|本期目录/Table of Contents|

[1]高俊山,张弛,程宁波,等. 基于稳定补偿状态观测器的旋转导向钻井轨迹跟踪控制[J].电机与控制学报,2018,22(02):89-97.[doi:10.15938/j.emc.2018.02.012]
 GAO Jun-shan,ZHANG Chi,CHENG Ning-bo,et al. Trajectory tracking control of rotary steerable systems basedon stability compensation observer[J].,2018,22(02):89-97.[doi:10.15938/j.emc.2018.02.012]
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
22
期数:
2018年02
页码:
89-97
栏目:
出版日期:
2018-02-15

文章信息/Info

Title:
 Trajectory tracking control of rotary steerable systems basedon stability compensation observer
作者:
 高俊山1 张弛12 程宁波2 邹伟2
  1. 哈尔滨理工大学 自动化学院,黑龙江 哈尔滨 150080; 2. 中国科学院 自动化研究所,北京 100190)
Author(s):
  GAO Jun-shan1 ZHANG Chi12 CHENG Ning-bo2 ZOU Wei2
 ( 1. School of Automation,Harbin University of Science and Technology,Harbin 150080,China;2. Institute of Automation,Chinese Academy of Sciences,Beijing 100190,
China)
关键词:
旋转导向钻井系统 状态反馈 积分滑模控制 稳定补偿状态观测器 遗传算法
Keywords:
 rotary steerable system state feedback integral sliding mode control stability compensationstate observer genetic algorithm
分类号:
TP273
DOI:
10.15938/j.emc.2018.02.012
文献标志码:
A
摘要:
旋转导向钻井是近年来应用于钻井作业中的一种新型导向钻井技术,具有成本低、钻速高、井眼轨迹平滑、可延长水平段等优点。针对一种旋转导向钻井系统的井眼轨迹跟踪问题,分析了系统模型的渐近稳定性; 实现了一种基于状态反馈的二维井眼轨迹跟踪控制器。为了克服滞后项所导致的状态观测器稳定问题,提出了一种基于稳定补偿的状态观测器设计方法。控制系统设计的整体思路是利用基于指数趋近律的积分滑模变结构方法实现稳定补偿控制,保证了状态观测器的渐近稳定性; 同时为提高系统整体性能,进一步使用遗传算法对系统控制器和观测器参数进行了优化。通过对不同的给定钻井轨迹进行对比仿真实验,验证了所提的控制系统设计方法的有效性。
Abstract:
 Rotary steerable system ( RSS) is a new type of directional drilling that has been applied indrilling operations in recent years. RSS has a number of advantages including low cost,high rate of pene-tration,smooth bore hole trajectory,horizontal well extension and so on. Considering the problem of borehole trajectory tracking of RSS,
the asymptotic stability of system model was analyzed,and a 2-dimensionbore hole tracking controller was realized based on state feedback. In order to solve the problem of theobserver stability caused by lagging property,a state observer design method based on stability compensa-tion is proposed. The control system design was to utilize integral sliding mode variable structure controlbased on exponential reaching law to determine the stability compensation control input,which ensures as-ymptotic stability of the state observer. Furthermore,genetic algorithm was used to optimize the parame-ters of controller to improve the overall system performance. Simulation results on different pre-defineddrilling trajectories show the effectiveness of the proposed control system.

参考文献/References:

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备注/Memo

备注/Memo:
 收稿日期: 2016 - 11 - 17
基金项目: 国家自然科学基金( 51405484)
作者简介: 高俊山( 1962—) ,男,博士,教授,研究方向为交流调速、智能控制和计算机控制技术;
张 弛( 1992—) ,男,硕士研究生,研究方向为自适应与滑模控制;
程宁波( 1983—) ,男,博士,副研究员,研究方向为并联机器人及控制;
邹 伟( 1974—) ,男,博士,研究员,研究方向为机器人视觉和智能控制。
更新日期/Last Update: 2018-06-29