导向钻井稳定平台精确线性化控制
Exact Linearization Control of Stable Platform for Steerable Drilling
李烁宇 1汪跃龙 1井玉霏1
作者信息
- 1. 西安石油大学电子工程学院,陕西 西安 710065
- 折叠
摘要
针对导向钻井稳定平台的强非线性、强扰动,致使传统控制算法难以实现高稳定性的角度输出问题,提出了一种基于反馈线性化的极点配置控制策略.首先,根据已知的平台非线性动力学方程,采用反馈线性化理论对该系统中的非线性因素进行精确线性化.其次,通过极点配置法设计期望极点,使系统动态性能达到期望效果.最后,在Matlab/Simulink环境中,搭建平台角度控制系统模型,对提出的控制算法进行仿真验证.仿真结果表明,上述控制算法相对传统PID算法有效的改善了系统角度稳定控制问题,并且在强扰动的作用下具有较强的鲁棒性,提高了系统的控制精度.
Abstract
Since conventional control algorithms can hardly maintain high stability in angle output for the stabilized platform of the rotary steerable drilling system due to the platform's strong non-linearity and strong disturb-ance,this paper proposes a feedback-linearization-based pole-placement control strategy for the platform.Firstly,feedback linearization was adopted to accurately linearize the non-linear elements within the system based on the known non-linear dynamic equations of the platform.Secondly,the pole placement method was used to design the ex-pected poles,so as to achieve the expected system dynamicity.Finally,the angle control system model of the platform was established on Matlab/Simulink to simulate and verify the proposed control algorithm.The simulation results show that,compared to the conventional PID algorithm,this algorithm can effectively stabilize the angle control of the sys-tem,and manifest relatively high robustness under strong disturbance,which can ensure a higher control accuracy of the system.
关键词
导向钻井/稳定平台控制/精确线性化/极点配置Key words
Steerable drilling/Stabilized platform control/Exact linearization/Pole assignment引用本文复制引用
基金项目
西安石油大学研究生创新与实践能力培养计划(YCS21213223)
出版年
2024
NETL
NSTL
万方数据