The Software Development Of Active Disturbances Rejection Controller For Continuous Wave Mud Pulser

With the increasing difficulty of oil and gas development all over the world,measurementwhile-drilling technology is also developing rapidly,and its requirements for downhole information transmission rate are getting higher and higher.As the latest technology in the development of mud pulse measurement while drilling technology,continuous wave mud pulser has a data transmission rate of more than 10 times higher than that of the widely used positive pulse mud pulse remote transmission system,which is the Technological front of the mud pulse transmission system for measurement data while drilling.Permanent Magnet Synchronous Motor(PMSM)is used as the driving motor of the continuous wave mud pulser rotary valve,and its dynamic performance directly affects the quality of downhole information transmission.However,PMSM is affected by temperature changes in downhole and time-varying hydraulic torque,which will reduce its operating performance.Therefore,this paper designs a new type of Active Disturbance Rejection Controller(ADRC)that combines differential feedforward and parallel extended state observers.It is used as a speed controller,and Linear ADRC is used in the current loop.The simulation results show that the pulser motor control system under this structure not only has better dynamic performance and anti-disturbance performance,but also has small steady-state errors and higher tracking accuracy for time-varying input.Then,in the software development of pulser motor vector control,model-based design Model-Based Design(MBD)method is adopted,using the RT-Lib library and Simulink library in Matlab/Simulink to build the semi-physical simulation model of PMSM control system based on the new ADRC.This model mainly includes: controller module,SVPWM module,coordinate transformation module,current detection module,rotor speed and position measurement module,etc.Then the semi-physical simulation model is generated into the control software code by using Matlab's automatic code generation technology.Finally,the Links-RT real-time simulation system software and hardware platform is built,and the feasibility experiment study on the code generated by the PMSM control system based on the new ADRC control algorithm is conducted.The sudden acceleration/deceleration experiment verifies the dynamic performance of the motor during 2FSK information modulation;the sudden acceleration/deceleration experiment simulates the anti-disturbance performance of the motor under the action of hydraulic torque.The experimental results show that the control software developed in this paper has normal functions,good speed regulation performance and anti-disturbance performance.This method provides a reference for the actual production of pulser.