A method and system for controlling direction adjustment of a horizontal drilling rig

Abstract

The invention provides a steering control system for a horizontal drilling rig, including a positioning measurement system, a fuzzy controller, a PID controller, and a steering oil cylinder arranged on the drilling rig; the invention also provides a steering control method for a horizontal drilling rig, by Compare the actual attitude with the expected attitude to get the real-time vertical deviation distance L and the angle of deviation θ , input the deviation parameter and its change rate into the fuzzy controller, select the appropriate fuzzy control rule and calculate the parameters in the PID controller K P , K I and K D , the PID controller sends an action signal to the steering cylinder according to the PID parameters, and realizes the adjustment of the drilling rig in the vertical or horizontal direction through the cooperation of the action strokes between different steering cylinders to ensure that the drilling rig advances according to the predetermined route. The present invention introduces a fuzzy controller and adopts different steering strategies according to the size of the deviation, so as to realize rapid and high-precision steering of the drilling rig.

Description

technical field [0001] The 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 to drill underground to obtain physical geological data. It is often used in geological exploration or mineral resource development (including solid ore, liquid ore, gas ore, etc.) Internal rock cores, ore cores, cuttings, gaseous samples, liquid samples, etc., to prove the underground geology and mineral resources. [0003] At present, most of the drilling rigs are used in vertical downward drilling mode, while the cases of horizontal drilling are rare, and all of them are short-distance horizontal drilling operations. For long-distance (kilometer and above) horizontal drilling rig technology Development is basically at ...

AI Technical Summary

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 skills. The level has a great influence, and the operation effect is unstable; even if the traditional PID control method is used, due to the difficulty in parameter setting, it cannot quickly and stably track the set value, resulting in poor results, and the same adjustment strategy for different deviations will also cause leading to reduced steering accuracy

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