FIELD: mining.
SUBSTANCE: method includes receiving a command addressed to the controlled element of the drilling string, formation of a smooth trajectory profile at least partially according to said command, determination of friction torque value for drill bit of the drilling string, generating the control signal at least partially on the basis of the trajectory profile, friction torque values and drilling string model and translation of control signal to the controlled element.
EFFECT: prevention of abrupt oscillations occurrence.
20 cl, 13 dwg
