CAJ | 학술논문

钻井液流量的大范围变动容易导致旋转导向钻井工具空间角度位置控制的适应性差，具体表现为系统在某钻井液流量条件下整定的控制参数，在其他流量条件下常常是不稳定的，出现角度的振荡摆动、控制失稳。通过对涡轮电机电磁转矩与钻井液流量和控制信号动态关系的分析，建立了涡轮电机的动力学模型，模型表明电磁转矩的大小与流量和控制作用的乘积有一定比例关系，电磁转矩随钻井液流量呈动态变化，从而导致了控制的失稳。基于此提出了一种乘积型电磁转矩电压前馈补偿方法，经过前馈补偿后的电机电磁转矩的大小只与控制作用相关，而与钻井液流量无关，从而将一个非线性时变环节变换成了一个线性时不变环节；通过仿真分析与台架试验均验证了该方法的有效性，为实现平台系统在钻井液流量宽范围变化条件下的稳定控制提供了一种简便有效方法。
찬정액류량적대범위변동용역도치선전도향찬정공구공간각도위치공제적괄응성차，구체표현위계통재모찬정액류량조건하정정적공제삼수，재기타류량조건하상상시불은정적，출현각도적진탕파동、공제실은。통과대와륜전궤전자전구여찬정액류량화공제신호동태관계적분석，건립료와륜전궤적동역학모형，모형표명전자전구적대소여류량화공제작용적승적유일정비례관계，전자전구수찬정액류량정동태변화，종이도치료공제적실은。기우차제출료일충승적형전자전구전압전궤보상방법，경과전궤보상후적전궤전자전구적대소지여공제작용상관，이여찬정액류량무관，종이장일개비선성시변배절변환성료일개선성시불변배절；통과방진분석여태가시험균험증료해방법적유효성，위실현평태계통재찬정액류량관범위변화조건하적은정공제제공료일충간편유효방법。
Variations in the flow of drilling fluid in a wide range would easily cause poor adaptability of spatial position control for ro-tary steering drilling systems.Specifically,the control system adjusted with a set of control parameters under one drilling fluid flowcondition is often instable with sway position under other flow conditions.A dynamic model of turbine alternator is constructed byanalyzing the dynamic relationship of the electromagnetic torque of turbine alternator with the fluid flow and control signal.Resultsshow that the electromagnetic torque is a product of fluid flow and control signal;it varies with drilling fluid flow dynamically,thusleading to control instability.Further,a product-type electromagnetic torque feed-forward control method is proposed,in which theelectromagnetic torque of turbine alternator after feed-forward compensation relates to control signal only but no longer to drillingfluid flow.In this way,a nonlinear time-varying section is transformed to a linear time-invariant one.The proposed method is valida-ted by a series of simulations and a mechanic driving test.A simple and effective method is provided for stable control of rotary steer-ing drilling systems with drilling fluid flow varying widely.