Control method, device, equipment and medium for formation grouting

Abstract

The present invention provides a method, device, equipment and medium for regulating formation grouting. The method comprises: inputting formation data of a target grouting section into a prediction model, and outputting a grouting pressure target value from the prediction model; determining a grouting flow plan value for the next stage based on a steady-state error between a grouting flow measured value and a target value in a current stage and the grouting flow measured value; after the grouting flow plan value reaches the target value, constructing a grouting pressure adaptive PID control strategy based on a grouting pressure measured value and a target value in a current cycle, and determining a grouting pressure plan value for the next cycle based on the grouting pressure adaptive PID control strategy and a second steady-state error between a grouting pressure measured value and a grouting pressure target value in a current cycle and the grouting pressure measured value in the current cycle, until the grouting pressure plan value reaches the grouting pressure target value, so that the regulation of the grouting process has a target quantification, which is gentler and more accurate than manual regulation.

Description

Technical Field

[0001] The invention relates to the technical field of water conservancy and hydropower grouting, and in particular to a control method, device, equipment and medium for stratum grouting. Background Art

[0002] Grouting in water conservancy and hydropower projects is a typical concealed project. The regulation of the grouting process relies entirely on on-site manual experience control. The grouting control accuracy and response time are difficult to meet the actual project needs.

[0003] The key difficulties include: (1) Uncertainty of grouting formation conditions. Although a large amount of formation information detection is carried out before grouting, such as water pressure test and measurement while drilling, geological engineers have not quantitatively divided the formation groutability of the many formation information obtained, but mostly qualitative evaluation, which makes it difficult to match more accurate grouting pressure and slurry density based on the formation information. (2) Mechanization of grouting control. Grouting process monitoring mostly records and displays grouting process parameters, and determines grouting control strategies based on grouting test results. It relies entirely on empirical strategies and lacks adaptive automatic control measures. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a control method, device, equipment and medium for formation grouting.

[0005] The present invention provides a method for regulating and controlling formation grouting, comprising:

[0006] Determine the formation data of the target grouting section, input the formation data of the target grouting section into a grouting pressure prediction model, and output a grouting pressure target value from the grouting pressure prediction model; the grouting pressure prediction model is obtained based on the grouting formation data in the sample data and the corresponding grouting pressure training;

[0007] Under the measured value of the grouting pressure in the current cycle, the measured value of the grouting flow rate and the target value of the grouting flow rate in the current stage of the grouting process of the target grouting section are obtained, and a first steady-state error between the measured value of the grouting flow rate in the current stage and the target value of the grouting flow rate is determined; and according to the first steady-state error and the measured value of the grouting flow rate in the current stage, a planned value of the grouting flow rate in the next stage is determined until the planned value of the grouting flow rate reaches the target value of the grouting flow rate;

[0008] After the planned grouting flow rate reaches the target grouting flow rate, a grouting pressure adaptive PID control strategy is constructed based on the actual measured value of the grouting pressure in the current cycle and the target grouting pressure. Based on the grouting pressure adaptive PID control strategy, the second steady-state error between the actual measured value of the grouting pressure in the current cycle and the target grouting pressure is determined. According to the second steady-state error and the actual measured value of the grouting pressure in the current cycle, the planned grouting pressure value of the next cycle is determined until the planned grouting pressure value reaches the target grouting pressure.

[0009] According to a formation grouting control method provided by the present invention, a grouting flow rate plan value for the next stage is determined according to the first steady-state error and the measured value of the grouting flow rate in the current stage, including:

[0010] Determining a regulating gradient coefficient for the grouting flow rate according to the first steady-state error;

[0011] The planned value of the grouting flow rate in the next stage is determined according to the first steady-state error, the actual measured value of the grouting flow rate in the current stage and the adjustment gradient coefficient of the grouting flow rate.

[0012] According to a formation grouting control method provided by the present invention, a grouting flow rate plan value for the next stage is determined according to the first steady-state error, the actual grouting flow rate measured value at the current stage and the adjustment gradient coefficient, including:

[0013] According to the first steady-state error, the measured value of the grouting flow rate in the current stage and the adjustment gradient coefficient, the following calculation formula is used to determine the planned value of the grouting flow rate in the next stage;

[0014]

[0015] L t is the planned grouting flow rate for the next stage, L t-1 is the measured value of the grouting flow rate at the current stage, and w1 is the adjustment gradient coefficient of the grouting flow rate.

[0016] According to a formation grouting control method provided by the present invention, a planned grouting pressure value for the next cycle is determined according to the second steady-state error and the measured value of the grouting pressure in the current cycle, including:

[0017] determining a gradient coefficient for adjusting the grouting pressure according to the second steady-state error;

[0018] determining a grouting pressure increment according to the second steady-state error and a gradient coefficient for adjusting the grouting pressure;

[0019] The planned grouting pressure value for the next cycle is determined based on the measured grouting flow rate and grouting pressure increment of the current cycle.

[0020] According to a formation grouting control method provided by the present invention, the grouting pressure increment is determined according to the second steady-state error and the adjustment gradient coefficient of the grouting pressure, including:

[0021] According to the second steady-state error and the adjustment gradient coefficient of the grouting pressure, the grouting pressure increment is determined by the following calculation method;

[0022] ΔP=w*u(t)+P';

[0023] ΔP is the grouting pressure increment, w is the adjustment gradient coefficient of the grouting pressure, P' is the fine-tuning grouting pressure constant, and u(t) is the second steady-state error.

[0024] According to a formation grouting control method provided by the present invention, the method further includes: determining the cycle of adjusting the grouting pressure and the stage duration of the grouting flow rate during the grouting process of the target grouting section based on the formation data of the target grouting section.

[0025] The present invention also provides a control device for formation grouting, comprising:

[0026] A determination module is used to determine the formation data of the target grouting section, input the formation data of the target grouting section into a grouting pressure prediction model, and the grouting pressure prediction model outputs a grouting pressure target value and a slurry density target value; the grouting pressure prediction model is obtained based on the grouting formation data in the sample data and the grouting pressure corresponding to the formation data.

[0027] A flow control module is used to obtain a measured value of grouting flow and a target value of grouting flow at a current stage of the grouting process of a target grouting section under a measured value of grouting pressure in a current cycle, determine a first steady-state error between the measured value of grouting flow at the current stage and the target value of grouting flow, and determine a planned value of grouting flow at the next stage according to the first steady-state error and the measured value of grouting flow at the current stage, until the planned value of grouting flow reaches the target value of grouting flow;

[0028] The pressure control module is used to construct a grouting pressure adaptive PID control strategy based on the actual grouting pressure measured value of the current cycle and the grouting pressure target value after the grouting flow rate plan value reaches the grouting flow rate target value; based on the grouting pressure adaptive PID control strategy, determine the second steady-state error between the actual grouting pressure measured value of the current cycle and the grouting pressure target value; according to the second steady-state error and the actual grouting pressure measured value of the current cycle, determine the grouting pressure plan value of the next cycle until the grouting pressure plan value reaches the grouting pressure target value.

[0029] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the above-mentioned formation grouting control methods is implemented.

[0030] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the control method of any of the above-mentioned formation grouting is implemented.

[0031] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned formation grouting control methods.

[0032] The present invention provides a method, device, equipment and medium for regulating grouting of a formation. The method adopts a grouting pressure prediction model to analyze the formation data, quickly determines the target value of the grouting pressure of each grouting section on the formation, and then adopts a grouting pressure adaptive PID control strategy after the grouting flow control is completed, with the grouting pressure target value as the adjustment demand, to adaptively adjust the grouting pressure, so that the regulation of the grouting process has target quantification, reduces the ambiguity of the grouting regulation process, is relatively gentle and has a precise target compared to manual regulation, and does not involve excessive or sudden regulation of grouting. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a schematic flow chart of the formation grouting control method provided by the present invention.

[0035] Figure 2 It is a specific schematic diagram of the flow of the formation grouting control method provided by the present invention.

[0036] Figure 3 It is a structural schematic diagram of the regulating device for stratum grouting provided by the present invention.

[0037] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Combine the following Figure 1-Figure 4 The present invention describes the control method, device, equipment and medium for formation grouting.

[0040] Figure 1 A schematic diagram of a flow chart of a method for controlling grouting in a formation provided by the present invention is shown. Figure 1 , the method comprises the following steps:

[0041] Step 11, determining the formation data of the target grouting section, inputting the formation data of the target grouting section into the grouting pressure prediction model, and outputting the grouting pressure target value from the grouting pressure prediction model; the grouting pressure prediction model is obtained based on the grouting formation data in the sample data and the grouting pressure corresponding to the formation data.

[0042] Step 12, under the measured value of the grouting pressure in the current cycle, obtain the measured value of the grouting flow rate and the target value of the grouting flow rate in the current stage of the grouting process of the target grouting section, determine the first steady-state error between the measured value of the grouting flow rate in the current stage and the target value of the grouting flow rate, and determine the planned value of the grouting flow rate in the next stage according to the first steady-state error and the measured value of the grouting flow rate in the current stage, until the planned value of the grouting flow rate reaches the target value of the grouting flow rate;

[0043] Step 13. After the planned grouting flow rate reaches the target grouting flow rate, a grouting pressure adaptive PID control strategy is constructed based on the actual measured value of the grouting pressure in the current cycle and the target grouting pressure. Based on the grouting pressure adaptive PID control strategy, the second steady-state error between the actual measured value of the grouting pressure in the current cycle and the target grouting pressure is determined. According to the second steady-state error and the actual measured value of the grouting pressure in the current cycle, the planned grouting pressure value of the next cycle is determined until the planned grouting pressure value reaches the target grouting pressure.

[0044] Regarding steps 11 to 13, it should be noted that the grouting of water conservancy and hydropower projects is a typical concealed project. The regulation of the grouting process relies entirely on on-site manual experience control. The grouting control accuracy and response time are difficult to meet actual project needs.

[0045] The key difficulties include: (1) Uncertainty of grouting formation conditions. Although a large amount of formation information detection is carried out before grouting, such as water pressure test and measurement while drilling, geological engineers have not quantitatively divided the formation groutability of the many formation information obtained, but mostly qualitative evaluation, which makes it difficult to match more accurate grouting pressure and slurry density based on the formation information. (2) Mechanization of grouting control. Grouting process monitoring mostly records and displays grouting process parameters, and determines grouting control strategies based on grouting test results. It relies entirely on empirical strategies and lacks adaptive automatic control measures.

[0046] To this end, the present invention needs to determine a more accurate grouting pressure based on formation information. In the process of determining the grouting pressure, the formation data of the target grouting section is first collected. The formation data includes the formation compressive strength R c , formation permeability coefficient Lu, formation rock mass integrity K v , number and position of cracks, electromagnetic wave absorption coefficient of the formation, elevation h of the grouting section, and high water level.

[0047] The means of acquiring stratigraphic data include: conducting drilling tests on each grouting section, water pressure tests, drilling sonic waves, drilling television, cross-hole electromagnetic wave CT and other stratigraphic information detection technologies.

[0048] The test-while-drilling technology refers to the use of pressure, speed and travel sensors on geological drilling rigs to record the changes in drilling parameters during the drilling process, and to quantitatively obtain the rock strength (R) of the formation along the depth of the borehole through the following formula (1): c ):

[0049] Where F is the drilling pressure during drilling (kN), V is the drilling speed (mm / min), N is the drill bit speed (rev / min), and K is the drilling correction coefficient, with a recommended value of 25.04.

[0050] Water pressure test, borehole acoustic wave, borehole television and cross-hole electromagnetic wave CT detection methods are the means of obtaining stratum information covered by the current exploration specifications, which can obtain the stratum permeability coefficient Lu, stratum rock integrity K v , the electromagnetic wave absorption coefficient of the formation β.

[0051] In the present invention, in order to ensure the accuracy of the data, the original formation data cleaning (noise, missing data and invalid data processing), transformation (data standardization) and interpretation analysis are carried out on the acquired grouting formation information.

[0052] a) Missing data filling: For each type of data mentioned above, missing data is filled according to the following formula (2).

[0053] where x t To fill in the missing data. t+1 is the previous data of the missing value. mean The mean of this type of data.

[0054] b) Data transformation. The above heterogeneous and multi-dimensional data are matrixed as shown in the following formula (3). Each column of data is normalized according to the following formula (4).

[0055] where x 11 -x 1n is the rock mass strength parameter of each grouting section, x 21 -x 2n is the permeability coefficient of the rock mass in each grouting section, x 31 -x 3n is the integrity of the rock mass in each grouting section, x 41 -x 4n is the electromagnetic wave absorption coefficient of the rock mass in each grouting section, x 51 -x 5nOther stratigraphic information for each grouting section.

[0056] Where W xi is the normalized formation information value, x i It is the stratum rock mass information of a certain grouting section.

[0057] In the present invention, the strata in different grouting sections are different, the collected stratum data are also different, and the grouting parameters are also different.

[0058] In the present invention, a neural network model is used to analyze and calculate the formation data, and output a more accurate grouting parameter, namely, grouting pressure. Therefore, the formation data of the target grouting section is input into the grouting pressure prediction model, and the grouting pressure prediction model outputs the grouting pressure target value. The grouting pressure target value is used as the control direction of the grouting pressure in the target grouting section during the grouting process.

[0059] The grouting pressure prediction model is obtained based on the grouting formation data in the sample data and the grouting pressure corresponding to the formation data.

[0060] A large amount of stratigraphic data of different grouting sections is obtained. Data cleaning work such as invalid data deletion and wavelet denoising is carried out on the acquired stratigraphic data. Then, a grouting stratigraphic data set is established according to the grouting stratigraphic depth and the drilling grouting section as the scale. The stratigraphic compressive strength Rc, stratigraphic permeability Lu, stratigraphic rock integrity Kv, number and position of cracks, stratigraphic electromagnetic wave absorption coefficient, grouting section elevation h, and high water level are calculated through theoretical analysis.

[0061] Taking the formation data set of each grouting section as input value (such as the mean value of 5m grouting formation compressive strength Rc, the mean value of formation permeability Lu, the formation rock mass integrity Kv, the number and position of fractures, the mean value of formation electromagnetic wave absorption coefficient, the elevation h of the grouting section, and the high water level), the grouting pressure P determined by a large number of grouting tests and expert systems is used as the target output value, and a convolutional deep belief network is used to establish a semi-supervised grouting target parameter prediction model. The model training data set is determined by the previous grouting test, and the model parameters can be preset as simple constants. As the grouting data increases, the model prediction ability is enhanced, and the better model parameters can be determined.

[0062] In order to increase the accuracy of grouting pressure prediction, the grouting parameter convolution depth confidence network prediction model uses the grouting section elevation h as the model offset. The formation grouting pressure is calculated by the following formula (5).

[0063] P=α1*w x1 +α2*w x2 +α3*w x3 …α n * xn +α n+1 *h (5)

[0064] Where P is the grouting pressure of a certain grouting section, and α is the weight of each formation information of the convolutional deep belief network prediction model, and its value needs to be determined through a large number of training parameters.

[0065] The grouting parameter convolutional deep belief network prediction model adopts a new probability activation excitation function, such as formula (6).

[0066] Where x is the input of the model calculation.

[0067] In the present invention, the grouting pressure is automatically regulated during the grouting process of a grouting section. For this purpose, an adaptive PID control algorithm is used. The termination conditions of formation grouting include the grouting flow rate reaching 30L / min and the grouting pressure reaching the grouting pressure as the target value. Therefore, the formation grouting pressure adaptive control adopts dual PID linkage adaptive control, including a grouting pressure adaptive PID control process and a grouting flow control process. The grouting pressure adaptive PID control process completes a grouting flow adjustment (one adjustment of the grouting flow is to adjust the grouting flow to the grouting flow target value) under the grouting pressure of one cycle, and then starts to regulate the grouting pressure of the next cycle.

[0068] Under the measured value of the grouting pressure in the current cycle, the measured value of the grouting flow rate and the target value of the grouting flow rate in the current stage of the grouting process of the target grouting section are obtained, and the first steady-state error between the measured value of the grouting flow rate in the current stage and the target value of the grouting flow rate is determined. According to the first steady-state error and the measured value of the grouting flow rate in the current stage, the planned value of the grouting flow rate in the next stage is determined until the planned value of the grouting flow rate reaches the target value of the grouting flow rate. It should be noted that the planned value of the grouting flow rate in the next stage is a parameter for regulation, which acts on related equipment, but the actual value of the grouting flow rate in this stage needs to be detected, and the actual value obtained continues to be used in regulation.

[0069] After the planned grouting flow rate reaches the target grouting flow rate, a grouting pressure adaptive PID control strategy is constructed based on the actual measured value of the grouting pressure in the current cycle and the target grouting pressure. Based on the grouting pressure adaptive PID control strategy, the second steady-state error between the actual measured value of the grouting pressure in the current cycle and the target grouting pressure is determined. According to the second steady-state error and the actual measured value of the grouting pressure in the current cycle, the planned grouting pressure value of the next cycle is determined until the planned grouting pressure value reaches the target grouting pressure.

[0070] For example, the measured grouting pressure is used as the control element, the difference (P) between the measured grouting pressure and the target value, the integral (I) of the difference, and the differential (D) of the difference are used as the PID control algorithm, and the difference time constant (K p ), integration time constant and the differential time constant (T d ).

[0071] The steady-state error of grouting process parameters In order to control the variables, the steady-state error between the measured value and the target value of the grouting pressure during the grouting process is calculated.

[0072] The actual value of the grouting pressure is adjusted according to the size of the error value until the actual value of the grouting pressure reaches the target value of the grouting pressure.

[0073] For this, see Figure 2 For the above-mentioned grouting flow and grouting pressure regulation process, Figure 2 It can be seen that the displayed regulation process is an adjustment cycle. Under a cycle of grouting pressure, after completing a grouting flow adjustment (a grouting flow adjustment is to adjust the grouting flow to the grouting flow target value), the regulation of the grouting pressure of the next cycle begins.

[0074] With the help of the grouting pressure adaptive PID control strategy, the control system is automatically issued with control instructions to automatically adjust the grouting pressure. This control process is relatively gentle and accurate compared to manual control. There is no excessive or sudden control of grouting, such as large flow, sudden pressure increase, etc., to avoid stratum splitting, stratum lifting and over-grouting.

[0075] The method for regulating and controlling grouting of formations provided by the present invention adopts a grouting pressure prediction model to analyze formation data, quickly determines the target value of the grouting pressure of each grouting section on the formation, and then adopts a grouting pressure adaptive PID control strategy after the grouting flow control is completed, taking the grouting pressure target value as the adjustment demand, and adaptively adjusting the grouting pressure, so that the regulation of the grouting process has target quantification, reduces the ambiguity of the grouting regulation process, is relatively gentle and has precise targets compared to manual regulation, and does not have excessive or sudden grouting regulation.

[0076] In a further method of the above method, the processing process of determining the planned grouting flow rate value of the next stage according to the first steady-state error and the measured value of the grouting flow rate of the current stage is mainly explained as follows:

[0077] According to the first steady-state error, determining the adjustment gradient coefficient for the grouting flow rate;

[0078] The planned value of the grouting flow rate in the next stage is determined according to the first steady-state error, the actual measured value of the grouting flow rate in the current stage and the adjustment gradient coefficient of the grouting flow rate.

[0079] In this regard, it should be noted that, in the present invention, the grouting flow target value is taken as the adjustment target, and the grouting flow plan value is adjusted according to the size of the steady-state error until the grouting flow plan value reaches the grouting flow target value.

[0080] The steady-state error obtained during each regulation process is different, which will also lead to different degrees of adjustment of the grouting flow. Therefore, a reasonable adjustment gradient coefficient for the grouting flow can be selected for the current steady-state error. In other words, different adjustment strategies have different gradient values. Accordingly, the adjustment gradient coefficient can also be a fixed value preset at the beginning.

[0081] After the adjustment gradient coefficient is determined, the planned grouting flow rate for the next stage is determined based on the first steady-state error, the actual measured value of the grouting flow rate in the current stage and the adjustment gradient coefficient of the grouting flow rate.

[0082] In a further method, the planned grouting flow rate in the next stage is determined by the following calculation formula according to the first steady-state error, the measured value of the grouting flow rate in the current stage and the adjustment gradient coefficient;

[0083]

[0084] L t is the planned grouting flow rate for the next stage, L t-1 is the measured value of the grouting flow rate at the current stage, and w1 is the adjustment gradient coefficient of the grouting flow rate.

[0085] In a further method of the above method, the processing process of determining the planned grouting pressure value of the next cycle according to the second steady-state error and the measured value of the grouting pressure of the current cycle is mainly explained as follows:

[0086] According to the second steady-state error, determining the adjustment gradient coefficient of the grouting pressure;

[0087] Determine the grouting pressure increment according to the second steady-state error and the adjustment gradient coefficient of the grouting pressure;

[0088] The planned grouting pressure value for the next cycle is determined based on the measured grouting flow rate and grouting pressure increment of the current cycle.

[0089] In each regulation process, the steady-state error obtained is different, which will also lead to different degrees of adjustment of the grouting pressure. Therefore, a reasonable adjustment gradient coefficient for the grouting pressure can be selected for the current steady-state error. In other words, different adjustment strategies have different gradient values. Accordingly, the adjustment gradient coefficient can also be a fixed value preset at the beginning.

[0090] After the adjustment gradient coefficient is determined, the grouting pressure increment is determined according to the second steady-state error and the adjustment gradient coefficient of the grouting pressure, and then the grouting pressure plan value of the next cycle is determined according to the measured value of the grouting flow rate and the grouting pressure increment of the current cycle. It should be noted that the grouting pressure plan value determined for the next stage is a control parameter, which acts on related equipment, but the actual value of the grouting pressure at this stage needs to be detected, and the actual value obtained continues to be used in the control.

[0091] In a further method, the grouting pressure increment is determined by the following calculation method according to the second steady-state error and the adjustment gradient coefficient of the grouting pressure;

[0092] ΔP=w*u(t)+P;

[0093] ΔP is the grouting pressure increment, w is the adjustment gradient coefficient of the grouting pressure, P' is the fine-tuning grouting pressure constant, and u is the second steady-state error.

[0094] In the present invention, since the target value of the grouting pressure output by the model is an adjustment requirement, when the planned value of the grouting pressure is adjusted to the target value, it is no longer necessary to adjust it. Therefore, each time the adjustment is made based on the adjustment strategy, the adjusted planned value of the grouting pressure needs to be compared with the corresponding target value. If the adjusted planned value of the grouting pressure is less than the target value of the grouting pressure, the planned value of the grouting pressure is adjusted.

[0095] If the adjusted planned grouting pressure value is equal to or greater than the target value, the planned value will be adjusted to the target value.

[0096] In the present invention, the period of adjusting the grouting pressure and the stage duration of the grouting flow rate during the grouting process of the target grouting section are determined based on the formation data of the target grouting section. In other words, the formation data of the target grouting section is different, and the grouting pressure it bears is also different, so during the grouting process, the stages or periods of regulation are inevitably different.

[0097] The control device for formation grouting provided by the present invention is described below. The control device for formation grouting described below and the control method for formation grouting described above can be referred to each other.

[0098] Figure 3 A schematic diagram of a flow chart of a control device for grouting in a formation provided by the present invention is shown. Figure 3 The device includes a determination module 31, a flow control module 32 and a pressure control module 33, wherein:

[0099] A determination module is used to determine the formation data of the target grouting section, input the formation data of the target grouting section into the grouting pressure prediction model, and the grouting pressure prediction model outputs the grouting pressure target value; the grouting pressure prediction model is obtained based on the grouting formation data in the sample data and the grouting pressure corresponding to the formation data.

[0100] A flow control module is used to obtain the actual grouting flow rate measurement value and the target grouting flow rate of the current stage in the grouting process of the target grouting section under the actual grouting pressure measurement value of the current cycle, determine the first steady-state error between the actual grouting flow rate measurement value and the target grouting flow rate of the current stage, and determine the planned grouting flow rate value of the next stage according to the first steady-state error and the actual grouting flow rate measurement value of the current stage, until the planned grouting flow rate value reaches the target grouting flow rate value;

[0101] The pressure control module is used to construct a grouting pressure adaptive PID control strategy based on the actual grouting pressure measured value of the current cycle and the grouting pressure target value after the grouting flow rate plan value reaches the grouting flow rate target value. Based on the grouting pressure adaptive PID control strategy, the second steady-state error between the actual grouting pressure measured value of the current cycle and the grouting pressure target value is determined. According to the second steady-state error and the actual grouting pressure measured value of the current cycle, the grouting pressure plan value of the next cycle is determined until the grouting pressure plan value reaches the grouting pressure target value.

[0102] In a further device of the above device, the flow control module is specifically used for:

[0103] According to the first steady-state error, determining the adjustment gradient coefficient for the grouting flow rate;

[0104] The planned value of the grouting flow rate in the next stage is determined according to the first steady-state error, the actual measured value of the grouting flow rate in the current stage and the adjustment gradient coefficient of the grouting flow rate.

[0105] In a further device of the above device, the flow control module, in the process of determining the planned grouting flow value of the next stage according to the first steady-state error, the actual measured value of the grouting flow of the current stage and the adjustment gradient coefficient, is specifically used to: determine the planned grouting flow value of the next stage according to the first steady-state error, the actual measured value of the grouting flow of the current stage and the adjustment gradient coefficient by using the following calculation formula;

[0106]

[0107] L t is the planned grouting flow rate for the next stage, L t-1 is the measured value of the grouting flow rate at the current stage, and w1 is the adjustment gradient coefficient of the grouting flow rate.

[0108] In a further device of the above device, the pressure control module is specifically used for:

[0109] According to the second steady-state error, determining the adjustment gradient coefficient of the grouting pressure;

[0110] Determine the grouting pressure increment according to the second steady-state error and the adjustment gradient coefficient of the grouting pressure;

[0111] The planned grouting pressure value for the next cycle is determined based on the measured grouting flow rate and grouting pressure increment of the current cycle.

[0112] In a further device of the above device, the pressure control module is specifically used for:

[0113] According to the second steady-state error and the adjustment gradient coefficient of the grouting pressure, the grouting pressure increment is determined by the following calculation method;

[0114] ΔP=w*u(t)+P';

[0115] ΔP is the grouting pressure increment, w is the adjustment gradient coefficient of the grouting pressure, P' is the fine-tuning grouting pressure constant, and u(t) is the second steady-state error.

[0116] The control device for grouting of the formation provided by the present invention analyzes the formation data by adopting the grouting pressure prediction model to quickly determine the target value of the grouting pressure of each grouting section on the formation, and then adopts the grouting pressure adaptive PID control strategy after the grouting flow control is completed to use the grouting pressure target value as the adjustment demand, and adaptively adjusts the grouting pressure, so that the control of the grouting process has target quantification, reduces the ambiguity of the grouting control process, is relatively gentle and has precise targets compared to manual control, and there is no excessive or sudden control of grouting.

[0117] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4As shown, the electronic device may include: a processor 41 (processor), a communication interface 42 (Communications Interface), a memory 43 (memory) and a communication bus 44, wherein the processor 41, the communication interface 42, and the memory 43 communicate with each other through the communication bus 44. The processor 41 can call the logic instructions in the memory 43 to execute the control method of formation grouting, the method comprising: determining the formation data of the target grouting section, inputting the formation data of the target grouting section into the grouting pressure prediction model, and the grouting pressure prediction model outputs the grouting pressure target value; the grouting pressure prediction model is obtained based on the grouting formation data in the sample data and the grouting pressure corresponding to the formation data. Under the measured value of the grouting pressure in the current cycle, the measured value of the grouting flow rate and the target value of the grouting flow rate in the current stage of the grouting process of the target grouting section are obtained, and the first steady-state error between the measured value of the grouting flow rate in the current stage and the target value of the grouting flow rate is determined, and the first steady-state error between the measured value of the grouting flow rate and the target value of the grouting flow rate is determined based on the measured value of the grouting pressure in the current cycle. According to the first steady-state error and the actual measured value of the grouting flow in the current stage, the planned value of the grouting flow in the next stage is determined until the planned value of the grouting flow reaches the target value of the grouting flow; after the planned value of the grouting flow reaches the target value of the grouting flow, a grouting pressure adaptive PID control strategy is constructed based on the actual measured value of the grouting pressure in the current cycle and the target value of the grouting pressure, and based on the grouting pressure adaptive PID control strategy, the second steady-state error between the actual measured value of the grouting pressure in the current cycle and the target value of the grouting pressure is determined, and according to the second steady-state error and the actual measured value of the grouting pressure in the current cycle, the planned value of the grouting pressure in the next cycle is determined until the planned value of the grouting pressure reaches the target value of the grouting pressure.

[0118] In addition, the logic instructions in the above-mentioned memory 43 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0119] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the formation grouting control method provided by the above-mentioned methods, the method including: determining the formation data of the target grouting section, inputting the formation data of the target grouting section into a grouting pressure prediction model, and outputting a grouting pressure target value from the grouting pressure prediction model; the grouting pressure prediction model is obtained based on the grouting formation data in the sample data and the grouting pressure corresponding to the formation data. Under the measured value of the grouting pressure in the current cycle, the measured value of the grouting flow rate and the target value of the grouting flow rate in the current stage of the grouting process of the target grouting section are obtained. , determine the first steady-state error between the actual grouting flow rate of the current stage and the target grouting flow rate, determine the planned grouting flow rate of the next stage according to the first steady-state error and the actual grouting flow rate of the current stage, until the planned grouting flow rate reaches the target grouting flow rate; after the planned grouting flow rate reaches the target grouting flow rate, construct a grouting pressure adaptive PID control strategy based on the actual grouting pressure measured value and the target grouting pressure of the current cycle, determine the second steady-state error between the actual grouting pressure measured value and the target grouting pressure of the current cycle based on the grouting pressure adaptive PID control strategy, determine the planned grouting pressure value of the next cycle according to the second steady-state error and the actual grouting pressure measured value of the current cycle, until the planned grouting pressure value reaches the target grouting pressure.

[0120] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the formation grouting control method provided by the above-mentioned methods, the method comprising: determining the formation data of the target grouting section, inputting the formation data of the target grouting section into a grouting pressure prediction model, and outputting a grouting pressure target value from the grouting pressure prediction model; the grouting pressure prediction model is obtained based on the grouting formation data in the sample data and the grouting pressure corresponding to the formation data. Under the measured value of the grouting pressure in the current cycle, the measured value of the grouting flow rate and the target value of the grouting flow rate in the current stage of the grouting process of the target grouting section are obtained, and the measured value of the grouting flow rate in the current stage is determined. The first steady-state error between the actual value and the target value of the grouting flow rate is determined, and the planned value of the grouting flow rate in the next stage is determined according to the first steady-state error and the actual measured value of the grouting flow rate in the current stage, until the planned value of the grouting flow rate reaches the target value of the grouting flow rate; after the planned value of the grouting flow rate reaches the target value of the grouting flow rate, a grouting pressure adaptive PID control strategy is constructed based on the actual measured value of the grouting pressure in the current cycle and the target value of the grouting pressure, and the second steady-state error between the actual measured value of the grouting pressure in the current cycle and the target value of the grouting pressure is determined based on the grouting pressure adaptive PID control strategy, and the planned value of the grouting pressure in the next cycle is determined according to the second steady-state error and the actual measured value of the grouting pressure in the current cycle, until the planned value of the grouting pressure reaches the target value of the grouting pressure.

[0121] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for regulating formation grouting, characterized in that: include: Determine the formation data of the target grouting section, input the formation data of the target grouting section into a grouting pressure prediction model, and output a grouting pressure target value from the grouting pressure prediction model; the grouting pressure prediction model is obtained based on the grouting formation data in the sample data and the grouting pressure corresponding to the formation data. Under the measured value of the grouting pressure in the current cycle, the measured value of the grouting flow rate and the target value of the grouting flow rate in the current stage of the grouting process of the target grouting section are obtained, and a first steady-state error between the measured value of the grouting flow rate in the current stage and the target value of the grouting flow rate is determined; and according to the first steady-state error and the measured value of the grouting flow rate in the current stage, a planned value of the grouting flow rate in the next stage is determined until the planned value of the grouting flow rate reaches the target value of the grouting flow rate; After the planned grouting flow rate reaches the target grouting flow rate, a grouting pressure adaptive PID control strategy is constructed based on the actual measured grouting pressure value of the current cycle and the target grouting pressure value. Based on the grouting pressure adaptive PID control strategy, a second steady-state error between the actual measured grouting pressure value of the current cycle and the target grouting pressure value is determined. According to the second steady-state error and the actual measured grouting pressure value of the current cycle, a planned grouting pressure value of the next cycle is determined until the planned grouting pressure value reaches the target grouting pressure value. According to the first steady-state error and the measured value of the grouting flow rate in the current stage, a planned value of the grouting flow rate in the next stage is determined, including: Determining a regulating gradient coefficient for the grouting flow rate according to the first steady-state error; Determine the planned grouting flow rate for the next stage according to the first steady-state error, the actual measured value of the grouting flow rate in the current stage and the adjustment gradient coefficient of the grouting flow rate; According to the first steady-state error, the measured value of the grouting flow rate in the current stage and the adjustment gradient coefficient, the planned value of the grouting flow rate in the next stage is determined, including: According to the first steady-state error, the measured value of the grouting flow rate in the current stage and the adjustment gradient coefficient, the following calculation formula is used to determine the planned value of the grouting flow rate in the next stage; ； L t is the planned value of grouting flow rate for the next stage, L t-1 is the measured value of grouting flow rate at the current stage, w 1 is the adjustment gradient coefficient for grouting flow; Determining a planned grouting pressure value for the next cycle according to the second steady-state error and the measured value of the grouting pressure in the current cycle includes: determining a gradient coefficient for adjusting the grouting pressure according to the second steady-state error; determining a grouting pressure increment according to the second steady-state error and a gradient coefficient for adjusting the grouting pressure; Determine the planned grouting pressure value for the next cycle based on the measured grouting flow rate and grouting pressure increment of the current cycle; Determining the grouting pressure increment according to the second steady-state error and the adjustment gradient coefficient of the grouting pressure includes: According to the second steady-state error and the adjustment gradient coefficient of the grouting pressure, the grouting pressure increment is determined by the following calculation method; ； is the grouting pressure increment, w is the adjustment gradient coefficient of grouting pressure, To fine tune the grouting pressure constant, is the second steady-state error.

2. The method for controlling formation grouting according to claim 1, characterized in that: The method further comprises: determining, based on the formation data of the target grouting section, a period for adjusting the grouting pressure and a stage duration for the grouting flow rate during the grouting process of the target grouting section.

3. A formation grouting control device based on the formation grouting control method according to claim 1 or 2, characterized in that: include: A determination module is used to determine the formation data of the target grouting section, input the formation data of the target grouting section into a grouting pressure prediction model, and the grouting pressure prediction model outputs a grouting pressure target value; the grouting pressure prediction model is obtained based on the grouting formation data in the sample data and the grouting pressure corresponding to the formation data. A flow control module is used to obtain a measured value of grouting flow and a target value of grouting flow at a current stage of the grouting process of a target grouting section under a measured value of grouting pressure in a current cycle, determine a first steady-state error between the measured value of grouting flow at the current stage and the target value of grouting flow, and determine a planned value of grouting flow at the next stage according to the first steady-state error and the measured value of grouting flow at the current stage, until the planned value of grouting flow reaches the target value of grouting flow; The pressure control module is used to construct a grouting pressure adaptive PID control strategy based on the actual grouting pressure measured value of the current cycle and the grouting pressure target value after the grouting flow rate plan value reaches the grouting flow rate target value; based on the grouting pressure adaptive PID control strategy, determine the second steady-state error between the actual grouting pressure measured value of the current cycle and the grouting pressure target value; according to the second steady-state error and the actual grouting pressure measured value of the current cycle, determine the grouting pressure plan value of the next cycle until the grouting pressure plan value reaches the grouting pressure target value.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the formation grouting control method as claimed in claim 1 or 2 is implemented.

5. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for regulating formation grouting as claimed in claim 1 or 2 is implemented.

6. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for regulating formation grouting as claimed in claim 1 or 2 is implemented.

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