旋转导向钻井系统稳定平台变结构控制研究

通过构建旋转导向钻井系统稳定平台的数学模型和分析稳定平台的工作环境,提出了稳定平台变结构控制方案.验证了稳定平台控制系统对于变结构控制的不变性条件,构造了滑动模态.采用指数趋近率和柔化符号函数法,设计了大幅度削减振颤的控制律.对设计出的变结构控制系统进行了计算机仿真和地面模拟试验,结果表明,该控制算法鲁棒性强,控制精度比较高,跟踪速度快,具有良好的控制效果.

Study on controlling system for variable structure of stabilized platform in rotary steering drilling system

According to the mathematical model and the working environment of the stabilized platform, the variable structure control scheme was advisable to the control system of the stabilized platform in the rotary steering drilling system. The invariant conditions of the stabilized platform control system for variable structure control were verified and a sliding mode was constructed. The control law that is able to reduce effectively chattering was designed using the exponential reaching law and soften sign function law. The simulations and experiments show that the control algorithm has good quality of robustness, high accuracy control result and rapid following velocity. The remarkable controlling effects can be gotten by this controlling system.