CN110275438A - A kind of drilling tool pose compensation control method and system - Google Patents
A kind of drilling tool pose compensation control method and system Download PDFInfo
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Abstract
The invention discloses a kind of drilling tool pose compensation control method and system, the realization of this method and system carries out in four steps, firstly, the motion process to drilling tool is described, analyzes the influence factor and its relevance of motion process；The drilling tool equation of motion is then set up, and using compensation control thought, establishes and is based on hole angle and azimuthal binary channels drilling tool attitude control system；Control error analysis finally is carried out to hole angle and azimuth control loop respectively, obtains the stability condition of hole angle and azimuth control loop.The mentioned method of the present invention overcomes previous drilling tool motion model that can not be directly applied for control system, it is simple and effective with period control method, the drilling tool gesture stability process for simplifying Practical Project, achievees the purpose that engineer application, provides solution for the control of complicated geological drilling process drilling tool.
Description
Technical field
The present invention relates to a kind of complicated geological drilling process drilling tool pose compensation control method and systems, belong to complicated geological
Drilling process field of intelligent control.
Background technique
Energy resource is the important component of national security and the key of national economy sustainable development safely
One.Support Resource energy security should be based on the country.With increasingly depleted, deep metallogenic theory the development of shallow-layer mineral resources
And a large amount of deeps mineral resources are verified so that geology of deep part exploration and being developed into certainty both at home and abroad.Complicated geological was crept into
Journey is to pass through Various Complex stratum to arrive at target area and obtain the process of complete rock core.Deep complicated geological drilling process exists
The problems such as risk is big, at high cost, and resource is difficult to convert into actual productivity, and drilling trace tracing control can be effectively solved
The above problem, but drilling tool gesture stability is the premise for realizing drilling trace tracing control.Therefore, drilling tool gesture stability is to realize again
The important foundation of the miscellaneous safe and efficient target of geology drilling process.
In geological drilling development process, drilling automation is the development trend of geological drilling, and directional drilling is to realize
The important channel of drilling automation.Directional drilling system drives drill bit to realize that adjustment is bored in drilling process by transfer
Into track.
Drilling tool posture is to be described by the hole angle and azimuth of drilling tool (i.e. BHA), and the adjustment of drilling trace is then
It is realized by changing drilling tool posture.Drilling tool is extremely complex in underground motion process, has non-linear property and various factors coupling special
Property, it is difficult to drilling tool motion conditions are effectively analyzed, it is even more impossible to efficiently control drilling tool posture to be allowed to reach specified region.
Currently, the research of drilling tool motion model has very much, most of research model is all described using numerical value, but its model is inclined
Mechanics description, math equation are too complicated and cannot be used directly in control system；It is many for foundation in the research of control method
Suitable for the drilling tool motion model of control system, many restrict conditions are done to drilling tool motion model, versatility is not strong.Together
When, to improve the versatility of control method, but the complexity of control method is increased, and practical management effect is unknown.Therefore,
The drilling tool motion model for being suitble to bad ground environment is established, and proposes effective control method on this basis, is to improve drilling tool
The key of gesture stability effect.
Summary of the invention
The technical problem to be solved in the present invention is that the defect of the technical complexity for the prior art, provides a kind of brill
Have pose compensation control method and system.
The technical solution adopted by the present invention to solve the technical problems is: a kind of drilling tool pose compensation control method is constructed,
The following steps are included:
S1, the motion process of drilling tool is described, analysis obtain several influence drilling tool movement influence factor and
Relevance between each influence factor；
Relevance between S2, each influence factor analyzed based on step S1, divides drilling tool motion process
Analysis, and the motion process of drilling tool is modeled, it obtains one and is acted on about between hole angle, azimuth and tools for angle
The drilling tool motion model of relationship；
S3, the drilling tool motion model is analyzed, constructs drilling tool attitude control system, and in the drilling tool posture control
In system processed, establishes and be based on hole angle and azimuthal binary channels control loop；
S4, stability analysis is carried out to the step S3 hole angle established and azimuth control loop respectively, and obtains hole deviation
The stability condition at angle and azimuth control loop, wherein in the control loop stability condition acquisition process of azimuth, firstly,
The problem of stability analysis, is converted into linear matrix inequality Solve problems by construction linear matrix inequality transfer function；
Then, the solution of linear matrix inequality is solved using the tool of solution, obtains hole angle and azimuthal value range；Finally, logical
The hole angle crossed and azimuthal value range, are further ensured that the stability of azimuth control loop, and according to required
Hole angle and azimuthal value range, for drilling tool, design controls its attitude angle parameter in drilling process, into one
Step improves the control effect to drilling tool posture.
Further, in step S2, the disturbance term in the drilling tool motion model is removed, and dissolve using Taylor expansion
Nonlinear terms in the drilling tool motion model carry out the drilling tool motion model to simplify processing, and by simplified drilling tool
Motion model applies to subsequent step；Wherein, the drilling tool motion model form that is simplified that treated are as follows:
Wherein, θincIndicate hole angle, θaziIndicate azimuth；UincIndicate the control input of hole angle, UaziIndicate orientation
The control at angle inputs；A=Vrop×Kdls, VropIndicate wellbore permeability, KdlsIndicate curvature UdlsMaximum value；biFor sec (π/
2-θinc) expansion is about θincEach order coefficient, N are positive integer.
Further, drilling tool attitude control system is constructed using output feedback compensation structure in step S3.
Further, in step S4, the linear matrix inequality transfer function is converted by liapunov function,
Solution tool is LMI tool.
Further, in step S2, the rigid body that drilling tool is rotated as one, while ignore the lateral of drill string and drilling tool and
Torsion power establishes the governing equation between hole angle, azimuth and a tools for angle, by the relation equation
Formula is as drilling tool motion model.
Further, hole angle and the azimuth of drilling tool are controlled in step S3, feedback compensation structure are based on, in drilling tool
One is established in attitude control system based on the hole angle and azimuthal binary channels control loop；Wherein:
The binary channels control loop includes a compensator and hole angle and orientation angle controller and a control
Conversion module；The input quantity of the binary channels control loop is tools for angle, and in order to enable drilling tool gesture stability system
System realizes two-output impulse generator, using control conversion module, realizes equivalent virtual input.
Further, it is contemplated that the stability of drilling tool attitude control system is all made of linearly using described two controllers
Controller.
Further, during carrying out stability analysis to hole angle and azimuth control loop in step S4, in which:
In the stability analysis to hole angle control loop, need to establish hole angle error state equation first, and solve
The characteristic root of the equation；It is then based on obtained characteristic root, with stability criterion, illustrates the stabilization of hole angle control loop
Property；Wherein, if hole angle error state variable einc, it is based on eincThe hole angle error state equation form of foundation are as follows:
In formula, kiincIt is the integral coefficient of hole angle control loop；kpincIt is the proportionality coefficient of hole angle control loop；
In the stability analysis of azimuthal control loop, need to establish azimuth angle error state equation first, if orientation
Horn shape state variable is eazi, the azimuth angle error state equation form of foundation are as follows:
Wherein, a1=akiazi, a2=akpazi, kiaziIt is the integral coefficient of orientation angle controller, kpaziIt is azimuth control
The proportionality coefficient of device,Meanwhile θinc(t) θ is usedincSimple description；
Then, the eigenmatrix in the azimuth angle error state equation is converted into affine expression formula form, it is described imitative
Penetrate form are as follows:
A2=A20+η1(t)A21+η2(t)A22+…+ηn(t)A2n；
Wherein, η1(t),η2(t),…,ηnIt (t) is time-varying coefficient, A20,A21,A22,…,A2nFor known matrix.
By above-mentioned affine expression-form, the azimuth angle error state equation is further converted into the second error state
Equation:
Wherein, z (t) indicates the state variable of the affine form in azimuth, η1(t)=φazi(θinc(t))；
Finally, finding the stable condition of second error state equation using Liapunov's direct method, and will be described
Stable condition proves that problem is converted to the solution of LMI problem；It is solved to obtain hole deviation in the second error state equation according to LMI tool
The value range at angle, in the case where obtaining the value range of the hole angle, to obtain azimuth value range；Wherein,
Under conditions of the hole angle, the limitation of azimuth value range, the stability of azimuth control loop is further illustrated.
A kind of drilling tool pose compensation control system disclosed by the invention, comprises the following modules:
Association analysis module is described for the motion process to drilling tool, and analysis obtains several and influences drilling tool
Relevance between the influence factor of movement and each influence factor；
Drilling tool motion model constructs module, the pass between each influence factor obtained based on association analysis module analysis
Connection property, analyzes drilling tool motion process, and model to the motion process of drilling tool, obtains one about hole angle, side
The drilling tool motion model of interactively between parallactic angle and tools for angle；
Control loop constructs module, by analyzing the drilling tool motion model, construction drilling tool attitude control system,
And in the drilling tool attitude control system, establishes and be based on hole angle and azimuthal binary channels control loop；
Stability condition obtains module, for controlling respectively the hole angle and azimuth of control loop building module foundation
Circuit carries out stability analysis, and obtains the stability condition of hole angle and azimuth control loop；Wherein, it is controlled at azimuth
In loop stability condition acquisition process, firstly, passing through construction linear matrix inequality transfer function asking stability analysis
Topic is converted into linear matrix inequality Solve problems；Then, the solution of linear matrix inequality is solved using the tool of solution, obtains well
Oblique angle and azimuthal value range；Finally, hole angle and azimuthal value range by obtaining, are further ensured that orientation
The stability of angle control loop；
Wherein, above-mentioned module is all made of such as above-mentioned drilling tool pose compensation control method, and the control for improving drilling tool posture is imitated
Fruit.
In a kind of drilling tool pose compensation control method of the present invention and system, it is based on hole angle and azimuthal movement
The coupling of model dexterously decouples motion model using compensator in binary channels control loop；Meanwhile building is defeated
Feedback compensation control circuit carries out stability contorting to hole angle and azimuth respectively out.
Implement of the invention a kind of drilling tool pose compensation control method and system, has the advantages that
1, the coupling based on hole angle and azimuthal movement model, dexterously using compensation in binary channels control loop
Device decouples motion model；
2, building output feedback compensation control circuit carries out stability contorting to hole angle and azimuth respectively, improves drilling tool
The control effect of posture.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the flow chart of drilling tool pose compensation control method disclosed by the invention；
Fig. 2 is the structure of drilling tool pose compensation control system disclosed by the invention；
Fig. 3 is directional drilling process description；
Fig. 4 is attitude angle schematic diagram；
Fig. 5 is drilling tool attitude control system structure chart；
Fig. 6 is model of compensation control；
Fig. 7 is hole angle error control loop；
Fig. 8 is azimuth angle error control loop；
Fig. 9 is drilling tool attitude error figure.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
Referring to FIG. 1, it is the flow chart of drilling tool pose compensation control method disclosed by the invention, a kind of drilling tool posture benefit
Repay control method, comprising the following steps:
S1, the motion process of drilling tool is described, analysis obtain several influence drilling tool movement influence factor and
Relevance between each influence factor；
Wherein, directional drilling system structural schematic diagram is as shown in figure 3, mainly by bottom drilling assembly (Button Hole
Assembly is abbreviated as BHA), DRILL-STRING SYSTEM and ground installation composition.BHA includes drill bit, turns to actuator, measurement while drilling dress
Equal components are set, it, which is driven by drill string with the top on ground, is connected.Hook is driven by suspended cable component and top in ground installation
Connection, top drive and directly drive drill string rotating, send brill to underground along exclusive guideway.Drive the torque of drilling machine by downhole mud motor
It provides, mud is pumped into downhole drill bit from drill string center, and returns to ground by the annular gap between wellbore, drill string and BHA；
The control section of down-hole equipment includes processor, orientation hole deviation (Direction and Inclination, abbreviation
D&I) sensor and steering unit, control algolithm issues course changing control instruction to steering unit in processor, to drive
Drill bit is crept into towards specified orientation angles；
In drilling process, drill bit is contacted with formation rock, is related to transfer broken rock, drilling speed size, hole curvature
And there is various factors coupling situation during the motion, be embodied in the following aspects in perturbed problem, these factors:
(1) steering force；Transfer drives drill bit to creep into towards assigned direction, i.e., steering force is the arrow with size and Orientation
Amount has larger impact to drilling tool model and drill bit/rock contact rule；
(2) drilling speed；Drilling speed (i.e. ROP) is to influence to creep into very crucial one of parameter, the selection of ROP depend on it is a variety of because
Element, diameter, target depth including well, current geological structure, the depth of water etc.；
(3) curvature；The ratio for creeping into neutral time and offset time in the period is known as turning to ratio, curvature UdlsIt is equal to
Turn to ratio and maximum curvature KdlsProduct, but maximum curvature KdlsCan not directly acquire, need combine manual operation experience and
It creeps into data analysis and carrys out approximate description；
(4) it disturbs；Drilling tool has shadow during carrying out slow drilling control to hole angle and azimuth because of own wt
It rings, it can be as Stable Perturbation item.
Relevance between S2, each influence factor analyzed based on step S1, divides drilling tool motion process
Analysis, and the motion process of drilling tool is modeled, it obtains one and is acted on about between hole angle, azimuth and tools for angle
The drilling tool motion model of relationship；
Wherein, drilling tool attitude angle schematic diagram is as shown in Figure 4, wherein in drilling process, θincIndicate hole angle, θazi
Indicate azimuth, UtfRepresentational tool towards angle, meanwhile, θincAnd θaziThe posture of drilling tool, U are describedtfThe side that drilling tool turns to is described
Position.
The drilling tool of pushing type drilling system makes to generate side cutting at drill bit by guiding device using power as working method
Power if drilling tool is treated as the rigid body of a rotation, while ignoring drill string and the lateral and torsion power of BHA, drilling tool posture
The equation of motion can be expressed as follows:
Wherein, UtfIt controls and inputs as tools for angle, UdlsIndicate curvature or dog-leg severity, VdrIndicate tenesmus rate
Disturbance, VtrIndicate the disturbance of steering rate deviation, VropIndicate wellbore permeability, it is a uncontrolled parameter.Hole angle and side
Parallactic angle has coupling condition.
In practical drilling process, disturbance term VtrAnd VdrVariation with respect to drilling tool posture response variation be slowly, equation
Middle disturbance term VtrAnd VdrIt does and ignores processing.For simplified model and convenient for design controller, it is defined as follows equivalent inpnt:
Here, UincIndicate hole angle control input, UaziIndicate azimuth control input, KdlsIndicate curvature UdlsMaximum
Value.
Above-mentioned formula (2) is simplified and is handled, drilling tool motion model can be expressed as formula (3):
Wherein, 1/sin θincItem is nonlinear terms, is converted into sec (pi/2-θ hereinc) item, then use Taylor's exhibition
Open type carries out decoupling neutralizing, and the final form for obtaining drilling tool motion model is formula (4):
Here, a=VropKdls, biFor sec (pi/2-θinc) expansion is about θincEach order coefficient, N are positive integer.
S3, the drilling tool motion model is analyzed, constructs drilling tool attitude control system, and in the drilling tool posture control
In system processed, establishes and be based on hole angle and azimuthal binary channels control loop；
Wherein, drilling tool attitude control system structure is as shown in figure 5, the system mainly includes one for solving drilling tool movement
Learn the compensator, two PI controllers of nonlinear problem in model, control conversion module, drilling tool motion module and correlation delay
Link；Wherein, in the present embodiment, the input quantity of the drilling tool motion model is tools for angle and curvature, and in drilling tool mould
It is also added into control conversion module before block, is used for UincAnd UaziBe converted to UtfAnd Udls；Due in measurement sensor and steering dress
About 20 meters of distance between setting, signal is transmitted by pulse with 5bit/s, and therefore, there are inherent delay spies for attitude angle measurement
Property, it joined delay link in the feedback loop.
Based on the drilling tool attitude control system, establishes binary channels circuit and control hole angle and azimuth respectively, foundation
The normal equation of two PI control is as follows:
Here,Indicate that the azimuth for not entering into compensator inputs, kpincAnd kpaziIt is proportional gain, kiincAnd kiazi
It is integral coefficient, eincAnd eaziHole angle and azimuth angle error are respectively indicated, respectively
Wherein, rincIndicate that hole angle input is given, raziIndicate that azimuth input is given；
Output feedback compensation can reduce the order of system, simplify the complexity of nonlinear system, model of compensation control such as Fig. 6
It is shown.In Fig. 5, compensator is output and input respectivelyAnd Uazi, the relationship between them is described as:
Here, δazi(θinc) indicate compensator；
In conjunction with (4) and (7), then have
So
Compensator is added, facilitates PI control in the adjustment of local linear, extension PI controls the opereating specification in tuning point,
Azimuth response speed is improved, azimuth angle error is reduced.
S4, stability analysis is carried out to the step S3 hole angle established and azimuth control loop respectively, and obtains hole deviation
The stability condition at angle and azimuth control loop；Wherein, first in the control loop stability condition acquisition process of azimuth
First, the problem of stability analysis, linear matrix inequality solution is converted by construction linear matrix inequality transfer function to ask
Topic；Then, the solution of linear matrix inequality is solved using the tool of solution, obtains hole angle and azimuthal value range；Finally,
By obtained hole angle and azimuthal value range, it is further ensured that the stability of azimuth control loop；Wherein:
(1) hole angle control loop stability analysis
If hole angle error state variable einc, have as shown in Figure 7:
Wherein einc、Its state equation are as follows:
Here (11) are a LTI system, state matrix A1Are as follows:
A1Characteristic equation are as follows:
λ2+akpincλ+akiinc=0 (13)
Here characteristic root λi< 0, λiValue is all distributed in Left half-plane, and therefore, hole angle control loop is asymptotically stability
's.
(2) azimuth control loop stability analysis
If azimuth angle error state variable eazi, have as shown in Figure 8:
Wherein eazi、Its state equation are as follows:
Wherein, kiaziIt is the integral coefficient of orientation angle controller, kpaziIt is the proportionality coefficient of orientation angle controller, a1=
akiazi, a2=akPazi, Meanwhile θinc(t) θ is usedincSimple description；
Formula (15) is a linear dimensions time-varying system, state matrix A2Are as follows:
From (16) it is found that matrix A2It is time-varying, depends on variable θinc(t)。
Wherein, A2Affine parameter form can be stated are as follows:
A2=A20+η1(t)A21+η2(t)A22+…+ηn(t)A2n (17)
Wherein, η1(t),η2(t),…,ηnIt (t) is time-varying coefficient, A20,A21,A22,…,A2nFor known matrix.
Have in conjunction with LPV system form:
A=λ1A1+λ2A2 (18)
Here λ1,λ2For matrix coefficient, A1,A2For the submatrix of A, expression formula is as follows:
Wherein, φazi(θmin) it is φazi(θinc) minimum value, φazi(θmax) it is φazi(θinc) maximum value.
Affine form and LPV form are combined, had:
A2=A20+η1(t)A21 (19)
Its corresponding state equation are as follows:
Wherein,And η1(t)=φazi(θinc(t)), z (t) indicates orientation
The state variable of the affine form in angle, z. (t) indicate the differential form of z (t).
Using second method of Liapunov, liapunov function is established:
V (z, η)=zTQ(η)-1z (21)
Wherein, Q (η)=Q0+η1Q1+η2Q2+…+ηnQn.And stable condition is dV (z, η)/dt < 0, can be converted into LMI and ask
Topic, it may be assumed that
Formula (21) are solved, defines Q (η (t)), has:
Q (η (t))=Q0+η1(t)Q1> 0 (22)
Above-mentioned MATRIX INEQUALITIES (21) are converted are as follows:
Therefore, azimuth control loop is asymptotically stability.
For azimuth, the stability analysis of hole angle control loop, specifically there is the selection of parameter in the present embodiment: being related to
Relevant parameter Vrop=200ft/hr, Kdls=8 °/100ft, so a=7.755 × 10-3rad/s；Each gain expressions of PI controller
For Together
When, hole angle natural frequency ωinc=0.00025rad/s, azimuth natural frequency ωazi=0.0002rad/s.By calculating,
Available θminFor 0.424rad, therefore there is θinc(t)∈[0.424,1.57]。
For hole angle value range, hole angle θ has been inquired into the present embodimentinc=π/4, azimuth angle thetaaziThe conduct of=π/4
The control error for setting input condition, has obtained the simulation result such as Fig. 9.Measurement delay and disturbance are carried out in system emulation
Consider, Fig. 9 describes output feedback compensation control method and PI the control method comparable situation in drilling tool control error.
In the present embodiment, hole angle and azimuthal input stepping are 0.02rad, from the point of view of hole angle reaction, compensation
Control method will be faster than PI method in error convergence speed, and its peak-to-peak value wants small；From the point of view of the reaction of azimuth, error
The peak-to-peak value of amplitude is much smaller, and rapidly enters steady-state value.Illustrate the validity of the compensating control method.
Referring to FIG. 2, it is the structure chart of drilling tool pose compensation control system disclosed by the invention, which mainly includes
Association analysis module L1, drilling tool motion model building module L2, control loop building module L3 and stability condition obtain
Module L4:
For the motion process of drilling tool to be described, analysis obtains several and influences drilling tool association analysis module L1
Relevance between the influence factor of movement and each influence factor；
Between each influence factor that drilling tool motion model building module L2 is obtained based on association analysis module analysis
Relevance analyzes drilling tool motion process, and models to the motion process of drilling tool, obtain one about hole angle,
The drilling tool motion model of interactively between azimuth and tools for angle；
Control loop building module L3 constructs drilling tool gesture stability system for analyzing the drilling tool motion model
System, and in the drilling tool attitude control system, it establishes and is based on hole angle and azimuthal binary channels control loop；
Stability condition obtains module L4 for controlling respectively to the hole angle and azimuth of control loop building module foundation
Circuit processed carries out stability analysis, and obtains the stability condition of hole angle and azimuth control loop；Wherein, it is controlled at azimuth
In loop stability condition acquisition process processed, firstly, by constructing linear matrix inequality transfer function for stability analysis
Problem is converted into linear matrix inequality Solve problems；Then, the solution of linear matrix inequality is solved using the tool of solution, is obtained
Hole angle and azimuthal value range；Finally, hole angle and azimuthal value range by obtaining, the side of being further ensured that
The stability of parallactic angle control loop；
Wherein, above-mentioned module is all made of the drilling tool pose compensation control method, improves the control effect of drilling tool posture.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (9)
1. a kind of drilling tool pose compensation control method, which comprises the following steps:
S1, the motion process of drilling tool is described, analysis obtains the influence factor that several influence drilling tool movement and each
Relevance between influence factor；
Relevance between S2, each influence factor analyzed based on step S1, analyzes drilling tool motion process, and
The motion process of drilling tool is modeled, obtains one about interactively between hole angle, azimuth and tools for angle
Drilling tool motion model；
S3, the drilling tool motion model is analyzed, constructs drilling tool attitude control system, and in drilling tool gesture stability system
In system, establishes and be based on hole angle and azimuthal binary channels control loop；
S4, respectively to step S3 establish hole angle and azimuth control loop carry out stability analysis, and obtain hole angle and
The stability condition of azimuth control loop, wherein in the control loop stability condition acquisition process of azimuth, firstly, passing through
It constructs linear matrix inequality transfer function and the problem of stability analysis is converted into linear matrix inequality Solve problems；So
Afterwards, the solution of linear matrix inequality is solved using the tool of solution, obtains hole angle and azimuthal value range；Finally, passing through
Obtained hole angle and azimuthal value range, are further ensured that the stability of azimuth control loop, and according to required
Hole angle and azimuthal value range, for drilling tool, design controls its attitude angle parameter in drilling process, further
Improve the control effect to drilling tool posture.
2. drilling tool pose compensation control method according to claim 1, which is characterized in that in step S2, remove the brill
Have the disturbance term in motion model, and dissolve the nonlinear terms in the drilling tool motion model using Taylor expansion, to described
Drilling tool motion model carries out simplifying processing, and simplified drilling tool motion model is applied to subsequent step；Wherein, it is simplified
Drilling tool motion model form that treated are as follows:
Wherein, θincIndicate hole angle, θaziIndicate azimuth；UincIndicate the control input of hole angle, UaziIndicate azimuthal
Control input；A=Vrop×Kdls, VropIndicate wellbore permeability, KdlsIndicate curvature UdlsMaximum value；biFor sec (pi/2-
θinc) expansion is about θincEach order coefficient, N are positive integer.
3. drilling tool pose compensation control method according to claim 1, which is characterized in that use output feedback in step S3
Collocation structure constructs drilling tool attitude control system.
4. drilling tool pose compensation control method according to claim 1, which is characterized in that in step S4, the linear moment
Battle array inequality transfer function is converted by liapunov function, and solution tool is LMI tool.
5. drilling tool pose compensation control method according to claim 1 or 2, which is characterized in that in step S2, drilling tool is made
The rigid body rotated for one, while ignoring the lateral and torsion power of drill string and drilling tool, establish a hole angle, azimuth with
And the governing equation between tools for angle, using the governing equation as drilling tool motion model.
6. drilling tool pose compensation control method according to claim 1 or 3, which is characterized in that in order to control in step S3
The hole angle of drilling tool and azimuth are based on feedback compensation structure, and one is established in drilling tool attitude control system based on the well
Oblique angle and azimuthal binary channels control loop；Wherein:
The binary channels control loop includes a compensator and hole angle and orientation angle controller and a control conversion
Module；The input quantity of the binary channels control loop is tools for angle, and in order to enable the drilling tool attitude control system is real
Existing two-output impulse generator realizes equivalent virtual input using control conversion module.
7. drilling tool pose compensation control method according to claim 6, which is characterized in that consider drilling tool gesture stability system
The stability of system is all made of linear controller using described two controllers.
8. drilling tool pose compensation control method according to claim 1 or 4, which is characterized in that hole angle in step S4
During carrying out stability analysis with azimuth control loop, in which:
In the stability analysis to hole angle control loop, need to establish hole angle error state equation first, and solve the party
The characteristic root of journey；It is then based on obtained characteristic root, with stability criterion, illustrates the stability of hole angle control loop；Its
In, if hole angle error state variable einc, it is based on eincThe hole angle error state equation form of foundation are as follows:
In formula, kiincIt is the integral coefficient of hole angle control loop；kpincIt is the proportionality coefficient of hole angle control loop；
It in the stability analysis of azimuthal control loop, needs to establish azimuth angle error state equation first, if orientation horn shape
State variable is eazi, the azimuth angle error state equation form of foundation are as follows:
Wherein, a1=akiazi, a2=akpazi, kiaziIt is the integral coefficient of orientation angle controller, kpaziIt is orientation angle controller
Proportionality coefficient,Meanwhile θinc(t) θ is usedincSimple description；
Then, the eigenmatrix in the azimuth angle error state equation is converted into affine expression formula form, the affine shape
Formula are as follows:
A2=A20+η1(t)A21+η2(t)A22+…+ηn(t)A2n；
Wherein, η1(t),η2(t),…,ηnIt (t) is time-varying coefficient, A20,A21,A22,…,A2nFor known matrix.
By above-mentioned affine expression-form, the azimuth angle error state equation is further converted into the second error state side
Journey:
Wherein, z (t) indicates the state variable of the affine form in azimuth, η1(t)=φazi(θinc(t))；
Finally, find the stable condition of second error state equation using Liapunov's direct method, and by the stabilization
Condition proves that problem is converted to the solution of LMI problem；Solve to obtain hole angle in the second error state equation according to LMI tool
Value range, in the case where obtaining the value range of the hole angle, to obtain azimuth value range；Wherein, in institute
Under conditions of stating hole angle, the limitation of azimuth value range, the stability of azimuth control loop is further illustrated.
9. a kind of drilling tool pose compensation control system, which is characterized in that comprise the following modules:
Association analysis module is described for the motion process to drilling tool, and analysis obtains several and influences drilling tool movement
Influence factor and each influence factor between relevance；
Drilling tool motion model constructs module, the association between each influence factor obtained based on association analysis module analysis
Property, drilling tool motion process is analyzed, and the motion process of drilling tool is modeled, obtains one about hole angle, orientation
The drilling tool motion model of interactively between angle and tools for angle；
Control loop constructs module, by analyzing the drilling tool motion model, construction drilling tool attitude control system, and
In the drilling tool attitude control system, establishes and be based on hole angle and azimuthal binary channels control loop；
Stability condition obtains module, for respectively to the hole angle and azimuth control loop of control loop building module foundation
Stability analysis is carried out, and obtains the stability condition of hole angle and azimuth control loop；Wherein, in azimuth control loop
In stability condition acquisition process, firstly, will be turned the problem of stability analysis by construction linear matrix inequality transfer function
Change linear matrix inequality Solve problems into；Then, the solution of linear matrix inequality is solved using the tool of solution, obtains hole angle
With azimuthal value range；Finally, hole angle and azimuthal value range by obtaining, are further ensured that azimuth is controlled
The stability in circuit processed；
Wherein, above-mentioned module is all made of drilling tool pose compensation control method as described in claim 1, improves the control of drilling tool posture
Effect processed.
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