导向钻井稳定平台精确线性化控制

Exact Linearization Control of Stable Platform for Steerable Drilling

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。

Since conventional control algorit hms 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 disturbance,this paper proposes a feedback-lineari zation-based pole-placement control strategy for the platform.Firstly,feedback linearization was adopted to accura tely 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 expected poles,so as to achieve the expected sy stem dynamicity.Finally,the angle control system model of the platform was established on Matlab/Simulink to simul ate and verify the proposed control algorithm.The simulation results show that,compared to the conventional PID algori thm,this algorithm can effectively stabilize the angle control of the system,and manifest relatively high robustness under strong disturbance,which can ensure a higher control accuracy of the system.