定向钻具姿态的双线性补偿控制策略

在地质钻进过程中,钻具运动具有复杂非线性特性,因而很难有效实现钻具姿态的控制.对此,提出一种面向定向钻具姿态的双线性补偿控制策略,以实现对非线性钻具运动的准确控制.首先,通过分析定向钻具运动特性,建立定向钻具的运动模型,针对运动模型存在非线性和耦合特性,利用泰勒展开法和双线性逼近变换技术对钻具运动模型进行变换;然后,运用双线性补偿控制思想扩展局部线性控制范围和优化控制效果.仿真结果表明,所提出的控制策略能够简化定向钻具控制过程,提高定向钻具控制的准确性,具有较好的稳定性.

Bilinear compensation control for attitude of directional drilling tools

In the geological drilling process, the movement of drilling tools has the characteristic of nonlinear. Therefore, it is difficult to control the attitude of drilling tools effectively. In this research, a bilinear compensation control strategy based on directional drilling tools is proposed, and the precise control of the non-linear motion is achieved. Through the analysis of the motion characteristic of directional tools, the model of directional drilling motion is established. The motion model has partial linearity and coupling characteristics. To transform the drilling motion model, Taylor expansion method and bilinear approximation transformation technology are applied. To extend the local linear control range and optimize the linear control effect, the compensation control method in the process industry is used. The simulation results show that the control strategy proposed in this research has better stability. It can simplify the control process of the directional drilling tools, and improve the accuracy of directional drilling tools control.