Abstract: 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.

Key words: steering drilling, stabilized platform, dynamic characteristics, mathematic model, least square method

摘要： 调制式旋转导向钻井系统中的稳定平台具有与一般过程控制对象完全不同的特殊结构和工作方式。钻铤内无固定支撑点的圆周旋转运动状态角的控制方法具有许多特点。通过试验对稳定平台对象的动态特性进行了深入研究,应用稳定平台试验中所采集到的动态数据及工程中常用的最小二乘法对稳定平台对象参数模型进行了辨识,并对辨识结果进行了对比分析。其动态数学模型可以用二阶Ⅰ型带一定纯滞后表示。不同数据组的辨识结果表明,所用参数估计方法具有良好的一致性。研究了对象特性中的一些非线性问题,并提出了相应的解决措施。

关键词: 导向钻井, 稳定平台, 动态特性, 数学模型, 最小二乘法