Tunnel directional drilling trajectory tracking control method based on single-bend screw drill

Abstract

The invention relates to an underground tunnel directional drilling trajectory tracking control method based on a single-bend screw drill, which is characterized in that according to the underground coal mine directional drilling process characteristics, the geometrical relationship of the drill attitude is analyzed, the directional drilling trajectory extension rule is researched, and a directional drilling trajectory extension model is established, so that the underground coal mine trajectory extension condition can be basically described. A trajectory prediction model is constructed, an objective function is determined, a feedback correction link is set, and the control quantity needed by directional drilling trajectory tracking control is effectively determined. Simulation is carried out by adopting actual data of a coal mine, and a simulation result shows that the method can effectively realize underground coal mine directional drilling trajectory tracking control.

Description

Technical Field

[0001] The present application relates to the field of coal mine tunnel drilling engineering, and in particular, to a tunnel directional drilling trajectory tracking and control method based on a single-bend screw drill. Background Art

[0002] Directional drilling technology is one of the economical and effective means to control coal mine gas. Directional drilling technology has two drilling modes: sliding drilling and compound drilling. By switching the drilling mode, the trajectory deviation can be controlled and the drilling efficiency can be improved, so as to achieve efficient hole formation. Directional drilling technology in coal mines is an artificial deflection drilling method that uses a single-bend screw drill to drill to the predetermined target according to the design requirements. It mainly includes two modes: sliding directional drilling and compound drilling. Sliding directional drilling is an adjustment strategy adopted for the situation where the drilling trajectory deviates from the design allowable range. In this mode, the drill in the borehole only slides and does not rotate. The position, inclination and azimuth of the drill are controlled by adjusting the tool face angle of the single-bend screw drill, so that the borehole can extend in a predetermined direction. This method is suitable for situations where the trajectory needs to be corrected quickly, and can effectively adjust the target trajectory. Compound drilling is more used to keep the drilling trajectory smooth and improve the slag removal capacity, which is conducive to safe drilling construction. By switching the working modes of deflection and stable deflection, the preset trajectory can be continuously tracked and controlled. When the drilling trajectory already meets the design requirements and needs to maintain a certain degree of stability, the use of composite drilling technology can ensure the stability and safety of drilling under complex conditions.

[0003] The geological conditions of coal mines are complex, and the coal structure of broken soft coal seams is broken, making drilling difficult. At present, the setting of the facing angle of directional drilling tools is mainly based on the screw drill tool deflection law summarized by manual experience, which has problems such as low automation and insufficient precision in directional drilling trajectory control. Summary of the invention

[0004] In order to overcome at least one shortcoming in the prior art, the present application provides a tunnel directional drilling trajectory tracking control method based on a single-bend screw drill.

[0005] In a first aspect, a method for tracking and controlling a tunnel directional drilling trajectory based on a single-bend screw drill is provided, comprising:

[0006] Construct directional drilling trajectory extension model;

[0007] According to the design trajectory and reference control quantity, a trajectory error model is constructed based on the directional drilling trajectory extension model; the trajectory error model is discretized to obtain a trajectory error discretization model;

[0008] Set the prediction time domain and control time domain, and obtain the trajectory prediction model according to the trajectory error discretization model;

[0009] Based on the trajectory prediction model, the objective function is constructed, and the nonlinear programming problem is determined according to the objective function;

[0010] Solve the nonlinear programming problem and obtain the optimal control quantity in the control time domain.

[0011] In one embodiment, the directional drilling trajectory extension model is:

[0012]

[0013] x=[x inc x azi ] T

[0014] u=[u inc u azi ] T

[0015] a=K dls ,

[0016] in, is the derivative of x, x is the state variable, x inc is the inclination component of x, azi is the azimuthal component of x, For x inc The derivative of For x azi The derivative of , a, b, c are the coefficients of the directional drilling trajectory extension model, u is the control quantity, u inc is the tilt angle control value, u azi is the azimuth control variable, K dls is the rated slope rate, is the nominal value of the designed trajectory.

[0017] In one embodiment, the trajectory error discretization model is:

[0018]

[0019] in, is the trajectory error state of the current hole segment k, is the trajectory error state of the next hole segment, T is the sampling interval, L is the hole depth interval, and is the coefficient matrix of the trajectory error discretization model, is the control increment of the current hole section k, and a, b, c are the coefficients of the directional drilling trajectory extension model.

[0020] In one embodiment, the trajectory prediction model is:

[0021]

[0022] Among them, Y is the predicted trajectory error state of the next hole section, ψ and Φ are the coefficient matrices of the trajectory prediction model, is the trajectory error state of the current hole segment k, U is the trajectory control amount, is the control increment of the current hole segment k, N c To control the time domain, N p For the prediction time domain, is the coefficient matrix of the trajectory error discretization model, and A and B are the coefficient matrices of the trajectory error model.

[0023] In one embodiment, the nonlinear programming problem is:

[0024]

[0025] H=Φ T QΦ+Z

[0026]

[0027] Among them, H is the objective function, U is the trajectory control amount, H and f are the coefficients of the quadratic programming function, ψ and Φ are the coefficient matrices of the trajectory prediction model, Q and Z are the state weight matrix and input weight matrix respectively, is the trajectory error state of the current hole segment k; is the inclination control increment of the k+ith hole section, is the azimuth control increment of the k+ith hole segment, u ii is the minimum value of the tilt control increment, u im is the maximum value of the tilt control increment, u ai is the minimum value of the azimuth control increment, u am is the maximum value of the azimuth control increment, i is the hole depth width of the sliding window, N p For the prediction time domain, st represents the constraint condition.

[0028] In one embodiment, the method further comprises:

[0029] The first control quantity of the optimal control quantity is used as the current control input, and the tool face angle is determined according to the current control input.

[0030] In one embodiment, the method further comprises:

[0031] Determine the predicted value of the trajectory error state according to the optimal control quantity and the trajectory prediction model;

[0032] Determine the size of the trajectory error according to the measured value of the current hole segment trajectory and the predicted value of the trajectory error state;

[0033] The trajectory error discretization model is corrected according to the size of the trajectory error to obtain a corrected trajectory error discretization model; the corrected trajectory error discretization model is used for trajectory tracking control of the next hole section.

[0034] In one embodiment, the corrected trajectory error discretization model is:

[0035]

[0036] in, is the trajectory error state of the current hole segment k The inclination component of is the trajectory error state of the current hole segment k The azimuth component of is the trajectory error state of the next hole segment The inclination component of is the trajectory error state of the next hole segment The azimuth component of the directional drilling trajectory, a, b, c are the coefficients of the directional drilling trajectory extension model, L is the hole depth interval, ω inc is the inclination component of the trajectory error, ω azi is the azimuth component of the trajectory error; is the inclination control increment of the current hole section k, is the azimuth control increment of the current hole segment k;

[0037] The modified constraints are:

[0038]

[0039] in, is the inclination control increment of the k+ith hole section, is the azimuth control increment of the k+ith hole segment, u ii is the minimum value of the tilt control increment, u im is the maximum value of the tilt control increment, u ai is the minimum value of the azimuth control increment, u am is the maximum value of the azimuth control increment, i is the hole depth width of the sliding window, N p is the prediction time domain, ω inc (k+i) is the inclination component of the trajectory error of the k+i-th hole segment, ω azi (k+i) is the azimuth component of the trajectory error of the k+i-th hole segment.

[0040] In a second aspect, a tunnel directional drilling trajectory tracking control device based on a single-bend screw drill is provided, comprising:

[0041] A first model building module is used to build a directional drilling trajectory extension model;

[0042] The second model building module is used to build a trajectory error model based on the directional drilling trajectory extension model according to the designed trajectory and the reference control amount; discretize the trajectory error model to obtain a trajectory error discretization model;

[0043] The third model building module is used to set the prediction time domain and the control time domain, and obtain the trajectory prediction model according to the trajectory error discretization model;

[0044] A problem construction module is used to construct an objective function based on the trajectory prediction model and determine the nonlinear programming problem according to the objective function;

[0045] The solution module is used to solve nonlinear programming problems and obtain the optimal control quantity in the control time domain.

[0046] In one embodiment, the device further comprises: a feedback correction module, the feedback correction module being configured to:

[0047] Determine the predicted value of the trajectory error state according to the optimal control quantity and the trajectory prediction model;

[0048] Determine the size of the trajectory error according to the measured value of the current hole segment trajectory and the predicted value of the trajectory error state;

[0049] The trajectory error discretization model is corrected according to the size of the trajectory error to obtain a corrected trajectory error discretization model; the corrected trajectory error discretization model is used for trajectory tracking control of the next hole section.

[0050] Compared with the prior art, this application has the following beneficial effects:

[0051] According to the characteristics of the directional drilling process in coal mines, this application analyzes the geometric relationship of the drill tool posture, studies the extension law of the directional drilling trajectory, and establishes a directional drilling trajectory extension model, which can basically describe the trajectory extension situation in coal mines. A trajectory prediction model is constructed, the objective function is determined, and a feedback correction link is established to effectively determine the control amount required for directional drilling trajectory tracking control. The actual data of the coal mine is used for simulation, and the simulation results show that the method of this application can effectively realize the directional drilling trajectory tracking control in coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The present application may be better understood by referring to the following description given in conjunction with the accompanying drawings, which together with the following detailed description are included in this specification and form a part of this specification. In the drawings:

[0053] Figure 1 A flowchart of a tunnel directional drilling trajectory tracking control method based on a single-bend screw drill according to an embodiment of the present application is shown;

[0054] Figure 2 The schematic diagram of the structure of the directional drilling tool in a coal mine is shown;

[0055] Figure 3 The schematic diagram of the feedback correction mechanism is shown;

[0056] Figure 4 The track inclination tracking with the feedback correction mechanism added is shown;

[0057] Figure 5 The trajectory azimuth tracking with the feedback correction mechanism added is shown;

[0058] Figure 6 A structural block diagram of a tunnel directional drilling trajectory tracking control device based on a single-bend screw drill according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0059] The exemplary embodiments of the present application will be described below in conjunction with the accompanying drawings. For the sake of clarity and conciseness, not all features of the actual embodiments are described in the specification. However, it should be understood that many implementation-specific decisions can be made in the process of developing any such actual embodiments in order to achieve the specific goals of the developer, and these decisions may vary from embodiment to embodiment.

[0060] It is also necessary to explain here that, in order to avoid obscuring the present application due to unnecessary details, only the device structure closely related to the scheme according to the present application is shown in the drawings, while other details that are not closely related to the present application are omitted.

[0061] It should be understood that the present application is not limited to the described implementation forms due to the following description with reference to the accompanying drawings. In this article, where feasible, the embodiments can be combined with each other, features between different embodiments can be replaced or borrowed, and one or more features can be omitted in one embodiment.

[0062] The present application provides a method for tracking and controlling a tunnel directional drilling trajectory based on a single-bend screw drill. Figure 1 A flowchart of a tunnel directional drilling trajectory tracking control method based on a single-bend screw drill according to an embodiment of the present application is shown, see Figure 1 , methods include:

[0063] Step S1, constructing a directional drilling trajectory extension model. Here, for the directional drilling technology of single-bend screw inclined drilling tools in coal mines, the characteristics of the directional drilling process are analyzed, and the differential equation describing the geometric relationship between the tool face angle, inclination angle, and azimuth angle is obtained, and domain conversion and linearization are performed to finally obtain the directional drilling trajectory extension model.

[0064] Figure 2The schematic diagram of the structure of the directional drilling tool in the coal mine is shown. The directional drilling technology of the single-bend screw inclined drilling tool in the coal mine mainly includes two modes: sliding directional drilling and compound drilling. In the sliding directional drilling mode, the drill tool in the borehole only slides and does not rotate. The position, inclination and azimuth of the drill tool are controlled by adjusting the tool face angle of the single-bend screw drill tool, so that the borehole can extend in a predetermined direction. Compound drilling is used to maintain the smoothness of the drilling trajectory and improve the slag removal capacity, which is conducive to the safe construction of drilling. Starting from the kinematic perspective of the drill tool, the kinematic model of the drill tool used is shown in the following formula:

[0065]

[0066] Among them, θ inc is the drilling tool inclination angle, θ azi is the drilling tool azimuth, V rop is the drilling rate, K dls is the rated slope rate, U tf is the tool face angle, is θ inc The derivative of is θ azi The derivative of .

[0067] In order to simplify the operation, the model variables are transformed into states, and the state transformation relationship is as follows:

[0068]

[0069] Among them, U inc is the tilt angle control quantity, U azi is the azimuth control variable, U dls For K dls Related control quantity, U tf is the tool face angle.

[0070] Based on the above conversion relationship, a new directional drilling kinematic model can be obtained:

[0071]

[0072] Where t is time.

[0073] Due to the characteristics of the fixed-point measurement process, the measurement cycle is not fixed, but the hole depth at the measurement point is fixed. This is because the inclination and azimuth are only measured after a fixed drilling distance. Obviously, the measurement cycle is related to the drilling speed, but the drilling speed is not constant, so the measurement time cannot be determined, but the hole depth at the measurement point is known. In order to facilitate subsequent processing, consider converting the time domain into the hole depth domain for research.

[0074] The simplified kinematic model of directional drilling trajectory is:

[0075]

[0076] Where s is the hole depth, U inc is the tilt angle control quantity, U azi is the azimuth control quantity.

[0077] It can be seen that the kinematic model of directional drilling trajectory is nonlinear and has two state variables (inclination angle θ inc and azimuth angle θ azi ) and two inputs (two components of the tool face angle, the inclination control amount U inc and azimuth control quantity U azi ); The azimuth response and the inclination response are nonlinearly coupled. Therefore, in order to adapt to the controller design, it is necessary to linearize the model and eliminate the coupling relationship between the state quantities.

[0078] The final directional drilling trajectory extension model is:

[0079]

[0080] x=[x inc x azi ] T =[θ inc θ azi ] T

[0081] u=[u inc u azi ] T

[0082] a=K dls ,

[0083] in, is the derivative of x, x is the state variable, x inc is the inclination component of x, i.e. θ inc , x azi is the azimuthal component of x, i.e. θ azi , For x inc The derivative of For x azi The derivative of , a, b, c are the coefficients of the directional drilling trajectory extension model, u is the control quantity, u inc is the tilt angle control value, u azi is the azimuth control variable, K dls is the rated slope rate, is the nominal value of the designed trajectory.

[0084] Step S2, constructing a trajectory error model based on the directional drilling trajectory extension model according to the designed trajectory and the reference control quantity; discretizing the trajectory error model to obtain a trajectory error discretization model.

[0085] Specifically, for the drilling reference system, the state and control quantities of the directional drilling tool in any hole section are set to satisfy:

[0086]

[0087] Among them, x r is the design trajectory (design inclination and design azimuth), u r is the reference control quantity, For x r However, since the design trajectory is given, the initial control amount in this embodiment is [0,0].

[0088] The trajectory error model is:

[0089]

[0090] is the trajectory error between the directional drilling trajectory extension model and the designed trajectory, is the control increment. for The derivative of .

[0091] right and The coefficient matrices A and B of the trajectory error model can be obtained by calculation:

[0092]

[0093] The trajectory error is simplified, and the state space equation form of the trajectory error model is finally obtained:

[0094]

[0095] Here, the forward Euler method is used to discretize the trajectory error model to obtain the trajectory error discretization model:

[0096]

[0097] in, is the trajectory error state of the current hole segment k, is the trajectory error state of the next hole segment, T is the sampling interval, L is the hole depth interval, and is the coefficient matrix of the trajectory error discretization model, is the control increment of the current hole section k, a, b, c are the coefficients of the directional drilling trajectory extension model, and I is the unit matrix.

[0098] Step S3, setting the prediction time domain and the control time domain, and obtaining the trajectory prediction model according to the trajectory error discretization model.

[0099] Specifically, the trajectory prediction model is:

[0100]

[0101] Among them, Y is the predicted trajectory error state of the next hole section, ψ and Φ are the coefficient matrices of the trajectory prediction model, is the trajectory error state of the current hole segment k, U is the trajectory control amount, is the control increment of the current hole segment k, N c To control the time domain, N p For the prediction time domain, is the coefficient matrix of the trajectory error discretization model, and A and B are the coefficient matrices of the trajectory error model.

[0102] Step S4, construct an objective function based on the trajectory prediction model, and determine the nonlinear programming problem according to the objective function. Here, the trajectory error minimization is taken as the control goal, the objective function is established, and the control constraints are set considering that the sliding deflection drilling tool is affected by the drilling tool structure.

[0103] Specifically, the objective function constructed is:

[0104]

[0105] Among them, J is the objective function value, N c To control the time domain, N p is the prediction time domain, i is the hole depth width of the sliding window, is the trajectory error state of the k+ith hole segment, is the control increment of the k+ith hole segment, represents the Euclidean norm, A∈{Q,Z}, Q and Z are the state weight matrix and input weight matrix respectively.

[0106] Set the constraints as:

[0107]

[0108] in, is the inclination control increment of the k+ith hole section, is the azimuth control increment of the k+ith hole segment, u ii is the minimum value of the tilt control increment, u im is the maximum value of the tilt control increment, u ai is the minimum value of the azimuth control increment, u am is the maximum value of the azimuth control increment.

[0109] Combining the trajectory objective function and system control constraints, the target optimization problem is converted into a nonlinear programming problem:

[0110]

[0111] H=Φ T QΦ+Z

[0112]

[0113] Among them, J is the objective function, U is the trajectory control amount, H and f are the coefficients of the quadratic programming function, ψ and Φ are the coefficient matrices of the trajectory prediction model, Q and Z are the state weight matrix and input weight matrix respectively, is the trajectory error state of the current hole segment k; is the inclination control increment of the k+ith hole section, is the azimuth control increment of the k+ith hole segment, u ii is the minimum value of the tilt control increment, u im is the maximum value of the tilt control increment, u ai is the minimum value of the azimuth control increment, u am is the maximum value of the azimuth control increment, i is the hole depth width of the sliding window, N p For the prediction time domain, st represents the constraint condition.

[0114] Step S5, solving the nonlinear programming problem to obtain the optimal control quantity in the control time domain.

[0115] Here, the target optimization problem is finally solved by the quadratic programming method, and the optimal control quantity U in the control time domain is obtained. * .

[0116] Furthermore, the optimal control quantity U * The first control quantity As the current control input, and determine the tool face angle according to the current control input, include and Here, however, since the control quantity output optimized by the controller is the converted control quantity and Not the actual tool orientation angle θ tf , so finally we need to control the and The conversion formula is as follows:

[0117]

[0118] Among them, sign is the sign function.

[0119] In one embodiment, a feedback correction mechanism is added, and the actual parameters of the feedback correction are used to correct the prediction model and constraint equations in the rolling optimization after the trajectory prediction value obtained by the previous hole segment prediction is subtracted from the trajectory measurement value of the current hole segment, so as to reduce the steady-state error in the tracking process and improve the tracking effect of the controller. Specifically, the method also includes:

[0120] According to the optimal control quantity U * and trajectory prediction model to determine the predicted value of the trajectory error state. Here, the optimal control quantity U * Substituting into the trajectory prediction model, the predicted value of the trajectory error state can be determined include and They are The inclination component of The azimuth component of

[0121] The magnitude of the trajectory error is determined based on the measured value of the current hole segment trajectory and the predicted value of the trajectory error state; the magnitude of the trajectory error is determined based on the following formula:

[0122]

[0123] Among them, ω inc is the inclination component of the trajectory error, ω azi is the azimuth component of the trajectory error, O inc is the measured value of drilling tool inclination, O azi It is the measured value of drilling tool azimuth.

[0124] The trajectory error discretization model is corrected according to the size of the trajectory error to obtain the corrected trajectory error discretization model; the corrected trajectory error discretization model is used for trajectory tracking control of the next hole section, and the corrected trajectory error discretization model is:

[0125]

[0126] in, is the trajectory error state of the current hole segment k The inclination component of is the trajectory error state of the current hole segment k The azimuth component of is the trajectory error state of the next hole segment The inclination component of is the trajectory error state of the next hole segment The azimuth component of the directional drilling trajectory, a, b, c are the coefficients of the directional drilling trajectory extension model, L is the hole depth interval, ω inc is the inclination component of the trajectory error, ωazi is the azimuth component of the trajectory error. is the inclination control increment of the current hole section k, is the azimuth control increment of the current hole segment k.

[0127] The modified constraints are:

[0128]

[0129] in, is the inclination control increment of the k+ith hole section, is the azimuth control increment of the k+ith hole segment, u ii is the minimum value of the tilt control increment, u im is the maximum value of the tilt control increment, u ai is the minimum value of the azimuth control increment, u am is the maximum value of the azimuth control increment, i is the hole depth width of the sliding window, N p is the prediction time domain, ω inc (k+i) is the inclination component of the trajectory error of the k+i-th hole segment, ω azi (k+i) is the azimuth component of the trajectory error of the k+i-th hole segment.

[0130] Figure 3 shows the principle diagram of the feedback correction mechanism, Figure 4 The figure shows the trajectory inclination tracking with the feedback correction mechanism added. Figure 5 The trajectory azimuth tracking with the feedback correction mechanism added is shown.

[0131] The same inventive concept as the tunnel directional drilling trajectory tracking control method based on a single-bend screw drill is adopted, and the present embodiment also provides a tunnel directional drilling trajectory tracking control device based on a single-bend screw drill corresponding thereto. Figure 6 The structural block diagram of the tunnel directional drilling trajectory tracking control device based on the single-bend screw drill according to the embodiment of the present application is shown, comprising:

[0132] A first model building module 61 is used to build a directional drilling trajectory extension model;

[0133] The second model building module 62 is used to build a trajectory error model based on the directional drilling trajectory extension model according to the designed trajectory and the reference control amount; discretize the trajectory error model to obtain a trajectory error discretization model;

[0134] The third model building module 63 is used to set the prediction time domain and the control time domain, and obtain the trajectory prediction model according to the trajectory error discretization model;

[0135] A problem construction module 64 is used to construct an objective function based on the trajectory prediction model, and determine a nonlinear programming problem according to the objective function;

[0136] The solution module 65 is used to solve the nonlinear programming problem and obtain the optimal control quantity in the control time domain.

[0137] The tunnel directional drilling trajectory tracking control device based on a single-bend screw drill tool of this embodiment has the same inventive concept as the tunnel directional drilling trajectory tracking control method based on a single-bend screw drill tool mentioned above. Therefore, the specific implementation method of the device can be seen in the implementation example part of the tunnel directional drilling trajectory tracking control method based on a single-bend screw drill tool mentioned above, and its technical effect corresponds to the technical effect of the above-mentioned method, which will not be repeated here.

[0138] Furthermore, the device further comprises: a feedback correction module, the feedback correction module being used for:

[0139] Determine the predicted value of the trajectory error state according to the optimal control quantity and the trajectory prediction model;

[0140] Determine the size of the trajectory error according to the measured value of the current hole segment trajectory and the predicted value of the trajectory error state;

[0141] The trajectory error discretization model is corrected according to the size of the trajectory error to obtain a corrected trajectory error discretization model; the corrected trajectory error discretization model is used for trajectory tracking control of the next hole section.

[0142] In summary, this application has the following technical effects:

[0143] According to the characteristics of the directional drilling process in coal mines, this application analyzes the geometric relationship of the drill tool posture, studies the extension law of the directional drilling trajectory, and establishes a directional drilling trajectory extension model, which can basically describe the trajectory extension situation in coal mines. A trajectory prediction model is constructed, the objective function is determined, and a feedback correction link is established to effectively determine the control amount required for directional drilling trajectory tracking control. The actual data of the coal mine is used for simulation, and the simulation results show that the method of this application can effectively realize the directional drilling trajectory tracking control in coal mines.

[0144] The above are only various implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A tunnel directional drilling trajectory tracking control method based on a single-bend screw drill, characterized in that: include: Construct directional drilling trajectory extension model; According to the design trajectory and the reference control amount, based on the directional drilling trajectory extension model, a trajectory error model is constructed; the trajectory error model is discretized to obtain a trajectory error discretization model; Setting a prediction time domain and a control time domain, and obtaining a trajectory prediction model according to the trajectory error discretization model; Based on the trajectory prediction model, construct an objective function, and determine a nonlinear programming problem according to the objective function; Solve the nonlinear programming problem to obtain the optimal control quantity in the control time domain.

2. The method according to claim 1, characterized in that The directional drilling trajectory extension model is: x=[x inc x azi ] T in=[in inc in azi ] T in, is the derivative of c, x is the state variable, x inc is the inclination component of x, azi is the azimuthal component of x, For x inc The derivative of For x azi The derivative of , a, b, c are the coefficients of the directional drilling trajectory extension model, u is the control quantity, u inc is the tilt angle control value, u azi is the azimuth control variable, K dls is the rated slope rate, is the nominal value of the designed trajectory.

3. The method according to claim 1, characterized in that The trajectory error discretization model is: in, is the trajectory error state of the current hole segment k, is the trajectory error state of the next hole segment, T is the sampling interval, L is the hole depth interval, and is the coefficient matrix of the trajectory error discretization model, is the control increment of the current hole section k, and a, b, and c are the coefficients of the directional drilling trajectory extension model.

4. The method according to claim 1, characterized in that The trajectory prediction model is: Among them, Y is the predicted trajectory error state of the next hole section, ψ and Φ are the coefficient matrices of the trajectory prediction model, is the trajectory error state of the current hole segment k, U is the trajectory control amount, is the control increment of the current hole segment k, N c To control the time domain, N p For the prediction time domain, is the coefficient matrix of the trajectory error discretization model, and A and B are the coefficient matrices of the trajectory error model.

5. The method according to claim 1, characterized in that The nonlinear programming problem is: H=Φ T QΦ+Z Among them, J is the objective function, U is the trajectory control amount, H and f are the coefficients of the quadratic programming function, ψ and Φ are the coefficient matrices of the trajectory prediction model, Q and Z are the state weight matrix and input weight matrix respectively, is the trajectory error state of the current hole segment k; is the inclination control increment of the k+ith hole section, is the azimuth control increment of the k+ith hole segment, u ii is the minimum value of the tilt control increment, u im is the maximum value of the tilt control increment, u ai is the minimum value of the azimuth control increment, u am is the maximum value of the azimuth control increment, i is the hole depth width of the sliding window, N p For the prediction time domain, st represents the constraint condition.

6. The method according to claim 1, characterized in that The method further comprises: A first control variable of the optimal control variable is used as a current control input, and a tool face angle is determined according to the current control input.

7. The method according to claim 1, characterized in that The method further comprises: Determining a predicted value of a trajectory error state according to the optimal control amount and the trajectory prediction model; Determining the magnitude of the trajectory error according to the measured value of the current hole segment trajectory and the predicted value of the trajectory error state; The trajectory error discretization model is corrected according to the size of the trajectory error to obtain a corrected trajectory error discretization model; the corrected trajectory error discretization model is used for trajectory tracking control of the next hole section.

8. The method according to claim 7, characterized in that The corrected trajectory error discretization model is: in, is the trajectory error state of the current hole segment k The inclination component of is the trajectory error state of the current hole segment k The azimuth component of is the trajectory error state of the next hole segment The inclination component of is the trajectory error state of the next hole segment The azimuth component of the directional drilling trajectory, a, b, c are the coefficients of the directional drilling trajectory extension model, L is the hole depth interval, ω inc is the inclination component of the trajectory error, ω azi is the azimuth component of the trajectory error; is the inclination control increment of the current hole section k, is the azimuth control increment of the current hole segment k; The modified constraints are: in, is the inclination control increment of the k+ith hole section, is the azimuth control increment of the k+ith hole segment, u ii is the minimum value of the tilt control increment, u im is the maximum value of the tilt control increment, u ai is the minimum value of the azimuth control increment, u am is the maximum value of the azimuth control increment, i is the hole depth width of the sliding window, N p is the prediction time domain, ω inc (k+i) is the inclination component of the trajectory error of the k+i-th hole segment, ω azi (k+i) is the azimuth component of the trajectory error of the k+i-th hole segment.

9. A tunnel directional drilling trajectory tracking control device based on a single-bend screw drill, characterized in that: include: A first model building module is used to build a directional drilling trajectory extension model; The second model building module is used to build a trajectory error model based on the directional drilling trajectory extension model according to the design trajectory and the reference control amount; discretize the trajectory error model to obtain a trajectory error discretization model; A third model building module is used to set a prediction time domain and a control time domain, and obtain a trajectory prediction model according to the trajectory error discretization model; A problem construction module, used to construct an objective function based on the trajectory prediction model, and determine a nonlinear programming problem according to the objective function; The solution module is used to solve the nonlinear programming problem and obtain the optimal control quantity in the control time domain.

10. The device according to claim 9, characterized in that The device further comprises: a feedback correction module, wherein the feedback correction module is used to: Determining a predicted value of a trajectory error state according to the optimal control amount and the trajectory prediction model; Determining the magnitude of the trajectory error according to the measured value of the current hole segment trajectory and the predicted value of the trajectory error state; The trajectory error discretization model is corrected according to the size of the trajectory error to obtain a corrected trajectory error discretization model; the corrected trajectory error discretization model is used for trajectory tracking control of the next hole section.

Images