Research of disc valve friction torque modeling and integral sliding mode adaptive control for rotary steering drilling tool

There is a clear non-linear characteristic of friction torque to the control axis on stable platform control system. Based on the structure of this system, the article establishes the basic model of the control system and the disk valve model of friction torque. For the non-linear friction torque, integral sliding mode controller was designed, and an adaptive control was presented to realize the adaptive estimation of uncertain disturbances. Simulation results show that this method is an effective solution to the nonlinear friction torque on the stable platform attitude control. The system takes on strong robustness to load disturbance and parameter perturbation. The outcome of such research would provide the theoretical basis for the steady platform controlling and the decision-making.