Work string controller

Well bore servicing equipment, comprising:

• a first manipulator operable to grip a well bore work string, to raise the work string, and to lower the work string, wherein the first manipulator comprises a hydraulic actuator;
• and
• a controller to receive a work string trajectory input and to automatically control the first manipulator to raise and to lower the work string substantially in conformance with the work string trajectory input, wherein the controller comprises a drive observer that provides an estimated actuator parameter feedback value that is smoothed and substantially zero time lagged based on sensor information received from the actuator, wherein the controller automatically controls the first manipulator based in part on the estimated actuator parameter feedback value, and wherein the drive observer system provides an estimated hydraulic pressure parameter feedback value of a hydraulic chamber of the hydraulic actuator based in part on a model of the hydraulic actuator, and wherein the model is based on an estimated effective piston area, an estimated hydraulic fluid bulk modulus, and an estimated variable hydraulic chamber volume.

Well bore servicing equipment, comprising:

• a first manipulator operable to grip a well bore work string, to raise the work string, and to lower the work string, wherein the first manipulator comprises a hydraulic actuator;
• and
• a controller to receive a work string trajectory input and to automatically control the first manipulator to raise and to lower the work string substantially in conformance with the work string trajectory input, wherein the controller comprises a drive observer that provides an estimated flow disturbance value that is smoothed and based on sensor information received from the actuator, wherein the controller automatically controls the first manipulator based in part on the estimated flow disturbance value.

Well bore servicing equipment, comprising:

• a first manipulator operable to grip a well bore work string, to raise the work string, and to lower the work string;
• and
• a controller to receive a work string trajectory input from a user interface and to automatically control the first manipulator to raise and to lower the work string substantially in conformance with the work string trajectory input, wherein the work string trajectory comprises at least a first work string target position and a first work string target velocity, wherein the first manipulator comprises an actuator, wherein the controller comprises a manipulator observer that provides an estimated actuator position feedback value that is smoothed and substantially zero time lagged based on actuator position sensor information received from the actuator, and wherein the controller automatically controls the first manipulator based in part on the estimated actuator position feedback value.

Well bore servicing equipment, comprising:

• a first manipulator operable to grip a well bore work string, to raise the work string, and to lower the work string, wherein the first manipulator comprises an actuator and a force coupling component to couple force output by the actuator to the work string;
• and
• a controller to receive a work string trajectory input and to automatically control the first manipulator to raise and to lower the work string substantially in conformance with the work string trajectory input, wherein the controller comprises a manipulator observer that provides an estimated actuator position feedback value that is smoothed and substantially zero time lagged based on actuator position sensor information received from the actuator, wherein the manipulator observer provides the estimated actuator position feedback value based in part on a model of the force coupling component, and wherein the controller automatically controls the first manipulator based in part on the estimated actuator position feedback value.

Well bore servicing equipment, comprising:

• a first manipulator operable to grip a well bore work string, to raise the work string, and to lower the work string, wherein the first manipulator comprises an actuator;
• and
• a controller to receive a work string trajectory input and to automatically control the first manipulator to raise and to lower the work string substantially in conformance with the work string trajectory input, wherein the controller comprises a manipulator observer that provides an estimated disturbance force feedback value that is smoothed and based on actuator position sensor information received from the actuator, wherein the controller automatically controls the first manipulator based in part on the estimated disturbance force feedback value.