摘要：无刷电机控制系统是自动垂直钻井工具的关键部件。简要介绍自动垂直钻井工作原理，以及电机的控制依据，详细阐述转速、电流双闭环数字PI串级控制系统的原理及电路。本文提出专家PI调节算法的软件实现方法。结果表明，该电机控制系统设计合理可行，能较好满足垂直钻井系统的实际需要。
关键词：垂直钻井；无刷电机；数字信号控制器；专家控制

Abstract:  Brushless motor control system is a key component of the automatic vertical drilling tool. The principle of vertical drilling wok and the basis of motor control were introduced in brief, the theory and circuit of the control system which the speed and current double closed-loop digital-PI cascade was discussed in detail. This paper proposed a software implementation method of the expert PI adjustment algorithm. The results show that the motor control system is correct and reasonable, and it can satisfy the actual needs of vertical drilling system.
Key words:  vertical drilling, brushless motor, digital signal controller, expert control