Study on model free adaptive control of steering force for vertical drilling system

The method of model-free adaptive control has advantages in avoiding system identification, such as parameters of formations, and coupling, time-delay or non-linear process in drilling. This paper simulates the possible deviation of drilling by adjusting the sensor´s posture, and analyzes the relationship contrastively, which is between sensor´s inclination and the response of the steering force control law: When the inclination is out of the threshold (0.5°), the steering force responds quickly; when the inclination is large or increases or changes slowly, the steering force increases sustainably and rapidly; when inclination is small or decreases, the steering force reduces in response. This paper also discusses the existing defects in the experiments.