Open AccessSliding Mode Variable Structure Control of the Steerable Drilling Stabilized Platform Based on Disturbance Observer
Author(s) -
Aiqing Huo,
Shuhan Zhang,
S. M. Wu
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1894/1/012033
Subject(s) - control theory (sociology) , pid controller , robustness (evolution) , sliding mode control , variable structure control , matlab , variable (mathematics) , engineering , control engineering , computer science , control (management) , mathematics , artificial intelligence , physics , nonlinear system , temperature control , mathematical analysis , biochemistry , chemistry , quantum mechanics , gene , operating system
A sliding mode variable structure control based on disturbance observer (SMVSCDOB) has proposed to tackle the uncertainty caused by friction in the stabilized platform on the rotary steerable drilling. Disturbance observer (DOB) is used to estimate the uncertainty in stabilized platform, and the estimated value is compensated by sliding mode variable structure control (SMVSC) to improve the control accuracy. The simulation experiment of control system is carried out with MATLAB, comparing the SMVSCDOB control method with proportional integral derivative (PID), PID+DOB, SMVSC. The simulation results show that the proposed method SMVSCDOB can better track the tool face angle, reduce the system error, suppress the friction interference, and enhance robustness of the system.