Direction adjustment control method and system for horizontal drilling machine

A technology of horizontal drilling rig and control method, which is applied to the automatic control system of drilling, drilling equipment and method, drilling equipment, etc. problems, to achieve the effect of reducing manual fatigue, fast tracking response, and reducing the degree of manual intervention

Active Publication Date: 2020-04-17
CHINA RAILWAY CONSTR HEAVY IND
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Problems solved by technology

[0004] Due to the lack of actual demand and limited scope of application in the industry, the research on the steering control technology of horizontal drilling rigs is almost blank, mainly relying on manual adjustment, with a low level of automation, and the deviation correction effect of this operation method is affected by the operator's technical skill

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  • Direction adjustment control method and system for horizontal drilling machine
  • Direction adjustment control method and system for horizontal drilling machine
  • Direction adjustment control method and system for horizontal drilling machine

Examples

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Example Embodiment

[0042] Example 1:

[0043] See figure 1 , A horizontal drilling rig steering control system, including a positioning measurement system, a fuzzy controller, a PID controller, and a steering cylinder set on the drilling rig, the positioning measurement system is used to collect real-time position information of the drilling rig, the fuzzy control The device is used to receive the real-time angle and vertical deviation distance of the drilling rig, and load the PID controller parameters according to the set fuzzy control rules K P , K I with K D The PID controller sends an action signal to the corresponding direction adjustment cylinder according to the real-time PID parameters, and the direction adjustment cylinder component drives the drilling rig to adjust the direction through its own action, so that the drilling rig advances according to a predetermined route.

[0044] See figure 2 In this embodiment, the number of the steering cylinders is four groups and they are respectively...

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Abstract

The invention provides a direction adjustment control system for a horizontal drilling machine. The direction adjustment control system comprises a positioning measurement system, a fuzzy controller,a PID (Proportion Integration Differentiation) controller and direction adjustment oil cylinders which are arranged on the drilling machine. The invention also provides a direction adjustment controlmethod for the horizontal drilling machine. The actual posture of the drilling machine is compared with the expected posture to obtain the real-time vertical deviation distance L and the deviation angle theta; deviation parameters and the rate of change thereof are input into the fuzzy controller; parameters KP, KID and KD in the PID controller are obtained by selecting appropriate fuzzy control rules and calculating; the PID controller sends out an action signal to the direction adjustment oil cylinders according to the PID parameters; and the direction adjustment of the drilling machine in the vertical or horizontal direction is realized through the cooperation of the action strokes between the different direction adjustment oil cylinders to ensure that the drilling machine advances according to the predetermined route. According to the direction adjustment control system and method, the fuzzy controller is introduced, and different direction adjustment strategies are adopted according to the magnitude of the deviation, so that the fast and high precise direction adjustment of the drilling machine is realized.

Description

Technical field [0001] The present invention relates to the technical field of geological engineering, in particular, to a horizontal drilling rig steering control method, and a horizontal drilling rig steering control system used in conjunction with the method. Background technique [0002] Drilling rig is a kind of mechanical equipment used to drive drilling tools into the underground to obtain physical geological data. It is often used in the process of geological exploration or the development of mineral resources (including solid mines, liquid mines, gas mines, etc.). Internal cores, ore cores, cuttings, gas samples, liquid samples, etc., to prove underground geology and mineral resources. [0003] At present, most drilling rigs are mainly used for vertical downward drilling, while horizontal drilling is rare, and they are all short-distance horizontal drilling operations. For long-distance (kilometer level and above) horizontal drilling technology Development is basically at...

Claims

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Application Information

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IPC IPC(8): E21B7/04E21B44/00
CPCE21B7/046E21B44/00
Inventor 刘飞香邹今检龚文忠侯昆洲邵济舟任赛楠江睿
Owner CHINA RAILWAY CONSTR HEAVY IND
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