旋转导向钻井偏心重力稳定平台角位置控制研究

Study of the Angle Position Control for Rotation Steerable Drilling on the Eccentric Gravity Stable Platform

研究了旋转导向钻井偏心重力稳定平台的系统结构和平台位置控制的基本方法。利用偏心重力稳定平台的初始角位置始终稳定的特点,依靠电机驱动改变稳定平台的转角,以跟踪给定的工具面角。设计了工具面角位置控制的硬件电路,由DSPIC30F4011芯片、正交编码器以及电机组成控制回路,通过芯片的QEI模块对电机的角位置进行检测,通过程序控制电机的正转、反转及停转实现对角度位置的跟踪控制。设计了相应软件程序并实现了对稳定平台角位置的控制。模拟实验证明所设计硬件电路和软件程序的正确性,实现了对偏心重力稳定平台的角位置跟踪控制。

System structure of the steerable drilling eccentric gravity stable platform and the control method of platform angle position were studied. Using the initial angle position of the eccentric gravity stabilized platform,the rotation angle of the stable platform is changed by the motor drive to track the angle of the tool surface. The hardware circuits of the tool face angle control were designed. The control circuits were composed by the DSPIC30F4011 chip,the quadrature encoder and the DC motor. The motor＇s angular position was detected through the quadrature encoder and the QEI module and the motor rotation was control by the program. Thus the tracking control of the angle position was achieved. The corresponding software program was designed and the control of the angular position of the stabilized platform was realized. Simulation results show that the designed hardware circuit and software program are correct.