Wear of casing and too large torque are problems which can't be ignored when drill deep and super deep well, horizontal well and deviated well.
套管磨损和扭矩过大是钻深井、超深井、水平井和大位移井时一个不容忽视的问题。
Balance weight block installation position is not accurate, will cause the boom and the balance arm balance torque deviation is too large, easily lead to instability of the tower crane.
平衡重块安装位置不准确，会造成起重臂与平衡臂平衡力矩偏差过大，轻易造成塔吊失稳。
This controller has some advantages: when the initial error is large, the PD feedback part plays main role, and it avoids too large initial torque output;
该控制策略的优点在于当初始误差较大时，PD反馈部分起主要作用，而非线性PD的采用又避免了过大初始力矩输出；
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