I. Introduction
As shown in Figure 1, the high-pressure water provided by the mud pump enters the bottom motor through the water feeder and the central cable drill pipe to drive the motor to rotate, thereby driving the drill bit to rotate and cut the coal and rock formation, and only the bottom of the hole motor drives the drill bit to rotate and drill the crushed rock during the drilling process[1]. The drilling trajectory control is mainly achieved by changing the direction of the bending angle of the motor at the bottom of the hole. In the system, the data such as inclination, azimuth angle and tool orientation of the borehole are transmitted to the orifice computer in real time for processing, and the actual drilling trajectory of the borehole is formed and displayed. According to the deflection of the design trajectory and the actual drilling trajectory, adjust the tool facing angle to achieve the purpose of adjusting the drilling trajectory and ensure that the drilling trajectory extends along the predetermined direction[2].