ πœ”π‘ NOUN fcis-7989 58 47 β†’ β†’ SYM fcis-7989 58 48 πœ”π‘Ÿ πœ”π‘Ÿ SCONJ fcis-7989 58 49 , , PUNCT fcis-7989 58 50 πœ”π‘Ÿ πœ”π‘Ÿ SCONJ fcis-7989 58 51 β†’ β†’ SYM fcis-7989 58 52 πœ”ref πœ”ref PROPN fcis-7989 58 53 is be AUX fcis-7989 58 54 the the DET fcis-7989 58 55 control control NOUN fcis-7989 58 56 target target NOUN fcis-7989 58 57 of of ADP fcis-7989 58 58 the the DET fcis-7989 58 59 sliding slide VERB fcis-7989 58 60 mode mode NOUN fcis-7989 58 61 controller controller NOUN fcis-7989 58 62 , , PUNCT fcis-7989 58 63 and and CCONJ fcis-7989 58 64 an an DET fcis-7989 58 65 integral integral ADJ fcis-7989 58 66 sliding slide VERB fcis-7989 58 67 mode mode NOUN fcis-7989 58 68 surface surface NOUN fcis-7989 58 69 is be AUX fcis-7989 58 70 selected select VERB fcis-7989 58 71 for for ADP fcis-7989 58 72 the the DET fcis-7989 58 73 sliding slide VERB fcis-7989 58 74 mode mode NOUN fcis-7989 58 75 controller controller NOUN fcis-7989 58 76 . . PUNCT fcis-7989 59 1 the the DET fcis-7989 59 2 structure structure NOUN fcis-7989 59 3 of of ADP fcis-7989 59 4 the the DET fcis-7989 59 5 sliding slide VERB fcis-7989 59 6 mode mode NOUN fcis-7989 59 7 surface surface NOUN fcis-7989 59 8 is be AUX fcis-7989 59 9 : : PUNCT fcis-7989 59 10 𝑠 𝑠 PROPN fcis-7989 59 11 = = PUNCT fcis-7989 59 12 ( ( PUNCT fcis-7989 59 13 πœ”π‘Ÿ πœ”π‘Ÿ VERB fcis-7989 59 14 βˆ’ βˆ’ NOUN fcis-7989 59 15 πœ”π‘Ÿπ‘’π‘“ πœ”π‘Ÿπ‘’π‘“ NOUN fcis-7989 59 16 ) ) PUNCT fcis-7989 59 17 + + CCONJ fcis-7989 60 1 πœ† πœ† PROPN fcis-7989 60 2 ∫ ∫ PROPN fcis-7989 60 3 ( ( PUNCT fcis-7989 60 4 πœ”π‘Ÿ πœ”π‘Ÿ VERB fcis-7989 60 5 βˆ’ βˆ’ PROPN fcis-7989 60 6 πœ”π‘Ÿπ‘’π‘“ πœ”π‘Ÿπ‘’π‘“ X fcis-7989 60 7 𝑑 𝑑 NOUN fcis-7989 60 8 0 0 NUM fcis-7989 60 9 ) ) PUNCT fcis-7989 61 1 + + CCONJ fcis-7989 61 2 ( ( PUNCT fcis-7989 61 3 πœ”π‘Ÿ πœ”π‘Ÿ ADP fcis-7989 61 4 βˆ’πœ”π‘)π‘‘πœ βˆ’πœ”π‘)π‘‘πœ X fcis-7989 61 5 ( ( PUNCT fcis-7989 61 6 19 19 NUM fcis-7989 61 7 ) ) PUNCT fcis-7989 61 8 where where SCONJ fcis-7989 61 9 πœ† πœ† NOUN fcis-7989 61 10 is be AUX fcis-7989 61 11 the the DET fcis-7989 61 12 sliding slide VERB fcis-7989 61 13 mode mode NOUN fcis-7989 61 14 area area NOUN fcis-7989 61 15 partition partition NOUN fcis-7989 61 16 coefficient coefficient NOUN fcis-7989 61 17 ? ? PUNCT fcis-7989 62 1 the the DET fcis-7989 62 2 control control NOUN fcis-7989 62 3 law law NOUN fcis-7989 62 4 of of ADP fcis-7989 62 5 sliding slide VERB fcis-7989 62 6 mode mode NOUN fcis-7989 62 7 controller controller NOUN fcis-7989 62 8 is be AUX fcis-7989 62 9 π‘’π‘ π‘šπ‘ π‘’π‘ π‘šπ‘ NOUN fcis-7989 62 10 = = SYM fcis-7989 62 11 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 62 12 ( ( PUNCT fcis-7989 62 13 𝑐+π‘π‘Ÿ 𝑐+π‘π‘Ÿ NOUN fcis-7989 63 1 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 63 2 πœ”π‘Ÿ πœ”π‘Ÿ ADP fcis-7989 63 3 βˆ’ βˆ’ PROPN fcis-7989 63 4 𝑐 𝑐 PROPN fcis-7989 63 5 π½π‘Ÿ π½π‘Ÿ VERB fcis-7989 63 6 πœ”π‘ πœ”π‘ ADV fcis-7989 63 7 + + NOUN fcis-7989 63 8 π‘˜ π‘˜ X fcis-7989 63 9 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 63 10 βˆ†πœ‘ βˆ†πœ‘ PROPN fcis-7989 63 11 + + NUM fcis-7989 63 12 οΏ½ οΏ½ PROPN fcis-7989 63 13 Μ‡ Μ‡ PROPN fcis-7989 63 14 οΏ½ οΏ½ PROPN fcis-7989 63 15 π‘Ÿπ‘’π‘“ π‘Ÿπ‘’π‘“ PROPN fcis-7989 63 16 βˆ’ βˆ’ PROPN fcis-7989 63 17 πœ†(2πœ”π‘Ÿ πœ†(2πœ”π‘Ÿ NOUN fcis-7989 63 18 βˆ’ βˆ’ PROPN fcis-7989 63 19 πœ”π‘ πœ”π‘ NOUN fcis-7989 63 20 βˆ’ βˆ’ PROPN fcis-7989 63 21 πœ”π‘Ÿπ‘’π‘“ πœ”π‘Ÿπ‘’π‘“ NOUN fcis-7989 63 22 ) ) PUNCT fcis-7989 63 23 βˆ’ βˆ’ PROPN fcis-7989 63 24 πœ€ πœ€ PROPN fcis-7989 63 25 π‘ π‘Žπ‘‘(𝑠 π‘ π‘Žπ‘‘(𝑠 PROPN fcis-7989 63 26 ) ) PUNCT fcis-7989 63 27 βˆ’ βˆ’ PROPN fcis-7989 63 28 πœ‚π‘  πœ‚π‘  NOUN fcis-7989 63 29 ) ) PUNCT fcis-7989 63 30 ( ( PUNCT fcis-7989 63 31 20 20 NUM fcis-7989 63 32 ) ) PUNCT fcis-7989 63 33 where where SCONJ fcis-7989 63 34 , , PUNCT fcis-7989 63 35 sat sit VERB fcis-7989 63 36 ( ( PUNCT fcis-7989 63 37 … … PUNCT fcis-7989 63 38 ) ) PUNCT fcis-7989 63 39 is be AUX fcis-7989 63 40 the the DET fcis-7989 63 41 saturation saturation NOUN fcis-7989 63 42 function function NOUN fcis-7989 63 43 ; ; PUNCT fcis-7989 63 44 πœ€ πœ€ NOUN fcis-7989 63 45 , , PUNCT fcis-7989 63 46 πœ‚ πœ‚ PRON fcis-7989 63 47 is be AUX fcis-7989 63 48 a a DET fcis-7989 63 49 sliding slide VERB fcis-7989 63 50 mode mode NOUN fcis-7989 63 51 controller controller NOUN fcis-7989 63 52 parameter parameter NOUN fcis-7989 63 53 . . PUNCT fcis-7989 64 1 οΏ½ οΏ½ PROPN fcis-7989 64 2 Μ‚ Μ‚ SYM fcis-7989 64 3 οΏ½ οΏ½ PROPN fcis-7989 64 4 f f PROPN fcis-7989 64 5 state state NOUN fcis-7989 64 6 observer observer NOUN fcis-7989 64 7 plant plant NOUN fcis-7989 64 8 tf tf PROPN fcis-7989 64 9 smc smc PROPN fcis-7989 64 10 πœ”ref πœ”ref PROPN fcis-7989 64 11 π‘‡π‘šπ‘“ π‘‡π‘šπ‘“ PROPN fcis-7989 64 12 π‘’π‘ π‘šπ‘ π‘’π‘ π‘šπ‘ PROPN fcis-7989 64 13 π‘‡π‘š π‘‡π‘š PROPN fcis-7989 64 14 πœ”π‘Ÿ πœ”π‘Ÿ ADP fcis-7989 64 15 , , PUNCT fcis-7989 64 16 π‘‡π‘š π‘‡π‘š PROPN fcis-7989 64 17 οΏ½ οΏ½ PROPN fcis-7989 64 18 Μ‚ Μ‚ NOUN fcis-7989 64 19 οΏ½ οΏ½ NOUN fcis-7989 64 20 𝑏 𝑏 NOUN fcis-7989 64 21 pid pid NOUN fcis-7989 64 22 πœ”π‘Ÿ πœ”π‘Ÿ ADP fcis-7989 64 23 32 32 NUM fcis-7989 64 24 the the DET fcis-7989 64 25 pid pid NOUN fcis-7989 64 26 controller controller NOUN fcis-7989 64 27 in in ADP fcis-7989 64 28 figure figure NOUN fcis-7989 64 29 2 2 NUM fcis-7989 64 30 indirectly indirectly ADV fcis-7989 64 31 controls control VERB fcis-7989 64 32 the the DET fcis-7989 64 33 bit bit NOUN fcis-7989 64 34 speed speed NOUN fcis-7989 64 35 only only ADV fcis-7989 64 36 with with ADP fcis-7989 64 37 the the DET fcis-7989 64 38 top top ADJ fcis-7989 64 39 drive drive NOUN fcis-7989 64 40 speed speed NOUN fcis-7989 64 41 as as ADP fcis-7989 64 42 the the DET fcis-7989 64 43 feedback feedback NOUN fcis-7989 64 44 signal signal NOUN fcis-7989 64 45 . . PUNCT fcis-7989 65 1 4 4 X fcis-7989 65 2 . . X fcis-7989 65 3 controller controller NOUN fcis-7989 65 4 performance performance NOUN fcis-7989 65 5 analysis analysis NOUN fcis-7989 65 6 the the DET fcis-7989 65 7 parameters parameter NOUN fcis-7989 65 8 of of ADP fcis-7989 65 9 the the DET fcis-7989 65 10 system system NOUN fcis-7989 65 11 are be AUX fcis-7989 65 12 shown show VERB fcis-7989 65 13 in in ADP fcis-7989 65 14 table table NOUN fcis-7989 65 15 1 1 NUM fcis-7989 65 16 . . PUNCT fcis-7989 66 1 set set VERB fcis-7989 66 2 expected expect VERB fcis-7989 66 3 torque torque NOUN fcis-7989 66 4 π‘‡π‘šπ‘Ÿπ‘’π‘“ π‘‡π‘šπ‘Ÿπ‘’π‘“ PROPN fcis-7989 66 5 = = SYM fcis-7989 66 6 12000nmm 12000nmm PROPN fcis-7989 66 7 . . PUNCT fcis-7989 67 1 according accord VERB fcis-7989 67 2 to to ADP fcis-7989 67 3 equation equation NOUN fcis-7989 67 4 12 12 NUM fcis-7989 67 5 , , PUNCT fcis-7989 67 6 when when SCONJ fcis-7989 67 7 the the DET fcis-7989 67 8 system system NOUN fcis-7989 67 9 is be AUX fcis-7989 67 10 stable stable ADJ fcis-7989 67 11 , , PUNCT fcis-7989 67 12 οΏ½ οΏ½ PROPN fcis-7989 67 13 Μ‡ Μ‡ PROPN fcis-7989 67 14 οΏ½ οΏ½ NOUN fcis-7989 67 15 =0 =0 NOUN fcis-7989 67 16 , , PUNCT fcis-7989 67 17 the the DET fcis-7989 67 18 relationship relationship NOUN fcis-7989 67 19 between between ADP fcis-7989 67 20 the the DET fcis-7989 67 21 expected expect VERB fcis-7989 67 22 speed speed NOUN fcis-7989 67 23 and and CCONJ fcis-7989 67 24 the the DET fcis-7989 67 25 expected expect VERB fcis-7989 67 26 torque torque NOUN fcis-7989 67 27 is be AUX fcis-7989 67 28 πœ”ref πœ”ref PROPN fcis-7989 67 29 = = PUNCT fcis-7989 67 30 πœ”π‘Ÿ πœ”π‘Ÿ SCONJ fcis-7989 67 31 = = VERB fcis-7989 67 32 πœ”π‘ πœ”π‘ NOUN fcis-7989 67 33 = = SYM fcis-7989 67 34 𝑇mβˆ’π‘‡π‘“π‘  𝑇mβˆ’π‘‡π‘“π‘  PROPN fcis-7989 67 35 π‘π‘Ÿ+π‘π‘Ÿ π‘π‘Ÿ+π‘π‘Ÿ X fcis-7989 67 36 ( ( PUNCT fcis-7989 67 37 21 21 NUM fcis-7989 67 38 ) ) PUNCT fcis-7989 67 39 the the DET fcis-7989 67 40 expected expect VERB fcis-7989 67 41 speed speed NOUN fcis-7989 67 42 of of ADP fcis-7989 67 43 the the DET fcis-7989 67 44 system system NOUN fcis-7989 67 45 is be AUX fcis-7989 67 46 obtained obtain VERB fcis-7989 67 47 from from ADP fcis-7989 67 48 equation equation NOUN fcis-7989 67 49 21 21 NUM fcis-7989 67 50 . . PUNCT fcis-7989 68 1 πœ”ref=9.32rad πœ”ref=9.32rad PROPN fcis-7989 68 2 / / SYM fcis-7989 68 3 s. s. PROPN fcis-7989 68 4 the the DET fcis-7989 68 5 performance performance NOUN fcis-7989 68 6 of of ADP fcis-7989 68 7 the the DET fcis-7989 68 8 system system NOUN fcis-7989 68 9 is be AUX fcis-7989 68 10 shown show VERB fcis-7989 68 11 in in ADP fcis-7989 68 12 figure figure NOUN fcis-7989 68 13 3 3 NUM fcis-7989 68 14 . . PUNCT fcis-7989 68 15 table table NOUN fcis-7989 68 16 1 1 NUM fcis-7989 68 17 . . PUNCT fcis-7989 69 1 parameters parameter NOUN fcis-7989 69 2 parameter parameter PROPN fcis-7989 69 3 value value NOUN fcis-7989 69 4 parameter parameter NOUN fcis-7989 69 5 value value NOUN fcis-7989 69 6 parameter parameter NOUN fcis-7989 69 7 value value NOUN fcis-7989 69 8 π½π‘Ÿ π½π‘Ÿ PROPN fcis-7989 69 9 2122 2122 NUM fcis-7989 69 10 kgΒ·m2 kgΒ·m2 NOUN fcis-7989 69 11 𝑐𝑏 𝑐𝑏 CCONJ fcis-7989 69 12 50 50 NUM fcis-7989 69 13 nΒ·mΒ·sΒ·rad-1 nΒ·mΒ·sΒ·rad-1 NOUN fcis-7989 70 1 π‘Šπ‘œπ‘ π‘Šπ‘œπ‘ PROPN fcis-7989 70 2 97533 97533 NUM fcis-7989 70 3 n n CCONJ fcis-7989 70 4 𝐽𝑏 𝐽𝑏 PROPN fcis-7989 70 5 374 374 NUM fcis-7989 70 6 kgΒ·m2 kgΒ·m2 PROPN fcis-7989 70 7 πœ‡π‘π‘ πœ‡π‘π‘ NOUN fcis-7989 70 8 0.5 0.5 NUM fcis-7989 70 9 𝑅𝑏 𝑅𝑏 PROPN fcis-7989 70 10 0.156 0.156 NUM fcis-7989 70 11 m m PROPN fcis-7989 70 12 𝑐 𝑐 PROPN fcis-7989 70 13 23.2 23.2 NUM fcis-7989 70 14 nΒ·mΒ·sΒ·rad-1 nΒ·mΒ·sΒ·rad-1 NOUN fcis-7989 70 15 πœ‡π‘ π‘ πœ‡π‘ π‘ VERB fcis-7989 70 16 0.8 0.8 NUM fcis-7989 70 17 π‘π‘Ÿ π‘π‘Ÿ ADP fcis-7989 70 18 425 425 NUM fcis-7989 70 19 nΒ·mΒ·sΒ·rad-1 nΒ·mΒ·sΒ·rad-1 NOUN fcis-7989 70 20 π‘˜ π‘˜ ADP fcis-7989 70 21 473 473 NUM fcis-7989 70 22 nΒ·mΒ·rad-1 nΒ·mΒ·rad-1 DET fcis-7989 70 23 𝛾𝑏 𝛾𝑏 PROPN fcis-7989 70 24 0.9 0.9 NUM fcis-7989 70 25 𝑣𝑓 𝑣𝑓 ADP fcis-7989 70 26 1 1 NUM fcis-7989 70 27 𝐷𝑣 𝐷𝑣 NOUN fcis-7989 70 28 0.001 0.001 NUM fcis-7989 70 29 mΒ·s-1 mΒ·s-1 NOUN fcis-7989 70 30 0 0 NUM fcis-7989 70 31 10 10 NUM fcis-7989 70 32 20 20 NUM fcis-7989 70 33 30 30 NUM fcis-7989 70 34 40 40 NUM fcis-7989 70 35 50 50 NUM fcis-7989 70 36 4 4 NUM fcis-7989 70 37 10 10 NUM fcis-7989 70 38 16 16 NUM fcis-7989 70 39 22 22 NUM fcis-7989 70 40 w w NOUN fcis-7989 70 41 / / SYM fcis-7989 70 42 r r NOUN fcis-7989 70 43 ad ad NOUN fcis-7989 70 44 -s -s X fcis-7989 70 45 t t PROPN fcis-7989 70 46 / / SYM fcis-7989 70 47 s s VERB fcis-7989 70 48 wref wref NOUN fcis-7989 70 49 wr wr PROPN fcis-7989 70 50 wb wb PROPN fcis-7989 70 51 figure figure NOUN fcis-7989 70 52 3 3 NUM fcis-7989 70 53 . . PUNCT fcis-7989 70 54 raw raw ADJ fcis-7989 70 55 system system NOUN fcis-7989 70 56 performance performance NOUN fcis-7989 70 57 from from ADP fcis-7989 70 58 figure figure NOUN fcis-7989 70 59 3 3 NUM fcis-7989 70 60 , , PUNCT fcis-7989 70 61 it it PRON fcis-7989 70 62 can can AUX fcis-7989 70 63 be be AUX fcis-7989 70 64 seen see VERB fcis-7989 70 65 that that SCONJ fcis-7989 70 66 there there PRON fcis-7989 70 67 is be VERB fcis-7989 70 68 a a DET fcis-7989 70 69 periodic periodic ADJ fcis-7989 70 70 oscillation oscillation NOUN fcis-7989 70 71 in in ADP fcis-7989 70 72 the the DET fcis-7989 70 73 top top ADJ fcis-7989 70 74 drive drive ADJ fcis-7989 70 75 rotary rotary ADJ fcis-7989 70 76 table table NOUN fcis-7989 70 77 speed speed NOUN fcis-7989 70 78 , , PUNCT fcis-7989 70 79 and and CCONJ fcis-7989 70 80 the the DET fcis-7989 70 81 drill drill NOUN fcis-7989 70 82 bit bit NOUN fcis-7989 70 83 speed speed NOUN fcis-7989 70 84 is be AUX fcis-7989 70 85 in in ADP fcis-7989 70 86 a a DET fcis-7989 70 87 stagnant stagnant ADJ fcis-7989 70 88 , , PUNCT fcis-7989 70 89 high high ADJ fcis-7989 70 90 - - PUNCT fcis-7989 70 91 speed speed NOUN fcis-7989 70 92 sliding slide VERB fcis-7989 70 93 periodic periodic ADJ fcis-7989 70 94 vibration vibration NOUN fcis-7989 70 95 state state NOUN fcis-7989 70 96 , , PUNCT fcis-7989 70 97 that that ADV fcis-7989 70 98 is is ADV fcis-7989 70 99 , , PUNCT fcis-7989 70 100 a a DET fcis-7989 70 101 stick stick NOUN fcis-7989 70 102 - - PUNCT fcis-7989 70 103 slip slip NOUN fcis-7989 70 104 vibration vibration NOUN fcis-7989 70 105 state state NOUN fcis-7989 70 106 . . PUNCT fcis-7989 71 1 at at ADP fcis-7989 71 2 the the DET fcis-7989 71 3 same same ADJ fcis-7989 71 4 desired desire VERB fcis-7989 71 5 speed speed NOUN fcis-7989 71 6 , , PUNCT fcis-7989 71 7 this this DET fcis-7989 71 8 paper paper NOUN fcis-7989 71 9 studies study VERB fcis-7989 71 10 the the DET fcis-7989 71 11 influence influence NOUN fcis-7989 71 12 of of ADP fcis-7989 71 13 pid pid PROPN fcis-7989 71 14 , , PUNCT fcis-7989 71 15 smc smc PROPN fcis-7989 71 16 , , PUNCT fcis-7989 71 17 torque torque NOUN fcis-7989 71 18 feedforward feedforward NOUN fcis-7989 71 19 sliding slide VERB fcis-7989 71 20 mode mode NOUN fcis-7989 71 21 controller controller NOUN fcis-7989 71 22 ( ( PUNCT fcis-7989 71 23 tf tf PROPN fcis-7989 71 24 - - PUNCT fcis-7989 71 25 smc smc NOUN fcis-7989 71 26 ) ) PUNCT fcis-7989 71 27 , , PUNCT fcis-7989 71 28 torque torque NOUN fcis-7989 71 29 feedforward feedforward NOUN fcis-7989 71 30 sliding slide VERB fcis-7989 71 31 mode mode NOUN fcis-7989 71 32 controller controller NOUN fcis-7989 71 33 and and CCONJ fcis-7989 71 34 pid pid NOUN fcis-7989 71 35 parallel parallel ADJ fcis-7989 71 36 controller controller NOUN fcis-7989 71 37 ( ( PUNCT fcis-7989 71 38 tf tf PROPN fcis-7989 71 39 - - PUNCT fcis-7989 71 40 smc smc NOUN fcis-7989 71 41 - - NOUN fcis-7989 71 42 pid pid NOUN fcis-7989 71 43 ) ) PUNCT fcis-7989 71 44 on on ADP fcis-7989 71 45 the the DET fcis-7989 71 46 performance performance NOUN fcis-7989 71 47 of of ADP fcis-7989 71 48 the the DET fcis-7989 71 49 drill drill NOUN fcis-7989 71 50 string string NOUN fcis-7989 71 51 system system NOUN fcis-7989 71 52 . . PUNCT fcis-7989 72 1 the the DET fcis-7989 72 2 system system NOUN fcis-7989 72 3 performance performance NOUN fcis-7989 72 4 is be AUX fcis-7989 72 5 shown show VERB fcis-7989 72 6 in in ADP fcis-7989 72 7 figure figure NOUN fcis-7989 72 8 4 4 NUM fcis-7989 72 9 . . PUNCT fcis-7989 72 10 from from ADP fcis-7989 72 11 figure figure NOUN fcis-7989 72 12 4 4 NUM fcis-7989 72 13 , , PUNCT fcis-7989 72 14 it it PRON fcis-7989 72 15 can can AUX fcis-7989 72 16 be be AUX fcis-7989 72 17 seen see VERB fcis-7989 72 18 that that SCONJ fcis-7989 72 19 the the DET fcis-7989 72 20 time time NOUN fcis-7989 72 21 when when SCONJ fcis-7989 72 22 the the DET fcis-7989 72 23 top top ADJ fcis-7989 72 24 drive drive VERB fcis-7989 72 25 speed speed NOUN fcis-7989 72 26 of of ADP fcis-7989 72 27 the the DET fcis-7989 72 28 system system NOUN fcis-7989 72 29 reaches reach VERB fcis-7989 72 30 stability stability NOUN fcis-7989 72 31 is be AUX fcis-7989 72 32 basically basically ADV fcis-7989 72 33 the the DET fcis-7989 72 34 same same ADJ fcis-7989 72 35 , , PUNCT fcis-7989 72 36 and and CCONJ fcis-7989 72 37 the the DET fcis-7989 72 38 speed speed NOUN fcis-7989 72 39 vibration vibration NOUN fcis-7989 72 40 peak peak NOUN fcis-7989 72 41 value value NOUN fcis-7989 72 42 of of ADP fcis-7989 72 43 the the DET fcis-7989 72 44 pid pid NOUN fcis-7989 72 45 controller controller NOUN fcis-7989 72 46 scheme scheme NOUN fcis-7989 72 47 is be AUX fcis-7989 72 48 relatively relatively ADV fcis-7989 72 49 low low ADJ fcis-7989 72 50 . . PUNCT fcis-7989 73 1 in in ADP fcis-7989 73 2 terms term NOUN fcis-7989 73 3 of of ADP fcis-7989 73 4 drill drill NOUN fcis-7989 73 5 speed speed NOUN fcis-7989 73 6 control control NOUN fcis-7989 73 7 , , PUNCT fcis-7989 73 8 compared compare VERB fcis-7989 73 9 to to ADP fcis-7989 73 10 pid pid NOUN fcis-7989 73 11 controllers controller NOUN fcis-7989 73 12 , , PUNCT fcis-7989 73 13 the the DET fcis-7989 73 14 other other ADJ fcis-7989 73 15 three three NUM fcis-7989 73 16 controllers controller NOUN fcis-7989 73 17 have have VERB fcis-7989 73 18 significantly significantly ADV fcis-7989 73 19 better well ADJ fcis-7989 73 20 control control NOUN fcis-7989 73 21 effects effect NOUN fcis-7989 73 22 . . PUNCT fcis-7989 74 1 the the DET fcis-7989 74 2 drill drill NOUN fcis-7989 74 3 bit bit NOUN fcis-7989 74 4 speed speed NOUN fcis-7989 74 5 can can AUX fcis-7989 74 6 basically basically ADV fcis-7989 74 7 reach reach VERB fcis-7989 74 8 a a DET fcis-7989 74 9 steady steady ADJ fcis-7989 74 10 state state NOUN fcis-7989 74 11 within within ADP fcis-7989 74 12 20 20 NUM fcis-7989 74 13 seconds second NOUN fcis-7989 74 14 . . PUNCT fcis-7989 75 1 among among ADP fcis-7989 75 2 them they PRON fcis-7989 75 3 , , PUNCT fcis-7989 75 4 the the DET fcis-7989 75 5 tf tf PROPN fcis-7989 75 6 - - PUNCT fcis-7989 75 7 smc smc NOUN fcis-7989 75 8 - - ADJ fcis-7989 75 9 pid pid NOUN fcis-7989 75 10 controller controller NOUN fcis-7989 75 11 has have VERB fcis-7989 75 12 significantly significantly ADV fcis-7989 75 13 better well ADJ fcis-7989 75 14 overshoot overshoot ADJ fcis-7989 75 15 indicators indicator NOUN fcis-7989 75 16 for for ADP fcis-7989 75 17 drill drill NOUN fcis-7989 75 18 bit bit NOUN fcis-7989 75 19 speed speed NOUN fcis-7989 75 20 , , PUNCT fcis-7989 75 21 and and CCONJ fcis-7989 75 22 the the DET fcis-7989 75 23 peak peak NOUN fcis-7989 75 24 to to PART fcis-7989 75 25 peak peak VERB fcis-7989 75 26 oscillation oscillation NOUN fcis-7989 75 27 is be AUX fcis-7989 75 28 significantly significantly ADV fcis-7989 75 29 lower low ADJ fcis-7989 75 30 compared compare VERB fcis-7989 75 31 to to ADP fcis-7989 75 32 other other ADJ fcis-7989 75 33 controllers controller NOUN fcis-7989 75 34 . . PUNCT fcis-7989 76 1 0 0 NUM fcis-7989 77 1 10 10 NUM fcis-7989 77 2 20 20 NUM fcis-7989 77 3 30 30 NUM fcis-7989 77 4 0 0 NUM fcis-7989 77 5 3 3 NUM fcis-7989 77 6 6 6 NUM fcis-7989 77 7 9 9 NUM fcis-7989 77 8 12 12 NUM fcis-7989 77 9 15 15 NUM fcis-7989 77 10 w w NOUN fcis-7989 77 11 / / SYM fcis-7989 77 12 r r NOUN fcis-7989 77 13 ad ad NOUN fcis-7989 77 14 -s -s X fcis-7989 77 15 t t PROPN fcis-7989 77 16 / / SYM fcis-7989 77 17 s s VERB fcis-7989 77 18 wref wref NOUN fcis-7989 77 19 wr wr PROPN fcis-7989 77 20 tf tf PROPN fcis-7989 77 21 - - PUNCT fcis-7989 77 22 smc smc NOUN fcis-7989 77 23 - - PUNCT fcis-7989 77 24 pid pid ADJ fcis-7989 77 25 wr wr PROPN fcis-7989 77 26 tf tf PROPN fcis-7989 77 27 - - PUNCT fcis-7989 77 28 smc smc PROPN fcis-7989 77 29 wr wr PROPN fcis-7989 77 30 smc smc PROPN fcis-7989 77 31 wr wr PROPN fcis-7989 77 32 pid pid PROPN fcis-7989 77 33 ( ( PUNCT fcis-7989 77 34 a a NOUN fcis-7989 77 35 ) ) PUNCT fcis-7989 77 36 0 0 NUM fcis-7989 77 37 10 10 NUM fcis-7989 77 38 20 20 NUM fcis-7989 77 39 30 30 NUM fcis-7989 77 40 0 0 NUM fcis-7989 77 41 4 4 NUM fcis-7989 77 42 8 8 NUM fcis-7989 77 43 12 12 NUM fcis-7989 77 44 16 16 NUM fcis-7989 77 45 20 20 NUM fcis-7989 77 46 w w NOUN fcis-7989 77 47 / / SYM fcis-7989 77 48 r r NOUN fcis-7989 77 49 ad ad NOUN fcis-7989 77 50 -s -s X fcis-7989 77 51 t t PROPN fcis-7989 77 52 / / SYM fcis-7989 77 53 s s VERB fcis-7989 77 54 wref wref NOUN fcis-7989 77 55 wr wr PROPN fcis-7989 77 56 tf tf PROPN fcis-7989 77 57 - - PUNCT fcis-7989 77 58 smc smc NOUN fcis-7989 77 59 - - PUNCT fcis-7989 77 60 pid pid ADJ fcis-7989 77 61 wr wr PROPN fcis-7989 77 62 tf tf PROPN fcis-7989 77 63 - - PUNCT fcis-7989 77 64 smc smc PROPN fcis-7989 77 65 wr wr PROPN fcis-7989 77 66 smc smc PROPN fcis-7989 77 67 wr wr PROPN fcis-7989 77 68 pid pid PROPN fcis-7989 77 69 ( ( PUNCT fcis-7989 77 70 b b NOUN fcis-7989 77 71 ) ) PUNCT fcis-7989 77 72 figure figure NOUN fcis-7989 77 73 4 4 NUM fcis-7989 77 74 . . PUNCT fcis-7989 78 1 the the DET fcis-7989 78 2 influence influence NOUN fcis-7989 78 3 of of ADP fcis-7989 78 4 several several ADJ fcis-7989 78 5 controllers controller NOUN fcis-7989 78 6 on on ADP fcis-7989 78 7 system system NOUN fcis-7989 78 8 performance performance NOUN fcis-7989 78 9 0 0 NUM fcis-7989 78 10 10 10 NUM fcis-7989 78 11 20 20 NUM fcis-7989 78 12 30 30 NUM fcis-7989 78 13 0 0 NUM fcis-7989 78 14 4 4 NUM fcis-7989 78 15 8 8 NUM fcis-7989 78 16 12 12 NUM fcis-7989 78 17 16 16 NUM fcis-7989 78 18 20 20 NUM fcis-7989 78 19 w w NOUN fcis-7989 78 20 / / SYM fcis-7989 78 21 r r NOUN fcis-7989 78 22 ad ad NOUN fcis-7989 78 23 -s -s AUX fcis-7989 78 24 t t PROPN fcis-7989 78 25 / / SYM fcis-7989 78 26 s s VERB fcis-7989 78 27 wref wref NOUN fcis-7989 78 28 wb wb PROPN fcis-7989 78 29 tf tf PROPN fcis-7989 78 30 - - PUNCT fcis-7989 78 31 smc smc NOUN fcis-7989 78 32 - - ADJ fcis-7989 78 33 pid pid NOUN fcis-7989 78 34 wb wb PROPN fcis-7989 78 35 tf tf PROPN fcis-7989 78 36 - - PUNCT fcis-7989 78 37 smc smc PROPN fcis-7989 78 38 wb wb PROPN fcis-7989 78 39 smc smc PROPN fcis-7989 78 40 wb wb PROPN fcis-7989 78 41 pid pid PROPN fcis-7989 78 42 ( ( PUNCT fcis-7989 78 43 a a NOUN fcis-7989 78 44 ) ) PUNCT fcis-7989 78 45 0 0 NUM fcis-7989 78 46 10 10 NUM fcis-7989 78 47 20 20 NUM fcis-7989 78 48 30 30 NUM fcis-7989 78 49 0 0 NUM fcis-7989 78 50 6 6 NUM fcis-7989 78 51 12 12 NUM fcis-7989 78 52 18 18 NUM fcis-7989 78 53 24 24 NUM fcis-7989 78 54 30 30 NUM fcis-7989 78 55 w w NOUN fcis-7989 78 56 / / SYM fcis-7989 78 57 r r NOUN fcis-7989 78 58 ad ad NOUN fcis-7989 78 59 -s -s AUX fcis-7989 78 60 t t PROPN fcis-7989 78 61 / / SYM fcis-7989 78 62 s s VERB fcis-7989 78 63 wref wref NOUN fcis-7989 78 64 wb wb PROPN fcis-7989 78 65 tf tf PROPN fcis-7989 78 66 - - PUNCT fcis-7989 78 67 smc smc NOUN fcis-7989 78 68 - - ADJ fcis-7989 78 69 pid pid NOUN fcis-7989 78 70 wb wb PROPN fcis-7989 78 71 tf tf PROPN fcis-7989 78 72 - - PUNCT fcis-7989 78 73 smc smc PROPN fcis-7989 78 74 wb wb PROPN fcis-7989 78 75 smc smc PROPN fcis-7989 78 76 wb wb PROPN fcis-7989 78 77 pid pid PROPN fcis-7989 78 78 ( ( PUNCT fcis-7989 78 79 b b NOUN fcis-7989 78 80 ) ) PUNCT fcis-7989 78 81 figure figure NOUN fcis-7989 78 82 5 5 NUM fcis-7989 78 83 . . PUNCT fcis-7989 78 84 system system NOUN fcis-7989 78 85 performance performance NOUN fcis-7989 78 86 : : PUNCT fcis-7989 78 87 ( ( PUNCT fcis-7989 78 88 a a X fcis-7989 78 89 ) ) PUNCT fcis-7989 78 90 low low ADJ fcis-7989 78 91 speed speed NOUN fcis-7989 78 92 ( ( PUNCT fcis-7989 78 93 b b NOUN fcis-7989 78 94 ) ) PUNCT fcis-7989 78 95 high high ADJ fcis-7989 78 96 bit bit NOUN fcis-7989 78 97 pressure pressure NOUN fcis-7989 78 98 set set VERB fcis-7989 78 99 the the DET fcis-7989 78 100 expected expect VERB fcis-7989 78 101 speed speed NOUN fcis-7989 78 102 πœ”ref πœ”ref PROPN fcis-7989 78 103 = = SYM fcis-7989 78 104 5.5rad 5.5rad NUM fcis-7989 78 105 / / SYM fcis-7989 78 106 s s PROPN fcis-7989 78 107 , , PUNCT fcis-7989 78 108 and and CCONJ fcis-7989 78 109 the the DET fcis-7989 78 110 performance performance NOUN fcis-7989 78 111 of of ADP fcis-7989 78 112 each each DET fcis-7989 78 113 controller controller NOUN fcis-7989 78 114 is be AUX fcis-7989 78 115 shown show VERB fcis-7989 78 116 in in ADP fcis-7989 78 117 figure figure NOUN fcis-7989 78 118 5(a 5(a NUM fcis-7989 78 119 ) ) PUNCT fcis-7989 78 120 . . PUNCT fcis-7989 79 1 after after ADP fcis-7989 79 2 setting set VERB fcis-7989 79 3 the the DET fcis-7989 79 4 expected expect VERB fcis-7989 79 5 speed speed NOUN fcis-7989 79 6 πœ”ref πœ”ref PROPN fcis-7989 79 7 = = SYM fcis-7989 79 8 9.32rad 9.32rad NUM fcis-7989 79 9 / / SYM fcis-7989 79 10 s s X fcis-7989 79 11 and and CCONJ fcis-7989 79 12 increasing increase VERB fcis-7989 79 13 the the DET fcis-7989 79 14 π‘Šπ‘œπ‘ π‘Šπ‘œπ‘ PROPN fcis-7989 79 15 to to ADP fcis-7989 79 16 150000n 150000n NUM fcis-7989 79 17 , , PUNCT fcis-7989 79 18 the the DET fcis-7989 79 19 performance performance NOUN fcis-7989 79 20 of of ADP fcis-7989 79 21 each each DET fcis-7989 79 22 controller controller NOUN fcis-7989 79 23 is be AUX fcis-7989 79 24 33 33 NUM fcis-7989 79 25 shown show VERB fcis-7989 79 26 in in ADP fcis-7989 79 27 figure figure NOUN fcis-7989 79 28 5.2(b 5.2(b NUM fcis-7989 79 29 ) ) PUNCT fcis-7989 79 30 . . PUNCT fcis-7989 80 1 from from ADP fcis-7989 80 2 figure figure NOUN fcis-7989 80 3 5.1(a 5.1(a NUM fcis-7989 80 4 ) ) PUNCT fcis-7989 80 5 , , PUNCT fcis-7989 80 6 it it PRON fcis-7989 80 7 can can AUX fcis-7989 80 8 be be AUX fcis-7989 80 9 seen see VERB fcis-7989 80 10 that that SCONJ fcis-7989 80 11 tf tf PROPN fcis-7989 80 12 - - PUNCT fcis-7989 80 13 smc smc NOUN fcis-7989 80 14 - - PUNCT fcis-7989 80 15 pid pid NOUN fcis-7989 80 16 and and CCONJ fcis-7989 80 17 tf tf PROPN fcis-7989 80 18 - - PUNCT fcis-7989 80 19 smc smc PROPN fcis-7989 80 20 can can AUX fcis-7989 80 21 still still ADV fcis-7989 80 22 achieve achieve VERB fcis-7989 80 23 effective effective ADJ fcis-7989 80 24 control control NOUN fcis-7989 80 25 of of ADP fcis-7989 80 26 the the DET fcis-7989 80 27 drill drill NOUN fcis-7989 80 28 string string NOUN fcis-7989 80 29 at at ADP fcis-7989 80 30 low low ADJ fcis-7989 80 31 rotational rotational ADJ fcis-7989 80 32 speeds speed NOUN fcis-7989 80 33 . . PUNCT fcis-7989 81 1 smc smc PROPN fcis-7989 81 2 and and CCONJ fcis-7989 81 3 pid pid NOUN fcis-7989 81 4 controllers controller NOUN fcis-7989 81 5 can can AUX fcis-7989 81 6 not not PART fcis-7989 81 7 effectively effectively ADV fcis-7989 81 8 control control VERB fcis-7989 81 9 the the DET fcis-7989 81 10 drill drill NOUN fcis-7989 81 11 string string NOUN fcis-7989 81 12 system system NOUN fcis-7989 81 13 at at ADP fcis-7989 81 14 low low ADJ fcis-7989 81 15 speeds speed NOUN fcis-7989 81 16 . . PUNCT fcis-7989 82 1 from from ADP fcis-7989 82 2 this this PRON fcis-7989 82 3 , , PUNCT fcis-7989 82 4 it it PRON fcis-7989 82 5 can can AUX fcis-7989 82 6 be be AUX fcis-7989 82 7 seen see VERB fcis-7989 82 8 that that SCONJ fcis-7989 82 9 the the DET fcis-7989 82 10 torque torque NOUN fcis-7989 82 11 feedforward feedforward NOUN fcis-7989 82 12 link link NOUN fcis-7989 82 13 can can AUX fcis-7989 82 14 significantly significantly ADV fcis-7989 82 15 increase increase VERB fcis-7989 82 16 the the DET fcis-7989 82 17 lower low ADJ fcis-7989 82 18 limit limit NOUN fcis-7989 82 19 of of ADP fcis-7989 82 20 the the DET fcis-7989 82 21 system system NOUN fcis-7989 82 22 's 's PART fcis-7989 82 23 operating operating NOUN fcis-7989 82 24 speed speed NOUN fcis-7989 82 25 . . PUNCT fcis-7989 83 1 from from ADP fcis-7989 83 2 figure figure NOUN fcis-7989 83 3 5.1(b 5.1(b NUM fcis-7989 83 4 ) ) PUNCT fcis-7989 83 5 , , PUNCT fcis-7989 83 6 it it PRON fcis-7989 83 7 can can AUX fcis-7989 83 8 be be AUX fcis-7989 83 9 seen see VERB fcis-7989 83 10 that that SCONJ fcis-7989 83 11 as as ADP fcis-7989 83 12 the the DET fcis-7989 83 13 drilling drilling NOUN fcis-7989 83 14 pressure pressure NOUN fcis-7989 83 15 increases increase NOUN fcis-7989 83 16 , , PUNCT fcis-7989 83 17 the the DET fcis-7989 83 18 pid pid NOUN fcis-7989 83 19 controller controller NOUN fcis-7989 83 20 is be AUX fcis-7989 83 21 no no ADV fcis-7989 83 22 longer long ADV fcis-7989 83 23 able able ADJ fcis-7989 83 24 to to PART fcis-7989 83 25 effectively effectively ADV fcis-7989 83 26 control control VERB fcis-7989 83 27 the the DET fcis-7989 83 28 drill drill NOUN fcis-7989 83 29 string string NOUN fcis-7989 83 30 system system NOUN fcis-7989 83 31 . . PUNCT fcis-7989 84 1 tf tf PROPN fcis-7989 84 2 - - PUNCT fcis-7989 84 3 smc smc PROPN fcis-7989 84 4 - - PUNCT fcis-7989 84 5 pid pid PROPN fcis-7989 84 6 , , PUNCT fcis-7989 84 7 tfsmc tfsmc NOUN fcis-7989 84 8 , , PUNCT fcis-7989 84 9 and and CCONJ fcis-7989 84 10 smc smc PROPN fcis-7989 84 11 can can AUX fcis-7989 84 12 all all ADV fcis-7989 84 13 suppress suppress VERB fcis-7989 84 14 the the DET fcis-7989 84 15 stick stick NOUN fcis-7989 84 16 - - PUNCT fcis-7989 84 17 slip slip NOUN fcis-7989 84 18 vibration vibration NOUN fcis-7989 84 19 behavior behavior NOUN fcis-7989 84 20 of of ADP fcis-7989 84 21 the the DET fcis-7989 84 22 drill drill NOUN fcis-7989 84 23 string string NOUN fcis-7989 84 24 . . PUNCT fcis-7989 85 1 among among ADP fcis-7989 85 2 them they PRON fcis-7989 85 3 , , PUNCT fcis-7989 85 4 tf tf PROPN fcis-7989 85 5 - - PUNCT fcis-7989 85 6 smc smc NOUN fcis-7989 85 7 - - PUNCT fcis-7989 85 8 pid pid NOUN fcis-7989 85 9 and and CCONJ fcis-7989 85 10 tf tf PROPN fcis-7989 85 11 - - PUNCT fcis-7989 85 12 smc smc PROPN fcis-7989 85 13 have have VERB fcis-7989 85 14 faster fast ADJ fcis-7989 85 15 response response NOUN fcis-7989 85 16 speed speed NOUN fcis-7989 85 17 and and CCONJ fcis-7989 85 18 lower low ADJ fcis-7989 85 19 peak peak NOUN fcis-7989 85 20 to to PART fcis-7989 85 21 peak peak VERB fcis-7989 85 22 vibration vibration NOUN fcis-7989 85 23 compared compare VERB fcis-7989 85 24 to to ADP fcis-7989 85 25 smc smc PROPN fcis-7989 85 26 . . PROPN fcis-7989 85 27 5 5 NUM fcis-7989 85 28 . . X fcis-7989 85 29 conclusion conclusion NOUN fcis-7989 85 30 this this DET fcis-7989 85 31 paper paper NOUN fcis-7989 85 32 establishes establish VERB fcis-7989 85 33 a a DET fcis-7989 85 34 dual dual ADJ fcis-7989 85 35 mass mass NOUN fcis-7989 85 36 torsion torsion NOUN fcis-7989 85 37 pendulum pendulum NOUN fcis-7989 85 38 model model NOUN fcis-7989 85 39 for for ADP fcis-7989 85 40 the the DET fcis-7989 85 41 drill drill NOUN fcis-7989 85 42 string string NOUN fcis-7989 85 43 and and CCONJ fcis-7989 85 44 a a DET fcis-7989 85 45 drill drill NOUN fcis-7989 85 46 bit bit NOUN fcis-7989 85 47 drilling drill VERB fcis-7989 85 48 speed speed NOUN fcis-7989 85 49 observer observer NOUN fcis-7989 85 50 . . PUNCT fcis-7989 86 1 based base VERB fcis-7989 86 2 on on ADP fcis-7989 86 3 the the DET fcis-7989 86 4 drill drill NOUN fcis-7989 86 5 speed speed NOUN fcis-7989 86 6 observer observer NOUN fcis-7989 86 7 , , PUNCT fcis-7989 86 8 this this DET fcis-7989 86 9 paper paper NOUN fcis-7989 86 10 studies study VERB fcis-7989 86 11 the the DET fcis-7989 86 12 control control NOUN fcis-7989 86 13 effect effect NOUN fcis-7989 86 14 of of ADP fcis-7989 86 15 torque torque NOUN fcis-7989 86 16 feedforward feedforward NOUN fcis-7989 86 17 sliding slide VERB fcis-7989 86 18 mode mode NOUN fcis-7989 86 19 controller controller NOUN fcis-7989 86 20 ( ( PUNCT fcis-7989 86 21 tfsmc tfsmc PROPN fcis-7989 86 22 ) ) PUNCT fcis-7989 86 23 , , PUNCT fcis-7989 86 24 pid pid NOUN fcis-7989 86 25 controller controller NOUN fcis-7989 86 26 and and CCONJ fcis-7989 86 27 torque torque NOUN fcis-7989 86 28 feedforward feedforward NOUN fcis-7989 86 29 sliding slide VERB fcis-7989 86 30 mode mode NOUN fcis-7989 86 31 controller controller NOUN fcis-7989 86 32 and and CCONJ fcis-7989 86 33 pid pid NOUN fcis-7989 86 34 parallel parallel ADJ fcis-7989 86 35 controller controller NOUN fcis-7989 86 36 ( ( PUNCT fcis-7989 86 37 tf tf PROPN fcis-7989 86 38 - - PUNCT fcis-7989 86 39 smc smc NOUN fcis-7989 86 40 - - NOUN fcis-7989 86 41 pid pid NOUN fcis-7989 86 42 ) ) PUNCT fcis-7989 86 43 on on ADP fcis-7989 86 44 the the DET fcis-7989 86 45 drill drill NOUN fcis-7989 86 46 string string NOUN fcis-7989 86 47 . . PUNCT fcis-7989 87 1 the the DET fcis-7989 87 2 research research NOUN fcis-7989 87 3 shows show VERB fcis-7989 87 4 that that SCONJ fcis-7989 87 5 both both DET fcis-7989 87 6 pid pid NOUN fcis-7989 87 7 controller controller NOUN fcis-7989 87 8 and and CCONJ fcis-7989 87 9 torque torque NOUN fcis-7989 87 10 feedforward feedforward NOUN fcis-7989 87 11 sliding slide VERB fcis-7989 87 12 mode mode NOUN fcis-7989 87 13 controller controller NOUN fcis-7989 87 14 can can AUX fcis-7989 87 15 effectively effectively ADV fcis-7989 87 16 control control VERB fcis-7989 87 17 the the DET fcis-7989 87 18 stick stick NOUN fcis-7989 87 19 slip slip VERB fcis-7989 87 20 vibration vibration NOUN fcis-7989 87 21 of of ADP fcis-7989 87 22 the the DET fcis-7989 87 23 system system NOUN fcis-7989 87 24 . . PUNCT fcis-7989 88 1 after after SCONJ fcis-7989 88 2 the the DET fcis-7989 88 3 torque torque NOUN fcis-7989 88 4 feedforward feedforward NOUN fcis-7989 88 5 is be AUX fcis-7989 88 6 added add VERB fcis-7989 88 7 , , PUNCT fcis-7989 88 8 the the DET fcis-7989 88 9 system system NOUN fcis-7989 88 10 can can AUX fcis-7989 88 11 guarantee guarantee VERB fcis-7989 88 12 the the DET fcis-7989 88 13 normal normal ADJ fcis-7989 88 14 operation operation NOUN fcis-7989 88 15 of of ADP fcis-7989 88 16 the the DET fcis-7989 88 17 system system NOUN fcis-7989 88 18 at at ADP fcis-7989 88 19 a a DET fcis-7989 88 20 lower low ADJ fcis-7989 88 21 speed speed NOUN fcis-7989 88 22 or or CCONJ fcis-7989 88 23 a a DET fcis-7989 88 24 higher high ADJ fcis-7989 88 25 wob wob NOUN fcis-7989 88 26 . . PUNCT fcis-7989 89 1 compared compare VERB fcis-7989 89 2 to to ADP fcis-7989 89 3 pid pid NOUN fcis-7989 89 4 controllers controller NOUN fcis-7989 89 5 , , PUNCT fcis-7989 89 6 tf tf PROPN fcis-7989 89 7 - - PUNCT fcis-7989 89 8 smc smc NOUN fcis-7989 89 9 - - PUNCT fcis-7989 89 10 pid pid NOUN fcis-7989 89 11 controllers controller NOUN fcis-7989 89 12 significantly significantly ADV fcis-7989 89 13 increase increase VERB fcis-7989 89 14 the the DET fcis-7989 89 15 response response NOUN fcis-7989 89 16 speed speed NOUN fcis-7989 89 17 of of ADP fcis-7989 89 18 drill drill NOUN fcis-7989 89 19 bit bit NOUN fcis-7989 89 20 speed speed NOUN fcis-7989 89 21 , , PUNCT fcis-7989 89 22 shorten shorten VERB fcis-7989 89 23 the the DET fcis-7989 89 24 adjustment adjustment NOUN fcis-7989 89 25 time time NOUN fcis-7989 89 26 , , PUNCT fcis-7989 89 27 significantly significantly ADV fcis-7989 89 28 reduce reduce VERB fcis-7989 89 29 overshoot overshoot NOUN fcis-7989 89 30 , , PUNCT fcis-7989 89 31 and and CCONJ fcis-7989 89 32 significantly significantly ADV fcis-7989 89 33 lower low ADJ fcis-7989 89 34 the the DET fcis-7989 89 35 peak peak NOUN fcis-7989 89 36 value value NOUN fcis-7989 89 37 of of ADP fcis-7989 89 38 vibration vibration NOUN fcis-7989 89 39 when when SCONJ fcis-7989 89 40 controlling control VERB fcis-7989 89 41 the the DET fcis-7989 89 42 drill drill NOUN fcis-7989 89 43 string string NOUN fcis-7989 89 44 system system NOUN fcis-7989 89 45 . . PUNCT fcis-7989 90 1 references reference NOUN fcis-7989 90 2 [ [ X fcis-7989 90 3 1 1 X fcis-7989 90 4 ] ] X fcis-7989 90 5 lei lei PROPN fcis-7989 90 6 chen chen PROPN fcis-7989 90 7 , , PUNCT fcis-7989 90 8 jianjun jianjun PROPN fcis-7989 90 9 xu xu PROPN fcis-7989 90 10 , , PUNCT fcis-7989 90 11 shuang shuang PROPN fcis-7989 90 12 chen chen PROPN fcis-7989 90 13 , , PUNCT fcis-7989 90 14 hui hui PROPN fcis-7989 90 15 yang yang PROPN fcis-7989 90 16 , , PUNCT fcis-7989 90 17 linhu linhu PROPN fcis-7989 90 18 liu liu PROPN fcis-7989 90 19 . . PUNCT fcis-7989 91 1 power power NOUN fcis-7989 91 2 quality quality PROPN fcis-7989 91 3 disturbance disturbance NOUN fcis-7989 91 4 signal signal NOUN fcis-7989 91 5 denoising denoising NOUN fcis-7989 91 6 based base VERB fcis-7989 91 7 on on ADP fcis-7989 91 8 overcomplete overcomplete ADJ fcis-7989 91 9 representation representation NOUN fcis-7989 91 10 . . PUNCT fcis-7989 92 1 ieej ieej NOUN fcis-7989 92 2 transactions transaction NOUN fcis-7989 92 3 on on ADP fcis-7989 92 4 electrical electrical ADJ fcis-7989 92 5 and and CCONJ fcis-7989 92 6 electronic electronic ADJ fcis-7989 92 7 engineering.2022 engineering.2022 NOUN fcis-7989 92 8 ; ; PUNCT fcis-7989 92 9 17 17 NUM fcis-7989 92 10 : : PUNCT fcis-7989 92 11 544–555 544–555 NUM fcis-7989 92 12 . . PUNCT fcis-7989 93 1 [ [ X fcis-7989 93 2 2 2 NUM fcis-7989 93 3 ] ] PUNCT fcis-7989 93 4 xu xu PROPN fcis-7989 93 5 jianjun jianjun PROPN fcis-7989 93 6 , , PUNCT fcis-7989 93 7 huang huang PROPN fcis-7989 93 8 lida lida PROPN fcis-7989 93 9 , , PUNCT fcis-7989 93 10 yan yan PROPN fcis-7989 93 11 limei limei PROPN fcis-7989 93 12 , , PUNCT fcis-7989 93 13 yi yi PROPN fcis-7989 93 14 na na NOUN fcis-7989 93 15 . . NOUN fcis-7989 93 16 insulator insulator NOUN fcis-7989 93 17 selfexplosion selfexplosion NOUN fcis-7989 93 18 defect defect NOUN fcis-7989 93 19 detection detection NOUN fcis-7989 93 20 based base VERB fcis-7989 93 21 on on ADP fcis-7989 93 22 hierarchical hierarchical ADJ fcis-7989 93 23 multi multi ADJ fcis-7989 93 24 - - ADJ fcis-7989 93 25 task task ADJ fcis-7989 93 26 deep deep ADJ fcis-7989 93 27 learning learning NOUN fcis-7989 93 28 . . PUNCT fcis-7989 94 1 transactions transaction NOUN fcis-7989 94 2 of of ADP fcis-7989 94 3 china china PROPN fcis-7989 94 4 electrotechnical electrotechnical ADJ fcis-7989 94 5 society society NOUN fcis-7989 94 6 , , PUNCT fcis-7989 94 7 2021,36(07):1407 2021,36(07):1407 NUM fcis-7989 94 8 - - SYM fcis-7989 94 9 1415 1415 NUM fcis-7989 94 10 . . PUNCT fcis-7989 95 1 [ [ X fcis-7989 95 2 3 3 X fcis-7989 95 3 ] ] X fcis-7989 95 4 yan yan PROPN fcis-7989 95 5 limei limei PROPN fcis-7989 95 6 , , PUNCT fcis-7989 95 7 liu liu PROPN fcis-7989 95 8 yongqiang yongqiang PROPN fcis-7989 95 9 , , PUNCT fcis-7989 95 10 xu xu PROPN fcis-7989 95 11 jianjun jianjun PROPN fcis-7989 95 12 , , PUNCT fcis-7989 95 13 et et PROPN fcis-7989 95 14 al al PROPN fcis-7989 95 15 . . PROPN fcis-7989 96 1 broken break VERB fcis-7989 96 2 string string NOUN fcis-7989 96 3 diagnosis diagnosis NOUN fcis-7989 96 4 of of ADP fcis-7989 96 5 composite composite ADJ fcis-7989 96 6 insulator insulator NOUN fcis-7989 96 7 based base VERB fcis-7989 96 8 on on ADP fcis-7989 96 9 grabcut grabcut NOUN fcis-7989 96 10 segmentation segmentation NOUN fcis-7989 96 11 and and CCONJ fcis-7989 96 12 filler filler NOUN fcis-7989 96 13 area area NOUN fcis-7989 96 14 discrimination discrimination NOUN fcis-7989 96 15 . . PUNCT fcis-7989 97 1 power power NOUN fcis-7989 97 2 system system NOUN fcis-7989 97 3 protection protection NOUN fcis-7989 97 4 and and CCONJ fcis-7989 97 5 control,2021,49(22):114 control,2021,49(22):114 NOUN fcis-7989 97 6 - - SYM fcis-7989 97 7 119 119 NUM fcis-7989 97 8 . . PUNCT fcis-7989 98 1 [ [ X fcis-7989 98 2 4 4 NUM fcis-7989 98 3 ] ] SYM fcis-7989 98 4 yi yi PROPN fcis-7989 98 5 , , PUNCT fcis-7989 98 6 q. q. PROPN fcis-7989 98 7 wang wang PROPN fcis-7989 98 8 , , PUNCT fcis-7989 98 9 l. l. PROPN fcis-7989 98 10 yan yan PROPN fcis-7989 98 11 , , PUNCT fcis-7989 98 12 et et PROPN fcis-7989 98 13 al al PROPN fcis-7989 98 14 . . PROPN fcis-7989 98 15 , , PUNCT fcis-7989 98 16 a a DET fcis-7989 98 17 multi multi ADJ fcis-7989 98 18 - - ADJ fcis-7989 98 19 stage stage ADJ fcis-7989 98 20 game game NOUN fcis-7989 98 21 model model NOUN fcis-7989 98 22 for for ADP fcis-7989 98 23 the the DET fcis-7989 98 24 false false ADJ fcis-7989 98 25 data datum NOUN fcis-7989 98 26 injection injection NOUN fcis-7989 98 27 attack attack NOUN fcis-7989 98 28 from from ADP fcis-7989 98 29 attacker attacker PROPN fcis-7989 98 30 ’s ’s PART fcis-7989 98 31 perspective perspective NOUN fcis-7989 98 32 . . PUNCT fcis-7989 99 1 sustainable sustainable ADJ fcis-7989 99 2 energy energy NOUN fcis-7989 99 3 grids grid NOUN fcis-7989 99 4 & & CCONJ fcis-7989 99 5 networks network NOUN fcis-7989 99 6 28 28 NUM fcis-7989 99 7 ( ( PUNCT fcis-7989 99 8 2021 2021 NUM fcis-7989 99 9 ) ) PUNCT fcis-7989 99 10 . . PUNCT fcis-7989 100 1 [ [ X fcis-7989 100 2 5 5 X fcis-7989 100 3 ] ] PUNCT fcis-7989 100 4 na na PART fcis-7989 100 5 yi yi PROPN fcis-7989 100 6 , , PUNCT fcis-7989 100 7 jianjun jianjun PROPN fcis-7989 100 8 xu xu PROPN fcis-7989 100 9 , , PUNCT fcis-7989 100 10 limei limei PROPN fcis-7989 100 11 yan yan PROPN fcis-7989 100 12 , , PUNCT fcis-7989 100 13 lin lin PROPN fcis-7989 100 14 huang huang PROPN fcis-7989 100 15 . . PROPN fcis-7989 101 1 task task PROPN fcis-7989 101 2 optimization optimization NOUN fcis-7989 101 3 and and CCONJ fcis-7989 101 4 scheduling scheduling NOUN fcis-7989 101 5 of of ADP fcis-7989 101 6 distributed distribute VERB fcis-7989 101 7 cyber cyber NOUN fcis-7989 101 8 - - PUNCT fcis-7989 101 9 physical physical ADJ fcis-7989 101 10 system system NOUN fcis-7989 101 11 based base VERB fcis-7989 101 12 on on ADP fcis-7989 101 13 improved improve VERB fcis-7989 101 14 ant ant ADJ fcis-7989 101 15 colony colony NOUN fcis-7989 101 16 algorithm algorithm NOUN fcis-7989 101 17 . . PUNCT fcis-7989 102 1 future future ADJ fcis-7989 102 2 generation generation NOUN fcis-7989 102 3 computer computer NOUN fcis-7989 102 4 systems system NOUN fcis-7989 102 5 , , PUNCT fcis-7989 102 6 109(aug 109(aug NUM fcis-7989 102 7 . . PUNCT fcis-7989 103 1 2020),134 2020),134 NUM fcis-7989 103 2 - - SYM fcis-7989 103 3 148 148 NUM fcis-7989 103 4 . . PUNCT fcis-7989 104 1 [ [ X fcis-7989 104 2 6 6 NUM fcis-7989 104 3 ] ] PUNCT fcis-7989 104 4 yang yang PROPN fcis-7989 104 5 zhao zhao PROPN fcis-7989 104 6 , , PUNCT fcis-7989 104 7 jianjun jianjun PROPN fcis-7989 104 8 xu xu PROPN fcis-7989 104 9 , , PUNCT fcis-7989 104 10 jingchun jingchun PROPN fcis-7989 104 11 wu wu PROPN fcis-7989 104 12 . . PUNCT fcis-7989 105 1 a a DET fcis-7989 105 2 new new ADJ fcis-7989 105 3 method method NOUN fcis-7989 105 4 for for ADP fcis-7989 105 5 bad bad ADJ fcis-7989 105 6 data datum NOUN fcis-7989 105 7 identification identification NOUN fcis-7989 105 8 of of ADP fcis-7989 105 9 oilfield oilfield NOUN fcis-7989 105 10 power power NOUN fcis-7989 105 11 system system NOUN fcis-7989 105 12 based base VERB fcis-7989 105 13 on on ADP fcis-7989 105 14 enhanced enhanced ADJ fcis-7989 105 15 gravitational gravitational ADJ fcis-7989 105 16 search search NOUN fcis-7989 105 17 - - PUNCT fcis-7989 105 18 fuzzy fuzzy ADJ fcis-7989 105 19 c c NOUN fcis-7989 105 20 - - PUNCT fcis-7989 105 21 means means NOUN fcis-7989 105 22 algorithm algorithm NOUN fcis-7989 105 23 . . PUNCT fcis-7989 106 1 ieee ieee NOUN fcis-7989 106 2 transactions transaction NOUN fcis-7989 106 3 on on ADP fcis-7989 106 4 industrial industrial ADJ fcis-7989 106 5 informatics informatic NOUN fcis-7989 106 6 . . PUNCT fcis-7989 107 1 vol vol NOUN fcis-7989 107 2 . . PROPN fcis-7989 108 1 15 15 NUM fcis-7989 108 2 , , PUNCT fcis-7989 108 3 no no INTJ fcis-7989 108 4 . . NOUN fcis-7989 108 5 11 11 NUM fcis-7989 108 6 , , PUNCT fcis-7989 108 7 november november PROPN fcis-7989 108 8 2019 2019 NUM fcis-7989 108 9 5963 5963 NUM fcis-7989 108 10 - - SYM fcis-7989 108 11 5970 5970 NUM fcis-7989 108 12 . . PUNCT fcis-7989 109 1 [ [ X fcis-7989 109 2 7 7 NUM fcis-7989 109 3 ] ] X fcis-7989 109 4 vahid vahid PROPN fcis-7989 109 5 vaziri vaziri PROPN fcis-7989 109 6 , , PUNCT fcis-7989 109 7 marcin marcin PROPN fcis-7989 109 8 kapitaniak kapitaniak PROPN fcis-7989 109 9 & & CCONJ fcis-7989 109 10 marian marian PROPN fcis-7989 109 11 wiercigroch.(2018).suppression wiercigroch.(2018).suppression PROPN fcis-7989 109 12 of of ADP fcis-7989 109 13 drill drill NOUN fcis-7989 109 14 - - PUNCT fcis-7989 109 15 string string NOUN fcis-7989 109 16 stick stick NOUN fcis-7989 109 17 – – PUNCT fcis-7989 109 18 slip slip NOUN fcis-7989 109 19 vibration vibration NOUN fcis-7989 109 20 by by ADP fcis-7989 109 21 sliding slide VERB fcis-7989 109 22 mode mode NOUN fcis-7989 109 23 control control NOUN fcis-7989 109 24 : : PUNCT fcis-7989 109 25 numerical numerical ADJ fcis-7989 109 26 and and CCONJ fcis-7989 109 27 experimental experimental ADJ fcis-7989 109 28 studies study NOUN fcis-7989 109 29 . . PUNCT fcis-7989 110 1 ( ( PUNCT fcis-7989 110 2 5),805 5),805 NUM fcis-7989 110 3 - - PUNCT fcis-7989 110 4 825.g.r 825.g.r NUM fcis-7989 110 5 . . PUNCT fcis-7989 111 1 mettam mettam NOUN fcis-7989 111 2 , , PUNCT fcis-7989 111 3 how how SCONJ fcis-7989 111 4 to to PART fcis-7989 111 5 prepare prepare VERB fcis-7989 111 6 an an DET fcis-7989 111 7 electronic electronic ADJ fcis-7989 111 8 version version NOUN fcis-7989 111 9 of of ADP fcis-7989 111 10 your your PRON fcis-7989 111 11 article article NOUN fcis-7989 111 12 , , PUNCT fcis-7989 111 13 in in ADP fcis-7989 111 14 : : PUNCT fcis-7989 111 15 b.s b.s PROPN fcis-7989 111 16 . . PROPN fcis-7989 111 17 jones jones PROPN fcis-7989 111 18 , , PUNCT fcis-7989 111 19 r.z r.z PROPN fcis-7989 111 20 . . PROPN fcis-7989 111 21 smith smith PROPN fcis-7989 111 22 ( ( PUNCT fcis-7989 111 23 eds eds PROPN fcis-7989 111 24 . . PUNCT fcis-7989 111 25 ) ) PUNCT fcis-7989 111 26 , , PUNCT fcis-7989 111 27 introduction introduction NOUN fcis-7989 111 28 to to ADP fcis-7989 111 29 the the DET fcis-7989 111 30 electronic electronic ADJ fcis-7989 111 31 age age NOUN fcis-7989 111 32 , , PUNCT fcis-7989 111 33 e e NOUN fcis-7989 111 34 - - ADJ fcis-7989 111 35 publishing publishing PROPN fcis-7989 111 36 inc inc PROPN fcis-7989 111 37 . . PROPN fcis-7989 111 38 , , PUNCT fcis-7989 111 39 new new PROPN fcis-7989 111 40 york york PROPN fcis-7989 111 41 , , PUNCT fcis-7989 111 42 1999 1999 NUM fcis-7989 111 43 , , PUNCT fcis-7989 111 44 pp pp ADV fcis-7989 111 45 . . PUNCT fcis-7989 112 1 281 281 NUM fcis-7989 112 2 - - SYM fcis-7989 112 3 304 304 NUM fcis-7989 112 4 . . PUNCT fcis-7989 113 1 [ [ X fcis-7989 113 2 8 8 NUM fcis-7989 113 3 ] ] X fcis-7989 113 4 riane riane PROPN fcis-7989 113 5 rami rami PROPN fcis-7989 113 6 et et PROPN fcis-7989 113 7 al al PROPN fcis-7989 113 8 . . PROPN fcis-7989 114 1 ( ( PUNCT fcis-7989 114 2 2022 2022 NUM fcis-7989 114 3 ) ) PUNCT fcis-7989 114 4 . . PUNCT fcis-7989 115 1 observer observer NOUN fcis-7989 115 2 - - PUNCT fcis-7989 115 3 based base VERB fcis-7989 115 4 h∞ h∞ X fcis-7989 115 5 controller controller NOUN fcis-7989 115 6 design design NOUN fcis-7989 115 7 for for ADP fcis-7989 115 8 high high ADJ fcis-7989 115 9 frequency frequency NOUN fcis-7989 115 10 stick stick NOUN fcis-7989 115 11 - - PUNCT fcis-7989 115 12 slip slip NOUN fcis-7989 115 13 vibrations vibration NOUN fcis-7989 115 14 mitigation mitigation NOUN fcis-7989 115 15 in in ADP fcis-7989 115 16 drill drill NOUN fcis-7989 115 17 - - PUNCT fcis-7989 115 18 string string NOUN fcis-7989 115 19 of of ADP fcis-7989 115 20 rotary rotary ADJ fcis-7989 115 21 drilling drilling NOUN fcis-7989 115 22 systems system NOUN fcis-7989 115 23 . . PUNCT fcis-7989 116 1 vibration vibration NOUN fcis-7989 116 2 , , PUNCT fcis-7989 116 3 5(2 5(2 NUM fcis-7989 116 4 ) ) PUNCT fcis-7989 116 5 , , PUNCT fcis-7989 116 6 pp pp ADP fcis-7989 116 7 . . PUNCT fcis-7989 117 1 264 264 NUM fcis-7989 117 2 - - SYM fcis-7989 117 3 289 289 NUM fcis-7989 117 4 . . PUNCT