旋转导向钻井工具智能PID控制

The intelligent PID control of the rotary navigational drilling tool

稳定平台是调制式全旋转导向钻井工具的关键,其驱动机构是一个强非线性、强扰动和参数变化大的时变系统,常规的PID控制难以获得满意的动态响应速度和稳定的静态性能。根据旋转导向钻井工具稳定平台的工作特点,结合智能控制,研究了一种基于间接专家系统的智能PID控制,详细分析了控制策略和参数调试准则,并进行了台架模拟试验测试。结果表明,智能PID控制可以较好地克服强扰动、强非线性和参数大范围变化等因素,获得稳定的控制性能。

The stabilized platform is the key to the full-rotary modulated navigational drilling tool whose driving mechanism is a strong-nonlinearity and strong-disturbance time-variable system with a large range of parametric changes.It is difficult for the normal PID control to obtain the satisfactory dynamic response speed and stable static performance.According to the operating characteristics of the stabilized platform of the rotary navigational drilling tool and in combination with intelligent control,a kind of intelligent PID control based on the direct expert system was studied,the control strategy and parametric debugging principle were analyzed in detail,and a simulated platform test was carried out.The test shows that the intelligent PID control can better deal with the factors,such as strong disturbance,strong nonlinearity and large-range parametric change,obtaining the stable control performance.