Motor dynamic torque control method and system based on downhole stabilizing platform

Abstract

The application provides a motor dynamic torque control method and system based on a downhole stable platform, uses a double-motor dynamic torque control strategy, reduces the interference of vibration and noise by motor torque force, can realize high-precision control, and further realizes high-quality data acquisition and track closed-loop control, and is applied to a rotary steering drilling tool.The method comprises the following steps: acquiring platform posture and motion parameters in real time, calculating angle and speed compensation torques respectively, distributing the total torque to upper and lower motors after synthesis to actively suppress vibration; and realizing high-precision balanced control by monitoring the output torque difference of the double motors and dynamically feeding back and adjusting, so as to provide an ultra-stable environment for precise measurement.

Description

Technical Field

[0001] This invention relates to the field of exploration drilling, and more specifically, to a method and system for dynamic torque control of a motor based on a downhole stabilization platform. Background Technology

[0002] As global oil and gas exploration and development continues to expand into deeper and more complex formations, horizontal wells, extended reach wells, and wells with complex three-dimensional structures have become key technologies for improving single-well production and recovery rates. In such drilling operations, the rotary geological steering system is the nerve center for achieving high-precision wellbore trajectory control. The core function of this system relies on a downhole work platform installed near the drill bit. This platform is a highly integrated, sealed unit containing logging-while-drilling sensors, such as gamma, resistivity, azimuth resistivity, inertial measurement units, steering actuator control circuits, and a high-speed data acquisition and processing system. The performance of these precision electronic devices and the instantaneous accuracy of the measurement data directly determine the real-time nature of geological parameter identification, the reliability of steering decisions, and the final conformity of the wellbore trajectory.

[0003] However, the downhole drilling environment is extremely harsh and full of dynamic disturbances. During rock breaking, the drill string continuously endures heterogeneous impacts from the formation, random friction with the wellbore, unstable eddies in the drilling fluid, and unbalanced forces from its own rotation, thus generating complex vibrations over a wide frequency range. These vibrations mainly manifest as lateral vibrations, axial vibrations, and particularly severe torsional vibrations. Among them, the "stick-slip" phenomenon caused by torsional vibration is particularly harmful, causing the drill bit speed to oscillate violently and periodically between zero and extremely high values, resulting in large fluctuations in torque. This not only reduces the mechanical drilling rate and accelerates drill string fatigue but also poses a continuous threat to precision downhole instruments.

[0004] To address drill string vibration, especially stick-slip vibration, existing technologies have proposed a series of macroscopic control schemes. For example, Chinese patent document CN201410173668.6 discloses a flexible torque control system and method that can eliminate drill string stick-slip vibration. This scheme establishes a drill string torsional dynamics model and intervenes at the ground or top drive end: it monitors the torque and speed of the top drive motor in real time, predicts or simulates the downhole stick-slip state through algorithms, and generates a speed compensation signal to dynamically adjust the speed setting of the top motor. The aim is to keep the working point of the entire drill string-drill bit system away from the stick-slip resonance zone, thereby suppressing macroscopic torsional vibration and protecting the drilling equipment and drill string safety.

[0005] While such macroscopic control methods are valuable in mitigating system-level torsional oscillations and ensuring drilling safety, their technical focus and control logic have inherent application boundaries and limitations. They cannot effectively address the ultra-precise stability control requirements of the downhole working platform within the rotary steering tool itself, specifically in the following ways: The existing method, as exemplified in document 1, takes the long-scale, high-inertia mechanical system of "drill string-drill bit" as the control object, aiming to suppress its overall torsional vibration. However, it does not address the relatively independent downhole working platform body suspended inside the vibration system, which is the focus of this invention. The goal of this invention is to create a near-static local microenvironment for its internal precision circuits and sensors. The former treats the whole body, while the latter needs to protect the heart and brain. The vibration interference transmitted to the platform is complex, including high-frequency harmonics and random noise. Macroscopic control methods, based on ground monitoring and long-distance signal transmission, have large response delays and low control bandwidth, making them unable to provide real-time compensation for high-frequency, low-amplitude disturbances acting on the platform. Existing technologies indirectly influence downhole conditions by adjusting the speed of the top drive motor, with the point of action being the top of the entire drill string—an indirect and flexible remote adjustment. In contrast, this invention aims to achieve immediate stability of the platform itself by installing an actuator inside the platform or in a directly adjacent location for direct and rigid "local compensation." Summary of the Invention

[0006] The purpose of this invention is to provide a method and system for dynamic torque control of motors based on a downhole stable platform. By using a dual-motor dynamic torque control strategy, the motor torque force is reduced to reduce the interference of vibration and noise, thereby achieving high-precision control and high-quality data acquisition and trajectory closed-loop control.

[0007] The embodiments of the present invention are implemented as follows: A dynamic torque control method for a motor based on a downhole stabilization platform, applied to rotary steered drilling tools, includes: Obtain the real-time attitude and motion parameters of the stable platform; Based on the deviation between the real-time attitude parameters and the target attitude parameters, a first torque compensation amount is generated. A second torque compensation amount is generated based on the deviation between the real-time motion parameters and the target motion parameters; The total control torque is determined based on the initial torque, the first torque compensation amount, and the second torque compensation amount. The total control torque is distributed to the independently controlled upper and lower actuators at both ends of the downhole stabilization platform. The two actuators work together to stabilize the platform to suppress interference. Monitor the actual output torque of each actuator and determine whether the torque difference between the two actuators exceeds the allowable range; If the error exceeds the allowable range, the control parameters are dynamically adjusted according to the difference, and the first torque compensation amount is recalculated to achieve dynamic torque balance control between the motors.

[0008] In a preferred embodiment of the present invention, the above-mentioned attitude parameter is the tilt angle of the stable platform; the motion parameter is the rotation speed of the stable platform.

[0009] In a preferred embodiment of the present invention, the method for generating the above-mentioned first torque compensation amount includes: taking the deviation between the real-time attitude parameter and the target attitude value as the input of the first PI regulator, and then obtaining the first torque compensation amount after being processed by the knowledge base correction function.

[0010] In a preferred embodiment of the present invention, the method for generating the above-mentioned second torque compensation amount includes: inputting the optimal speed of the motor device and the real-time speed of the motor into the second comparator for comparison, taking the difference as the input of the second PI regulator, and then performing torque control on the motor under the FOC control strategy with the goal of overcoming the speed difference to obtain the second torque compensation amount.

[0011] In a preferred embodiment of the present invention, after determining the total control torque, it is processed through the field-oriented control strategy and drives the actuator motor via a three-phase inverter circuit. The field-oriented control strategy includes performing an inverse PARK transformation and space vector pulse width modulation on the total control torque; at the same time, after performing a CLARK transformation and PARK transformation on the motor feedback current, it is fed back to the third comparator for closed-loop control; obtaining the absolute position information of the motor through an encoder and feeding it back to the inverse PARK transformation and PARK transformation respectively.

[0012] In a preferred embodiment of the present invention, the specific judgment steps for judging whether the torque difference between the two actuator motors exceeds the allowable range are as follows: Respectively obtain the first actual output torque F1 of the upper / lower actuator motor and the second actual output torque F2; Calculate the absolute value |ΔF| of the difference between the first actual output torque F1 and the second actual output torque F2; Compare |ΔF| with a preset torque tolerance threshold α; If |ΔF| < α, maintain the current control instruction and continuously monitor and read the platform status; If |ΔF| ≥ α, perform an inverse solution on the torque difference ΔF using the inverse function of the knowledge base correction function to obtain a compensation angle Δθ, and use this compensation angle Δθ to correct the target attitude parameter.

[0013] In a preferred embodiment of the present invention, if F1 > F2, only recalculate and update the control instruction of the upper actuator motor, and the lower actuator motor maintains the original instruction. If F1 < F2, only recalculate and update the control instruction of the lower actuator motor, and the upper actuator motor maintains the original instruction; An embodiment of the present invention also provides a motor dynamic torque control system based on an underground stable platform, which includes: A measurement unit for obtaining the attitude and motion parameters of the stable platform; The signal processing unit, connected to the measurement unit, is used to calculate the first torque compensation amount, the second torque compensation amount, and the total control torque; The execution unit includes independently controlled upper and lower execution motors located at both ends of the stabilization platform, which are respectively connected to the signal processing unit to generate stabilizing force based on the total control torque; The equalization feedback unit, connected to the execution unit and the signal processing unit, is used to monitor the motor output torque and trigger dynamic adjustment of control parameters.

[0014] In a preferred embodiment of the present invention, the measurement unit and the signal processing unit are arranged at the same horizontal level, and the measurement unit includes: The speed measuring impeller drives the upper and lower actuators to generate electricity through the mud. Position measurement sensors are used to acquire the attitude parameters of the stabilized platform; With a cable drill pipe, real-time uploading of downhole measurement information and downloading of commands are achieved.

[0015] In a preferred embodiment of the present invention, the signal processing unit includes: The first comparator is used to compare the theoretical angle with the measured angle; The second comparator is used to compare the optimal speed and the real-time speed; The third comparator is used to receive the angle-compensated torque and the speed-compensated torque; The knowledge base correction function module is used to handle angle deviations; The first PI regulator and the second PI regulator are used to generate angle-compensated torque and speed-compensated torque, respectively. A PID controller is used to determine the total control torque.

[0016] This invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the methods described above.

[0017] The beneficial effects of the embodiments of the present invention are: 1. By using the dynamic torque control of the independently controlled upper and lower actuators located at both ends of the downhole stabilization platform, the unavoidable vibrations and noise during drilling are actively offset and suppressed, creating a relatively static and stable working environment for precision components inside the platform, such as circuit boards and precision sensors, thereby improving the accuracy of data acquisition, subsequent trajectory control, and trajectory quality. 2. Simultaneously, both attitude and motion dimensions are used for motor torque compensation. Combined with intelligent compensation methods, the compensation process becomes adaptive, achieving high-precision closed-loop control, thereby improving the quality of data acquisition and the accuracy of subsequent trajectory control. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the motor dynamic torque control system based on a downhole stabilization platform according to an embodiment of the present invention; Figure 2 This is a flowchart of a motor dynamic torque control method based on a downhole stabilization platform according to an embodiment of the present invention; Figure 3 This is a control flowchart of the upper and lower execution motors according to an embodiment of the present invention; Figure 4 and 5 This is a schematic diagram of the connection of the motor dynamic torque control system based on the downhole stabilization platform according to an embodiment of the present invention; Icons: Upper actuator 001; Lower actuator 002; Stabilized platform cabin 003; Measurement unit 100; signal processing unit 200; first comparator 201; second comparator 202; third comparator 203; knowledge base correction function module 204; first PI regulator 205; second PI regulator 206; PID regulator 207; inverse PARK conversion module 208; SVPWM module 209; three-phase full-bridge circuit 210; Execution unit 300; motor 301; encoder 302; equalization feedback unit 400; CLARK conversion module 401; PARK conversion module 402. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0024] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0025] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0026] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0027] First Embodiment This embodiment provides a method for dynamic torque control of motors based on a downhole stabilization platform. It addresses a technological gap in the field of rotary geological steerable drilling that has not yet been effectively resolved: how to design an active stabilization system with fast response and high control precision, starting from the inside of the downhole working platform, to directly counteract the multi-degree-of-freedom composite vibrations felt by the platform itself, especially instantaneous attitude deflection and speed fluctuations, thereby ensuring that its internal precision components are always in optimal working condition. This provides a complete solution for the dynamic torque control of dual motors in a downhole stabilization platform.

[0028] Please see Figure 1The overall structural diagram shows that the system mainly includes: upper actuator motor 001, lower actuator motor 002, stabilization platform cabin 003, position measurement sensor, central control circuit, and cabled drill rod, etc.

[0029] The speed measuring impeller, installed in the tool string, rotates under the impact of drilling mud. Its rotational speed is proportional to the mud flow rate, and it is used to generate electricity for the system and measure the real-time speed of the motors. The upper and lower actuators 001 / 002 are located at opposite ends of the stabilization platform housing 003, serving as actuators to generate stable torque. They are independently controlled but work collaboratively. The central stabilization platform housing 003 integrates precision signal acquisition and control components such as position measurement sensors and a central control circuit board. It is a core component requiring stability. The central control circuit board includes at least a signal processing unit and an equalization feedback unit, and the motor dynamic torque control method is programmed onto the circuit board. The position measurement sensor, using a gyroscope or tilt sensor, measures the tilt angle θ of the stabilization platform housing 003 in real time. It should be kept as horizontal as possible with the central control circuit to minimize measurement errors. The wireline drill pipe is responsible for uploading the angle, speed, torque, and other measurement information collected by the downhole stabilization platform to the surface control system in real time, while simultaneously transmitting control commands from the surface to the downhole central control circuit.

[0030] During rotary geological steerable drilling operations, the downhole platform houses crucial components such as control circuit boards, central control circuit boards, and various sensors. These precision components require a stable environment to obtain the most accurate measurement data. However, downhole operations are always accompanied by vibration deviations and noise interference. Therefore, reducing downhole vibration interference is essential for improving data acquisition, subsequent trajectory control accuracy, and trajectory quality. In this embodiment, an actuator motor is installed at both the upper and lower parts of the stabilization platform housing 003. The stabilization platform housing 003 can acquire information such as torque, speed, and angle of the upper actuator motor 001 and the lower actuator motor 002. The stabilization platform housing 003 performs data analysis and transmits control signals to the upper and lower actuator motors 001 and 002. The data calculations and results completed by the stabilization platform housing 003 are uploaded to the central control unit. By precisely adjusting the torque of the upper and lower actuator motors, vibration and noise interference are reduced, achieving high-precision control, and ultimately enabling high-quality data acquisition and closed-loop trajectory control.

[0031] Flowchart of motor dynamic torque control method, as follows Figure 2 As shown, the specific steps include the following: S1: System initialization and knowledge base establishment Before the rotary steering tool is lowered into the well, a database of the correspondence between the offset angle and the required supplemental torque is established through laboratory simulation tests.

[0032] Based on this correspondence database, a knowledge base correction function is generated using fuzzy control algorithms or curve fitting algorithms. Simultaneously, parameter tuning is performed on the upper and lower actuators 002, establishing a correspondence function between the direct-axis current and quadrature-axis current in the current loop and the electromagnetic torque of the motor based on the field-oriented control (FOC) strategy. The dynamic torque control of the motor consists of two closed-loop control loops, with the angle θ measured by a sensor and the speed v of the motor driven by a speed measuring impeller.

[0033] S2: Real-time parameter measurement After the system starts up, the tilt angle θ of the stable platform is obtained in real time through the position measurement sensor; the real-time speed v of the motor is obtained through the speed encoder of the speed measuring impeller.

[0034] S3: Generate the first torque compensation amount The target attitude parameter, i.e., the desired stable platform angle, is set to θ. ref = 0 is compared with the real-time measured angle θ input to the first comparator. The angle is converted into radians to obtain the angle deviation e. θ .

[0035] The angle deviation e θ The absolute value is used as the input to the knowledge base correction function g(θ), and the function outputs a preliminary compensation amount.

[0036] This initial compensation amount is input into the first PI regulator for precise adjustment, and the final output angle compensation torque f is obtained. θ-addition .

[0037] S4: Generate the second torque compensation amount The optimal operating speed V of the motor equipment ref The speed deviation e is obtained by comparing the real-time measured rotational speed v with the input of the second comparator. v .

[0038] The speed deviation e v The input is fed into the second PI controller, which performs torque control on the actuator motor under the FOC control strategy with the goal of overcoming the speed difference, and outputs speed-compensated torque. .

[0039] S5: The PID controller calculates the total control torque, executes it analytically, and feeds back to the PID controller. The total control torque of all actuators is the sum of the initial torque, the angle compensation torque, and the speed compensation torque. This summation process can be implemented by a PID controller, where the differential coefficient can be set to 0 when there is no feedback data from the PARK converter module.

[0040] The total control torque F is processed through the field-oriented control (FOC) strategy: first, an inverse PARK transformation is performed to convert the torque command in the rotating coordinate system into a voltage command in the stationary coordinate system; then, a drive signal is generated through the space vector pulse width modulation (SVPWM) module; the drive signal controls the three-phase full-bridge circuit, thereby driving the actuator motor to output precise torque.

[0041] Meanwhile, the encoder monitors the absolute position 'a' of the motor rotor in real time and feeds it back to the inverse PARK conversion and PARK conversion modules to ensure the accuracy of the conversion.

[0042] Furthermore, the output current of the three-phase full-bridge circuit is sampled, and after passing through the CLARK and PARK converters in sequence, it is fed back to the third comparator of the FOC control loop to realize closed-loop control of the current. The measured speed of the actuator motor is also fed back to the second comparator.

[0043] S6: Drives the actuator motor; please refer to [link / reference]. Figure 3 , Perform steps S1-5 on the upper and lower actuators 002 to obtain the upper torque F1 and the lower torque F2, respectively.

[0044] Calculate the absolute value of the difference between the two torques: |ΔF| = |F1 - F2|.

[0045] Compare |ΔF| with the preset torque tolerance threshold α: If |ΔF| < α: the outputs of the upper and lower motors are considered balanced, and the system maintains its current operating state. The stabilizing platform continuously monitors the angle and speed, and uploads the data to the ground control system via the cabled drill rod.

[0046] If |ΔF| ≥ α: This indicates a torque imbalance, requiring dynamic adjustment. The specific steps are as follows: Applying the inverse function g(θ) of the knowledge base correction function to the torque difference ΔF - ¹(ΔF) is solved inversely to obtain a compensation angle Δθ; The target attitude parameters are corrected using the compensation angle Δθ. That is, the new target angle is set to θ' = θ + Δθ, or θ' = θ - Δθ, the specific sign of which is determined by the control logic.

[0047] Using the corrected θ' as the new target value, step S3 is re-executed to calculate the new first torque compensation amount, and the total control torque is subsequently updated.

[0048] Based on the relationship between F1 and F2, the control torque is selectively updated to ensure targeted adjustments and rapid system response. If F1 > F2, only recalculate and update the control instruction of the upper execution motor 001, and the lower execution motor 002 maintains the original instruction.

[0049] If F1 < F2, only recalculate and update the control instruction of the lower execution motor 002, and the upper execution motor 001 maintains the original instruction.

[0050] S7: Execute in a loop During the drilling operation, the system continuously repeats steps S2 to S6, forming a dynamic and adaptive closed-loop control system, and in real-time compensates for the instability of the work platform caused by vibration and noise interference with the motor torque force.

[0051] In this embodiment, through the torque compensation mechanism of double closed-loops of angle and speed, and combined with the dynamic balance feedback control of the upper and lower motors, the system can actively and accurately suppress multi-dimensional interference brought by the complex underground environment, significantly improving the working environment stability of precision sensors and data acquisition circuits within the stable platform, thus providing a reliable data basis for high-precision geological steering and trajectory control, and ultimately improving the drilling efficiency and quality.

[0052] Second Embodiment To more clearly illustrate the technical solution of the present invention, on the basis of the first embodiment, this embodiment provides an example with specific simulation parameters and steps.

[0053] Before the rotary steerable tool is lowered into the well for operation, system initialization configuration and knowledge base establishment are required: Establish a knowledge base correction function. By simulating the underground vibration environment in the laboratory, measure the torque values required to maintain the platform stability at different offset angles θ, and form a database of the corresponding relationship between the angle and the compensation torque. Using the polynomial fitting algorithm, obtain the fifth-order correction function of this embodiment: , where θ is the angle. This function describes the non-linear mapping relationship between the angle deviation and the required compensation torque.

[0054] Motor parameter tuning and FOC model establishment: Identify and tune the parameters of the upper and lower permanent magnet synchronous motors dedicated for underground use. Establish a mathematical model based on the field-oriented control FOC strategy, clarify the corresponding relationship Te = f(id, iq) between the direct-axis current id, quadrature-axis current iq and the motor output electromagnetic torque Te, and complete the parameter pre-tuning of the current loop and speed loop.

[0055] Controller parameter setting: The first PI regulator for the angle loop: The proportional coefficient is 6, and the integral coefficient is 0.002; The second PI regulator for the speed loop: The proportional coefficient is 10, and the integral coefficient is 0.001; The third PID controller used for total torque synthesis has a proportional coefficient of 10, an integral coefficient of 0.002, and an initial derivative coefficient of 0. The system baseline value is set as follows: initial torque 10 N m; Platform target stable angle / theoretical angle is 0°; optimal motor operating speed is 3000 rpm; torque balance tolerance threshold α of dual motors is 0.1 N. m.

[0056] At one of the sampling moments, the system measures the real-time platform angle θ. ref =3.1°≈0.0541 radians, the platform is slightly uneven, and the real-time speed is 2800 rpm.

[0057] S3: Generate the first torque compensation amount Angle deviatione θ =θ ref -θ=0-0.0541=-0.0541. The angular deviation e θ Substitute the absolute value into the knowledge base correction function g(θ) = Thus, we obtain g(θ)≈0.08499.

[0058] The initial compensation amount of 0.08499 is input together with the integral state of the current angle loop PI controller into the first PI controller. After calculation by the controller, the precise angle compensation torque f is output through proportional and integral action. θ-addition It is 1.050471 N·m.

[0059] S4: Generate the second torque compensation amount Calculate speed deviation e v =V ref -v=3000-2800=200 rpm. Input 200 rpm into the second PI regulator. Based on the integral and proportional terms of the deviation, calculate the torque adjustment required to eliminate this speed difference. =2.08331 N·m.

[0060] S5: Calculate total control torque The PID controller then acts as an adder, adding the initial torque to the two compensation torques to obtain the total control torque command. =10+1.050471+2.08331=13.133781 N·m.

[0061] The total torque command F is executed through the field-oriented control (FOC) module. First, based on parameters such as the target torque and the flux linkage of the motor's permanent magnets, the target quadrature-axis current iq is calculated. Then, inverse PARK transformation and space vector pulse width modulation (SVPWM) are performed sequentially to generate a drive signal to control the three-phase full-bridge circuit, thereby driving the motor. Simultaneously, the rotor absolute position angle fed back from the encoder is used for PARK transformation to achieve precise vector decoupling.

[0062] S6: Drive actuator motor The total control torque command F is distributed to the upper motor and the lower motor respectively, and the torques F1 and F2 of the upper motor are calculated again using S1-5. Due to motor characteristics and slight differences in load, the actual output torque of the upper motor F1 is 13.2 N·m, and the actual output torque of the lower motor F2 is 12.9 N·m.

[0063] The absolute value of the difference between the two torques, |ΔF| = |F1 - F2|, is 0.3 N·m, and α is 0.1. Since the calculated |ΔF| > 0.1, the system determines that the torque is unbalanced and triggers dynamic equilibrium adjustment.

[0064] Inverse solution of the compensation angle, substituting ΔF into the inverse function g(θ) of the knowledge base correction function g(θ) - ¹(ΔF) is solved by inverse kinematics, and the adjustment angle value is approximately 0.194°.

[0065] Since F1 > F2, the system determines that the upper motor output is too high. Therefore, only the upper motor is corrected: its target angle is corrected to -0.194°. Using the corrected target angle of -0.194° and the current measured angle of 3.1° as input, a new torque compensation amount is recalculated for the upper motor, resulting in a new compensated torque for the upper motor, which in turn updates the total control torque. In this embodiment, the updated total torque command for the upper motor is 13.133781 - 0.3 = 12.833781 N·m, while the lower motor remains unchanged.

[0066] The above process is completed within a millisecond-level control cycle. The system continuously and cyclically executes a closed-loop process of angle / speed measurement, dual compensation calculation, total torque synthesis and distribution, output drive, dual motor torque monitoring feedback, and dynamic balance adjustment.

[0067] This embodiment combines specific angle / velocity dual closed-loop compensation with dual-motor dynamic equalization adjustment based on knowledge base function inverse kinematics, demonstrating a complete and feasible high-precision control scheme for downhole stabilization platforms. This method actively counteracts broadband vibrations and noise interference caused by drill string rotation and formation impact, ensuring that sensors and circuits within the stabilization platform compartment 003 operate in a near-static environment. This significantly improves the signal-to-noise ratio and reliability of geological parameter measurement data, laying a solid technical foundation for achieving high-precision, high-quality wellbore trajectory closed-loop control of the rotary steering system.

[0068] Third Embodiment This embodiment, based on the motor dynamic torque control method based on the downhole stabilization platform in the first embodiment, provides a motor dynamic torque control system based on the downhole stabilization platform. It has a high-frequency response at the millisecond level and the ability to independently sense and collaboratively compensate for multi-degree-of-freedom disturbances such as attitude deflection and speed fluctuation. It provides a high-precision active vibration reduction control scheme specifically for downhole confined space stabilization platforms, based on direct compensation of multi-motor collaborative dynamic torque, thereby improving the stability of the working platform.

[0069] Please see Figure 4 The system includes a measurement unit 100, a signal processing unit 200, an execution unit 300 connected in sequence, and an equalization feedback unit 400 connected to the input terminals of the signal processing unit 200 and the execution unit 300.

[0070] The measurement unit 100 is used to acquire the attitude and motion parameters of the stable platform. The measurement unit 100 and the signal processing unit 200 are positioned at the same horizontal level. The measurement unit 100 includes at least a speed-measuring impeller for acquiring rotational speed, a position measurement sensor for acquiring angle, a current acquisition circuit, and an encoder. Communication between the surface and the wellbore is achieved using a cabled drill pipe, enabling real-time uploading of downhole measurement information and transmission of commands.

[0071] The signal processing unit 200 is connected to the measurement unit 100 and is used to calculate the first torque compensation amount, the second torque compensation amount, and the total control torque. It includes a first comparator 201, a second comparator 202, a third comparator 203, a knowledge base correction function module 204, a first PI regulator 205, a second PI regulator 206, a PID regulator 207, an inverse PARK conversion module 208, an SVPWM module 209, and a three-phase full-bridge circuit 210.

[0072] The first comparator 201, the first PI regulator 205, and the knowledge base correction function module 204 are connected in sequence. The first comparator 201 is used to compare the theoretical angle and the measured angle. After being processed by the first PI regulator 205, the angle compensation torque is output to the knowledge base correction function module 204.

[0073] The second comparator 202 is connected to the second PI regulator 206. The second comparator 202 is used to compare the optimal speed and the real-time speed. After processing by the second regulator, the speed compensation torque is output.

[0074] The third comparator 203, PID regulator 207, inverse PARK conversion module 208, SVPWM module 209 and three-phase full-bridge circuit 210 are connected in sequence. The third comparator 203 is used to receive angle compensation torque and speed compensation torque. After passing through PID regulator 207, it outputs the total control torque and completes the torque command conversion through inverse PARK conversion module 208, SVPWM module 209 and three-phase full-bridge circuit 210 in sequence.

[0075] The equalization feedback unit 400 is connected to the execution unit 300 and the signal processing unit 200, and is used to monitor the motor output torque and trigger the dynamic adjustment of control parameters. It includes a CLARK conversion module 401 and a PARK conversion module 402 connected in sequence.

[0076] The execution unit 300 includes independently controlled upper and lower execution motors 301 located at both ends of the stabilization platform, respectively connected to the signal processing unit 200, for generating stabilizing force based on the total control torque. The threshold α obtained from the encoder 302 of the upper or lower execution motor is fed back to the inputs of the PARK conversion module 402 and the inverse PARK conversion module 208, and the real-time rotational speed obtained from the encoder 302 is fed back to the input of the second comparator 202.

[0077] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, or may be electrical, mechanical or other forms of connection.

[0079] The units described as separate components may or may not be physically separate. As will be appreciated by those skilled in the art, the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0080] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0081] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or grid device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0082] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for dynamic torque control of a motor based on a downhole stabilization platform, characterized in that, Applied to rotary steerable drilling tools, the method includes: Obtain the real-time attitude parameters and real-time motion parameters of the stabilized platform; Based on the deviation between the real-time attitude parameters and the target attitude parameters, a first torque compensation amount is generated; Based on the deviation between the real-time motion parameters and the target motion parameters, a second torque compensation amount is generated; The total control torque is determined based on the initial torque, the first torque compensation amount, and the second torque compensation amount; The total control torque is distributed to the independently controlled upper and lower actuators at both ends of the downhole stabilization platform. The two actuators work together to actively suppress interference on the stabilization platform. Monitor the actual output torque of each of the aforementioned actuators and determine whether the torque difference between the two actuators exceeds the allowable range; If the allowable range is exceeded, the control parameters are dynamically adjusted according to the difference, and the first torque compensation amount / second torque compensation amount is recalculated to achieve dynamic torque balance control between the motors.

2. The method for dynamic torque control of a motor based on a downhole stabilization platform according to claim 1, characterized in that, The attitude parameter is the tilt angle of the stabilizing platform; the motion parameter is the rotational speed of the stabilizing platform.

3. The method for dynamic torque control of a motor based on a downhole stabilization platform according to claim 1, characterized in that, The method for generating the first torque compensation amount includes: taking the deviation between the real-time attitude parameters and the target attitude value as the input of the first PI regulator, and then processing it through the knowledge base correction function to obtain the first torque compensation amount.

4. The method for dynamic torque control of a motor based on a downhole stabilization platform according to claim 1, characterized in that, The method for generating the second torque compensation amount includes: comparing the optimal speed of the motor equipment with the real-time speed of the motor input to a second comparator, using the difference as the input of a second PI regulator, and then performing torque control of the motor under the FOC control strategy with the goal of overcoming the speed difference, to obtain the second torque compensation amount.

5. The method for dynamic torque control of a motor based on a downhole stabilization platform according to claim 1, characterized in that, After determining the total control torque, it is processed by a field-oriented control strategy and driven by a three-phase inverter circuit. The field-oriented control strategy includes performing inverse PARK transformation and space vector pulse width modulation on the total control torque. At the same time, the motor feedback current is subjected to CLARK transformation and PARK transformation and fed back to the third comparator for closed-loop control. The absolute position information of the motor is obtained through the encoder and fed back to the inverse PARK transformation and PARK transformation respectively.

6. The method for dynamic torque control of a motor based on a downhole stabilization platform according to claim 1, characterized in that, The specific steps for determining whether the torque difference between the two actuators exceeds the allowable range are as follows: The first actual output torque F1 and the second actual output torque F2 of the upper and lower actuators are obtained respectively; Calculate the absolute value of the difference between the first actual output torque F1 and the second actual output torque F2, |ΔF|. Compare |ΔF| with a preset torque tolerance threshold α; If |ΔF|<α, then maintain the current control command and continuously monitor and read the platform status; If |ΔF|≥α, the inverse function of the knowledge base correction function is applied to the torque difference ΔF to obtain a compensation angle Δθ, and the compensation angle Δθ is used to correct the target attitude parameters.

7. The method for dynamic torque control of a motor based on a downhole stabilization platform according to claim 6, characterized in that, If F1 > F2, then only the control instructions for the motor being executed are recalculated and updated, while the control instructions for the motor being executed remain unchanged; if F1 < F2, then only the control instructions for the motor being executed are recalculated and updated, while the control instructions for the motor being executed remain unchanged.

8. A dynamic torque control system for a motor based on a downhole stabilization platform, characterized in that, include: The measurement unit is used to acquire the attitude and motion parameters of the stabilized platform; A signal processing unit, connected to the measurement unit, is used to calculate the first torque compensation amount, the second torque compensation amount, and the total control torque; The execution unit includes independently controlled upper and lower execution motors located at both ends of the stabilization platform, which are respectively connected to the signal processing unit and are used to generate stabilizing force according to the total control torque; The equalization feedback unit, connected to the execution unit and the signal processing unit, is used to monitor the motor output torque and trigger dynamic adjustment of control parameters.

9. The motor dynamic torque control system based on a downhole stabilization platform according to claim 8, characterized in that, The measurement unit and the signal processing unit are positioned at the same horizontal level. The measurement unit includes: The speed measuring impeller drives the upper and lower actuators to generate electricity through the mud. Position measurement sensors are used to acquire the attitude parameters of the stabilized platform; With a cable drill pipe, real-time uploading of downhole measurement information and downloading of commands are achieved.

10. The motor dynamic torque control system based on a downhole stabilization platform according to claim 8, characterized in that, The signal processing unit includes at least: The first comparator is used to compare the theoretical angle with the measured angle; The second comparator is used to compare the optimal speed and the real-time speed; The third comparator is used to receive the angle-compensated torque and the speed-compensated torque; The knowledge base correction function module is used to handle angle deviations; The first PI regulator and the second PI regulator are used to generate angle-compensated torque and speed-compensated torque, respectively. A PID controller is used to determine the total control torque.

11. A computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method as described in any one of claims 1-7.

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