Rresearch On Stabilized Platform Control Of Dynamic Directional Rotary Steerable Drilling Tool

Rotary steering drilling technology is the most advanced automatic drilling technology in oil and gas exploration and development.It has many advantages,such as low cost,good borehole quality and simple control.Due to the complex oil and gas geology,difficult exploitation and low degree of exploration in China,the rotary steering technology has always been the focus and difficulty of oil and gas research in China.In this paper,the closed-loop control of dynamic directional rotary steering drilling stabilized platform is the main research content,the controller is designed,and a fusion filtering algorithm is proposed to denoise the sensor measurement data,so as to improve the stability and accuracy of stabilized platform control.In this paper,three closed-loop control algorithms are used to design the controller for each closed-loop in the four closed-loop control system of the stable platform,which includes PID control,sliding mode control and active disturbance rejection control,and select the optimal controller,so as to improve the overall control performance of the stable platform and avoid the poor control performance of the controller designed by a single control algorithm.The fusion filtering algorithm designed in this paper first carries out the second-order complementary filtering on the measured data of the sensor,which not only reduces the high-frequency noise of the accelerometer,but also partially compensates the drift of the gyroscope,and then takes the filtered accelerometer data as the observation value to establish the observation method for unscented Kalman filtering,The tool surface angle obtained by unscented Kalman filter has higher accuracy,so as to improve the stability and accuracy of stable platform control.For the stable platform control algorithm and fusion filter algorithm,this paper describes in detail the principles of three closed-loop control algorithms:PID control,sliding mode control and active disturbance rejection control,as well as two filter algorithms:complementary filter and unscented Kalman filter.Through theoretical derivation,a controller is designed for the four closed-loop control system of the stable platform,and a filter is designed for its measurement and transmission link.To verify the control performance of the stable platform control system,This paper establishes a practical simulation model by Matlab/Simulink.The simulation test results show that the regulation time of the stable platform control system is short,the steady-state fluctuation is small,and there is no overshoot.