A three-level closed-loop control method of double eccentric ring mechanism of the rotary steerable system based on energy
Year: 2026
Type: preprint
Abstract: Aiming at the problem that it is difficult to balance the non-overshoot positioning and fast response under the unidirectional rotation constraint of the double eccentric ring mechanism of the rotary steerable system, this paper proposes a three-level closed-loop control method of speed planning based on the principle of energy constraint. This method constructs a position-speed-voltage hierarchical control architecture. The position loop calculates the maximum safe speed under the constraint of residual angle in real time according to energy conservation, so as to ensure that the system brakes at the target position after the driving force is removed, and the overshoot is eliminated from the root. The speed loop uses back electromotive force feedforward mapping to avoid integral saturation. The voltage loop performs saturation limiting and dead zone management. The simulation results show that the positioning error of this method is less than 0.0381° in the whole angle range from 1° to 360°, and the convergence time of small angle condition is about 6 times shorter than that of cascade PID, and the parameters do not need to be re-tuned with the change of target angle. The experimental prototype with GD32 microcontroller as the core has a positioning error of less than 0.8° and a continuous operating temperature of less than 44° C under 10 typical working conditions.
Source: Research Square
Institutions: Yangtze University, Huaibei Institute of Technology
Language: English
Subfield: Mechanical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7225777334