The Controller Design Of Rotary Steering Drilling Tool With Double Eccentric Rings

The double eccentric ring directional drilling tool is an intelligent drilling tool,which has the characteristics of dynamically adjusting the bit attitude.Through the unique double eccentric ring offset structure,the bit can achieve the precise track drilling of"where to hit and where to hit"during the drilling operation.At present,the dual eccentric ring directional drilling tool is in the research stage,and there is no real object to be studied.At this stage,simulation has a good effect on exploring the static and dynamic characteristics of the controller,and can be used as the theoretical basis for the controller algorithm design.Aiming at the simulation of the double eccentric ring directional drilling tool,this paper explores the simplification of the mechanical structure and the establishment of the dynamic equation,and realizes the controller according to the simulation conclusion.The main research results are as follows:1^st.The dynamic equation of the double eccentric ring directional drilling tool is derived.According to its special offset structure and guide shaft structure,the force analysis of the double eccentric ring offset mechanism and guide shaft is carried out,and the dynamic equation of the double eccentric ring offset mechanism is derived.2^nd.This paper explores the simulation algorithm of double eccentric ring offset mechanism,and analyzes the control principle and method of PMSM motor?synchronous permanent magnet motor?.According to the mathematical model of PMSM motor,a DTC control model based on rotor position?improved PID direct torque control?is constructed,and three kinds of commonly used adjustment modes of tool face angle and guide axis angle are analyzed.3^rd.The double eccentric ring offset mechanism controller is realized,the control hardware is designed,the improved PID direct torque control software is realized,the control flow chart is given,and the simulation platform is realized by designing the equivalent and simplified structure of"link+actuator joint".The research results of this paper can provide useful reference for the study of the control technology of the directional drilling tool with double eccentric rings.