Research On Control Method Of Dynamic Directional Rotary Steerable Drilling Tool

Dynamic directional rotary steerable drilling technology represents the highest level of drilling technology in the world,which is able to complete the drill-guided drilling in real time with the rotary drilling of the drill string.And,the quality of the wellbore and the accuracy of the drilling direction are related to the control effect of the control system.Therefore,in this paper,the PI control algorithm,the sliding mode variable structure control algorithm and the active disturbance rejection control algorithm were studied intensively from the aspects of simulation and prototype experiment on the self-developed dynamic directional rotary steerable drilling tool system.The control effect of different control algorithms on the dynamic directional rotary steerable drilling tool system were analyzed which provided theoretical and experimental basis for the development of the dynamic directional rotary steerable drilling tools with independent intellectual property rights.Based on the research status quo of rotary steerable drilling tools at home and abroad,the following work were completed after analyzing the working principle.Firstly,two different control schemes were designed for the dynamic directional rotary steerable drilling tool system.Secondly,parameters measuring and modeling of the permanent magnet synchronous motor in the drilling tool were carried out.And the PID controller parameters of the motor current loop and the speed loop were designed.Then the simulation model of the dynamic directional rotary drilling tool system was established.The simulation and experiment of each module were tested to ensure the accuracy of the simulation model.Thirdly,aiming at the problem that the rotary steerable system is affected by the perturbation of the system itself and the external disturbance in the regular work,the sliding mode variable structure control algorithm and the active disturbance rejection control algorithm were also used to control the control system except the classical PI control algorithm.The sliding mode variable structure control algorithm and active disturbance rejection control algorithm were introduced in turn after presenting the basic principles of PID control algorithm.The PID controller,first-order integral sliding mode controller,first-order linear active disturbance rejection controller,second-order integral sliding mode controller and second-order linear active disturbance rejection controller were designed to control the system.Finally,on the basis of various modules that from the simulation and principle prototype model of the self-developed dynamic directional rotary steerable drilling tool system are consistent,the simulation and experiment test of different control algorithms were carried out according to the simulation and experimental model of the current and speed loop of the motor,the loop of the stable platform speed and the loop of position.Through the simulation and experimental results obtained by comparing and analyzing different control algorithms,finally it is concluded that the second-order integral sliding mode control algorithm has good control effect,therefore,the loop of the motor speed,the loop of the stable platform speed and the loop of position in the self-developed dynamic directional rotary steerable drilling tool system eventually adopts the second-order integral sliding mode control algorithm.