A Motor Control System Used in MRST Stabilized Platform Based on Model-Compensation ADRC

The closed-loop control of stabilized platform in the modulated rotary steering drilling tool (MRST) is the key to the entire drilling system. Its core is the motor control system used in stabilized platform, which plays an important role in making the steady angle of stabilized platform adjustable and independent to the rotation of drilling string. Through the study of the stabilized platform, a mathematical model of the motor used in stabilized platform is established. Based on model-compensation active disturbance rejection controller (ADRC), a position servo system of permanent magnet synchronous torque motor for stabilized platform is presented. In order to improve the precision and rapidity of disturbance estimation by extended state observer, a method of load observation is proposed. Simulation results indicate that the servo system has fast response, no overshoot, high accuracy and strong robustness against parameter variations and load disturbance.