Underground directional drilling track control method for coal mining

Abstract

The invention relates to the technical field of directional drilling track control, and discloses a coal mining underground directional drilling track control method and system, and the method comprises the steps: carrying out the fusion track analysis of a drilling machine based on sensor data, drilling parameters and pre-obtained geological hardness parameters, and obtaining a reference track of the drilling machine, a sensor, an azimuth angle sensor and a bit pressure sensor are used for synchronously collecting drill bit attitude data of a drilling machine to generate a real-time track of the drilling machine, then track offset calculation is carried out to obtain inclination angle deviation and azimuth angle deviation, and dynamic gain adjustment analysis is carried out on the drilling machine to obtain adjustment parameters of the drilling machine. And finally, the drill bit posture of the drilling machine is adjusted based on the adjusting parameters. According to the method, the directional control accuracy of the underground drilling track can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of directional drilling trajectory control, and in particular to a method and system for controlling directional drilling trajectory in underground coal mines. Background Art

[0002] Directional drilling trajectory control technology in underground coal mines is a key link in geological exploration. Existing methods have significant technical faults: First, a dynamic coupling mechanism between rock formation compressive strength and drill tool geometric constraints has not been established, and the real-time constraint effect of geological hardness parameters on the minimum curvature radius and maximum azimuth change rate has been ignored, resulting in a surge in the drill tool trajectory deviation rate in hard rock formations. Second, the multi-channel control weights of the drill bit vibration spectrum have not been resolved, and the vibration data and inclination / azimuth control signals are processed separately. The compensation link for generating stability weight factors through frequency domain energy integration is missing, resulting in continuous over-limit azimuth deviation under strong vibration conditions. The fuzzy fusion of real-time trajectory deviation and PID gain parameters has not been achieved, making the control parameters rigid. The triple split between geomechanical parameters, drill tool dynamic response, and control signal generation seriously restricts the drilling trajectory accuracy and efficiency. Therefore, achieving collaborative optimization of the geology-vibration-control multi-physics field has become an urgent problem to be solved. Summary of the Invention

[0003] The present invention provides a method for controlling a directional drilling trajectory in an underground coal mine, the main purpose of which is to solve the problem of inaccurate control of a directional drilling trajectory in an underground coal mine.

[0004] To achieve the above-mentioned purpose, the present invention provides a method for controlling directional drilling trajectory in underground coal mining, comprising:

[0005] S1, performing a fusion trajectory analysis on the drilling rig based on sensor data, drilling parameters and pre-acquired geological hardness parameters to obtain a reference trajectory of the drilling rig;

[0006] S2, synchronously collecting drill bit posture data of the drilling rig through an inclination sensor, an azimuth sensor, and a weight-on-bit sensor to generate a real-time trajectory of the drilling rig;

[0007] S3, performing trajectory offset calculation on the real-time trajectory and the reference trajectory to obtain an inclination deviation and an azimuth deviation;

[0008] S4, performing a dynamic gain adjustment analysis on the drilling rig based on the inclination deviation, the azimuth deviation, and the geological hardness parameter to obtain an adjustment parameter of the drilling rig;

[0009] S5: Adjust the drill bit posture of the drilling rig based on the adjustment parameters.

[0010] In a preferred embodiment, the fusion trajectory analysis of the drilling rig based on the sensor data, the drilling parameters and the pre-acquired geological hardness parameters to obtain the reference trajectory of the drilling rig includes:

[0011] S201, constructing geometric constraints on pre-acquired drilling engineering design parameters to obtain a constraint parameter set of the drilling rig;

[0012] S202, based on the geological hardness parameter, mapping the constraint parameter set to the rock formation compressive strength to obtain an adaptive constraint set of the drilling rig;

[0013] S203 : Based on the vibration spectrum in the sensor data and the drilling rate in the drilling parameters, a dynamic trajectory coupling analysis is performed on the adaptive constraint set to obtain a reference trajectory of the drilling rig.

[0014] In a preferred embodiment, the geometric constraint construction of the pre-acquired drilling engineering design parameters to obtain the constraint parameters of the drilling rig includes:

[0015] S301, extracting key points of the spatial path in the drilling engineering design parameters;

[0016] S302, performing azimuth calculation on the pre-acquired wellhead coordinates and the key points of the spatial path to obtain a reference azimuth of the drilling rig;

[0017] S303, performing inclination calculation on the pre-acquired vertical depth of the drilling and the horizontal mapping distance between the target production point and the wellhead to obtain a reference inclination of the drilling rig;

[0018] S304: Perform engineering constraint boundary calculation on the drilling engineering design parameters to obtain the minimum curvature radius and the maximum azimuth angle change rate of the drilling rig. The mathematical expression for the engineering constraint boundary calculation is as follows:

[0019]

[0020] Where, is the maximum rate of change of inclination angle, is the maximum rate of change of azimuth angle, is the drilling rate, is the attenuation coefficient of the inclination change, is the maximum allowable inclination angle, is the minimum allowable curvature radius;

[0021] S305 , constructing a data set for the key points of the spatial path, the reference azimuth, the reference inclination, and the maximum azimuth change rate to obtain a constraint parameter set of the drilling rig.

[0022] In a preferred embodiment, the dynamic trajectory coupling analysis of the adaptive constraint set is performed based on the vibration spectrum in the sensor data and the penetration rate in the drilling parameters to obtain the reference trajectory of the drilling rig, including:

[0023] S401: Substitute the vibration spectrum into a stability weight calculation formula to obtain a vibration stability weight factor, wherein the stability weight calculation formula is as follows:

[0024]

[0025] Where, is the vibration stability weight factor, is the vibration weight in the tilt direction, is the azimuthal vibration weight, and is the effective vibration frequency range, is the drill bit-rock formation dynamics transfer matrix, is the Fourier amplitude vector of the vibration spectrum, is the vibration frequency;

[0026] S402: Substitute the vibration stability weight factor, the minimum curvature radius, and the maximum azimuth angle change rate into a dynamic trajectory coupling algorithm to obtain a reference trajectory of the drilling rig. The dynamic trajectory coupling algorithm is as follows:

[0027]

[0028] Where, is the reference trajectory of the drilling rig, is the Cartesian coordinate transformation matrix, is the drilling depth of the drilling rig, For depth The rate of change of the inclination angle at For depth The azimuth angle change rate at is the intermediate variable representing the drilling depth, is the vibration stability weight factor, For Hadamard, is the ideal tilt angle change rate, is the azimuth angle change rate in the ideal state, is the maximum rate of change of inclination angle, is the maximum rate of change of azimuth angle, is the inclination angle, is the azimuth angle.

[0029] In a preferred embodiment, the synchronously collecting the drill bit posture data of the drilling rig by using the inclination sensor, the azimuth sensor and the bit pressure sensor to generate the real-time trajectory of the drilling rig includes:

[0030] S501, performing vibration compensation on the drill bit posture data to obtain a reference posture angle of the drilling rig;

[0031] S502, constructing a spherical coordinate trajectory point based on the reference attitude angle and the drilling depth;

[0032] S503, taking derivatives of the angle components of the spherical coordinate trajectory points to obtain an attitude angle change rate of the reference attitude angle;

[0033] S504 : Perform dynamic compensation integration on the spherical coordinate trajectory points based on the attitude angle change rate and the vibration spectrum to obtain a real-time trajectory of the drilling rig.

[0034] In a preferred embodiment, performing trajectory offset calculation on the real-time trajectory and the reference trajectory to obtain the inclination deviation and the azimuth deviation includes:

[0035] Based on the current drilling depth, performing spherical coordinate conversion on the real-time trajectory to obtain a spherical coordinate angle of the real-time trajectory;

[0036] The spherical coordinate angle of the real-time trajectory and the spherical coordinate angle of the reference trajectory are offset calculated to obtain the inclination deviation and the azimuth deviation of the drilling rig. The mathematical expression for the offset calculation is as follows:

[0037]

[0038] Where, is the inclination deviation, is the azimuth deviation, is the real-time inclination angle, is the reference inclination angle, is the real-time azimuth, is the reference azimuth, is a symbolic function.

[0039] In a preferred embodiment, the performing of dynamic gain adjustment analysis on the drilling rig based on the inclination deviation, the azimuth deviation and the geological hardness parameter to obtain the adjustment parameters of the drilling rig includes:

[0040] Calculating the azimuth deviation and the geological hardness parameter based on a rock formation gain calculation algorithm to obtain a rock formation gain;

[0041] Calculating the inclination angle deviation and the vibration stability weight factor based on a vibration gain calculation algorithm to obtain a gain base value;

[0042] The formation gain and the gain base value are subjected to multi-physics fuzzy fusion based on a fuzzy fusion algorithm to obtain an adjustment parameter, wherein the fuzzy fusion algorithm is as follows:

[0043]

[0044] Where, is the proportional gain parameter, is the integral gain parameter, is the differential gain parameter, is the proportional gain adjustment factor, is the differential gain adjustment factor, is the proportional gain base value, For rock formation gain, is a fuzzy set, is the preset fuzzy inference function, is the differential gain base value, is the gain factor, is the membership function.

[0045] In a preferred embodiment, the formation gain solution algorithm is as follows:

[0046]

[0047] Where, For rock formation gain, is the basic gain coefficient, is the azimuth deviation, To allow the maximum azimuth deviation, is the lithologic sensitivity index, is the geological hardness parameter, is the compressive strength of the benchmark rock formation.

[0048] In a preferred embodiment, the vibration gain calculation algorithm is as follows:

[0049]

[0050] Where, is the proportional gain base value, is the differential gain base value, is the proportional gain base value, is the differential gain base value, is the tilt vibration weight, is the azimuthal vibration weight, is the proportional gain tilt attenuation coefficient, is the differential gain tilt attenuation coefficient, is the inclination deviation, is the proportional cross-coupling coefficient, is the differential cross-coupling coefficient, is the azimuth deviation.

[0051] In a preferred embodiment, adjusting the drill bit posture of the drilling rig based on the adjustment parameter includes:

[0052] S1001, calculating a correction value for the proportional gain parameter, the integral gain parameter, the differential gain parameter, and the inclination deviation based on a preset inclination channel control law to obtain an inclination correction value for the drilling rig;

[0053] S1002, calculating a correction value for the proportional gain parameter, the integral gain parameter, the differential gain parameter, and the azimuth deviation based on a preset azimuth channel control law to obtain an azimuth correction value for the drilling rig;

[0054] S1003: Performing angle control on the drill bit posture of the drilling rig based on the inclination correction and the azimuth correction amount to adjust the drill bit posture.

[0055] Compared with the prior art, the present invention has the following beneficial effects:

[0056] 1. Based on the compressive strength of the rock formation, the minimum curvature radius and the upper limit of the azimuth angle change rate are mapped in real time to reduce the deviation rate of the hard rock formation trajectory and minimize the impact of the hard rock formation on the trajectory deviation.

[0057] 2. Generate a vibration stability weight factor by integrating the vibration spectrum to suppress vibration interference in the inclination / azimuth channel and reduce the azimuth exceedance rate.

[0058] 3. Dynamically calculate PID gain by integrating lithology change ratio and real-time deviation to reduce response delay. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A schematic flow chart of a method for controlling directional drilling trajectory in underground coal mining provided by one embodiment of the present invention;

[0060] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0061] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0062] The embodiment of the present application provides a method for controlling the trajectory of directional drilling in underground coal mining. The execution subject of the method for controlling the trajectory of directional drilling in underground coal mining includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present application. In other words, the method for controlling the trajectory of directional drilling in underground coal mining can be executed by software or hardware installed on a terminal device or a server device. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0063] Reference Figure 1 FIG. 1 is a flow chart of a method for controlling a trajectory of directional drilling in a coal mine provided by an embodiment of the present invention. In this embodiment, the method for controlling a trajectory of directional drilling in a coal mine includes:

[0064] S1, performing a fusion trajectory analysis on the drilling rig based on sensor data, drilling parameters and pre-acquired geological hardness parameters to obtain a reference trajectory of the drilling rig;

[0065] In an embodiment of the present invention, the performing of fusion trajectory analysis on the drilling rig based on sensor data, drilling parameters, and pre-acquired geological hardness parameters to obtain a reference trajectory of the drilling rig includes:

[0066] S201, constructing geometric constraints on pre-acquired drilling engineering design parameters to obtain a constraint parameter set of the drilling rig;

[0067] S202, based on the geological hardness parameter, mapping the constraint parameter set to the rock formation compressive strength to obtain an adaptive constraint set of the drilling rig;

[0068] S203 : Based on the vibration spectrum in the sensor data and the drilling rate in the drilling parameters, a dynamic trajectory coupling analysis is performed on the adaptive constraint set to obtain a reference trajectory of the drilling rig.

[0069] It should be noted that the geometric constraint construction is based on the pre-acquired drilling engineering design parameters, and the geometric constraint boundary solution is performed on the parameters to obtain the constraint parameter set of the drilling rig, and the minimum curvature half and maximum azimuth angle change rate are solved based on the drilling rate and engineering constraints, and finally the constraint parameter set is constructed.

[0070] Furthermore, the pre-acquired drilling engineering design parameters include wellhead coordinates, key points of the spatial path, and target mining point locations.

[0071] It should be noted that the rock formation compressive strength mapping is based on the pre-acquired geological hardness parameters and the constraint parameter set, and the constraint softening adjustment is performed through the rock formation compressive strength mapping function to obtain the adaptive constraint set of the drilling rig, wherein the mapping relationship is as follows:

[0072]

[0073] Where, To correct the minimum curvature radius, is the minimum allowable curvature radius, is the baseline rock compressive strength, is the softening coefficient.

[0074] Furthermore, the softening coefficient is a dimensionless parameter that represents the degree of influence of changes in rock formation hardness on the geometric constraints of the drilling tool, and its physical essence is the lithology-mechanical response transfer gain.

[0075] In an embodiment of the present invention, the geometric constraint construction of the pre-acquired drilling engineering design parameters to obtain the constraint parameters of the drilling rig includes:

[0076] S301, extracting key points of the spatial path in the drilling engineering design parameters;

[0077] S302, performing azimuth calculation on the pre-acquired wellhead coordinates and the key points of the spatial path to obtain a reference azimuth of the drilling rig;

[0078] S303, performing inclination calculation on the pre-acquired vertical depth of the drilling and the horizontal mapping distance between the target production point and the wellhead to obtain a reference inclination of the drilling rig;

[0079] S304: Perform engineering constraint boundary calculation on the drilling engineering design parameters to obtain the minimum curvature radius and the maximum azimuth angle change rate of the drilling rig. The mathematical expression for the engineering constraint boundary calculation is as follows:

[0080]

[0081] Where, is the maximum rate of change of inclination angle, is the maximum rate of change of azimuth angle, is the drilling rate, is the attenuation coefficient of the inclination change, is the maximum allowable inclination angle, is the minimum allowable curvature radius;

[0082] S305 , constructing a data set for the key points of the spatial path, the reference azimuth, the reference inclination, and the maximum azimuth change rate to obtain a constraint parameter set of the drilling rig.

[0083] It should be noted that the drilling engineering design parameters include wellhead coordinates, target production point location, intermediate trajectory turning point coordinates and well depth data table.

[0084] It should be noted that the reference azimuth of the drilling rig is calculated based on the pre-acquired wellhead coordinates and the first key point of the spatial path through the plane azimuth solution process. The specific steps are: first perform horizontal projection: ignore the Z-axis coordinates, calculate the XY plane displacement, perform quadrant judgment based on the XY plane displacement, determine the quadrant in which the angle is located according to the displacement sign, and use the four-quadrant inverse tangent function to calculate the reference azimuth. The calculation formula is: Reference azimuth = The trigonometric function method for calculating the horizontal plane angle based on the coordinate difference has obtained the basic horizontal guidance angle in radians, that is, the reference azimuth of the drilling rig.

[0085] It should be noted that the inclination angle calculation is to calculate the ratio of the vertical distance to the horizontal distance using the arc tangent function.

[0086] Furthermore, the vertical depth of drilling is the Z-axis difference between the target point and the wellhead.

[0087] Furthermore, the horizontal mapping distance between the target mining point and the wellhead is the straight-line distance from the wellhead to the target point in the XY plane.

[0088] It should be noted that the data set is constructed by structurally storing the key point array, reference azimuth, reference inclination, minimum curvature radius, maximum inclination change rate and maximum azimuth change rate.

[0089] It should be noted that the inclination change attenuation coefficient is a dimensionless coefficient that represents the attenuation effect of the rock formation or drilling tool system on the inclination change rate.

[0090] In an embodiment of the present invention, the performing of dynamic trajectory coupling analysis on the adaptive constraint set based on the vibration spectrum in the sensor data and the penetration rate in the drilling parameters to obtain a reference trajectory of the drilling rig includes:

[0091] S401: Substitute the vibration spectrum into a stability weight calculation formula to obtain a vibration stability weight factor, wherein the stability weight calculation formula is as follows:

[0092]

[0093] Where, is the vibration stability weight factor, is the vibration weight in the tilt direction, is the azimuthal vibration weight, and is the effective vibration frequency range, is the drill bit-rock formation dynamics transfer matrix, is the Fourier amplitude vector of the vibration spectrum, is the vibration frequency;

[0094] S402: Substitute the vibration stability weight factor, the minimum curvature radius, and the maximum azimuth angle change rate into a dynamic trajectory coupling algorithm to obtain a reference trajectory of the drilling rig. The dynamic trajectory coupling algorithm is as follows:

[0095]

[0096] Where, is the reference trajectory of the drilling rig, is the Cartesian coordinate transformation matrix, is the drilling depth of the drilling rig, For depth The rate of change of the inclination angle at For depth The azimuth angle change rate at is the integral intermediate variable representing the drilling depth, is the vibration stability weight factor, For Hadamard, is the ideal tilt angle change rate, is the azimuth angle change rate in the ideal state, is the maximum rate of change of inclination angle, is the maximum rate of change of azimuth angle, is the inclination angle, is the azimuth angle.

[0097] It should be noted that the vibration stability weight factor reflects the dynamic stability under the interaction between the drill bit and the rock formation through the weighted fusion of the inclination / azimuth vibration components. Its physical meaning is to quantify the comprehensive influence of the drill bit vibration on the trajectory control stability. The value range is [0,1]. When the value is 1, the vibration energy is completely concentrated in the effective frequency band and there is no risk of trajectory instability. When the value is 0, the vibration energy completely overflows the effective frequency band and the trajectory is completely out of control.

[0098] It should be noted that the tilt direction vibration weight represents the interference intensity of the axial vibration on the pitch angle control.

[0099] It should be noted that the vibration spectrum Fourier amplitude vector is a vibration amplitude vector representing a discrete frequency point.

[0100] The drill bit posture data of the drilling rig is synchronously collected through an inclination sensor, an azimuth sensor and a bit pressure sensor to generate a real-time trajectory of the drilling rig.

[0101] It should be noted that the drill bit-rock formation dynamic transfer matrix is used to describe the transfer characteristics of the dynamic interaction between the drill bit and the rock formation.

[0102] S2, synchronously collecting drill bit posture data of the drilling rig through an inclination sensor, an azimuth sensor, and a weight-on-bit sensor to generate a real-time trajectory of the drilling rig;

[0103] In an embodiment of the present invention, synchronously collecting the drill bit posture data of the drilling rig through the inclination sensor, the azimuth sensor, and the bit pressure sensor to generate the real-time trajectory of the drilling rig includes:

[0104] S501, performing vibration compensation on the drill bit posture data to obtain a reference posture angle of the drilling rig;

[0105] S502, constructing a spherical coordinate trajectory point based on the reference attitude angle and the drilling depth;

[0106] S503, taking derivatives of the angle components of the spherical coordinate trajectory points to obtain an attitude angle change rate of the reference attitude angle;

[0107] S504 : Perform dynamic compensation integration on the spherical coordinate trajectory points based on the attitude angle change rate and the vibration spectrum to obtain a real-time trajectory of the drilling rig.

[0108] It should be noted that the vibration compensation for the drill bit posture data is performed by performing vibration separation on the drill bit posture data through a bandpass filter to obtain a separated vibration component and a true posture signal, and the separated vibration component and the true posture signal are compensated and calculated.

[0109] It should be noted that the spherical coordinate trajectory points are generated based on the current drilling depth, and the spherical coordinate trajectory is generated for the real-time trajectory and the reference trajectory. The method for generating the coordinate points of the spherical coordinate trajectory is as follows: the x point is the product of the current drilling depth, the sine value of the reference inclination and the cosine value of the reference azimuth, the y point is the product of the current drilling depth, the sine value of the reference inclination and the sine value of the reference azimuth, and the z point is the current drilling depth and the cosine value of the reference inclination.

[0110] It should be noted that based on the 10-150 Hz full-band data of the vibration spectrum, the energy integration of the 50-150 Hz frequency band is performed to quantify the tilt interference amount, and the energy integration of the 10-50 Hz frequency band is performed to quantify the azimuth interference amount;

[0111] Based on the quantized inclination interference amount and the quantized azimuth interference amount, a compensation term is superimposed on the attitude angle change rate sequence, wherein the compensation term superposition is to reduce the inclination channel by 0.15 times the interference amount and to reduce the azimuth channel by 0.08 times the interference amount;

[0112] Based on the attitude angle change rate after compensation, the time variable is continuously integrated by the trapezoidal integration method to obtain the real-time inclination angle value and real-time azimuth angle value after vibration suppression;

[0113] Based on the real-time inclination value, real-time azimuth value and current drilling depth, three-dimensional space mapping is performed through the spherical coordinate-Cartesian coordinate conversion relationship to obtain a discrete point set representing the real-time trajectory of the drill bit.

[0114] S3, performing trajectory offset calculation on the real-time trajectory and the reference trajectory to obtain an inclination deviation and an azimuth deviation;

[0115] In an embodiment of the present invention, performing trajectory offset calculation on the real-time trajectory and the reference trajectory to obtain the inclination deviation and the azimuth deviation includes:

[0116] Based on the current drilling depth, performing spherical coordinate conversion on the real-time trajectory to obtain a spherical coordinate angle of the real-time trajectory;

[0117] The spherical coordinate angle of the real-time trajectory and the spherical coordinate angle of the reference trajectory are offset calculated to obtain the inclination deviation and the azimuth deviation of the drilling rig. The mathematical expression for the offset calculation is as follows:

[0118]

[0119] Where, is the inclination deviation, is the azimuth deviation, is the real-time inclination angle, is the reference inclination angle, is the real-time azimuth, is the reference azimuth, is a symbolic function.

[0120] It should be noted that the spherical coordinate conversion uses inverse trigonometric functions to perform inverse trigonometric function calculations on the three-dimensional coordinates of the drilling depth and the real-time trajectory. The specific process is as follows: an inverse cosine calculation is performed on the ratio of the z point of the real-time trajectory coordinate to the drilling depth to obtain the real-time inclination angle, and an inverse tangent operation is performed on the ratio of the y point to the x point of the real-time trajectory coordinate to obtain the real-time azimuth angle.

[0121] Furthermore, the spherical coordinate angle of the reference trajectory includes a reference inclination angle and a reference azimuth angle.

[0122] S4, performing a dynamic gain adjustment analysis on the drilling rig based on the inclination deviation, the azimuth deviation, and the geological hardness parameter to obtain an adjustment parameter of the drilling rig;

[0123] In an embodiment of the present invention, the performing of dynamic gain adjustment analysis on the drilling rig based on the inclination deviation, the azimuth deviation, and the geological hardness parameter to obtain the adjustment parameters of the drilling rig includes:

[0124] Calculating the azimuth deviation and the geological hardness parameter based on a rock formation gain calculation algorithm to obtain a rock formation gain;

[0125] Calculating the inclination angle deviation and the vibration stability weight factor based on a vibration gain calculation algorithm to obtain a gain base value;

[0126] The formation gain and the gain base value are subjected to multi-physics fuzzy fusion based on a fuzzy fusion algorithm to obtain an adjustment parameter, wherein the fuzzy fusion algorithm is as follows:

[0127]

[0128] Where, is the proportional gain parameter, is the integral gain parameter, is the differential gain parameter, is the proportional gain adjustment factor, is the differential gain adjustment factor, is the proportional gain base value, For rock formation gain, is a fuzzy set, is the preset fuzzy inference function, is the differential gain base value, is the gain factor, is the membership function.

[0129] It should be noted that the basic gain coefficient is the minimum PID gain value for the drilling rig to maintain trajectory stability in standard rock formations, and represents the control strength required to characterize inherent characteristics such as drilling tool rigidity and hydraulic system response delay.

[0130] It should be noted that the fuzzy set is a set in fuzzy logic, which is used to express the uncertainty of gain adjustment. The preset fuzzy inference function is used to perform fuzzy logic inference and output the adjustment factor.

[0131] In the embodiment of the present invention, the formation gain calculation algorithm is as follows:

[0132]

[0133] Where, For rock formation gain, is the basic gain coefficient, is the azimuth deviation, To allow the maximum azimuth deviation, is the lithologic sensitivity index, is the geological hardness parameter, is the compressive strength of the benchmark rock formation.

[0134] It should be noted that the lithologic sensitivity index is the adjustment sensitivity of the rock formation hardness change to the control gain, and physically represents the disturbance intensity of the control system caused by the quantitative lithologic difference.

[0135] In an embodiment of the present invention, the vibration gain calculation algorithm is as follows:

[0136]

[0137] Where, is the proportional gain base value, is the differential gain base value, is the proportional gain base value, is the differential gain base value, is the tilt vibration weight, is the azimuthal vibration weight, is the proportional gain tilt attenuation coefficient, is the differential gain tilt attenuation coefficient, is the inclination deviation, is the proportional cross-coupling coefficient, is the differential cross-coupling coefficient, is the azimuth deviation.

[0138] It should be noted that the inclination direction vibration weight is used to quantify the vibration energy of the rock formation in the inclination direction. The larger the value, the worse the inclination control stability. The azimuth direction vibration weight is used to quantify the vibration energy of the rock formation in the azimuth direction. The larger the value, the stronger the vibration interference to the azimuth control.

[0139] Furthermore, the proportional gain inclination attenuation coefficient represents the attenuation effect of inclination vibration on the proportional gain, and the larger the value, the greater the gain reduction;

[0140] The differential gain inclination attenuation coefficient represents the attenuation effect of inclination vibration on the differential gain. The larger the value, the more the gain is reduced.

[0141] S5: Adjust the drill bit posture of the drilling rig based on the adjustment parameters.

[0142] In an embodiment of the present invention, adjusting the drill bit posture of the drilling rig based on the adjustment parameter includes:

[0143] S1001, calculating a correction value for the proportional gain parameter, the integral gain parameter, the differential gain parameter, and the inclination deviation based on a preset inclination channel control law to obtain an inclination correction value for the drilling rig;

[0144] S1002, calculating a correction value for the proportional gain parameter, the integral gain parameter, the differential gain parameter, and the azimuth deviation based on a preset azimuth channel control law to obtain an azimuth correction value for the drilling rig;

[0145] S1003: Performing angle control on the drill bit posture of the drilling rig based on the inclination correction and the azimuth correction amount to adjust the drill bit posture.

[0146] It should be noted that the preset tilt channel control law is initialized using the standard PID control architecture. Its discretized control equation is defined as the superposition of three parts: proportional, integral and differential. The proportional term amplifies the tilt deviation in real time through the dynamically adjusted proportional gain parameter to achieve instant correction. The integral term accumulates the historical deviation sequence and multiplies it by the integral gain parameter to eliminate steady-state error, and sets an integral upper limit to prevent mechanical overshoot. The differential term combines the differential gain parameter to calculate the current deviation change rate to predict future trends.

[0147] It should be noted that the inclination correction value is calculated based on the preset inclination channel control law, and the drilling rig inclination correction value is calculated in real time. The three-channel collaborative calculation is performed on the input proportional gain parameter, the integral gain parameter, the differential gain parameter and the inclination deviation, and finally the three-channel output components are superimposed to generate the inclination correction value for driving the drill bit pitch angle adjustment.

[0148] Furthermore, the three-channel collaborative calculation is to multiply the tilt angle deviation by the proportional gain parameter in the proportional channel to generate an instantaneous correction component;

[0149] The integral channel accumulates the historical tilt deviation sequence over time and then weights it with the integral gain parameter to generate a steady-state compensation component;

[0150] The differential channel generates an advance prediction component by capturing the tilt deviation change rate and coupling it with the differential gain parameter.

[0151] It should be noted that the azimuth correction value is calculated based on an independently preset azimuth channel control law, and the drilling rig azimuth correction value is solved synchronously. The dynamic gain parameter and the azimuth deviation are input, and a differentiated design is adopted to finally output the azimuth correction value.

[0152] Furthermore, the differentiated design is to directly weight the azimuth deviation of the proportional channel to generate the instant horizontal plane correction amount;

[0153] The integral channel introduces a saturation algorithm to prevent the drill from getting stuck and causing loss of control;

[0154] The differential channel uses an incomplete differential structure to improve noise resistance.

[0155] Compared with the prior art, the present invention has the following beneficial effects:

[0156] 1. Based on the compressive strength of the rock formation, the minimum curvature radius and the upper limit of the azimuth angle change rate are mapped in real time to reduce the deviation rate of the hard rock formation trajectory and minimize the impact of the hard rock formation on the trajectory deviation.

[0157] 2. Generate a vibration stability weight factor by integrating the vibration spectrum to suppress vibration interference in the inclination / azimuth channel and reduce the azimuth exceedance rate.

[0158] 3. Dynamically calculate PID gain by integrating lithology change ratio and real-time deviation to reduce response delay.

[0159] In the several embodiments provided by the present invention, it should be understood that the disclosed methods can be implemented in other ways.

[0160] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0161] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence is the theory, method and technology of using digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to achieve optimal results.

[0162] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for controlling directional drilling trajectory in underground coal mining, characterized in that: The method comprises: S1, performing a fusion trajectory analysis on the drilling rig based on sensor data, drilling parameters and pre-acquired geological hardness parameters to obtain a reference trajectory of the drilling rig; S2, synchronously collecting drill bit posture data of the drilling rig through an inclination sensor, an azimuth sensor, and a weight-on-bit sensor to generate a real-time trajectory of the drilling rig; S3, performing trajectory offset calculation on the real-time trajectory and the reference trajectory to obtain an inclination deviation and an azimuth deviation; S4, performing a dynamic gain adjustment analysis on the drilling rig based on the inclination deviation, the azimuth deviation, and the geological hardness parameter to obtain an adjustment parameter of the drilling rig; S5: Adjust the drill bit posture of the drilling rig based on the adjustment parameters.

2. A method for controlling directional drilling trajectory in underground coal mining according to claim 1, characterized in that: The performing of a fusion trajectory analysis on the drilling rig based on the sensor data, the drilling parameters and the pre-acquired geological hardness parameters to obtain a reference trajectory of the drilling rig includes: S201, constructing geometric constraints on pre-acquired drilling engineering design parameters to obtain a constraint parameter set of the drilling rig; S202, based on the geological hardness parameter, mapping the constraint parameter set to the rock formation compressive strength to obtain an adaptive constraint set of the drilling rig; S203 : Based on the vibration spectrum in the sensor data and the drilling rate in the drilling parameters, a dynamic trajectory coupling analysis is performed on the adaptive constraint set to obtain a reference trajectory of the drilling rig.

3. A method for controlling directional drilling trajectory in underground coal mining as claimed in claim 2, characterized in that: The geometric constraint construction of the pre-acquired drilling engineering design parameters to obtain the constraint parameters of the drilling rig includes: S301, extracting key points of the spatial path in the drilling engineering design parameters; S302, performing azimuth calculation on the pre-acquired wellhead coordinates and the key points of the spatial path to obtain a reference azimuth of the drilling rig; S303, performing inclination calculation on the pre-acquired vertical depth of the drilling and the horizontal mapping distance between the target production point and the wellhead to obtain a reference inclination of the drilling rig; S304: Perform engineering constraint boundary calculation on the drilling engineering design parameters to obtain the minimum curvature radius and the maximum azimuth angle change rate of the drilling rig. The mathematical expression for the engineering constraint boundary calculation is as follows: ； Where, is the maximum rate of change of inclination angle, is the maximum rate of change of azimuth angle, is the drilling rate, is the attenuation coefficient of the inclination change, is the maximum allowable inclination angle, is the minimum allowable curvature radius; S305 , constructing a data set for the key points of the spatial path, the reference azimuth, the reference inclination, and the maximum azimuth change rate to obtain a constraint parameter set of the drilling rig.

4. A method for controlling directional drilling trajectory in underground coal mining as claimed in claim 3, characterized in that: The performing of a dynamic trajectory coupling analysis on the adaptive constraint set based on the vibration spectrum in the sensor data and the drilling rate in the drilling parameters to obtain a reference trajectory of the drilling rig includes: S401: Substitute the vibration spectrum into a stability weight calculation formula to obtain a vibration stability weight factor, wherein the stability weight calculation formula is as follows: ； Where, is the vibration stability weight factor, is the vibration weight in the tilt direction, is the azimuthal vibration weight, and is the effective vibration frequency range, is the drill bit-rock formation dynamics transfer matrix, is the Fourier amplitude vector of the vibration spectrum, is the vibration frequency; S402: Substitute the vibration stability weight factor, the minimum curvature radius, and the maximum azimuth angle change rate into a dynamic trajectory coupling algorithm to obtain a reference trajectory of the drilling rig. The dynamic trajectory coupling algorithm is as follows: ； Where, is the reference trajectory of the drilling rig, is the Cartesian coordinate transformation matrix, is the drilling depth of the drilling rig, For depth The rate of change of the inclination angle at For depth The azimuth angle change rate at is the intermediate variable representing the drilling depth, is the vibration stability weight factor, For Hadamard, is the ideal tilt angle change rate, is the azimuth angle change rate in the ideal state, is the maximum rate of change of inclination angle, is the maximum rate of change of azimuth angle, is the inclination angle, is the azimuth angle.

5. A method for controlling directional drilling trajectory in underground coal mining as claimed in claim 4, characterized in that: The method of synchronously collecting the drill bit posture data of the drilling rig by using the inclination sensor, the azimuth sensor and the bit pressure sensor to generate the real-time trajectory of the drilling rig includes: S501, performing vibration compensation on the drill bit posture data to obtain a reference posture angle of the drilling rig; S502, constructing a spherical coordinate trajectory point based on the reference attitude angle and the drilling depth; S503, taking derivatives of the angle components of the spherical coordinate trajectory points to obtain an attitude angle change rate of the reference attitude angle; S504 : Perform dynamic compensation integration on the spherical coordinate trajectory points based on the attitude angle change rate and the vibration spectrum to obtain a real-time trajectory of the drilling rig.

6. A method for controlling directional drilling trajectory in underground coal mining as claimed in claim 5, characterized in that: The performing trajectory offset calculation on the real-time trajectory and the reference trajectory to obtain the inclination deviation and the azimuth deviation includes: Based on the current drilling depth, performing spherical coordinate conversion on the real-time trajectory to obtain a spherical coordinate angle of the real-time trajectory; The spherical coordinate angle of the real-time trajectory and the spherical coordinate angle of the reference trajectory are offset calculated to obtain the inclination deviation and the azimuth deviation of the drilling rig. The mathematical expression for the offset calculation is as follows: ； Where, is the inclination deviation, is the azimuth deviation, is the real-time inclination angle, is the reference inclination angle, is the real-time azimuth, is the reference azimuth, is a symbolic function.

7. A method for controlling directional drilling trajectory in underground coal mining as claimed in claim 4, characterized in that: The performing of dynamic gain adjustment analysis on the drilling rig based on the inclination deviation, the azimuth deviation and the geological hardness parameter to obtain adjustment parameters of the drilling rig includes: Calculating the azimuth deviation and the geological hardness parameter based on a rock formation gain calculation algorithm to obtain a rock formation gain; Calculating the inclination angle deviation and the vibration stability weight factor based on a vibration gain calculation algorithm to obtain a gain base value; The formation gain and the gain base value are subjected to multi-physics fuzzy fusion based on a fuzzy fusion algorithm to obtain an adjustment parameter, wherein the fuzzy fusion algorithm is as follows: ； Where, is the proportional gain parameter, is the integral gain parameter, is the differential gain parameter, is the proportional gain adjustment factor, is the differential gain adjustment factor, is the proportional gain base value, For rock formation gain, is a fuzzy set, is the preset fuzzy inference function, is the differential gain base value, is the gain factor, is the membership function.

8. A method for controlling directional drilling trajectory in underground coal mining as claimed in claim 7, characterized in that: The rock formation gain solution algorithm is as follows: ； Where, For rock formation gain, is the basic gain coefficient, is the azimuth deviation, To allow the maximum azimuth deviation, is the lithologic sensitivity index, is the geological hardness parameter, is the compressive strength of the benchmark rock formation.

9. A method for controlling directional drilling trajectory in underground coal mining as claimed in claim 7, characterized in that: The vibration gain calculation algorithm is as follows: ； Where, is the proportional gain base value, is the differential gain base value, is the proportional gain base value, is the differential gain base value, is the tilt vibration weight, is the azimuthal vibration weight, is the proportional gain tilt attenuation coefficient, is the differential gain tilt attenuation coefficient, is the inclination deviation, is the proportional cross-coupling coefficient, is the differential cross-coupling coefficient, is the azimuth deviation.

10. The method for controlling directional drilling trajectory in underground coal mining according to claim 7, characterized in that: The adjusting the drill bit posture of the drilling rig based on the adjustment parameter includes: S1001, calculating a correction value for the proportional gain parameter, the integral gain parameter, the differential gain parameter, and the inclination deviation based on a preset inclination channel control law to obtain an inclination correction value for the drilling rig; S1002, calculating a correction value for the proportional gain parameter, the integral gain parameter, the differential gain parameter, and the azimuth deviation based on a preset azimuth channel control law to obtain an azimuth correction value for the drilling rig; S1003: Performing angle control on the drill bit posture of the drilling rig based on the inclination correction and the azimuth correction amount to adjust the drill bit posture.

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