| The rotary steerable system is the drilling tool required for China’s unconventional oil and gas development.As the drilling depth of unconventional oil and gas fields in China continues to increase,the harsh downhole environment puts higher demands on the directional performance of the rotary steerable system.The key to achieving accurate steerability with the point-the-bit rotary steerable system developed by the research group of this thesis lies in the motor control system.Traditional motor control system testing often uses full physical test schemes or full digital simulation schemes.However,actual motors of full physical test schemes have problems with high cost,low efficiency,and difficulty conducting tests under motor fault conditions.In contrast,digital motor models of full digital simulation schemes have issues with low confidence.To solve these problems,this thesis designs a virtual motor that is consistent with the performance of the actual motor being referenced.By connecting the virtual motor with the actual motor controller through hardware,the hardware-in-the-loop testing system can achieve more efficient performance testing and motor fault simulation of the motor control system of the point-the-bit rotary steerable system.Firstly,this thesis designed an overall solution based on the functional requirements and indicator requirements proposed by the project.Combining the coordinate system and coordinate system,a mathematical model of the first-level complexity of permanent magnet synchronous motor under normal and faulty conditions was derived.A high-fidelity Simulink model of the motor and inverter was constructed and deployed on a real-time simulation machine.Through full digital simulation,the correctness of the model was demonstrated,and PI control parameters were provided for subsequent verification experiments.Secondly,in terms of software,a configuration-based upper computer monitoring interface was designed.In terms of hardware,a circuit design was carried out for a virtual angle position sensor based on amplitude modulation principles.The virtual motor was designed by combining the virtual angle position sensor with the real-time simulation machine.The hardware-in-the-loop testing system was established by connecting the virtual motor with the controller of the actual motor through hardware.Next,based on the hardware-in-the-loop testing system,dynamic performance verification was carried out on the virtual motor.Experimental data from the virtual motor was compared with testing data from the actual motor.The results showed that the average relative errors of the dynamic tracking performance and dynamic disturbance rejection performance indicators between the virtual motor and the actual motor were 12.49%and 8.63%,respectively,which met the design requirements.Thus,the effectiveness,reliability,and matching between the virtual and actual motor were verified.Finally,simulations of faults such as inter-turn short circuits,uniform demagnetization of the permanent magnet,rotor imbalance,and phase loss were conducted based on the virtual motor.The results were consistent with the theoretical predictions.This thesis has completed theoretical research,modeling and simulation,system implementation,and experimental verification.By connecting the real-time simulation machine with the virtual angle position sensor,the design of the virtual motor with a higher degree of matching with the actual motor and the construction of the hardware-in-the-loop testing system was completed.This hardware-in-the-loop testing system completed the virtual motor’s dynamic performance verification and motor fault simulation.As a result,the method innovation of virtual motor angle position measurement and motor fault simulation and the application scenario innovation of virtual motor in motor control scenes for directional drilling was achieved.It is expected that the virtual motor will be applied to the performance testing and optimization of the motor control system for the rotary steerable system,as well as the analysis and diagnosis of the motor faults,which will have significant engineering value and promotion significance for saving research and development costs and shortening the R&D cycle. |
