旋转导向钻井稳定平台控制系统仿真研究

Study on Controlling Simulation System for Stabilizing Platform in Rotary Steering Drilling System

深入分析了调制式旋转导向钻井系统稳定平台的控制原理,在MATLAB/SUMULINK中建立了其控制系统模拟模型。该模型充分考虑了井下复杂状况,引入了一系列影响控制系统的因素,如上下涡轮电机的相互影响、轴承对平台的摩擦扭矩、旋转的钻井液传递给平台的黏滞摩擦扭矩、盘阀系统传递给平台的摩擦扭矩等。采用传统的PID控制算法,即使在采用最优PID参数的情况下,仍然无法得到令人满意的效果。鉴于此,提出了一种采用偏差模糊控制和微调增量的新型模糊控制算法。模拟结果表明,所采用的模糊控制方法能够更快地跟随控制信号,并且超调量较小,提高了系统的抗干扰能力。

This paper analyzed the controlling principle of Rotary Modulation Steering Drilling System for stabilizing platform,and established a controlling simulation model using MATLAB/SUMULINK.Given the complex downhole conditions,a series of factors affecting the control system were introduced,including the interaction between the upper and lower turbine motor,bearing friction torque on the platform,viscous friction torque transferred to the platform by rotating drilling fluids,the friction torque of disc valve system to platform.Using optimal PID parameters,the results are not satisfactory.In view of this,a novel fuzzy control algorithm which uses fuzzy control errors and fine-tuning increments was introduced.The simulating results show that it follows the control signal quickly,has small overshoot,and improves system＇s anti-jamming ability.