Exact Linearization Control of Stable Platform for Steerable Drilling
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.
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