Fault-tolerant control method for actuator and sensor faults of rotary steerable drilling tool

The invention discloses a fault-tolerant control method for faults of an actuator and a sensor of a rotary steering drilling tool, and belongs to the field of dynamic system fault-tolerant control. According to the method, firstly, a process model and a measurement model of a drilling tool are established, the process model contains unknown actuator faults, the measurement model contains unknown sensor faults, then the process model and the measurement model are converted into a plurality of all-wheel-drive subsystems, a state observer and an actuator fault estimator are designed for each subsystem, and the state observer and the actuator fault estimator are compared with the all-wheel-drive subsystems. Finally, a sensor fault detection and fault-tolerant control framework is designed on the basis of multi-system fusion observation, and compared with a traditional drilling tool fault-tolerant control technology which can only process faults of a single component, the fault-tolerant control technology is easy