NVIDIA-SMI has failed because it couldn't communicate with the NVIDIA driver

After run nvidia-smi, I got this message:
NVIDIA-SMI has failed because it couldn’t communicate with the NVIDIA driver. Make sure that the latest NVIDIA driver is installed and running.
run lspci | grep -i nvidia-smi returns:
04:00.0 3D controller: NVIDIA Corporation Device 15f9 (rev a1)
06:00.0 3D controller: NVIDIA Corporation Device 15f9 (rev a1)
07:00.0 3D controller: NVIDIA Corporation Device 15f9 (rev a1)
08:00.0 3D controller: NVIDIA Corporation Device 15f9 (rev a1)
dpkg -l | grep nvidia returns:
ii nvidia-387 387.26-0ubuntu1 amd64 NVIDIA binary driver - version 387.26
ii nvidia-387-dev 387.26-0ubuntu1 amd64 NVIDIA binary Xorg driver development files
ii nvidia-modprobe 387.26-0ubuntu1 amd64 Load the NVIDIA kernel driver and create device files
ii nvidia-opencl-icd-387 387.26-0ubuntu1 amd64 NVIDIA OpenCL ICD
ii nvidia-prime 0.8.2 amd64 Tools to enable NVIDIA’s Prime
ii nvidia-settings 387.26-0ubuntu1 amd64 Tool for configuring the NVIDIA graphics driver
my system is Ubuntu 16.04.
I installed Cuda version9.1 and it works well. After that I remove it and install nvidia driver version 384.66. Then I install Cuda8.0. After that nvidia-smi will not work even if I run “sudo apt-get remove --purge nvidia-*” and re-install cuda9.1. Anyone can help me?