四旋翼定向转向系统建模与控制

2014 IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA) Proceedings Pub Date : 2014-06-23 DOI:10.1109/INISTA.2014.6873600

Mohammad Talib, M. Elshafei, A. Khoukhi, A. Saif, A. Abdulazeez

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引用次数: 4

摘要

与常规钻井系统相比，定向转向系统(DSS)已经在油气行业得到了发展，以实现更高的油井产量。本文建立了由四个直流电机组成的自动决策系统的动力学模型。采用反馈线性化技术消除非线性动力学，采用LQR技术实现最优线性控制。给出了所提出的4电机DSS的仿真，并演示了基于反馈线性化控制器(FLC) -线性二次调节器(LQR)的命令和控制在执行转向任务中的性能。

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Modeling and control of quad-rotor Directional Steering System

Directional Steering Systems (DSS) have been developed in the oil and gas industry to achieve high well production when compared to conventional drilling systems. In this paper a dynamic modeling of a DSS using four DC motors was developed. A controller was designed using Feedback Linearization technique for the cancellation of non-linear dynamics and LQR for the optimal linear control. Simulation of the proposed 4-motors DSS is provided, and the performance of the Feedback Linearization Controller (FLC) - Linear Quadratic Regulator (LQR) based command and control in executing steering tasks is demonstrated.

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2014 IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA) Proceedings

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