Self-adaptive drilling control system and method suitable for complex geology

Abstract

The invention discloses a self-adaptive drilling control system suitable for complex geology. The self-adaptive drilling control system is used for controlling a drilling device to conduct self-adaptive adjustment on drilling parameters in the coring and drilling process. The self-adaptive drilling control system comprises a hydraulic pump, a background operation terminal, a driving control module, a drilling parameter acquisition module and a data processing module, the background operation terminal is used for sending an operation signal to the driving control module; the hydraulic pump is used for providing a power source; the driving control module can drive the drilling device to move according to the operation signal, and coring and drilling operation is achieved. The parameter acquisition module is used for acquiring drilling parameters; the data processing module is used for conducting drilling working condition state judgment and drilling parameter adjustment decision making through a self-adaptive algorithm according to the collected drilling parameter data. According to the self-adaptive drilling control system, self-adaptive adjustment of feeding parameters in the drilling process can be achieved, the probability of drill jamming and drill slipping in the drilling process is reduced, and the tunnel construction operation efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of adaptive control of drilling equipment, and in particular to an adaptive drilling control system and method suitable for complex geology. Background Art

[0002] In current complex geological tunnel projects, the operation location is often located deep underground with a small cross-section, which greatly limits traditional construction equipment. When it comes to power tunnel excavation in hard rock areas, conventional mechanical construction solutions have problems such as poor adaptability and low efficiency. For tunnels with complex geological conditions, since the drilling device cannot automatically adjust the excavation parameters, invalid or inefficient excavation occurs, which prolongs the construction period and increases costs.

[0003] In the actual drilling process, the operator of the drilling vehicle usually makes a rough judgment on the hardness and type of the rock mass to be drilled based on the drilling speed, mechanical vibration and noise during drilling, and the discharged rock debris, combined with work experience and previous geological exploration data, and constantly manually adjusts the drilling parameters such as the drilling pressure and speed of the drilling vehicle. This method puts a great test on the operator's experience level and work patience, and there are problems such as inaccurate and untimely adjustments. In mild cases, the drill may get stuck, the drill rod may be bent and broken, and in severe cases, the drill arm of the anchor drilling vehicle may fail and be damaged. At the same time, in order to observe the drilling situation, the construction personnel are in the roof fall area, which poses a risk of roof collapse and safety hazards.

[0004] Therefore, enabling the drilling vehicle to sense the state of the surrounding rock, classify and identify the lithology of the formation, and achieve autonomous decision-making and adaptive adjustment of drilling parameters has very important scientific research significance and engineering application value. Summary of the invention

[0005] The purpose of the present invention is to provide an adaptive drilling control system and method suitable for complex geology, so as to solve the technical problem that for tunnels with complex geological conditions, the drilling device in the prior art cannot automatically adjust the excavation parameters, resulting in invalid or inefficient excavation, which leads to a longer construction period and increased costs.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention discloses an adaptive drilling control system suitable for complex geology, which is used to control a drilling device to adaptively adjust drilling parameters during the drilling process; the drilling device comprises a drilling tool, a rotary motor and a feed cylinder, the feed cylinder can drive the drilling tool to perform a feeding action, and the rotary motor can drive the drilling tool to rotate; the feed cylinder and the rotary motor are both driven by hydraulic pressure; a first electromagnetic proportional reversing valve is provided at the oil inlet and outlet of the rotary motor, and a second electromagnetic proportional reversing valve is provided at the oil inlet and outlet of the feed cylinder;

[0008] The adaptive drilling control system includes a hydraulic pump, a background operation terminal, a drive control module, a parameter acquisition module and a data processing module;

[0009] The hydraulic pump is used to provide a power source for the operation of the feed cylinder and the rotary motor;

[0010] The background operation terminal is used to send an operation signal to the drive control module;

[0011] The drive control module is electrically connected to the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve, respectively, and can control the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve respectively according to the operation signal, and then drive the feed cylinder and the rotary motor to move respectively, realize the rotation and feed movement of the drill tool, and realize the coring drilling operation;

[0012] The parameter acquisition module is used to acquire drilling parameters of the drilling device during the drilling operation;

[0013] The data processing module is used to receive the drilling parameter data transmitted by the parameter acquisition module, determine the drilling working state, and make corresponding control decisions, and transmit the decision information to the drive control module.

[0014] The working principle of this scheme is: the drive control module collects and determines whether the drilling parameters (drilling tool rotation speed, feed axial displacement speed, rotary motor inlet hydraulic pressure) during the drilling operation have changed, and makes corresponding control decisions based on the parameter information fed back in real time, and transmits the decision information to the drive control module, which then controls the opening of the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve, as well as the feed speed of the feed cylinder and the rotation speed of the rotary motor according to the operating instructions, so as to realize adaptive regulation of the drilling tool during the drilling process.

[0015] Preferably, the drilling parameters of the drilling device during the drilling operation include the hydraulic pressure value at the oil inlet of the rotary motor, the hydraulic pressure value at the oil inlet of the feed cylinder, the drill bit rotation speed, and the feed cylinder propulsion speed.

[0016] As a preferred solution for the data processing module to make corresponding control decisions, the data processing module adopts an adaptive control algorithm to make corresponding control decisions according to the drilling working state. The adaptive control algorithm has a drilling parameter adaptation library, a stuck drill probability evaluation model and its boundary conditions. The adaptive control algorithm includes the following steps:

[0017] S1, collecting the real-time drilling control vector of the drilling device;

[0018] S2, performing similarity analysis on the real-time drilling control vector and the data of the drilling parameter adaptation library;

[0019] S3, matching the real-time drilling control vector with the drilling control vector with the highest similarity in the drilling parameter adaptation library as the primary drilling control vector for adaptive control under current geological conditions;

[0020] S4, using a differential evolution adaptive algorithm to perform global iterative optimization on the initial drilling control vector, and using the boundary conditions of the stuck drill probability assessment model as the iteration termination conditions, and using the final iterative result as the optimized drilling control vector for drilling under current geological conditions;

[0021] S5. Optimize the drilling control vector based on the current geological conditions and make corresponding drilling control decisions.

[0022] As a preference, in the drilling parameter adaptation library of the adaptive control algorithm, the control matrix space C of any i-th lithology i It is expressed as:

[0023]

[0024] Among them, C ik is the kth drilling control vector corresponding to the i-th lithology; D ik is the hole depth in the kth drilling control vector corresponding to the i-th lithology; Pr ik Pp is the oil inlet pressure of the rotary motor in the kth drilling control vector corresponding to the i-th lithology; ik Vr is the feed cylinder inlet pressure in the kth drilling control vector corresponding to the i-th lithology; ik Vp is the drilling tool speed in the kth drilling control vector corresponding to the i-th lithology; ik is the feed rate in the kth drilling control vector corresponding to the i-th lithology; k = 1, 2, ..., n, n represents the total number of drilling control vectors contained in the control matrix space of the i-th lithology; α i is the formation coefficient of the i-th lithology; β i is the cutting coefficient of the i-th lithology rock.

[0025] Preferably, the stuck pipe probability assessment model in the adaptive control algorithm is expressed as:

[0026]

[0027] In the formula, k x is the probability assessment factor of drill bit sticking, which represents the probability of drill bit sticking; Pr is the current value of the oil inlet pressure of the rotary motor; Pr max is the maximum oil inlet pressure of the rotary motor set for the adaptive drilling control system; Pp is the current value of the oil inlet pressure of the feed cylinder; Pp max is the maximum feed cylinder oil inlet pressure set for the adaptive drilling control system; Pr′ is the current value of the oil inlet pressure change rate of the rotary motor; Pr m ' ax is the maximum rate of change of the oil inlet pressure of the rotary motor set for the adaptive drilling control system; Pp′ is the current value of the rate of change of the oil inlet pressure of the feed cylinder; Pp′ max Vp is the maximum feed cylinder oil inlet pressure change rate set for the adaptive drilling control system; Vp represents the current value of the propulsion speed; Vp max is the maximum advancement speed set by the adaptive drilling control system; a, b, c, d, e are weighted coefficients of the drill sticking probability model, and a+b+c+d+e=1;

[0028] The boundary conditions of the stuck pipe probability assessment model are:

[0029] k x ≤k x0 And k x0 -k x ≤ε;

[0030] Among them, k x0 is the critical value of the stuck pipe probability assessment, and ε is the preset stuck pipe probability assessment error factor.

[0031] As a preferred method, in step S2, the real-time drilling control vector C0 and the kth drilling control vector C corresponding to any i-th lithology in the cutting parameter adaptation library are calculated as follows: ik The similarity value csc 0,ik :

[0032]

[0033] Among them, the real-time drilling control vector C0 = [D0, Pr0, Pp0, Vr0, Vp0], D0 is the hole depth in the real-time drilling control vector; Pr0 is the oil inlet pressure of the rotary motor in the real-time drilling control vector; Pp0 is the feed cylinder inlet pressure in the real-time drilling control vector; Vr0 is the drill speed in the real-time drilling control vector; Vp0 is the feed speed in the real-time drilling control vector;

[0034] In step S3, the similarity value csc 0,ik The smallest drilling control vector is determined as the real-time drilling control vector that matches the drilling control vector with the highest similarity in the drilling parameter adaptation library, and is used as the primary drilling control vector for adaptive control under current geological conditions.

[0035] Preferably, the step S4 is specifically as follows:

[0036] S401, using the primary drilling control vector of the adaptive control under the current geological conditions obtained in step S3 As the drilling control vector value of the 0th iteration of the differential evolution adaptive algorithm;

[0037] S402, set the number of iterations h=1;

[0038] S403, for the drilling control vector of the hth iteration Iterative optimization is performed according to the following formula:

[0039]

[0040] in, represents the h-1th iteration drilling control vector, C ip , C iq Represents the control matrix space C of the i-th lithology i Randomly selected from Other drilling control vectors other than F i represents the scaling factor corresponding to the i-th lithology;

[0041] S404, using the drill stuck probability model to iterate the drilling control vector of the hth iteration To assess the probability of stuck pipe:

[0042]

[0043] in, is the drilling control vector of the hth iteration The corresponding drill bit stuck probability assessment factor represents the probability of drill bit stuck; is the drilling control vector of the hth iteration The oil inlet pressure of the rotary motor; Prmax Maximum rotary motor oil inlet pressure set for the adaptive drilling control system; is the drilling control vector of the hth iteration Feed cylinder inlet pressure; Pp max The maximum feed cylinder oil inlet pressure set for the adaptive drilling control system; is the drilling control vector of the hth iteration Relative to the h-1th iteration drilling control vector The rate of change of the oil inlet pressure of the rotary motor; Pr m ' ax The maximum rotary motor oil inlet pressure change rate set for the adaptive drilling control system; is the drilling control vector of the hth iteration Relative to the h-1th iteration drilling control vector The change rate of the feed cylinder inlet pressure; Pp′ max The rate of change of the oil inlet pressure of the maximum feed cylinder set for the adaptive drilling control system; The drilling control vector of the hth iteration is represented by Feed rate in; Vp max is the maximum advancement speed set by the adaptive drilling control system; a, b, c, d, e are the weighting coefficients of the drill sticking probability model, and

[0044] a+b+c+d+e=1;

[0045] S405: Determine whether and k x0 is the critical value of the probability of stuck drill assessment, and ε is the preset error factor of the probability of stuck drill assessment; if not satisfied, execute step S406; if satisfied, execute step S407;

[0046] S406, increment the number of iterations h by 1, and then return to step S403;

[0047] S407, determine that the iteration is completed, and change the drilling control vector of the hth iteration As the optimized drilling control vector for drilling under current geological conditions.

[0048] In a second aspect, the present invention further discloses an adaptive drilling construction method, which uses the adaptive drilling control system suitable for complex geology as described above to control and adjust the drilling parameters of the drilling device during the drilling construction, including the following steps:

[0049] A1. Place the drilling device on the working surface;

[0050] A2. Start the power supply and hydraulic pump, and turn on the drilling device. At this time, the feed cylinder starts to drive the drilling tool to feed, and the rotary motor drives the drilling tool to rotate to drill the working surface;

[0051] A3. During the drilling operation, the adaptive drilling control system collects the drilling parameters of the drilling operation in real time, including the hydraulic pressure value at the oil inlet of the rotary motor, the hydraulic pressure value at the oil inlet of the feed cylinder, the drilling tool rotation speed, and the feed cylinder propulsion speed;

[0052] A4. The adaptive drilling control system dynamically determines the size relationship between each hydraulic pressure monitoring value and the preset hydraulic working range in real time, and makes corresponding control decisions to adjust the drilling tool speed and the feed cylinder propulsion speed in real time until the drilling operation is completed.

[0053] This solution determines the hardness and drillability of the rock to be drilled by monitoring the drilling pressure and drill speed data, adjusts the opening size of the inlet flow valve of the rotary motor inlet and the feed cylinder, and changes the rotation and feed speed of the drill.

[0054] The adaptive drilling construction method disclosed in the present invention is based on a differential evolution algorithm and combined with an expert database to develop an adaptive drilling algorithm to achieve automatic adjustment of excavation parameters, improve drilling efficiency, ensure safe operation, and reduce the probability of construction delays and cost increases due to drill sticking.

[0055] Preferably, in step A2, when the drilling device is initially started, the adaptive drilling control system first sets the drill to run at the maximum rotation speed and the maximum feed speed until the oil inlet pressure of the feed cylinder is within the preset hydraulic working range, indicating that the drilling stage has begun. At this time, the feed speed and the drilling speed are set according to the preset normal working state values.

[0056] Preferably, in step A4, the adaptive drilling control system dynamically determines the magnitude relationship between each hydraulic pressure monitoring value and the normal set value in real time, and makes corresponding control decisions, and the specific steps of adjusting the drilling tool speed and the feed cylinder propulsion speed in real time are as follows:

[0057] A4.1. When it is determined that each hydraulic pressure monitoring value is within the preset hydraulic working range, jump to step A4.2; if it is determined that each hydraulic pressure monitoring value is greater than the upper limit of the preset hydraulic working range, and the drill speed is less than the preset normal working state value, jump to step A4.3; if it is determined that each hydraulic pressure monitoring value is less than the lower limit of the preset hydraulic working range, and the drill speed is greater than the preset normal working state value, jump to step A4.4; if it is determined that each hydraulic pressure monitoring value is greater than the upper limit of the preset hydraulic working range, and the drill speed is zero, jump to step A4.5;

[0058] A4.2, the feed speed and drilling speed are set according to the preset normal working state values, and then step A4.6 is executed;

[0059] A4.3. Reduce the opening of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder to reduce the flow rate and the propulsion speed, and then execute step A4.6;

[0060] A4.4. Increase the opening of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder to increase the flow rate and the propulsion speed, and then execute step A4.6;

[0061] A4.5. Switch the direction of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder. After the drill tool retreats the preset working distance, switch the direction of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder again to make the drill tool drill forward, and the drilling speed and drilling rotation speed are less than the preset normal working state values, and then execute step A4.6.

[0062] A4.6, the adaptive drilling control system collects the real-time drilling control vector of the current drilling device as the primary drilling control vector of the adaptive control, and uses the adaptive control algorithm to make corresponding control decisions; then returns to step A4.1;

[0063] A4.7. Repeat steps A4.1 to A4.7 until the drilling operation is completed.

[0064] The present invention has the following beneficial effects: the adaptive drilling control system applicable to complex geology disclosed by the present invention collects and determines whether the drilling parameters (drilling tool speed, feed axial displacement speed, rotary motor inlet hydraulic pressure) during the drilling operation process change by the driving control module, and makes corresponding control decisions according to the parameter information fed back in real time, and transmits the decision information to the driving control module, and then the driving control module controls the opening of the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve according to the operation instruction, and the feed speed of the feed oil cylinder and the speed of the rotary motor, so as to realize the adaptive regulation of the drilling tool during the drilling process, and solves the technical problem that for tunnels with complex geological conditions, the drilling device in the prior art cannot automatically adjust the excavation parameters, and then invalid or inefficient excavation occurs, resulting in a longer construction period and increased costs. In the actual drilling process, the adaptive drilling control system not only guarantees the construction speed, but also guarantees the construction quality, and stable and smooth drilling. The adaptive drilling control system of the present invention can realize the adaptive adjustment of the feed parameters during the drilling process, reduce the probability of stuck drill and slip drill during the drilling process, and improve the efficiency of tunnel construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to make the purpose, technical solution and advantages of the invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings, in which:

[0066] Figure 1 Schematic diagram of the structure of a drilling device according to an embodiment of the present invention.

[0067] Figure 2 This is a principle block diagram of an adaptive drilling control system suitable for complex geology according to an embodiment of the present invention.

[0068] Figure 3 This is a hydraulic principle diagram of an adaptive drilling control system suitable for complex geology according to an embodiment of the present invention.

[0069] Figure 4 4 is a principle block diagram of an adaptive algorithm according to an embodiment of the present invention.

[0070] Figure 5 This is an architecture diagram of an adaptive drilling control system suitable for complex geology according to an embodiment of the present invention.

[0071] Explanation of the reference numerals: 100, drilling device; 101, bracket; 102, drilling tool; 103, rotary motor; 104, feed cylinder; 105, laser displacement sensor; 106, transmitting end; 107, sensing end; 108, reflecting end; 109, Hall speed sensor. DETAILED DESCRIPTION

[0072] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0073] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, the terms "horizontal", "vertical", etc. do not mean that the components are absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] This embodiment can be applied to complex geology. Specifically, the complex geology described in the present invention refers to a geological condition in which the rock structure of the working surface is constantly changing during the drilling process, resulting in continuous changes in the rock properties of the rock formations, which affects the hardness and drillability of the rock and also constantly changes.

[0075] This embodiment solves the technical problem that for tunnels with complex geological conditions, since the drilling device in the prior art cannot automatically adjust the excavation parameters, invalid or inefficient excavation occurs, resulting in a longer construction period and increased costs.

[0076] See also Figures 1 to 3 , this embodiment discloses an adaptive drilling control system suitable for complex geology, which is used to control the drilling device 100 to adaptively adjust the drilling parameters during the drilling process;

[0077] The drilling device 100 includes a bracket 101, on which a drilling tool 102, a rotary motor 103 and a feed cylinder 104 are mounted. The feed cylinder 104 can drive the drilling tool 102 to perform a feeding action, and the rotary motor 103 can drive the drilling tool 102 to rotate; a laser displacement sensor 105 is mounted on the feed cylinder 104 to detect the advancing speed of the feed cylinder 104;

[0078] The feed cylinder 104 includes a feed cylinder, and a first electromagnetic proportional reversing valve and a first hydraulic pressure sensor are installed at the oil inlet of the feed cylinder. The first electromagnetic proportional reversing valve is used to control the opening and closing of the oil inlet of the feed cylinder, and the first hydraulic pressure sensor is used to detect the hydraulic pressure of the oil inlet of the feed cylinder, that is, the axial thrust received by the drilling tool 102 during drilling;

[0079] The drilling tool 102 is provided with a Hall speed sensor 109 for detecting the speed of the drilling tool 102 during drilling;

[0080] The rotary motor 103 includes a rotary motor 103 oil cylinder, and a second electromagnetic proportional reversing valve and a second hydraulic pressure sensor are installed at the oil inlet of the rotary motor 103 oil cylinder. The second electromagnetic proportional reversing valve is used to control the opening and closing of the oil inlet of the rotary motor 103 oil cylinder, and the second hydraulic pressure sensor is used to detect the hydraulic pressure at the oil inlet of the rotary motor 103 oil cylinder;

[0081] The adaptive drilling control system includes a hydraulic pump, a background operation terminal, a drive control module, a parameter acquisition module and a data processing module, and the background operation terminal is used to send an operation signal to the drive control module;

[0082] The hydraulic pump is used to provide a power source for the operation of the feed cylinder 104 and the rotary motor 103, and the hydraulic pump is operated by an external power supply;

[0083] The drive control module is electrically connected to the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve respectively, and can control the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve respectively according to the operation signal, and then drive the feed cylinder and the rotary motor 103 to move respectively, so as to realize the rotation and feed movement of the drilling tool 102 and realize the coring drilling operation;

[0084] The parameter acquisition module is electrically connected to the first hydraulic pressure sensor, the Hall speed sensor 109 and the second hydraulic pressure sensor, respectively, and can respectively acquire the parameter data corresponding to the laser displacement sensor 105, the first hydraulic pressure sensor, the Hall speed sensor 109 and the second hydraulic pressure sensor;

[0085] The data processing module is used to receive the parameter data collected by the parameter collection module, and to judge the drilling working condition, and to make corresponding control decisions and transmit the decision information to the drive control module.

[0086] The working principle of this embodiment is: the above-mentioned sensors are used to transmit data feedback to the drive control module, and the drive control module determines whether the drilling parameters have changed during the drilling operation, and makes corresponding control decisions based on the above sensing information fed back in real time, and transmits the decision information to the drive control module. Then, the drive control module controls the opening of the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve, the feed speed of the feed cylinder, and the speed of the rotary motor according to the operating instructions, so as to realize adaptive regulation of the drilling tool during the drilling process.

[0087] The drilling parameters of the drilling device during the drilling operation include the hydraulic pressure value at the oil inlet of the rotary motor, the hydraulic pressure value at the oil inlet of the feed cylinder, the drill bit rotation speed, and the feed cylinder propulsion speed.

[0088] For details, please refer to Figure 1 The laser displacement sensor 105 includes a transmitting end 106, a sensing end 107 and a reflecting end 108. The transmitting end 106 is used to emit laser toward the reflecting end 108. The transmitting end 106 and the sensing end 107 are fixed to one end of the bracket 101 away from the drilling tool 102. The reflecting end 108 is fixed to one end of the feed cylinder 104 close to the drilling tool 102. The transmitting end 106 emits laser toward the reflecting end 108, which is reflected at the reflecting end 108 and received by the sensing end 107 of the laser sensor. The propulsion position and speed of the drilling tool 102 driven by the feed cylinder 104 are calculated according to the speed and time of laser propagation.

[0089] In this example, see Figure 2 An oil outlet pipeline is provided at the oil outlet of the hydraulic pump, and the oil outlet pipeline is branched into a first branch and a second branch, wherein the first branch is used to supply oil to the feed cylinder, and the first electromagnetic proportional reversing valve is installed at the first branch, and the second branch is used to supply oil to the rotary motor 103, and the second electromagnetic proportional reversing valve is installed at the second branch.

[0090] When the drilling tool 102 needs to be fed, the first electromagnetic proportional reversing valve is controlled to open to drive the feeding cylinder 104 forward; when the drilling tool 102 needs to be rotated, the second electromagnetic proportional reversing valve is controlled to open to drive the rotating motor 103 to rotate, thereby driving the drilling tool 102 to rotate.

[0091] In this embodiment, the adaptive drilling control system further includes a split ratio load sensitive system, including a first pressure compensation valve, a second pressure compensation valve, a servo cylinder and a hydraulic pump regulating valve, wherein the first pressure compensation valve is connected to the first electromagnetic proportional reversing valve, and the second pressure compensation valve is connected to the second electromagnetic proportional reversing valve;

[0092] The oil outlet pipeline further includes a third branch, the third branch is close to the oil outlet of the hydraulic pump, the inlet end of the hydraulic pump regulating valve is connected to the third branch, so that the oil flow generated by the hydraulic pump can enter the hydraulic pump regulating valve through the third branch; the outlet end of the hydraulic pump regulating valve is connected to the inlet end of the servo cylinder, for receiving or releasing the oil flow from the third branch;

[0093] The oil outlet pipeline also includes a fourth branch, and a unloading valve is installed on the fourth branch to unload the pressure in the oil outlet pipeline.

[0094] The split ratio load-sensitive system can improve each pressure compensator so that each pressure compensator can act as a load balancer. The low-load actuator is throttled by the pressure compensator to make its load pressure the same as that of the high-load actuator. In this way, the loads on each line are equal, avoiding the problem of oil flowing preferentially to the low-load actuator.

[0095] For details, please refer to Figure 3 In the figure, the dotted line indicates the control pressure, and the solid line indicates the driving pressure. The left end of the hydraulic pump regulating valve is acted upon by the hydraulic pump pressure, and the right end is acted upon by the maximum load pressure and spring force. When the hydraulic pump pressure force at the left end is less than the maximum load pressure and spring force at the right end, the valve is in the right position, the servo cylinder returns oil, and under the action of its spring force, the hydraulic pump is in the maximum displacement position. When the hydraulic pump pressure force at the left end is greater than the maximum load pressure and spring force at the right end, the valve is in the left position, the hydraulic pump pressure oil enters the servo cylinder, and the compression spring reduces the flow of the hydraulic pump.

[0096] When the first solenoid proportional directional control valve and the second solenoid proportional directional control valve are both in the middle position, all load pressure lines (the first branch and the second branch) return oil, and the hydraulic pump pressure only needs to overcome the spring force of the hydraulic pump regulating valve to make the hydraulic pump regulating valve in the left position, and the hydraulic pump oil enters the servo cylinder. Since the first solenoid proportional directional control valve and the second solenoid proportional directional control valve are closed in the middle position, the oil pressure acting on the servo cylinder by the hydraulic pump reaches a high enough level, so that the hydraulic pump displacement becomes the minimum, realizing the middle position unloading.

[0097] During specific implementation, a fourth branch is also provided on the oil outlet pipeline connected to the hydraulic pump outlet, and a unloading valve is installed on the fourth branch. When the hydraulic pump pressure force is greater than the maximum load pressure force and the unloading valve spring force, the unloading valve opens and the hydraulic pump returns oil. Since the unloading valve spring force is designed to be greater than the hydraulic pump regulating valve spring force, the hydraulic pump regulating valve is in the left position, and the hydraulic pump pressure oil enters the servo cylinder, making the hydraulic pump displacement very small, thereby realizing high-pressure unloading.

[0098] When a solenoid proportional reversing valve is operated, the hydraulic pump pressure P p Greater than the load pressure P L When P p The force is greater than P L When the acting force is added to the spring force, the valve is in the right position, and the pressure oil enters the servo cylinder, overcoming the spring force and reducing the displacement of the hydraulic pump. As the displacement of the hydraulic pump decreases, the throttling pressure drop and the pressure drop along the electromagnetic proportional reversing valve and the pressure compensation valve are reduced, so the pressure difference P p -P L When the control valve opening decreases, the hydraulic pump displacement also decreases, realizing volumetric speed regulation and supplying oil on demand.

[0099] A pressure compensation valve is installed before each control valve. The left end of the valve core of the pressure compensation valve is affected by the hydraulic pump pressure P p and its load pressure P L The right end is subject to the pressure P before the control valve. m and the maximum load pressure P introduced by the shuttle valve L1 (Assume P L1 >P L2 ,

[0100] P Lmax =P L1 ) to balance the force of the first pressure compensation valve: (assuming that the left and right areas of the valve core are equal)

[0101] P p +P L1 =P m1 +P Lmax (1)

[0102] P p =P m1 (2)

[0103] In formula (1) and formula (2), P p , P L and P m The left end of any pressure compensation valve core is subjected to the hydraulic pump pressure, the left end is subjected to the load pressure, and the right end is subjected to the pressure before the control valve; P Lmaxis the maximum load pressure on the left end of any pressure compensation valve core, P L1 and P m1 It is the load pressure at the left end of the spool of the first pressure compensation valve and the pressure before the manipulated valve at the right end.

[0104] There is no pressure difference when the oil flows through the pressure compensation valve. The pressure difference ΔP1 between the inlet and outlet of the first electromagnetic proportional reversing valve:

[0105] ΔP1=P m1 -P L1 =PP L1 (3)

[0106] In formula (3), each character identifier is the same as that in formula (1) and formula (2).

[0107] The force balance of the second pressure compensation valve is:

[0108] P p +P L2 =P m2 +P L1 (4)

[0109] P p -P m2 =P L1 -P L2 (5)

[0110] In formula (4), P L2 and P m2 It is the load pressure at the left end of the valve core of the second pressure compensation valve and the pressure before the manipulated valve at the right end. The other character labels are the same as above.

[0111] The pressure difference of oil flowing through the second pressure compensation valve is P L1 -P L2 , which just compensates for the difference in pressure loads of the two actuators (feed cylinder and rotary motor). The pressure difference ΔP2 at the inlet and outlet of the second electromagnetic proportional reversing valve:

[0112] ΔP2=P m2 -P L2 =P p -P L1 =ΔP1 = ΔP (6)

[0113] In formula (6), ΔP is the inlet and outlet pressure difference of each pressure compensation valve stem, and the other character identifiers are the same as formula (1) to formula (5). That is, the inlet and outlet pressure difference of each pressure compensation valve stem is equal, which is the difference between the hydraulic pump port pressure and the maximum load pressure.

[0114] The flow rates through the two joysticks are:

[0115]

[0116] In formula (7), Q1 and Q2 refer to the flow rates of the first pressure compensating valve and the second pressure compensating valve, respectively, ΔP is the same for each pressure compensating valve, and K1 and K2 refer to the valve stem strokes of the first pressure compensating valve and the second pressure compensating valve, respectively.

[0117] The flow to the two actuators (feed cylinder and rotary motor) depends only on the stroke of each valve stem (K1, K2). When multiple actuators operate simultaneously, the oil volume to each path can be proportionally distributed according to the valve stem stroke of the first pressure compensation valve and the second pressure compensation valve.

[0118] In this embodiment, the data processing module uses an adaptive control algorithm to make corresponding control decisions according to the drilling working state. The control principle block diagram of the adaptive control algorithm is as follows: Figure 4 As shown, a drilling parameter adaptation library, a stuck drill probability evaluation model and its boundary conditions are established in the adaptive control algorithm. The adaptive control algorithm includes the following steps:

[0119] S1, collecting the real-time drilling control vector of the drilling device;

[0120] S2, performing similarity analysis on the real-time drilling control vector and the data of the drilling parameter adaptation library;

[0121] S3, matching the real-time drilling control vector with the drilling control vector with the highest similarity in the drilling parameter adaptation library as the primary drilling control vector for adaptive control under current geological conditions;

[0122] S4, using a differential evolution adaptive algorithm to perform global iterative optimization on the initial drilling control vector, and using the boundary conditions of the stuck drill probability assessment model as the iteration termination conditions, and using the final iterative result as the optimized drilling control vector for drilling under current geological conditions;

[0123] S5. Optimize the drilling control vector based on the current geological conditions and make corresponding drilling control decisions.

[0124] Specifically, the drilling parameter adaptation library of the adaptive control algorithm is a priori expert database established before the application system. The database contains a wealth of drilling control vectors, which provide primary drilling control vectors for adaptive drilling. In the early stage, ordinary rotary drills related to the power of the drilling device can be used to conduct drilling tests on various rock formations, and various parameters can be recorded to form a control matrix space for each lithology, and then a drilling parameter adaptation library containing control matrix spaces for various lithologies can be constructed; in the drilling parameter adaptation library, the control matrix space C of any i-th lithology i It is expressed as:

[0125]

[0126] In formula (8), C ik is the kth drilling control vector corresponding to the i-th lithology; D ik is the hole depth in the kth drilling control vector corresponding to the i-th lithology; Pr ik Pp is the oil inlet pressure of the rotary motor in the kth drilling control vector corresponding to the i-th lithology; ik Vr is the feed cylinder inlet pressure in the kth drilling control vector corresponding to the i-th lithology; ik Vp is the drilling tool speed in the kth drilling control vector corresponding to the i-th lithology; ik is the feed rate in the kth drilling control vector corresponding to the i-th lithology; k = 1, 2, ..., n, n represents the total number of drilling control vectors contained in the control matrix space of the i-th lithology; α i is the formation coefficient of the i-th lithology; β i is the cutting coefficient of the i-th lithology rock.

[0127] Specifically, the differential evolution adaptive algorithm needs to determine whether the boundary conditions of the drill sticking probability assessment model are met to determine whether the drilling control vector is optimized.

[0128] Due to the complexity of the construction site, it is difficult to describe this problem in detail. Therefore, in this embodiment, a new drill stuck probability evaluation factor k is introduced: x The probability of drill bit sticking is described in detail. The influence of the rotary motor oil inlet pressure, the feed cylinder oil inlet pressure, the feed cylinder propulsion speed, the rotary motor oil inlet pressure change rate and the feed cylinder oil inlet pressure change rate on the drill bit sticking phenomenon is inconsistent. The weighted average method is used to establish a mathematical model of drill bit sticking probability:

[0129]

[0130] In formula (9), k x is the probability assessment factor of drill bit sticking, which represents the probability of drill bit sticking; Pr is the current value of the oil inlet pressure of the rotary motor; Pr max is the maximum oil inlet pressure of the rotary motor set for the adaptive drilling control system; Pp is the current value of the oil inlet pressure of the feed cylinder; Pp max is the maximum feed cylinder oil inlet pressure set for the adaptive drilling control system; Pr′ is the current value of the oil inlet pressure change rate of the rotary motor; Pr m ' ax is the maximum rate of change of the oil inlet pressure of the rotary motor set for the adaptive drilling control system; Pp′ is the current value of the rate of change of the oil inlet pressure of the feed cylinder; Pp′ maxVp is the maximum feed cylinder oil inlet pressure change rate set for the adaptive drilling control system; Vp represents the current value of the propulsion speed; Vp max is the maximum advancement speed set by the adaptive drilling control system; a, b, c, d, e are weighted coefficients of the drill sticking probability model, and a+b+c+d+e=1.

[0131] Through the experiment, the system drilling data is statistically calculated, and the maximum values ​​of Pr, Pp, Pr′, Pp′ and a set of weighting coefficients a, b, c, d, e suitable for tunnel drilling are put into the stuck drill probability formula (9) to obtain the critical value k of the stuck drill probability assessment: x0 , we can get the boundary condition of stable drilling of the system: k x ≤k x0 And k x0 -k x ≤ε; ε is the preset stuck drill probability assessment error factor, which represents the allowable error range between the real-time stuck drill probability assessment factor and the stuck drill probability assessment critical value, and is a preset minimum value constant to avoid power waste.

[0132] In the similarity comparison, when the lithology of the drilling device changes during the drilling process, since the drilling speed cannot change suddenly, the system first drills at the speed of the previous rock layer to obtain the real-time drilling control vector:

[0133] C0=[D0,Pr0,Pp0,Vr0,Vp0](10)

[0134] Among them, D0 is the hole depth in the real-time drilling control vector; Pr0 is the oil inlet pressure of the rotary motor in the real-time drilling control vector; Pp0 is the feed cylinder inlet pressure in the real-time drilling control vector; Vr0 is the drill speed in the real-time drilling control vector; Vp0 is the feed speed in the real-time drilling control vector.

[0135] The mean square error is used to perform similarity analysis between the real-time drilling control vector and the control matrix space of various lithologies in the cutting parameter adaptation library; among them, the real-time drilling control vector C0 and the k-th drilling control vector C corresponding to any i-th lithology in the cutting parameter adaptation library are ik The similarity value csc 0,ik It can be expressed as:

[0136]

[0137] In formula (11), the similarity value csc i The smaller it is, the higher the similarity is, so the drilling control vector C with the highest similarity is solved. ij And its lithology, C ij ∈C i; The adaptive drilling control system uses the drilling control vector with the highest similarity as the primary drilling control vector of adaptive control under the current geological conditions, marked as As the drilling control vector value of the 0th iteration of the differential evolution adaptive algorithm:

[0138]

[0139] in, Primary drilling control vector The hole depth in Primary drilling control vector The oil inlet pressure of the mid-rotation motor; Primary drilling control vector The feed cylinder inlet pressure; Primary drilling control vector The drilling tool speed in Primary drilling control vector Feed rate in; α i is the formation coefficient of the i-th lithology; β i is the cutting coefficient of the i-th lithology rock.

[0140] In the iterative process, the stuck drill probability model is used to evaluate the stuck drill probability of the iterative drilling control vector, and the boundary condition k of the probability evaluation model is used to evaluate the stuck drill probability. x ≤k x0 And k x0 -k x ≤ε is used as the iteration termination condition to evaluate the adaptability of the iterative drilling control vector. When the iterative boundary condition is met, the iteration is completed and the optimized drilling control vector for drilling under the current geological conditions is obtained.

[0141] Specifically, in step S4, the specific process of the adaptive drilling control system using the differential evolution adaptive algorithm to perform global iterative optimization on the initial drilling control vector is as follows:

[0142] S401, using the primary drilling control vector of the adaptive control under the current geological conditions obtained in step S3 As the drilling control vector value of the 0th iteration of the differential evolution adaptive algorithm.

[0143] S402, set the number of iterations h=1.

[0144] S403, for the drilling control vector of the hth iteration Iterative optimization is performed according to the following formula:

[0145]

[0146] In the formula, represents the h-1th iteration drilling control vector, C ip , C iq Represents the control matrix space C of the i-th lithology i Randomly selected from Other drilling control vectors other than F i It represents the scaling factor corresponding to the ith lithology, obtained from drilling experiments.

[0147] S404, using the drill stuck probability model to iterate the drilling control vector of the hth iteration To assess the probability of stuck pipe:

[0148]

[0149] in, is the drilling control vector of the hth iteration The corresponding drill bit stuck probability assessment factor represents the probability of drill bit stuck; is the drilling control vector of the hth iteration The oil inlet pressure of the rotary motor; Pr max Maximum rotary motor oil inlet pressure set for the adaptive drilling control system; is the drilling control vector of the hth iteration Feed cylinder inlet pressure; Pp max The maximum feed cylinder oil inlet pressure set for the adaptive drilling control system; is the drilling control vector of the hth iteration Relative to the h-1th iteration drilling control vector The rate of change of the oil inlet pressure of the rotary motor; Pr m ' ax The maximum rotary motor oil inlet pressure change rate set for the adaptive drilling control system; is the drilling control vector of the hth iteration Relative to the h-1th iteration drilling control vector The change rate of the feed cylinder inlet pressure; Pp′ max The rate of change of the oil inlet pressure of the maximum feed cylinder set for the adaptive drilling control system; The drilling control vector of the hth iteration is represented by Feed rate in; Vp max is the maximum advancement speed set by the adaptive drilling control system; a, b, c, d, e are the weighting coefficients of the drill sticking probability model, and

[0150] a+b+c+d+e=1.

[0151] S405: Determine whether and k x0 is the critical value of the probability of stuck drill assessment, and ε is the preset error factor of the probability of stuck drill assessment; if not satisfied, execute step S406; if satisfied, execute step S407;

[0152] S406, increment the number of iterations h by 1, and then return to step S403;

[0153] S407, determine that the iteration is completed, and change the drilling control vector of the hth iteration As the optimized drilling control vector for drilling under current geological conditions.

[0154] It can be seen that in the process of adopting the differential evolution adaptive algorithm, by repeating the above-mentioned "iteration-judgment" process, a new generation is generated in turn and the boundary conditions are compared, thereby iterating a new drilling control vector until an optimized drilling control vector as an iteration result is finally evolved, and a corresponding drilling control decision is made based on the optimized drilling control vector to execute the drilling control of the corresponding drilling control decision, so as to meet the highest drilling efficiency under the formation conditions.

[0155] Finally, the optimized drilling control vector obtained as the iteration result by the differential evolution algorithm can also be saved in the control matrix space of the corresponding lithology of the drilling parameter adaptation library, and the control matrix space of the corresponding lithology can be expanded to enrich the connotation of the lithology control matrix space, that is, the drilling parameter adaptation library is further enriched, which is helpful to realize the autonomous learning and optimization adaptive drilling function of the drilling parameter adaptation library.

[0156] In a second aspect, this embodiment further discloses an adaptive drilling construction method, using the adaptive drilling control system suitable for complex geology as described above, comprising the following steps:

[0157] A1. Place the drilling device on the working surface;

[0158] A2. Start the power supply and hydraulic pump, and turn on the drilling device. At this time, the feed cylinder starts to drive the drilling tool to feed, and the rotary motor drives the drilling tool to rotate to drill the working surface;

[0159] A3. During the drilling operation, the adaptive drilling control system collects the drilling parameters of the drilling operation in real time, including the hydraulic pressure value at the oil inlet of the rotary motor, the hydraulic pressure value at the oil inlet of the feed cylinder, the drilling tool rotation speed, and the feed cylinder propulsion speed;

[0160] A4. The adaptive drilling control system dynamically determines the size relationship between each hydraulic pressure monitoring value and the preset hydraulic working range in real time, and makes corresponding control decisions to adjust the drilling tool speed and the feed cylinder propulsion speed in real time until the drilling operation is completed.

[0161] This solution determines the hardness and drillability of the rock to be drilled by monitoring the drilling pressure and drill speed data, adjusts the opening size of the inlet flow valve of the rotary motor inlet and the feed cylinder, and changes the rotation and feed speed of the drill.

[0162] The adaptive drilling construction method disclosed in the present invention is based on a differential evolution algorithm and combined with an expert database to develop an adaptive drilling algorithm to achieve automatic adjustment of excavation parameters, improve drilling efficiency, ensure safe operation, and reduce the probability of construction delays and cost increases due to drill sticking.

[0163] In this embodiment, in step A2, when the drilling device is initially started, the adaptive drilling control system first sets the drill to run at the maximum rotation speed and the maximum feed speed until the oil inlet pressure of the feed cylinder is within the preset hydraulic working range, indicating that the drilling stage has begun. At this time, the feed speed and the drilling speed are set according to the preset normal working state values.

[0164] Specifically, in step A2, when the drilling device is initially started, the drill feed speed is operated at the maximum value, so that the drill can be pushed forward more quickly, until the drilling starts, that is, when the oil inlet pressure of the drill feed cylinder suddenly increases to the preset hydraulic working range, the drill axial feed speed and drilling speed are operated according to the preset normal working state value, and the adaptive drilling control system begins to adaptively control the drilling operation process. Of course, when the drilling device is initially started, the drill feed speed can also be set to stably operate according to the preset normal working state value, steadily advance and enter the drilling stage.

[0165] In this embodiment, in step A4, the adaptive drilling control system dynamically determines the magnitude relationship between each hydraulic pressure monitoring value and the normal set value in real time, and makes corresponding control decisions. The specific steps of adjusting the drilling tool speed and the feed cylinder propulsion speed in real time are as follows:

[0166] A4.1. When it is determined that each hydraulic pressure monitoring value is within the preset hydraulic working range, jump to step A4.2; if it is determined that each hydraulic pressure monitoring value is greater than the upper limit of the preset hydraulic working range, and the drill speed is less than the preset normal working state value, jump to step A4.3; if it is determined that each hydraulic pressure monitoring value is less than the lower limit of the preset hydraulic working range, and the drill speed is greater than the preset normal working state value, jump to step A4.4; if it is determined that each hydraulic pressure monitoring value is greater than the upper limit of the preset hydraulic working range, and the drill speed is zero, jump to step A4.5;

[0167] A4.2, the feed speed and drilling speed are set according to the preset normal working state values, and then step A4.6 is executed;

[0168] A4.3. Reduce the opening of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder to reduce the flow rate and the propulsion speed, and then execute step A4.6;

[0169] A4.4. Increase the opening of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder to increase the flow rate and the propulsion speed, and then execute step A4.6;

[0170] A4.5. Switch the direction of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder. After the drill tool retreats the preset working distance, switch the direction of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder again to make the drill tool drill forward, and the drilling speed and drilling rotation speed are less than the preset normal working state values, and then execute step A4.6.

[0171] A4.6, the adaptive drilling control system collects the real-time drilling control vector of the current drilling device as the primary drilling control vector of the adaptive control, and uses the adaptive control algorithm to make corresponding control decisions; then returns to step A4.1;

[0172] A4.7. Repeat steps A4.1 to A4.7 until the drilling operation is completed.

[0173] In this example, see Figure 5 The laser displacement sensor, hydraulic pressure sensor, and Hall speed sensor together form the perception system of the drilling device. Through automatic adjustment of the drive system and adaptive algorithm adjustment, that is, the load-sensitive system is used to adaptively adjust the inlet flow of the drilling tool rotary motor to adjust the drilling tool speed, and the differential evolution algorithm is used to adjust the inlet flow of the drilling tool axial feed speed to adjust the drilling tool axial feed speed, thereby improving the stability of the drilling device in drilling complex rock conditions.

[0174] Specifically, during the automatic adjustment of the drive system, when the drilling monitoring parameters change, the hydraulic drive system will first make a judgment based on the parameter change (hydraulic pressure) and adjust the opening degree of the pressure compensation valve to ensure that the pressure difference before and after the valve does not change significantly, and to ensure that the feed and rotation movement will not cause insufficient demand flow due to different loads. The flow is only related to the valve opening coefficient K;

[0175] During the adaptive algorithm adjustment process, when the drilling device encounters drilling operations in different rock formations, the perception system transmits the measured data to the controller, which has a built-in cutting parameter adaptation library. The parameters fed back by the drilling system in real time, such as drilling parameters, drilling tool parameters, drilling depth, oil inlet pressure of the rotary motor, feed cylinder inlet pressure, drilling tool speed, drilling tool feed speed, etc., are compared and analyzed for similarity with the drilling parameter adaptation library to identify the lithology of the current drilling rock formation, and match the closest initial drilling control vector in the adaptation library according to the analysis and identification results, select a more suitable initial drilling control vector, bring the initial drilling control vector into the differential algorithm for iteration, and verify the boundary conditions of the iterated drilling control vector until the boundary conditions are met, and transmit the optimized drilling control vector to the controller. The controller drives the electromagnetic reversing valve to change the on-off frequency and duty cycle of the electromagnet and change the opening of the valve to control the flow of the medium, thereby driving the actuator operation parameters to adjust and realize adaptive drilling operations.

[0176] Compared with other types of rock tunneling or excavation control systems, the adaptive drilling control system and method for complex geology disclosed in this embodiment has the following technical effects:

[0177] 1. The adaptive drilling control system suitable for complex geology disclosed in the embodiment of the present invention is an adaptive control system designed based on a differential algorithm. When the rock changes suddenly, its speed changes relatively slowly and gradually decreases, while the acceleration remains almost unchanged, without causing vibration of the machine body or drill jamming, and can make the drilling process smooth and stable. In the actual drilling process, the adaptive drilling control system not only ensures the construction speed, but also ensures the construction quality and stable and smooth drilling.

[0178] 2. A multi-layer adaptive control method is designed in the adaptive drilling control system suitable for complex geology disclosed in the embodiment of the present invention, that is, the hydraulic drive system selects a load-sensitive system to achieve adaptive adjustment and adaptive control of the drilling rotation process; moreover, an adaptive control algorithm is designed, and a model of expert database + differential evolution algorithm is adopted to form a stable adaptive control system, thereby improving the trial scope and availability of the system.

[0179] 3. The adaptive drilling control system suitable for complex geology disclosed in the embodiment of the present invention has developed a drilling parameter adaptation library. After the initial database is established, it can automatically learn according to new rocks that appear in subsequent applications, automatically enrich and improve the database, so that the drilling process of the adaptive drilling device is more stable and reliable as the application time goes by.

[0180] 4. The adaptive drilling control system for complex geology disclosed in the embodiment of the present invention establishes a stuck drill model, fully considers the factors affecting stuck drill, and constructs a stuck drill probability assessment model based on a weighted method as the boundary condition of the adaptive system. The establishment of the stuck drill model enables scholars or engineers of the same type to have a more specific and data-based description method in describing the stuck drill phenomenon.

[0181] It is understood that the present invention is described by some embodiments, and those skilled in the art are aware that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. Under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. The embodiments described in the present invention are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all other embodiments obtained by ordinary technicians in the art without creative work based on the embodiments in the present invention belong to the scope of protection of the present invention.

Claims

1. An adaptive drilling control system suitable for complex geology, used to control the drilling device to adaptively adjust the drilling parameters during the drilling process, characterized in that: The drilling device comprises a drilling tool, a rotary motor and a feed cylinder, wherein the feed cylinder can drive the drilling tool to perform a feeding action, and the rotary motor can drive the drilling tool to rotate; the feed cylinder and the rotary motor are both driven by hydraulic pressure; a first electromagnetic proportional reversing valve is provided at the oil inlet and outlet of the rotary motor, and a second electromagnetic proportional reversing valve is provided at the oil inlet and outlet of the feed cylinder; The adaptive drilling control system includes a hydraulic pump, a background operation terminal, a drive control module, a drilling parameter acquisition module and a data processing module; The hydraulic pump is used to provide a power source for the operation of the feed cylinder and the rotary motor; The background operation terminal is used to send an operation signal to the drive control module; The drive control module is electrically connected to the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve, respectively, and can control the first electromagnetic proportional reversing valve and the second electromagnetic proportional reversing valve respectively according to the operation signal, and then drive the feed cylinder and the rotary motor to move respectively, realize the rotation and feed movement of the drill tool, and realize the coring drilling operation; The parameter acquisition module is used to acquire drilling parameters of the drilling device during the drilling operation; The data processing module is used to receive the drilling parameter data transmitted by the parameter acquisition module, and judge the drilling working condition through an adaptive algorithm, make corresponding control decisions, and transmit the decision information to the drive control module.

2. The adaptive drilling control system suitable for complex geology according to claim 1, characterized in that: The drilling parameters of the drilling device during the drilling operation include the hydraulic pressure value at the oil inlet of the rotary motor, the hydraulic pressure value at the oil inlet of the feed cylinder, the drill bit rotation speed, and the feed cylinder propulsion speed.

3. The adaptive drilling control system applicable to complex geology according to claim 1, characterized in that: The data processing module uses an adaptive control algorithm to make corresponding control decisions according to the drilling working state. The adaptive control algorithm has a drilling parameter adaptation library, a drill sticking probability assessment model and its boundary conditions. The adaptive control algorithm includes the following steps: S1, collecting the real-time drilling control vector of the drilling device; S2, performing similarity analysis between the real-time drilling control vector and the data of the drilling parameter adaptation library; S3, matching the real-time drilling control vector with the drilling control vector with the highest similarity in the drilling parameter adaptation library as the primary drilling control vector for adaptive control under current geological conditions; S4, using a differential evolution adaptive algorithm to perform global iterative optimization on the initial drilling control vector, and using the boundary conditions of the stuck drill probability assessment model as the iteration termination conditions, and using the final iterative result as the optimized drilling control vector for drilling under current geological conditions; S5. Optimize the drilling control vector based on the current geological conditions and make corresponding drilling control decisions.

4. The adaptive drilling control system applicable to complex geology according to claim 3, characterized in that: In the drilling parameter adaptation library of the adaptive control algorithm, the control matrix space C of any i-th lithology i It is expressed as: Among them, C ik is the kth drilling control vector corresponding to the i-th lithology; D ik is the hole depth in the kth drilling control vector corresponding to the i-th lithology; Pr ik Pp is the oil inlet pressure of the rotary motor in the kth drilling control vector corresponding to the i-th lithology; ik Vr is the feed cylinder inlet pressure in the kth drilling control vector corresponding to the i-th lithology; ik Vp is the drilling tool speed in the kth drilling control vector corresponding to the i-th lithology; ik is the feed rate in the kth drilling control vector corresponding to the i-th lithology; k = 1, 2, ..., n, n represents the total number of drilling control vectors contained in the control matrix space of the i-th lithology; α i is the formation coefficient of the i-th lithology; β i is the cutting coefficient of the i-th lithology rock.

5. The adaptive drilling control system applicable to complex geology according to claim 3, characterized in that: The stuck pipe probability evaluation model in the adaptive control algorithm is expressed as: In the formula, k x is the probability assessment factor of drill bit sticking, which represents the probability of drill bit sticking; Pr is the current value of the oil inlet pressure of the rotary motor; Pr max is the maximum oil inlet pressure of the rotary motor set for the adaptive drilling control system; Pp is the current value of the oil inlet pressure of the feed cylinder; Pp max The maximum feed cylinder oil inlet pressure set for the adaptive drilling control system; Pr′ is the current value of the rate of change of the oil inlet pressure of the rotary motor; Pr′ max is the maximum rate of change of the oil inlet pressure of the rotary motor set for the adaptive drilling control system; Pp′ is the current value of the rate of change of the oil inlet pressure of the feed cylinder; Pp′ max Vp is the maximum feed cylinder oil inlet pressure change rate set for the adaptive drilling control system; Vp represents the current value of the propulsion speed; Vp max is the maximum advancement speed set by the adaptive drilling control system; a, b, c, d, e are weighted coefficients of the drill sticking probability model, and a+b+c+d+e=1; The boundary conditions of the stuck pipe probability assessment model are: k x ≤k x0 And k x0 -k x ≤ε; Among them, k x0 is the critical value of the stuck pipe probability assessment, and ε is the preset stuck pipe probability assessment error factor.

6. The adaptive drilling control system applicable to complex geology according to claim 5, characterized in that: In step S2, the real-time drilling control vector C0 and the kth drilling control vector C corresponding to any i-th lithology in the cutting parameter adaptation library are calculated as follows: ik The similarity value csc 0,ik : Among them, the real-time drilling control vector C0 = [D0, Pr0, Pp0, Vr0, Vp0], D0 is the hole depth in the real-time drilling control vector; Pr0 is the oil inlet pressure of the rotary motor in the real-time drilling control vector; Pp0 is the feed cylinder inlet pressure in the real-time drilling control vector; Vr0 is the drill speed in the real-time drilling control vector; Vp0 is the feed speed in the real-time drilling control vector; In step S3, the similarity value csc 0,ik The smallest drilling control vector is determined as the real-time drilling control vector that matches the drilling control vector with the highest similarity in the drilling parameter adaptation library, and is used as the primary drilling control vector for adaptive control under current geological conditions.

7. The adaptive drilling control system applicable to complex geology according to claim 6, characterized in that: The step S4 is specifically as follows: S401, using the primary drilling control vector of the adaptive control under the current geological conditions obtained in step S3 As the drilling control vector value of the 0th iteration of the differential evolution adaptive algorithm; S402, set the number of iterations h=1; S403, for the drilling control vector of the hth iteration Iterative optimization is performed according to the following formula: in, represents the h-1th iteration drilling control vector, C ip , C iq Represents the control matrix space C of the i-th lithology i Randomly selected except Other drilling control vectors other than F i represents the scaling factor corresponding to the i-th lithology; S404, using the drill stuck probability model to iterate the drilling control vector of the hth iteration To assess the probability of stuck pipe: in, is the drilling control vector of the hth iteration The corresponding drill bit stuck probability assessment factor represents the probability of drill bit stuck; is the drilling control vector of the hth iteration The oil inlet pressure of the rotary motor; Pr max Maximum rotary motor oil inlet pressure set for the adaptive drilling control system; is the drilling control vector of the hth iteration Feed cylinder inlet pressure; Pp max The maximum feed cylinder oil inlet pressure set for the adaptive drilling control system; is the drilling control vector of the hth iteration Relative to the h-1th iteration drilling control vector The rate of change of the oil inlet pressure of the rotary motor; Pr m ' ax The maximum rotary motor oil inlet pressure change rate set for the adaptive drilling control system; is the drilling control vector of the hth iteration Relative to the h-1th iteration drilling control vector The change rate of the feed cylinder inlet pressure; Pp′ max The rate of change of the oil inlet pressure of the maximum feed cylinder set for the adaptive drilling control system; The drilling control vector of the hth iteration is represented by Feed rate in; Vp max is the maximum advancement speed set by the adaptive drilling control system; a, b, c, d, e are weighted coefficients of the drill sticking probability model, and a+b+c+d+e=1; S405: Determine whether and k x0 is the critical value of the probability of stuck drill assessment, and ε is the preset error factor of the probability of stuck drill assessment; if not satisfied, execute step S406; if satisfied, execute step S407; S406, increment the number of iterations h by 1, and then return to step S403; S407, determine that the iteration is completed, and change the drilling control vector of the hth iteration As the optimized drilling control vector for drilling under current geological conditions.

8. An adaptive drilling construction method, characterized in that: Using the adaptive drilling control system suitable for complex geology as claimed in any one of claims 1 to 7 to control and adjust the drilling parameters of the drilling device during drilling construction, comprises the following steps: A1. Place the drilling device on the working surface; A2. Start the power supply and hydraulic pump, and turn on the drilling device. At this time, the feed cylinder starts to drive the drilling tool to feed, and the rotary motor drives the drilling tool to rotate to drill the working surface; A3. During the drilling operation, the adaptive drilling control system collects the drilling parameters of the drilling operation in real time, including the hydraulic pressure value at the oil inlet of the rotary motor, the hydraulic pressure value at the oil inlet of the feed cylinder, the drilling tool rotation speed, and the feed cylinder propulsion speed; A4. The adaptive drilling control system dynamically determines the size relationship between each hydraulic pressure monitoring value and the preset hydraulic working range in real time, and makes corresponding control decisions to adjust the drilling tool speed and the feed cylinder propulsion speed in real time until the drilling operation is completed.

9. The adaptive drilling construction method according to claim 8, characterized in that: In step A2, when the drilling device is initially started, the adaptive drilling control system first sets the drill to run at the maximum rotation speed and maximum feed speed until the oil inlet pressure of the feed cylinder is within the preset hydraulic working range, indicating that the drilling stage has begun. At this time, the feed speed and drilling speed are set according to the preset normal working state values.

10. The adaptive drilling construction method according to claim 8, characterized in that: In step A4, the adaptive drilling control system dynamically determines the magnitude relationship between each hydraulic pressure monitoring value and the normal set value in real time, and makes corresponding control decisions. The specific steps of real-time adjustment of the drilling tool speed and the feed cylinder propulsion speed are as follows: A4.

1. When it is determined that each hydraulic pressure monitoring value is within the preset hydraulic working range, jump to step A4.2; if it is determined that each hydraulic pressure monitoring value is greater than the upper limit of the preset hydraulic working range, and the drill speed is less than the preset normal working state value, jump to step A4.3; if it is determined that each hydraulic pressure monitoring value is less than the lower limit of the preset hydraulic working range, and the drill speed is greater than the preset normal working state value, jump to step A4.4; if it is determined that each hydraulic pressure monitoring value is greater than the upper limit of the preset hydraulic working range, and the drill speed is zero, jump to step A4.5; A4.2, the feed speed and drilling speed are set according to the preset normal working state values, and then step A4.6 is executed; A4.

3. Reduce the opening of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder to reduce the flow rate and the propulsion speed, and then execute step A4.6; A4.

4. Increase the opening of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder to increase the flow rate and the propulsion speed, and then execute step A4.6; A4.

5. Switch the direction of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder. After the drill tool retreats the preset working distance, switch the direction of the first electromagnetic proportional reversing valve installed at the oil inlet of the feed cylinder again to make the drill tool drill forward, and the drilling speed and drilling rotation speed are less than the preset normal working state values, and then execute step A4.

6. A4.6, the adaptive drilling control system collects the real-time drilling control vector of the current drilling device as the primary drilling control vector of the adaptive control, and uses the adaptive control algorithm to make corresponding control decisions; then returns to step A4.1; A4.

7. Repeat steps A4.1 to A4.7 until the drilling operation is completed.

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