旋转导向钻井工具试验台主轴驱动液压系统的稳定性

旋转导向钻井工具试验台的研究与应用对旋转导向钻井工具的研制和开发具有重要意义。为实现旋转导向钻井工具试验台主轴的精确稳定旋转，设计了一种试验台主轴驱动液压系统。根据液压系统工作原理建立了该系统的数学模型，得到了输入电压与液压马达输出转速之间的传递函数；利用Routh判据和Bode图判定该系统不稳定，当给系统加入动压反馈回路适当增加系统阻尼后，系统达到了稳定性要求；通过Matlab/Simulink对该系统进行了仿真分析，分析结果表明：该系统在PID控制下，当无负载干扰时，试验台主轴转速度能被精确控制；当对系统加入0~1 500 N.m的随机负载干扰时，该系统也能快速达到稳定状态。可见该系统的控制精度达到了试验台主轴稳定旋转的设计要求，可以作为试验台主轴驱动液压系统的指导参数。

Stability of Spindle Drive Hydraulic System of Rotary Steering Drilling Tool Test Stand

The research and application of the Rotary Steering Drilling tool test stand is of great significance to the research and development of Rotary Steering Drilling. In order to realize the accurate and stable rotation of the spindle of the test stand of the rotary guide drilling tool, the spindle drive hydraulic system is designed. The mathematical model was established based on the working principle of the hydraulic system, and the transfer function between the input voltage and the output speed of the hydraulic motor was obtained. Routh criterion and Bode diagram were used to determine the stability, the result showed that the system is unstable. The system met the stability requirement when dynamic pressure feedback was adopted to the system. To analyze the system by Matlab/Simulink, the analysis results show that the spindle rotation speed of the test stand can be precisely controlled when the system is controlled by PID and without load interference. And when 0~1500 N.m random load is added to the system, the system can reach stable state quickly. It can be seen that the control precision of the system has reached the design requirement of stable rotation of the test stand spindle, which can be used as the guiding parameter of the spindle drive hydraulic system of Rotary Steering Drilling Tool test stand.