基于状态空间法的旋转导向钻井工具控制系统研究

调制式旋转导向钻井系统的工作特点是:在导向工具与钻柱同步旋转的情况下,配置机构中3个导向块在给定方位的伸缩动作可以产生导向钻井所需要的矢量力.因此,在调制式旋转导向工具中,就必须设置一个不受钻柱影响的、可以自动保持和调整工具面角度的稳定平台.对稳定平台控制系统进行了研究,建立了对象数学模型,提出了应用状态反馈法的稳定平台控制方案,以确保导向钻井过程中对各状态变量的控制要求.对闭环控制系统进行了相应的计算机仿真和功能试验,仿真和试验结果表明了该控制方案的可行性和有效性.

Control system in rotary steering drilling tool based on state space method

The modulated rotary steering drilling system is characterized by that the steering vector force is obtained by moving three extension blocks in the desired direction and space under the condition of simulaneous rotation of steering tool with drillign string.So,it is necessary to have a stabilized platform in the tool to obtain steady angle adjustable and independent to the rotation of drilling string.In order to ensure the state variables required in the process of rotary steering drilling,a control way for the stabilized platform based on state feedback system was introduced and discussed.An objective mathematical model for the stabilized platform was established,and the control system was simulated and tested.The reliability and possibility of the control method for the stabilized platform in the rotary steering drilling have been proved.