Study on dynamic characteristics of controlled objects in stabilized platform of rotary steerable drilling system
Weibin Cheng · Acta Petrologica Sinica · 2009
The structure and working mode of the stabilized platform for the modulated rotary steering drilling tool are quite different from the normal process control objects.The control method is special for the angular position of a circle rotation object without any fixed support point in the drill collar.Both the dynamic data obtained from the control experiments and the least square method were used to identify the object parameter model for the stabilized platform.The dynamic model can be expressed by the secondary order and type I with some pure delay.The identification results obtained by using different data groups showed a good consistency with the different parameter estimation methods.The relevant solving measures were proposed for the non-linearity of objects.