基于稳定补偿状态观测器的旋转导向钻井轨迹跟踪控制

Trajectory tracking control of rotary steerable systems based on stability compensation observer

旋转导向钻井是近年来应用于钻井作业中的一种新型导向钻井技术,具有成本低、钻速高、井眼轨迹平滑、可延长水平段等优点。针对一种旋转导向钻井系统的井眼轨迹跟踪问题,分析了系统模型的渐近稳定性;实现了一种基于状态反馈的二维井眼轨迹跟踪控制器。为了克服滞后项所导致的状态观测器稳定问题,提出了一种基于稳定补偿的状态观测器设计方法。控制系统设计的整体思路是利用基于指数趋近律的积分滑模变结构方法实现稳定补偿控制,保证了状态观测器的渐近稳定性;同时为提高系统整体性能,进一步使用遗传算法对系统控制器和观测器参数进行了优化。通过对不同的给定钻井轨迹进行对比仿真实验,验证了所提的控制系统设计方法的有效性。

Rotary steerable system （RSS） is a new type of directional drilling that has been applied in drilling operations in recent years. RSS has a number of advantages including low cost, high rate of penetration, smooth bore hole trajectory,horizontal well extension and so on. Considering the problem of bore hole trajectory tracking of RSS, the asymptotic stability of system model was analyzed, and a 2 dimension bore hole tracking controller was realized based on state feedback. In order to solve the problem of the observer stability caused by lagging property, a state observer design method based on stability compensation is proposed. The control system design was to utilize integral sliding mode variable structure control based on exponential reaching law to determine the stability compensation control input,which ensures asymptotic stability of the state observer. Furthermore, genetic algorithm was used to optimize the parameters of controller to improve the overall system performance. Simulation results on different pre defined drilling trajectories show the effectiveness of the proposed control system.