Research On Active Disturbance Rejection Control Of Continuous Wave Mud Pulser Drive Motor

With the rapid development of oil drilling technology,put forward higher requirements for the data transmission rate of MWD,continuous wave mud pulser as the cutting-edge technology of mud pulse remote transmission system for data while drilling,can increase the data transfer rate by more than 10 times.The dynamic performance of its core component,the drive motor of the rotary valve,has an important influence on the quality of downhole information transmission.The motor-driven rotary valve rotor generates mud pressure pulses during the rotation process for information transmission,and at the same time is disturbed by factors such as the variable drag torque of the drilling fluid,causes the dynamic performance of the motor to deteriorate,it will affect the pressure signal waveform of the mud,and ultimately affect the transmission quality and distance of the signal.For this reason,this paper proposes a new nonlinear smooth function hui function based on the robust Active Disturbance Rejection Control(ADRC)to replace the high frequency of the controller caused by the classic ADRC Fal function,theoretically,the fal function is smoothed to avoid the sudden change of the function to cause chattering,based on this,the speed loop controller is designed to be used in the pulser motor vector control.The simulation results show that the improved smooth function hui function can not only improve the dynamic performance of the system,but also effectively weaken the high frequency tremor of ADRC.Through the establishment of a motor control system model in the MATLAB/Simulink environment,three control strategies of traditional PID,classic ADRC controller and improved ADRC controller are used in the speed loop to control the drive motor,through comparative analysis of its control motor dynamic performance,the simulation results show that the dynamic response of the motor under the control of the classic ADRC controller has better control performance than the traditional PID regulator,which is characterized by shorter adjustment time,lower overshoot,and stronger anti-disturbance.However,the classic ADRC controller has inherent defects of high frequency tremor that are inevitable due to the smooth function fal the improved ADRC controller is used to not only improve the control performance of the motor,but also has a shorter rise time,peak time,and adjustment time,and compared with the classic ADRC controller,the improved ADRC controller effectively weakens its high-frequency tremor phenomenon.According to the experimental results,the simulation improved ADRC controller has good speed regulation performance and anti-disturbance performance,and the method used can provide a reference for the actual production of the pulser.