基于扩张状态观测器的滑动定向钻进轨迹跟踪模型预测控制

doi:10.3799/dqkx.2026.117

基于扩张状态观测器的滑动定向钻进轨迹跟踪模型预测控制

doi: 10.3799/dqkx.2026.117

陆承达^1,3,4,
段炜涛^2,3,4,
吴加俊^2,3,4,
张幼振⁵,
吴敏^1,3,4, ,

1. 中国地质大学(武汉)人工智能与自动化学院, 湖北武汉 430074;
2. 中国地质大学(武汉)未来技术学院, 湖北武汉 430074;
3. 复杂系统先进控制与智能自动化湖北省重点实验室, 湖北武汉 430074;
4. 地球探测智能化技术教育部工程研究中心, 湖北武汉 430074;
5. 中煤科工西安研究院(集团)有限公司, 陕西西安 710077

基金项目:

国家自然科学基金项目(62373332，62273317)；高等学校学科创新引智计划111项目(B17040)；中国地质大学(武汉)中央高校基本科研业务费专项资金项目.

详细信息

作者简介:
陆承达（1991-），男，博士，教授，从事智能系统技术、鲁棒控制、时滞系统控制等方面的研究。ORCID:0000-0002-9452-4053.E-mail:luchengda@cug.edu.cn

通讯作者:
吴敏（ 1963-），博士，教授，从事过程控制、鲁棒控制和智能系统等方面的研究。ORCID:0000-0002-0668-8315.E-mail:wumin@cug.edu.cn

中图分类号: TD712.6
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出版历程
- 收稿日期: 2026-02-02
- 网络出版日期: 2026-05-13

Extended-State-Observer-Based Trajectory-Tracking Model Predictive Control for Sliding Directional Drilling

Lu Chengda^1,3,4,
Duan Weitao^2,3,4,
Wu Jiajun^2,3,4,
Zhang Youzhen⁵,
Wu Min^{1,3,4
, ,}

1. School of Artificial Intelligence and Automation, China University of Geosciences (Wuhan), Wuhan 430074, China;
2. School of Future Technology, China University of Geosciences (Wuhan), Wuhan 430074, China;
3. Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan 430074, China;
4. Engineering Research Center of Geo-Detection Intelligence Technology, Ministry of Education, Wuhan 430074, China;
5. CCTEG Xi' an Research Institute (Group) Co., Ltd., Xi' an 710077, China

摘要

摘要: 滑动定向钻进作为定向钻进中常用的钻进技术，已广泛应用于工作面超前探查、地质灾害异常体识别与瓦斯抽采等任务，以提升地质识别精度与钻进作业效率。本文针对滑动定向钻进过程中复杂地层扰动导致轨迹跟踪精度下降的问题，提出一种基于扩张状态观测器的轨迹跟踪模型预测控制方法。首先，分析钻具运动学特性，建立滑动定向钻进轨迹延伸模型，在此基础上构建钻进轨迹预测模型和以最小轨迹偏差作为控制目标的目标函数，并设计模型预测控制器。然后，为补偿地层扰动带来的稳态误差，设计具备扰动观测能力的扩张状态观测器，实现最优控制输入的求解，从而实现轨迹跟踪控制。最后，通过仿真实验证明了所提方法具有扰动反馈补偿、轨迹控制精度高及鲁棒性强等特点，在提升勘探效率以及降低作业风险等方面具有良好的应用价值。
- 滑动定向钻进 /
- 轨迹延伸模型 /
- 轨迹跟踪 /
- 扩张状态观测器 /
- 模型预测控制
Abstract: Sliding directional drilling is widely used in directional boreholes for tasks such as advance probing, detection of abnormal bodies related to geological hazards, and gas drainage, helping improve geological interpretation and drilling efficiency. This paper addresses the problem of reduced trajectory tracking accuracy caused by complex formation disturbances during sliding directional drilling, and proposes an extended-state-observer-based model predictive control method for trajectory tracking. First, the kinematic behavior of the drilling tool is analyzed and a trajectory extension model for sliding drilling is built. Based on this model, a trajectory prediction model is constructed, and an objective function that minimizes trajectory error is designed to develop the MPC controller. Then, to reduce steady tracking errors caused by formation disturbances, an extended state observer with disturbance estimation is designed to compensate the control input. Simulation results show that the proposed provides disturbance compensation,high tracking accuracy, and strong robustness, with practical value for improving exploration efficiency and reducing designed to operational risk.
- Sliding directional drilling /
- trajectory extension model /
- trajectory tracking /
- extended state observer /
- model predictive control

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参考文献(20)

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基于扩张状态观测器的滑动定向钻进轨迹跟踪模型预测控制

doi: 10.3799/dqkx.2026.117

作者简介:
陆承达（1991-），男，博士，教授，从事智能系统技术、鲁棒控制、时滞系统控制等方面的研究。ORCID:0000-0002-9452-4053.E-mail:luchengda@cug.edu.cn

通讯作者:
吴敏（ 1963-），博士，教授，从事过程控制、鲁棒控制和智能系统等方面的研究。ORCID:0000-0002-0668-8315.E-mail:wumin@cug.edu.cn

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Extended-State-Observer-Based Trajectory-Tracking Model Predictive Control for Sliding Directional Drilling

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留言板

基于扩张状态观测器的滑动定向钻进轨迹跟踪模型预测控制

doi: 10.3799/dqkx.2026.117

作者简介: 陆承达（1991-），男，博士，教授，从事智能系统技术、鲁棒控制、时滞系统控制等方面的研究。ORCID:0000-0002-9452-4053.E-mail:luchengda@cug.edu.cn

通讯作者: 吴敏（ 1963-），博士，教授，从事过程控制、鲁棒控制和智能系统等方面的研究。ORCID:0000-0002-0668-8315.E-mail:wumin@cug.edu.cn

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出版历程

Extended-State-Observer-Based Trajectory-Tracking Model Predictive Control for Sliding Directional Drilling

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出版历程

目录

作者简介:
陆承达（1991-），男，博士，教授，从事智能系统技术、鲁棒控制、时滞系统控制等方面的研究。ORCID:0000-0002-9452-4053.E-mail:luchengda@cug.edu.cn

通讯作者:
吴敏（ 1963-），博士，教授，从事过程控制、鲁棒控制和智能系统等方面的研究。ORCID:0000-0002-0668-8315.E-mail:wumin@cug.edu.cn