Study On The Control Of The Eccentric Gravity Stable Platform Of The Modulated Rotary Steering Drilling

With the development of drilling technology,research and development of new techniques of modulated rotary steerable drilling become an important research direction in the development field of drilling tools,the core technology of the stabilized platform control system research is of great significance.The eccentric gravity stabilized platform is improvement of the modulated rotary steerable drilling stable platform,which aims to solve the modulated rotary steering drilling tool of the stabilized platform "relatively stable" is not easy to control,and the realization of platform of a full range of increasing oblique and steady inclined control.System structure of the steerable drilling eccentric gravity stable platform and the control method of platform angle position was studied.Using the initial angle position of the eccentric gravity stabilized platform,the rotation angle of the stable platform is changed by the motor drive to track the angle of the tool surface.The hardware circuits of the tool face angle control were designed,The control circuits were composed by the DSPIC30F4011 chip,the quadrature encoder and the DC motor,The motor's angular position was detected through the quadrature encoder and the QEI module and the motor rotation was control by the program.Thus the tracking control of the angle position was achieved.The corresponding software program was designed and the control of the angular position of the stabilized platform was realized.Simulation results show that the designed hardware circuit and software program are correct.