Coal mine underground self-charging through cable type gyroscope measurement-while-drilling system and coal mine underground self-charging through cable type gyroscope measurement-while-drilling method

Abstract

The invention discloses an underground coal mine self-charging through cable type gyroscope measurement-while-drilling system and method. The system comprises a gyroscope measurement-while-drilling device, a single-bend screw motor, a through cable drill rod, a through cable water feeder, a directional drilling machine and an anti-explosion computer. The gyroscope measurement-while-drilling device comprises an instrument outer tube, an instrument protection shell, an adapter, a generator assembly shell, a gyroscope assembly, a control panel, a battery pack, an electric control circuit board and a generator assembly, wherein the gyroscope assembly, the control panel, the battery pack and the electric control circuit board are arranged in the instrument protection shell and sequentially connected, and the generator assembly is arranged in the generator assembly shell. A turbine rotor and a turbine stator are arranged on the outer wall of the generator assembly shell. The influence of a ferromagnetic material in a screw drill and a drill rod is avoided, the distance between a measurement-while-drilling probe and a drill bit is shortened, the timeliness of drilling track measurement is remarkably improved, unnecessary measurement errors are avoided, the drilling efficiency is improved, power output is stable and continuous, a plurality of sets of vibration reduction and righting assemblies are arranged, and the production cost is reduced. The device can be applied to strong vibration working conditions of hard stratum construction.

Description

Technical Field

[0001] The invention belongs to the technical field of underground tunnel drilling in coal mines, and relates to a self-charging cable-type gyro while-drilling measurement system and method for underground coal mines. Background Art

[0002] Directional drilling construction in coal mines is an important way and safety measure for gas control and extraction, water hazard prevention, geological structure exploration and fire control. As a key component of directional drilling technology equipment in coal mines, the drilling trajectory can be extended along the designed direction for a long distance through real-time monitoring and control of the drilling trajectory, so as to achieve precise directional drilling in space. At present, mature drilling measurement in coal mines includes wired drilling measurement, mud pulse wireless drilling measurement and electromagnetic wave wireless drilling measurement. Wired drilling measurement relies on the wired channel formed by the central cable drill rod to transmit signals; mud pulse wireless drilling measurement uses pressure pulses as signal carriers and transmits wireless mud pulse signals through the flushing fluid channel in the drill string; electromagnetic wave wireless drilling measurement uses radio electromagnetic waves as signal carriers and uses the drill string and coal formation as channels to transmit radio electromagnetic wave signals. The three commonly used downhole measurement instruments have the same principle for measuring drilling trajectory parameters such as borehole inclination, azimuth and screw drill tool orientation angle, namely: using a sensor group fixed to the probe tube core for parameter measurement, the sensor group consists of an acceleration sensor and a magnetic sensor, the acceleration sensor is used to measure the borehole inclination and screw drill tool orientation angle, and the magnetic sensor is used to measure the borehole azimuth. Among them, the magnetic sensor can measure the components of the geomagnetic field in three directions, and calculate the angle between the true north direction of the geomagnetic field and the horizontal projection tangent of the borehole trajectory through a formula, that is, the borehole azimuth. However, the existing downhole measurement instruments have the following problems in the process of downhole measurement of the borehole trajectory:

[0003] (1) The trajectory measurement data is lagging, and the drilling direction cannot be adjusted in time. In order to avoid the influence of ferromagnetic materials in the screw drill and drill pipe on the azimuth measurement of the magnetic sensor, the downhole measurement instrument needs to be installed in a non-magnetic outer tube, and the two sides are connected with a non-magnetic drill pipe of about 3m in length, so as to create a relatively ideal measurement environment and ensure the accuracy of the magnetic sensor measurement. The commonly used directional drilling tool combination is "drill bit + single-bend screw motor + lower non-magnetic drill pipe + downhole measurement instrument probe tube + upper non-magnetic cable drill pipe +...". The measurement point of the downhole measurement instrument is located at the screw motor and the lower non-magnetic rear end, 7-10 meters away from the drill bit, and the measurement of the wellbore trajectory parameters is relatively lagging.

[0004] (2) The conversion between magnetic azimuth and true azimuth can easily introduce unnecessary measurement errors, thus reducing the utilization effect of the borehole. Before the borehole design and actual drilling trajectory are imported into the mine excavation plan, the magnetic azimuth needs to be converted into the true azimuth using magnetic declination. However, since there may be certain deviations in magnetic declination at different locations in the same area, there is a certain error in the conversion between magnetic azimuth and true azimuth using the same magnetic declination, which affects the quality of borehole design and the utilization effect of the borehole.

[0005] (3) Limited battery capacity leads to complex measurement procedures and long operation time. Wireless measurement while drilling systems (mud pulse, electromagnetic wave) all use battery packs to power the instruments. In order to ensure the safe operation of the instruments in coal mines containing explosive gas environments such as gas, the national mining product limit limits the battery pack capacity of the instruments to no more than 100Wh. This leads to the need to use low-power components to increase the working time of the instruments. However, the performance of low-power devices is limited, which increases the difficulty of design and development to a certain extent. At present, the working time of instruments with low-power optimization design using the in-hole battery pack power supply mode is 7-10 days. During the long drilling process, the battery pack needs to be replaced at least 2-3 times. This process requires removing the in-hole drill bit and disassembling the instrument string to replace the battery. There are many problems such as long auxiliary operation time, high labor intensity, and easy damage to the instrument connector.

[0006] (4) When the turbine generator is used for power supply, its load is mainly the measurement instrument while drilling and the energy storage battery management circuit. The output of the generator is the input of the rectifier, and the output power of the generator will change with the load characteristics. In addition, during the drilling process, the change of the flushing fluid flow in the drill pipe is an important factor affecting the output power of the generator, and this change is unknown and irregular, and cannot be compensated in advance. In view of the above problems, the design of the rectifier and voltage regulator controller of the generator should comprehensively consider rectification, voltage regulation, filtering and other issues in combination with the instrument load. The key to matching with the measurement instrument while drilling is its stable rated power. Summary of the invention

[0007] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a self-charging cable-type gyro while-drilling measurement system and method for underground coal mines, so as to solve the problems of the above-mentioned trajectory measurement data lag, unnecessary measurement errors, limited battery capacity, high power consumption of gyro components in other wired gyro while-drilling measurements, requiring multiple charging, and non-integrated structure leading to cumbersome repeated disassembly and charging, and easy damage to the battery component connector pins.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0009] A self-charging cable-type gyro while drilling measurement system for coal mines, comprising: a gyro while drilling measurement device, a single-bend screw motor, a cable drill rod, a cable water feeder, a directional drilling machine, and an explosion-proof computer;

[0010] The gyro measurement while drilling device is connected between the single-bend screw motor and the cable drill rod, the cable drill rod is connected to the cable water feeder, the cable water feeder is connected to the explosion-proof computer, and the above-mentioned drilling tool assembly is placed in the power head and the clamp of the directional drilling rig;

[0011] The gyro measurement while drilling device comprises an instrument outer tube, an instrument protection shell and an adapter arranged in the instrument outer tube and connected in sequence, and a generator assembly shell, a gyro assembly arranged in the instrument protection shell and connected in sequence, a control board, a battery pack and an electronic control circuit board, and a generator assembly arranged in the generator assembly shell; the outer wall of the generator assembly shell is arranged with a turbine rotor and a turbine stator in sequence from left to right;

[0012] A charging connector is provided at the left end of the instrument protective shell, which is connected to the left end of the gyro assembly. The right end of the instrument protective shell is connected to the adapter, which is connected to the electronic control circuit board; the electronic control circuit board is connected to the output end of the generator assembly, and the electronic control circuit board rectifies, filters and stabilizes the AC power output by the generator assembly, and converts the AC power into stable DC power to charge the battery pack; the left end of the generator assembly housing is connected to the adapter, and the right end is connected to the cable connector.

[0013] The present invention also includes the following technical features:

[0014] Specifically, the left end of the instrument protective shell is threadedly connected with a rotating sleeve so that the charging connector can be limited and pressed into the instrument protective shell through the rotating sleeve. The right end of the instrument protective shell is threadedly connected to the adapter, and a rubber stabilizer is sleeved in the middle of the instrument protective shell.

[0015] Specifically, a fixing ring is provided on the right outer wall of the generator assembly shell, and a stabilizing ring is provided on the left outer wall of the instrument protection shell. The fixing ring and the stabilizing ring can limit and fix the entire instrument string in the outer tube of the instrument.

[0016] Specifically, the straightening ring is sleeved on the upper end surface of the charging connector and presses against the rotating sleeve; the fixing ring is fixed to the outer wall of the right end of the generator assembly housing by three screws evenly distributed around the circumference; the rubber straightening device interference sleeve is sleeved in the middle of the instrument protective shell to achieve radial straightening and shock absorption effects.

[0017] Specifically, the charging connector, the gyro assembly, the control board, the battery pack, the electronic control circuit board, and the adapter are all mechanically hard-connected by screws.

[0018] Specifically, the turbine stator is threadedly connected to the generator assembly housing, and the turbine rotor is mounted on the generator assembly housing through a cylindrical roller bearing; the rotation angle directions of the turbine stator and the turbine rotor blades are opposite; the turbine stator is made of non-magnetic steel material, and the inner ring of the turbine rotor is embedded with aluminum-nickel-cobalt magnets; the turbine rotor can rotate coaxially around the generator assembly housing.

[0019] Specifically, a magnetic coupling device is provided in the housing of the generator assembly, and the magnetic coupling device is sleeved on the transmission shaft, and the transmission shaft is fixed in the housing of the motor assembly by two sets of cylindrical roller bearings; the magnetic coupling device axially corresponds to the aluminum-nickel-cobalt magnet embedded in the inner ring of the turbine rotor; the flushing fluid flows through the turbine stator along the inner annulus of the cable drill pipe, and the turbine rotor is flushed after the flow direction of the flushing fluid is changed. The turbine rotor rotates coaxially around the housing of the generator assembly, and the turbine rotor drives the transmission shaft to rotate through the magnetic coupling device, thereby driving the rotor of the built-in generator to rotate to generate AC power.

[0020] Specifically, the output end of the battery pack supplies power to the control board and the gyro assembly through the battery management unit. The control board collects, processes, calculates, encodes and modulates the drilling posture data measured by the gyro assembly and the charging and discharging parameters of the battery pack; the gyro assembly includes a group of three-axis gyroscopes and two groups of three-axis accelerometers. The three-axis gyroscope is used to collect the angular velocity of the earth's rotation to calculate the drilling azimuth, and the two groups of three-axis accelerometers are used to measure the drilling inclination and the facing angle of the screw drilling tool respectively.

[0021] Specifically, a Lemo connector is arranged inside the left end of the charging connector and is sealed by a protective cap; the Lemo connector is connected to the battery pack through a pre-buried wire inside the gyro assembly, and the battery pack is pre-charged through the charging connector at the end, ensuring that there is electrical energy in the battery pack before the entire gyro measurement while drilling device is put into operation, thereby meeting the static data measurement requirements;

[0022] The cable connector is connected to the control board via a wire, and the wire passes through the conversion connector along the wire hole on the inner wall of the generator assembly shell and enters the instrument protective shell cavity. The control board transmits the acquired data to the hole mouth explosion-proof computer through the cable connector and the cables of multiple cable drill rods and cable water feeders connected thereto. The explosion-proof computer decodes and obtains the drilling trajectory parameter data and the generator assembly working parameters, providing a decision-making basis for directional drilling construction in underground coal mines.

[0023] An industrial control method for a self-charging cable-type gyro measurement while drilling system in a coal mine, the method being used for the self-charging cable-type gyro measurement while drilling system in a coal mine, comprising the following steps:

[0024] Step 1: pre-charge the probe battery pack of the measurement system before drilling measurement construction, and directly charge it externally through the external aviation plug;

[0025] Step 2: Use the drilling rig to connect the drill pipe to send the measurement system probe into the borehole, and connect the screw motor to the front end of the instrument;

[0026] Step 3: During the drilling process, the screw rotates and the power generation component in the hole generates mechanical rotation, and electric energy is generated in the coil by cutting the magnetic flux lines. The electric energy generated in the coil passes through the brush and outputs alternating current to the power generation component in the hole;

[0027] Step 4: The AC power output by the in-hole generator assembly is filtered, rectified, and stabilized by the charging control unit, and then conditioned into a DC power supply capable of supplying power to the battery pack; the in-hole generator assembly monitors the capacity of the battery pack through the charging control unit, and if the capacity of the battery pack is lower than a preset percentage, the battery pack is charged during the drilling process of the drilling rig;

[0028] Step 5: After filtering, voltage stabilization, voltage limiting and current limiting, the battery pack in the probe of the measurement system supplies power to the main control board, sensors and other loads inside the probe;

[0029] Step 6: The orifice explosion-proof and intrinsically safe computer and the measuring system probe realize two-way communication through the drill pipe; during the process of replacing the drill pipe during drilling construction, the drill pipe and the measuring system are in a static state, and the computer sends a measurement instruction to the measuring system probe after signal modulation and demodulation;

[0030] Step 7, after receiving the measurement command, the measuring system probe starts to measure the drilling posture data at the current position, and transmits the data to the flameproof and intrinsically safe computer through the drill pipe after modulation and demodulation at fixed time intervals;

[0031] Step 8: The hole opening explosion-proof and intrinsically safe computer monitors the drilling trajectory according to the received data and controls the drilling direction by adjusting the tool face of the screw drill;

[0032] Step 9, the orifice explosion-proof and intrinsically safe computer sends a stop acquisition command to the measurement system probe;

[0033] Step 10, repeat steps 3-9 and drill until you reach the target area.

[0034] Compared with the prior art, the present invention has the following technical effects:

[0035] The present invention effectively avoids the influence of ferromagnetic materials in the screw drill and the drill rod by adopting the gyro assembly, does not need to set up upper and lower non-magnetic drill rods, effectively shortens the distance between the while-drilling measurement probe and the drill bit, and significantly improves the timeliness of drilling trajectory measurement.

[0036] The azimuth measured by the measurement system of the present invention is the true azimuth of the drilling trajectory, which fundamentally gets rid of the influence of magnetic declination in various regions, effectively solves the problem of unnecessary measurement errors easily introduced in the conversion process between magnetic azimuth and true azimuth, and can also obtain accurate drilling azimuth parameters for local strata with geomagnetic anomalies, and has stronger adaptability.

[0037] The system of the present invention includes a turbine generator assembly. When drilling is stopped for measurement, a traditional battery power supply method is used. When water is allowed to flow, the turbine rotor is driven to rotate by flushing fluid, thereby driving the generator assembly to power the while-drilling measurement instrument and charge the battery pack at the same time. If one type of distributed power supply fails, the other type of distributed power supply can continue to work. In addition, the limitation of the battery pack capacity on the use of equipment is reduced, the energy utilization rate is improved, and the process of repeatedly lifting and lowering the drill to replace the battery pack during drilling construction is eliminated, which greatly shortens the auxiliary operation time and improves the drilling efficiency.

[0038] In case a single power source such as a generator or a battery is disconnected from the grid or the power is exhausted, the present invention adopts droop control in the grid-connected circuit, which can seamlessly switch between the distributed power supply mode and the island mode to ensure the stability and continuity of the power output.

[0039] In view of the situation that the water pressure fluctuation caused by the vibration of the generator or the unstable pump volume during the drilling process leads to the perturbation of the output end parameters and affects the gyroscope accuracy, the present invention adopts robust control to solve the resonance problem of the system and improve the quality of the power output by the turbine generator.

[0040] The gyroscopic measurement while drilling device of the system of the present invention has a simple overall structure, and the components are hard-connected and equipped with multiple groups of vibration reduction and straightening components, and can be effectively applied to strong vibration conditions in hard stratum construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is an overall schematic diagram of the measurement system of the present invention.

[0042] Figure 2 It is a schematic diagram of the structure of the gyro measurement while drilling device of the measurement system of the present invention.

[0043] Figure 3 It is a flow chart of the industrial control method of the measurement system of the present invention.

[0044] Figure 4 It is a schematic diagram of a control system of a three-phase LCL type grid-connected inverter of the present invention.

[0045] Figure 5 It is a principle block diagram of the robust control strategy of the present invention.

[0046] The meaning of each number in the figure is:

[0047] 1. Gyro measurement while drilling device, 2. Single-bend screw motor, 3. Cable drill pipe, 4. Cable water feeder, 5. Directional drilling rig, 6. Explosion-proof computer, 101. Gyro assembly, 102. Control board, 103. Battery pack, 104. Electronic control circuit board, 105. Generator assembly, 106. Turbine rotor, 107. Turbine stator, 108. Cable connector, 109. Charging connector, 110. Fixing ring, 111. Rubber centralizer, 112. Centralizing ring, 113. Instrument outer tube, 114 Instrument protective shell, 115. Rotating sleeve, 116. Adapter, 117. Generator assembly shell. DETAILED DESCRIPTION

[0048] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0049] Embodiment 1:

[0050] like Figure 1 to Figure 2 As shown, this embodiment provides a self-charging cable-type gyro measurement while drilling system for underground coal mines, comprising: a gyro measurement while drilling device 1, a single-bend screw motor 2, a cable drill rod 3, a cable water feeder 4, a directional drilling rig 5, and an explosion-proof computer 6.

[0051] The gyro measurement while drilling device 1 is connected between the single-bend screw motor 2 and the cable drill rod 3, the cable drill rod 3 is connected to the cable water feeder 4, and the cable water feeder 4 is connected to the explosion-proof computer 6. The above-mentioned drilling tool assembly is placed in the power head and clamp of the directional drilling rig 5.

[0052] The gyro measurement while drilling device 1 includes an instrument outer tube 113, an instrument protection shell 114 and an adapter 116 arranged in the instrument outer tube 113 and connected in sequence, and a generator assembly shell 117, a gyro assembly 101, a control board 102, a battery pack 103 and an electronic control circuit board 104 arranged in the instrument protection shell 114 and connected in sequence, and a generator assembly 105 arranged in the generator assembly shell 117; the outer wall of the generator assembly shell 117 is arranged with a turbine rotor 106 and a turbine stator 107 in sequence from left to right.

[0053] A charging connector 109 is provided at the left end of the instrument protective shell 114, and the charging connector 109 is connected to the left end of the gyro assembly 101. The right end of the instrument protective shell 114 is connected to the adapter 116, and the adapter 116 is connected to the electronic control circuit board 104; the electronic control circuit board 104 is connected to the output end of the generator assembly 105, and the electronic control circuit board 104 rectifies, filters and stabilizes the AC power output by the generator assembly 105, and converts the AC power into stable DC power to charge the battery pack 103; the left end of the generator assembly housing 117 is connected to the adapter 116, and the right end is connected to the cable connector 108.

[0054] The left end of the instrument protective shell 114 is threadedly connected with a rotating sleeve 115 so that the charging connector 109 can be limited and pressed into the instrument protective shell 114 through the rotating sleeve 115. The right end of the instrument protective shell 114 is threadedly connected with the adapter 116. The middle part of the instrument protective shell 114 is sleeved with a rubber stabilizer 111.

[0055] A fixing ring 110 is provided on the right outer wall of the generator assembly housing 117, and a stabilizing ring 112 is provided on the left outer wall of the instrument protection shell 114. The fixing ring 110 and the stabilizing ring 112 can limit and fix the entire instrument string in the instrument outer tube 113.

[0056] The straightening ring 112 is sleeved on the upper end surface of the charging connector 109 and tightens the rotating sleeve 115; the fixing ring 110 is fixed to the outer wall of the right end of the generator assembly housing 117 by three screws evenly distributed around the circumference; the fixing ring 110 and the straightening ring 112 are both threadedly connected to the instrument outer tube 113. The rubber straightening device 111 is sleeved in the middle of the instrument protective shell 114 to achieve radial straightening and shock absorption.

[0057] The charging connector 109 , the gyro assembly 101 , the control board 102 , the battery pack 103 , the electronic control circuit board 104 , and the adapter 116 are all mechanically rigidly connected by screws.

[0058] The turbine stator 107 is threadedly connected to the generator assembly housing 117, and the turbine rotor 106 is sleeved on the generator assembly housing 117 through a cylindrical roller bearing; the turbine stator 107 and the turbine rotor 106 have blade rotation angles in opposite directions; the turbine stator 107 is made of non-magnetic steel material, and the inner ring of the turbine rotor 106 is embedded with aluminum-nickel-cobalt magnets; the turbine rotor 106 can rotate coaxially around the generator assembly housing 117. The turbine stator 107 and the turbine rotor 106 are replaceable components. According to different mud flow rates, stators and rotors with different blade angles can be replaced, and the power generation power can also be increased by increasing the number of stator and rotor sets.

[0059] A magnetic coupling device is provided in the generator assembly housing 117, and the magnetic coupling device is sleeved on the transmission shaft, and the transmission shaft is fixed in the motor assembly housing through two sets of cylindrical roller bearings; the magnetic coupling device axially corresponds to the aluminum-nickel-cobalt magnet embedded in the inner ring of the turbine rotor 106; the flushing fluid flows through the turbine stator 107 along the inner annulus of the cable drill pipe 3, and the turbine rotor 106 is flushed after the flushing fluid flow direction is changed. The turbine rotor 106 rotates coaxially around the generator assembly housing 117, and the turbine rotor 106 drives the transmission shaft to rotate through the magnetic coupling device, thereby driving the rotor of the built-in generator to rotate to generate AC power.

[0060] The output end of the battery pack 103 supplies power to the control board 102 and the gyro assembly 101 through the battery management unit. The control board 102 collects, processes, calculates, encodes, and modulates the drilling posture data (azimuth, inclination, tool facing angle) measured by the gyro assembly 101 and the charging and discharging parameters of the battery pack 103; the gyro assembly 101 includes a group of three-axis gyroscopes and two groups of three-axis accelerometers. The three-axis gyroscope is used to collect the angular velocity of the earth's rotation to calculate the drilling azimuth. The gyroscope can adopt various inertial sensors such as mechanical gyroscopes, optical gyroscopes, MEMS gyroscopes, etc. that can calculate the azimuth through gyro principles. The two groups of three-axis accelerometers are used to measure the drilling inclination and the tool facing angle of the screw drill respectively.

[0061] A Lemo connector is arranged inside the left end of the charging connector 109 and is sealed by a protective cap; the Lemo connector is connected to the battery pack 103 through a pre-buried wire inside the gyro assembly 101, and the battery pack 103 is pre-charged through the charging connector 109 at the end, ensuring that there is some electrical energy in the battery pack 103 before the entire gyro measurement while drilling device 1 is put into operation, so as to meet the static data measurement requirements; in addition, to pre-charge the battery pack 103, it is only necessary to remove the end protective cap without disconnecting the instrument string, and the operation is simple.

[0062] The cable connector 108 is connected to the control board 102 through a wire, and the wire passes through the conversion connector along the wire hole on the inner wall of the generator assembly housing 117 and enters the cavity of the instrument protection shell 114. The control board 102 transmits the obtained data to the hole mouth explosion-proof computer 6 through the cable connector 108 and the cables of multiple cable drill rods 3 and cable water feeders 4 connected thereto. The explosion-proof computer 6 decodes and obtains the drilling trajectory parameter data and the working parameters of the generator assembly 105, providing a decision-making basis for the directional drilling construction in the coal mine.

[0063] The electronic control circuit board integrates the charging protection module and the three-phase LCL grid-connected inverter control system. It detects the battery pack capacity and controls the charging voltage and current to ensure safe and stable charging of the battery pack, while providing high-quality electric energy with low harmonic distortion rate for the control board and gyro components. Figure 4As shown in the figure, when the system is working, ① the output current of the grid-connected system and the calculated reference current standard value are subtracted and sent to the droop controller, and the power distribution is adjusted through the voltage-frequency or current-frequency relationship. The output current of the grid-connected system and the calculated reference current standard value are subtracted and sent to the droop controller to ensure the continuity of the system power supply; ② the signal output by the droop controller passes through the robust controller to improve the robustness of the system to uncertainty and disturbance and ensure the stability of the system; ③ the output signal of the robust controller is input to the space vector pulse width modulation (SVPWM) module to generate the required control signal; ④ the control signal output by the SVPWM is sent to the grid-connected inverter, and the control switch adjusts the output of the inverter, thereby achieving synchronization and stable operation with the power grid. Here, the droop control can only make the system pass through the fault point, and the improvement effect on the current distortion rate when the grid-connected current is in interference is poor.

[0064] like Figure 5 As shown in Figure 1, the core of robust control based on system uncertainty is to describe the uncertainty of the system model under external disturbances and design the weight function. According to the design requirements of the robust controller, the weight function 1 acts on the signal tracking error, and the expression can be taken as the fixed form of the second-order transfer function: Where ω0 is the interference signal, δ is the compensation coefficient, whose value is determined by the maximum current, and k is the sensitivity coefficient, which can adjust the rapidity of the response. The weight function 2 acts on the control signal and is usually selected as a smaller gain constant to meet the design requirements of the controller performance indicators.

[0065] Embodiment 2:

[0066] This embodiment provides an industrial control method for a self-charging cable-type gyro while drilling measurement system in a coal mine. The method is used for the self-charging cable-type gyro while drilling measurement system in a coal mine in Example 1. Figure 3 As shown, the following steps are included:

[0067] Step 1: pre-charge the probe battery pack of the measurement system before drilling measurement construction, and directly charge it externally through the external aviation plug;

[0068] Step 2: Use the drilling rig to connect the drill pipe to send the measurement system probe into the borehole, and connect the screw motor to the front end of the instrument;

[0069] Step 3: During the drilling process, the screw rotates and the power generation component in the hole generates mechanical rotation, and electric energy is generated in the coil by cutting the magnetic flux lines. The electric energy generated in the coil passes through the brush and outputs alternating current to the power generation component in the hole;

[0070] Step 4: The AC power output by the in-hole generator assembly is filtered, rectified, and stabilized in the charging control unit to be conditioned into a DC power supply capable of supplying power to the battery pack; the in-hole generator assembly monitors the capacity of the battery pack through the charging control unit, and if the capacity of the battery pack is lower than a preset percentage, the battery pack is charged during the drilling process of the drilling rig;

[0071] Step 5: After filtering, voltage stabilization, voltage limiting and current limiting, the battery pack in the probe of the measurement system supplies power to the main control board, sensors and other loads inside the probe;

[0072] Step 6: The orifice explosion-proof and intrinsically safe computer and the measuring system probe realize two-way communication through the drill pipe; during the process of replacing the drill pipe during drilling construction, the drill pipe and the measuring system are in a static state, and the computer sends a measurement instruction to the measuring system probe after signal modulation and demodulation;

[0073] Step 7, after receiving the measurement command, the measuring system probe starts to measure the drilling posture data at the current position, and transmits the data to the flameproof and intrinsically safe computer through the drill pipe after modulation and demodulation at fixed time intervals; the signal transmission methods include: mud pulse, radio electromagnetic wave, cable drill pipe wired method, etc.;

[0074] Step 8: The hole opening explosion-proof and intrinsically safe computer monitors the drilling trajectory according to the received data and controls the drilling direction by adjusting the tool face of the screw drill;

[0075] Step 9, the orifice explosion-proof and intrinsically safe computer sends a stop acquisition command to the measurement system probe;

[0076] Step 10, repeat steps 3-9 and drill until you reach the target area.

[0077] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0078] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0079] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A self-charging cable-type gyro measurement while drilling system for underground coal mines, characterized in that: include: Gyro measurement while drilling device (1), single-bend screw motor (2), cable drill pipe (3), cable water feeder (4), directional drilling machine (5), explosion-proof computer (6); The gyro measurement while drilling device (1) is connected between a single-bend screw motor (2) and a cable drill rod (3), the cable drill rod (3) is connected to a cable water feeder (4), the cable water feeder (4) is connected to an explosion-proof computer (6), and the drilling tool assembly is placed in a power head and a clamp of a directional drilling rig (5); The gyro measurement while drilling device (1) comprises an instrument outer tube (113), an instrument protection shell (114) and an adapter (116) arranged in the instrument outer tube (113) and connected in sequence, and a generator assembly shell (117), a gyro assembly (101), a control board (102), a battery pack (103) and an electric control circuit board (104) arranged in the instrument protection shell (114) and connected in sequence, and a generator assembly (105) arranged in the generator assembly shell (117); a turbine rotor (106) and a turbine stator (107) are arranged in sequence from left to right on the outer wall of the generator assembly shell (117); The left end of the instrument protection shell (114) is provided with a charging connector (109), which is connected to the left end of the gyro assembly (101); the right end of the instrument protection shell (114) is connected to the adapter (116), which is connected to the electric control circuit board (104); the electric control circuit board (104) is connected to the output end of the generator assembly (105), and the electric control circuit board (104) performs rectification, filtering and voltage stabilization on the AC power output by the generator assembly (105), converts the AC power into stable DC power, and then charges the battery pack (103); the left end of the generator assembly housing (117) is connected to the adapter (116), and the right end is connected to the cable connector (108).

2. The self-charging cable-type gyro measurement while drilling system for coal mines as claimed in claim 1, characterized in that: The left end of the instrument protective shell (114) is threadedly connected to a rotating sleeve (115) so that the charging connector (109) can be limited and pressed into the instrument protective shell (114) through the rotating sleeve (115); the right end of the instrument protective shell (114) is threadedly connected to the adapter (116); and a rubber centralizer (111) is sleeved on the middle of the instrument protective shell (114).

3. The self-charging cable-type gyro measurement while drilling system for coal mines as claimed in claim 2, characterized in that: A fixing ring (110) is provided on the outer wall of the right end of the generator assembly housing (117), and a stabilizing ring (112) is provided on the outer wall of the left end of the instrument protection shell (114). The fixing ring (110) and the stabilizing ring (112) can limit and fix the entire instrument string in the instrument outer tube (113).

4. The coal mine underground self-charging cable-type gyro measurement while drilling system as claimed in claim 3, characterized in that: The straightening ring (112) is sleeved on the upper end surface of the charging connector (109) and is pressed against the rotating sleeve (115); the fixing ring (110) is fixed to the outer wall of the right end of the generator assembly housing (117) by three screws evenly distributed around the circumference; the rubber straightening device (111) is interference-fitted on the middle part of the instrument protection shell (114) to achieve radial straightening and shock absorption effects.

5. The coal mine underground self-charging cable-type gyro measurement while drilling system according to claim 1, characterized in that: The charging connector (109), the gyro assembly (101), the control board (102), the battery pack (103), the electronic control circuit board (104), and the adapter (116) are all mechanically hard-connected by means of screws.

6. The self-charging cable-type gyro measurement while drilling system for coal mines as claimed in claim 1, characterized in that: The turbine stator (107) is threadedly connected to the generator assembly housing (117), and the turbine rotor (106) is sleeved on the generator assembly housing (117) through a cylindrical roller bearing; the turbine stator (107) and the turbine rotor (106) have blade rotation angles in opposite directions; the turbine stator (107) is made of non-magnetic steel material, and the inner ring of the turbine rotor (106) is embedded with aluminum-nickel-cobalt magnetic steel; the turbine rotor (106) can rotate coaxially around the generator assembly housing (117).

7. The self-charging cable-type gyro measurement while drilling system for coal mines as claimed in claim 6, characterized in that: A magnetic coupling device is provided in the generator assembly housing (117), and the magnetic coupling device is sleeved on the transmission shaft. The transmission shaft is fixed in the motor assembly housing through two sets of cylindrical roller bearings. The magnetic coupling device corresponds to the aluminum-nickel-cobalt magnet embedded in the inner ring of the turbine rotor (106) in the axial direction. The flushing liquid flows through the turbine stator (107) along the inner annular space of the cable drill pipe (3), and after changing the flow direction of the flushing liquid, it flushes the turbine rotor (106). The turbine rotor (106) rotates coaxially around the generator assembly housing (117). The turbine rotor (106) drives the transmission shaft to rotate through the magnetic coupling device, thereby driving the rotor of the built-in generator to rotate, thereby generating AC power.

8. The self-charging cable-type gyro measurement while drilling system for underground coal mines according to claim 1, characterized in that: The output end of the battery pack (103) supplies power to the control board (102) and the gyro assembly (101) through a battery management unit; the control board (102) collects, processes, calculates, encodes and modulates the drilling posture data measured by the gyro assembly (101) and the charging and discharging parameters of the battery pack (103); the gyro assembly (101) comprises a set of three-axis gyroscopes and two sets of three-axis accelerometers; the three-axis gyroscopes are used to collect the earth's rotation angular velocity to calculate the drilling azimuth; the two sets of three-axis accelerometers are used to measure the drilling inclination angle and the screw drilling tool tool face angle, respectively.

9. The self-charging cable-type gyro measurement while drilling system for coal mines as claimed in claim 1, characterized in that: A Lemo connector is provided inside the left end of the charging connector (109) and is sealed by a protective cap; the Lemo connector is connected to the battery pack (103) through a pre-buried wire inside the gyro assembly (101), and the battery pack (103) is pre-charged through the charging connector (109) at the end, so as to ensure that the battery pack (103) has electric energy before the entire gyro measurement while drilling device (1) is put into operation, thereby meeting the static data measurement requirements; The cable connector (108) is connected to the control panel (102) through a wire, and the wire passes through the conversion connector along the wire hole on the inner wall of the generator assembly housing (117) and enters the cavity of the instrument protection housing (114). The control panel (102) transmits the acquired data to the hole mouth explosion-proof computer (6) through the cable connector (108) and the cables of the multiple cable drill rods (3) and the cable water feeder (4) connected thereto. The explosion-proof computer (6) decodes and obtains the drilling trajectory parameter data and the working parameters of the generator assembly (105), thereby providing a decision-making basis for the directional drilling construction in the coal mine.

10. An industrial control method for a self-charging cable-type gyro measurement while drilling system in a coal mine, characterized in that: The method is used for the coal mine underground self-charging cable-type gyro measurement while drilling system according to any one of claims 1 to 9, and comprises the following steps: Step 1: pre-charge the probe battery pack of the measurement system before drilling measurement construction, and directly charge it externally through the external aviation plug; Step 2: Use the drilling rig to connect the drill pipe to send the measurement system probe into the borehole, and connect the screw motor to the front end of the instrument; Step 3: During the drilling process, the screw rotates and the power generation component in the hole generates mechanical rotation, and electric energy is generated in the coil by cutting the magnetic flux lines. The electric energy generated in the coil passes through the brush and outputs alternating current to the power generation component in the hole; Step 4: The AC power output by the in-hole generator assembly is filtered, rectified, and stabilized in the charging control unit to be conditioned into a DC power supply capable of supplying power to the battery pack; the in-hole generator assembly monitors the capacity of the battery pack through the charging control unit, and if the capacity of the battery pack is lower than a preset percentage, the battery pack is charged during the drilling process of the drilling rig; Step 5: After filtering, voltage stabilization, voltage limiting and current limiting, the battery pack in the probe of the measurement system supplies power to the main control board, sensors and other loads inside the probe; Step 6: The orifice explosion-proof and intrinsically safe computer and the measuring system probe realize two-way communication through the drill pipe; during the process of replacing the drill pipe during drilling construction, the drill pipe and the measuring system are in a static state, and the computer sends a measurement instruction to the measuring system probe after signal modulation and demodulation; Step 7, after receiving the measurement command, the measuring system probe starts to measure the drilling posture data at the current position, and transmits the data to the flameproof and intrinsically safe computer through the drill pipe after modulation and demodulation at fixed time intervals; Step 8: The hole opening explosion-proof and intrinsically safe computer monitors the drilling trajectory according to the received data and controls the drilling direction by adjusting the tool face of the screw drill; Step 9, the orifice explosion-proof and intrinsically safe computer sends a stop acquisition command to the measurement system probe; Step 10, repeat steps 3-9 and drill until you reach the target area.

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