Self-adaptive control method and control system for drilling anchor of airborne drilling arm

Abstract

The invention discloses a self-adaptive control method and a self-adaptive control system for an airborne drill arm and a drill anchor, which relate to the technical field of equipment control, and are used for evaluating the health state of the airborne drill arm and the drill anchor after analyzing operation attitude data through an intelligent model. Dividing the airborne drill arm drill anchor into first-level performance, second-level performance and third-level performance according to a health state division result, analyzing the performance change trend of the airborne drill arm drill anchor when the airborne drill arm drill anchor is in the second-level performance, and obtaining a geological coefficient through an adjustment table when the geological condition is changed; and after the performance change trend and the geological coefficient are combined to obtain an adjustment factor, the initial drilling speed of the airborne drill arm drill anchor is dynamically adjusted based on the adjustment factor. The control system can analyze the geology of the current depth in real time in the drilling process, and dynamically adjust the drilling speed of the airborne drill arm drill anchor in combination with the performance change trend of the airborne drill arm drill anchor, so that the stability of drilling operation is guaranteed, and the construction efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of equipment control, and in particular to an adaptive control method and control system for an airborne drill arm and anchor. Background Art

[0002] The airborne drill arm drill anchor is a device that integrates drilling and anchoring functions. It is usually used in construction scenarios such as tunnel excavation, mine support, and underground engineering. The equipment controls the drill arm through a hydraulic or electric drive system to achieve efficient and accurate drilling, and performs anchoring operations after drilling is completed, such as installing anchor rods, grouting reinforcement, etc.

[0003] The prior art has the following defects:

[0004] During the drilling process of the airborne drill arm, due to the possible differences in geology at different depths underground, the existing airborne drill arm, drill arm and anchor drill adopts a preset drilling speed for construction. When the drilling speed is too high, for geology such as granite and basalt, it may cause damage to the drill tool, drill sticking or reduced drilling accuracy. If the performance of the airborne drill arm and anchor itself is in a downward trend at this time, it may also cause the airborne drill arm and anchor to malfunction in the short term, and the stability of the drilling operation cannot be guaranteed. When the drilling speed is too low, for low-hardness rock formations such as sandstone, shale, and gypsum rock, low-speed drilling will lead to low efficiency, and the drill bit is prone to adhere to rock chips.

[0005] Based on this, the present invention proposes an adaptive control method and control system for an airborne drill arm and drill anchor, which can analyze the geology of the current depth in real time during the drilling process, and dynamically adjust the drilling speed of the airborne drill arm and drill anchor based on the performance change trend of the airborne drill arm and drill anchor itself, which not only ensures the stability of the drilling operation, but also improves the construction efficiency. Summary of the invention

[0006] The object of the present invention is to provide an adaptive control method and control system for an airborne drill arm and anchor drill, so as to solve the deficiencies in the background technology.

[0007] In order to achieve the above object, the present invention provides the following technical solution: an adaptive control method for drilling anchors of an airborne drill arm, the control method comprising the following steps:

[0008] The acquisition end detects the geological conditions at the initial depth through a geological detector, imports the geological conditions into the database for matching, and generates an initial drilling speed for the airborne drill arm and anchor;

[0009] During the drilling process, the operating posture data of the airborne drill arm and the drilling anchor are monitored in real time. After analyzing the operating posture data using the intelligent model, the health status of the airborne drill arm and the drilling anchor is evaluated. Based on the health status classification results, the airborne drill arm and the drilling anchor are divided into primary performance, secondary performance and tertiary performance, and corresponding control strategies are generated for the airborne drill arm and the drilling anchor of the primary performance and the tertiary performance.

[0010] When the airborne drill arm and anchor are at the second level of performance, the performance change trend of the airborne drill arm and anchor is analyzed, and when the geological conditions change, the geological coefficient is obtained through the adjustment table. After the performance change trend is combined with the geological coefficient to obtain the adjustment factor, the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted based on the adjustment factor.

[0011] In a preferred embodiment, after the performance change trend is combined with the geological coefficient to obtain the adjustment factor, the initial drilling speed of the airborne drill arm and the drill anchor is dynamically adjusted based on the adjustment factor, including the following steps:

[0012] The adjustment factor is obtained by combining the abnormal state index of the airborne drill arm and the geological coefficient. The expression is: , where is the regulating factor, is the abnormal state index, F is the geological coefficient;

[0013] When the health of the drill arm is predicted to deteriorate, but the deterioration rate is slow, the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted by adjusting the factor. The expression is: ;

[0014] When the health of the drill arm is predicted to deteriorate steadily and rapidly, the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted by adjusting the factor. The expression is: , where To adjust the drilling speed, is the initial drilling speed, is the adjustment factor.

[0015] In a preferred embodiment, when the performance of the airborne drill arm and the drilling anchor is level 2, analyzing the performance change trend of the airborne drill arm and the drilling anchor comprises the following steps:

[0016] After collecting the abnormal state index of the airborne drill arm and anchor at each time interval, the change rate of the abnormal state index and the standard deviation of the abnormal state index are calculated:

[0017] Predict performance change trends based on abnormal state index change rate and abnormal state index standard deviation:

[0018] If the abnormal state index change rate is greater than the change rate threshold, and the abnormal state index standard deviation is less than or equal to the standard deviation threshold, it is predicted that the health of the drill arm is steadily deteriorating, and the deterioration speed is fast;

[0019] The abnormal state index change rate is greater than the change rate threshold, and the abnormal state index standard deviation is greater than the standard deviation threshold, which predicts that the health of the drill arm is deteriorating, but the deterioration rate is slow;

[0020] The abnormal state index change rate is less than the change rate threshold, and the abnormal state index standard deviation is less than or equal to the standard deviation threshold, which indicates that the health of the drill arm is improving steadily and rapidly.

[0021] The abnormal state index change rate is less than the change rate threshold, and the abnormal state index standard deviation is greater than the standard deviation threshold, which indicates that the health of the drill arm is improving, but the improvement speed is slow;

[0022] The abnormal status index change rate is equal to the change rate threshold, indicating that the health status continues to remain unchanged.

[0023] In a preferred embodiment, after analyzing the operation posture data using the intelligent model, the health status of the onboard drill arm and anchor is evaluated, including the following steps:

[0024] The collected running posture data vector It is expressed as:

[0025] , where are the pitch angle, yaw angle and roll angle of the drill arm respectively. is the acceleration of the drill arm, is the angular velocity of the drill arm, is the drilling torque, is the hydraulic system pressure;

[0026] Calculate attitude stability deviation, including angle deviation, vibration deviation and rotational angular velocity deviation;

[0027] The abnormal state index is obtained by weighted calculation of angle deviation, vibration deviation, rotation angular velocity deviation, drilling torque and hydraulic system pressure;

[0028] The acquired abnormal state index is compared with a preset second abnormal threshold, where the second abnormal threshold is used to evaluate whether the health state of the onboard drill arm and the drill anchor supports operation;

[0029] If the abnormal state index is less than or equal to the second abnormal threshold, it is evaluated that the health state of the onboard drill arm and the drilling anchor supports operation; if the abnormal state index is greater than the second abnormal threshold, it is evaluated that the health state of the onboard drill arm and the drilling anchor does not support operation.

[0030] In a preferred embodiment, the airborne drill arm drilling anchor is divided into primary performance, secondary performance and tertiary performance according to the health status division result, including the following steps:

[0031] The acquired abnormal state index is compared with a first abnormal threshold and a second abnormal threshold, the first abnormal threshold is less than the second abnormal threshold, and the first abnormal threshold is used to analyze whether the performance of the airborne drill arm and anchor drilling is reduced;

[0032] If the abnormal state index is less than or equal to the first abnormal threshold, it is analyzed that the performance of the airborne drill arm and anchor drilling has not decreased, and the airborne drill arm and anchor drilling is classified as the first-level performance;

[0033] If the abnormal state index is greater than the first abnormal threshold, and the abnormal state index is less than or equal to the second abnormal threshold, the performance degradation of the airborne drill arm and the anchor is analyzed, and the airborne drill arm and the anchor is classified into the second level of performance;

[0034] If the abnormal state index is greater than the second abnormal threshold, the performance of the airborne drill arm and anchor is severely degraded, and the airborne drill arm and anchor are divided into three levels of performance.

[0035] In a preferred embodiment, the angle deviation The calculation expression is:

[0036] , where , , are the pitch angle, yaw angle, and roll angle under ideal conditions;

[0037] The vibration deviation The calculation expression is:

[0038] , where , , is the drill arm acceleration under ideal conditions;

[0039] The rotational angular velocity deviation The calculation expression is:

[0040] , where , , is the angular velocity of the drill arm under ideal conditions.

[0041] In a preferred embodiment, corresponding control strategies are generated for the airborne drill boom and drill anchor with level one and level three performance, including not controlling the level one performance, allowing the airborne drill boom and drill anchor with level one performance to continue running at the initial drilling speed, controlling the airborne drill boom and drill anchor with level three performance to stop running, and sending a warning signal to the administrator.

[0042] In a preferred embodiment, the acquisition end detects the geological conditions of the initial depth through a geological detector, imports the geological conditions into a database for matching, and generates an initial drilling speed for the airborne drill arm and anchor, including the following steps:

[0043] The acquisition end activates the geological detector and prepares to conduct geological surveys at the drilling location. It uses ultrasonic, seismic, microseismic, geomagnetic or resistivity sensors to detect geological conditions and record the hardness, cracks, water content and density parameters of the strata. Before drilling, the initial depth of the borehole is surveyed to obtain the geological conditions of the first layer.

[0044] The formation hardness, density, and water content parameters are stored in the database, and a link is established with historical construction data. The database is queried to find historical construction cases that match the current geological conditions and extract the drilling speed of similar formations.

[0045] In a preferred embodiment, searching for historical construction cases that match current geological conditions and extracting drilling speeds for similar formations includes the following steps:

[0046] Represent the currently detected geological conditions as a geological parameter vector: ,in: is the current formation hardness, Current rock density, is the current moisture content, is the current porosity, is the current cuttings discharge;

[0047] The historical construction cases stored in the database are represented as: , where represents the geological parameter vector of the i-th historical construction case, represents the ground hardness of the i-th historical construction case, represents the rock density of the i-th historical construction case, represents the moisture content of the i-th historical construction case, represents the porosity of the i-th historical construction case, represents the drilling cuttings discharge of the i-th historical construction case;

[0048] The calculation formula for cosine similarity is: , where Score the similarity. is the dot product of the current geological parameter vector and the geological parameter vector of the i-th historical construction case, is the norm of the current geological parameter vector, is the norm of the geological parameter vector of the i-th historical construction case;

[0049] Select the case with the highest similarity: , where To select historical construction cases, For similarity scoring, the drilling speed of the historical construction case is selected as the initial drilling speed for the current construction.

[0050] An adaptive control system for an airborne drilling arm and anchor includes an initialization module, a state evaluation module, a performance division module, and an adjustment module;

[0051] Initialization module: detects the geological conditions at the initial depth through a geological detector, imports the geological conditions into the database for matching, and generates an initial drilling speed for the airborne drill arm and anchor;

[0052] Status assessment module: During the drilling process, the operating posture data of the onboard drill arm and anchor are monitored in real time. After analyzing the operating posture data using the intelligent model, the health status of the onboard drill arm and anchor is assessed.

[0053] Performance classification module: The airborne drill arm and anchor are classified into primary performance, secondary performance and tertiary performance according to the health status classification results, and corresponding control strategies are generated for the airborne drill arm and anchor with primary performance and tertiary performance;

[0054] Adjustment module: When the airborne drill arm and drilling anchor are at the second-level performance, the performance change trend of the airborne drill arm and drilling anchor is analyzed, and when the geological conditions change, the geological coefficient is obtained through the adjustment table. After combining the performance change trend with the geological coefficient to obtain the adjustment factor, the initial drilling speed of the airborne drill arm and drilling anchor is dynamically adjusted based on the adjustment factor.

[0055] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0056] After analyzing the operation posture data through the intelligent model, the present invention evaluates the health status of the airborne drill arm and anchor, and divides the airborne drill arm and anchor into primary performance, secondary performance and tertiary performance according to the health status classification result. When the airborne drill arm and anchor are of secondary performance, the performance change trend of the airborne drill arm and anchor is analyzed, and when the geological conditions change, the geological coefficient is obtained through the adjustment table, and the performance change trend is combined with the geological coefficient to obtain the adjustment factor, and the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted based on the adjustment factor. During the drilling process, the control system can analyze the geology of the current depth in real time, and then dynamically adjust the drilling speed of the airborne drill arm and anchor in combination with the performance change trend of the airborne drill arm and anchor itself, which not only ensures the stability of the drilling operation, but also improves the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0058] Figure 1 The present invention is a flow chart of the method. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Example 1: Please refer to Figure 1 As shown, the adaptive control method of an airborne drill arm anchoring described in this embodiment includes the following steps:

[0061] The acquisition end detects the geological conditions at the initial depth through a geological detector, imports the geological conditions into the database for matching, and generates an initial drilling speed for the airborne drill arm and anchor, including the following steps:

[0062] The acquisition end activates the geological detector and prepares to conduct geological surveys at the drilling location. It uses ultrasonic, seismic, microseismic, geomagnetic or resistivity sensors to detect geological conditions and record parameters such as the hardness, cracks, water content, and density of the strata. Before drilling, it conducts a detailed survey of the initial depth of the borehole (such as 0-1 meter range) to obtain the geological conditions of the first layer.

[0063] The acquisition end formats the detected raw data, such as converting it into numerical tables, two-dimensional profiles, etc., stores key parameters such as stratum hardness, density, and water content into the database, establishes a connection with historical construction data, queries the database, finds historical construction cases that best match current geological conditions, and extracts the best drilling parameters for similar strata, including drilling speed.

[0064] Generally speaking, geological classification and parameter adjustment are as follows:

[0065] Soft rock (such as sandstone, shale): It is recommended to use a faster initial drilling speed (such as 50-70 mm / min).

[0066] Medium hard rock (such as limestone, muddy sandstone): medium drilling speed (such as 30-50 mm / min) is recommended.

[0067] Hard rock (such as granite, basalt): It is recommended to start with a lower drilling speed (such as 10-30 mm / min).

[0068] According to the current drill bit type (such as PDC drill bit, alloy drill bit), the safe drilling speed range is set. If the drill bit has good wear resistance, the drilling speed can be appropriately increased. The upper and lower limits of the drilling speed are set to ensure that the drilling tool is not overloaded and the drilling is not unstable. The acquisition end sends the calculated initial drilling speed and other parameters to the airborne drill arm control system. After receiving the parameters, the airborne drill arm adjusts the hydraulic system and the rotating motor to perform the drilling operation according to the recommended drilling speed.

[0069] In order to find the historical construction case that best matches the current geological conditions in the database, we can use cosine similarity to calculate the similarity of geological parameters. The higher the similarity, the closer the geological conditions of the historical case are to the current formation, and we can extract its optimal drilling parameters (such as drilling speed, thrust, rotation torque, etc.) for the current construction.

[0070] Constructing geological parameter vector: geological conditions usually include multiple key parameters, including formation hardness (unit: MPa), rock density (unit: g / cm³), water content (unit: %), porosity (unit: %), and cuttings discharge (unit: L / min);

[0071] Assume that the currently detected geological conditions are represented as a geological parameter vector: ,in: is the current formation hardness, Current rock density, is the current moisture content, is the current porosity, is the current cuttings discharge, and the historical construction cases stored in the database are expressed as: , where represents the geological parameter vector of the i-th historical construction case, represents the ground hardness of the i-th historical construction case, represents the rock density of the i-th historical construction case, represents the moisture content of the i-th historical construction case, represents the porosity of the i-th historical construction case, represents the drilling cuttings discharge of the i-th historical construction case.

[0072] The calculation formula for cosine similarity is: , where Score the similarity. is the dot product of the current geological parameter vector and the geological parameter vector of the i-th historical construction case, is the norm of the current geological parameter vector, is the norm of the geological parameter vector of the i-th historical construction case.

[0073] Select the case with the highest similarity, i.e. , where To select historical construction cases, is the similarity score, arg max represents “the independent variable that makes the following function reach the maximum value”, and the drilling speed of the historical construction case is selected as the initial drilling speed of the current construction.

[0074] During the drilling process, the operating posture data of the onboard drill arm and anchor are monitored in real time. After the operating posture data is analyzed using the intelligent model, the health status of the onboard drill arm and anchor is evaluated, including the following steps:

[0075] During the drilling process, multiple sensors are used to collect the operating posture data of the onboard drill arm and anchor, including but not limited to:

[0076] Angle sensor: monitors the pitch angle, yaw angle and roll angle of the drill arm;

[0077] Acceleration sensor: detects abnormal vibration of the drill arm;

[0078] Gyroscope: records the rotational angular velocity of the drill arm and monitors stability. Torque sensor: detects changes in drilling torque and determines abnormal force conditions.

[0079] Pressure sensor: monitors the hydraulic system pressure and determines whether the power is abnormal.

[0080] The collected running posture data vector It is expressed as:

[0081] , where are the pitch angle, yaw angle and roll angle of the drill arm respectively. is the acceleration of the drill arm, is the angular velocity of the drill arm, is the drilling torque, is the hydraulic system pressure.

[0082] Calculate attitude stability deviation, including angle deviation, vibration deviation and rotational angular velocity deviation;

[0083] Angle deviation The calculation expression is:

[0084] , where , , These are the pitch angle, yaw angle, and roll angle under ideal conditions. The larger the angle deviation, the more unstable the drill arm posture.

[0085] Vibration deviation The calculation expression is:

[0086] , where , , This is the drill arm acceleration under ideal conditions. If the vibration deviation is too large, it means that the drill arm is subjected to excessive impact or abnormal vibration.

[0087] Rotational angular velocity deviation The calculation expression is:

[0088] , where , , is the angular velocity of the drill arm under ideal conditions. If the angular velocity deviation is too large, it means that the drill arm rotates violently and is unstable.

[0089] The angle deviation, vibration deviation, rotation angular velocity deviation, drilling torque and hydraulic system pressure are weighted to obtain the abnormal state index. The intelligent model expression is:

[0090] , where is the abnormal state index, is the angle deviation, is the vibration deviation, is the rotation angular velocity deviation, is the drilling torque, is the hydraulic system pressure, is the benchmark drilling torque, is the base hydraulic system pressure, , , , , is the weight coefficient, and the weight coefficient is greater than 0. The larger the abnormal state index is, the worse the drill boom state is.

[0091] The acquired abnormal state index is compared with a preset second abnormal threshold value, and the second abnormal threshold value is used to evaluate whether the health state of the onboard drill arm and drill anchor supports operation. If the abnormal state index is less than or equal to the second abnormal threshold value, it is evaluated that the health state of the onboard drill arm and drill anchor supports operation; if the abnormal state index is greater than the second abnormal threshold value, it is evaluated that the health state of the onboard drill arm and drill anchor does not support operation.

[0092] According to the health status classification results, the airborne drill arm and anchor are divided into first-level performance, second-level performance and third-level performance, including the following steps:

[0093] The acquired abnormal state index is compared with a first abnormal threshold and a second abnormal threshold, the first abnormal threshold is less than the second abnormal threshold, and the first abnormal threshold is used to analyze whether the performance of the airborne drill arm and anchor drilling is reduced;

[0094] If the abnormal state index is less than or equal to the first abnormal threshold, it is analyzed that the performance of the airborne drill arm and the anchor drilling has not decreased, and the airborne drill arm and the anchor drilling is classified as the first-level performance, that is, the optimal performance;

[0095] If the abnormal state index is greater than the first abnormal threshold, and the abnormal state index is less than or equal to the second abnormal threshold, the performance degradation of the airborne drill arm and anchor is analyzed, and the airborne drill arm and anchor is classified into the second level performance, i.e., medium performance;

[0096] If the abnormal state index is greater than the second abnormal threshold, the performance of the airborne drill arm and anchor is severely degraded, and the airborne drill arm and anchor are divided into three levels of performance.

[0097] Corresponding control strategies are generated for the airborne drill arm and anchor drills of level one and level three performance, including not controlling the level one performance, allowing the airborne drill arm and anchor drills of level one performance to continue to operate at the initial drilling speed, controlling the airborne drill arm and anchor drills of level three performance to stop operating, and sending a warning signal to the administrator.

[0098] When the performance of the airborne drill arm and the anchor is at the second level, the performance change trend of the airborne drill arm and the anchor is analyzed, including the following steps:

[0099] Set a fixed time interval Δt (such as 5s, 10s, 1min) for data collection and set the analysis time window (e.g. 10min, 30min, 1h), calculate the abnormal state index change trend within the window;

[0100] After collecting the abnormal state index of the airborne drilling arm and anchor at each time interval, the change rate of the abnormal state index is calculated, and the expression is: , where is the rate of change of the abnormal state index, , are the last and first abnormal state index values ​​in the monitoring time window, respectively. is the monitoring time window; the rate of change reflects whether the abnormal state of the drilling anchor of the airborne drill arm is aggravated, stable or improved;

[0101] In order to determine whether the abnormal state fluctuates violently, the standard deviation of the abnormal state index is calculated:

[0102] , where is the standard deviation of the abnormal state index, To monitor the number of time points, is the abnormal state index at the i-th time point, is the mean of the abnormal state index. The standard deviation of the abnormal state index reflects the fluctuation of the abnormal state. If the standard deviation of the abnormal state index is too large, it means that the abnormal state is unstable.

[0103] Predict performance change trends based on abnormal state index change rate and abnormal state index standard deviation:

[0104] The abnormal state index change rate is greater than 0 (change rate threshold), and the abnormal state index standard deviation is less than or equal to the standard deviation threshold, which indicates that the health of the drill arm is steadily deteriorating, and the deterioration rate is fast;

[0105] The abnormal state index change rate is greater than 0, and the abnormal state index standard deviation is greater than the standard deviation threshold, which predicts that the health of the drill arm is deteriorating, but the deterioration rate is slow;

[0106] The abnormal state index change rate is less than 0, and the abnormal state index standard deviation is less than or equal to the standard deviation threshold, which indicates that the health of the drill arm is improving steadily and rapidly;

[0107] When the abnormal state index change rate is less than 0 and the abnormal state index standard deviation is greater than the standard deviation threshold, it is predicted that the health status of the drill boom is improving, but the improvement speed is slow.

[0108] The abnormal status index change rate is equal to 0, indicating that the health status remains unchanged.

[0109] When the geological conditions change, the geological coefficient is obtained through the adjustment table, and the adjustment table is shown in Table 1:

[0110] Table 1: Drilling speed and geological coefficient adjustment table

[0111] Geological category Recommended drilling speed Geological coefficient F Soft soil 1200-1500 1.00 Clay layer 800-1200 0.80 Sandstone Layer 500-800 0.60 Gneiss layer 300-500 0.40 Granite Layer 100-300 0.20

[0112] The drilling speed and geological coefficient adjustment table is mainly used to obtain the corresponding geological coefficient through the recommended drilling speed when the geological conditions change, so as to adjust the drilling strategy of the airborne drill arm and drill anchor.

[0113] When geological conditions change during drilling, the table can be used to adjust the drilling speed to optimize drilling efficiency and reduce drilling tool loss. The control system of the onboard drill arm and anchor can match the corresponding geological coefficient according to the real-time monitored drilling speed and adjust the drilling strategy in a timely manner.

[0114] Summary: The softer the formation, the faster the drilling speed and the greater the geological coefficient. The harder the formation, the slower the drilling speed and the smaller the geological coefficient. This table can be used in automatic control systems to achieve intelligent adjustment of drilling parameters, improve construction efficiency and equipment service life.

[0115] After the performance change trend is combined with the geological coefficient to obtain the adjustment factor, the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted based on the adjustment factor, including the following steps:

[0116] When the health of the drill arm is predicted to deteriorate, but the deterioration rate is slow, the adjustment factor is obtained by combining the abnormal state index of the drill anchor of the airborne drill arm with the geological coefficient. The expression is:

[0117] , where is the regulating factor, is the abnormal state index, F is the geological coefficient. The larger the abnormal state index is, the worse the health of the onboard drill arm and drill anchor is, and the more it is necessary to reduce the drilling speed. The larger the geological coefficient is, the softer the geology is, and the more it is necessary to increase the drilling speed.

[0118] The initial drilling speed of the airborne drill arm and anchor is dynamically adjusted by adjusting the factor, and the expression is:

[0119] , where To adjust the drilling speed, is the initial drilling speed, It is the adjustment factor. When it is predicted that the health of the drill arm is deteriorating, but the deterioration rate is slowing down, the adjustment amplitude of the drilling speed can be reduced by taking the square root of the adjustment factor.

[0120] When the health of the drill arm is predicted to deteriorate steadily and rapidly, the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted by adjusting the factor. The expression is: , where To adjust the drilling speed, is the initial drilling speed, is the adjustment factor.

[0121] After analyzing the operation posture data through the intelligent model, this application evaluates the health status of the airborne drill arm and anchor, and divides the airborne drill arm and anchor into primary performance, secondary performance and tertiary performance according to the health status classification results. When the airborne drill arm and anchor are at the secondary performance, the performance change trend of the airborne drill arm and anchor is analyzed, and when the geological conditions change, the geological coefficient is obtained through the adjustment table, and the performance change trend is combined with the geological coefficient to obtain the adjustment factor, and the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted based on the adjustment factor. During the drilling process, the control system can analyze the geology of the current depth in real time, and then dynamically adjust the drilling speed of the airborne drill arm and anchor in combination with the performance change trend of the airborne drill arm and anchor itself, which not only ensures the stability of the drilling operation, but also improves the construction efficiency.

[0122] Embodiment 2: The adaptive control system of an airborne drilling arm and anchor drilling described in this embodiment includes an initialization module, a state evaluation module, a performance division module, and an adjustment module;

[0123] Initialization module: detects the geological conditions at the initial depth through a geological detector, imports the geological conditions into the database for matching, and generates an initial drilling speed for the airborne drill arm and anchor. The initial drilling speed is transmitted to the adjustment module;

[0124] Status evaluation module: During the drilling process, the operating posture data of the onboard drill arm and anchor are monitored in real time. After analyzing the operating posture data using the intelligent model, the health status of the onboard drill arm and anchor is evaluated and sent to the performance division module.

[0125] Performance division module: divides the airborne drill arm and anchor into primary performance, secondary performance and tertiary performance according to the health status division result, generates corresponding control strategies for the airborne drill arm and anchor of primary performance and tertiary performance, and sends the performance division result to the adjustment module;

[0126] Adjustment module: When the airborne drill arm and drilling anchor are at the second-level performance, the performance change trend of the airborne drill arm and drilling anchor is analyzed, and when the geological conditions change, the geological coefficient is obtained through the adjustment table. After combining the performance change trend with the geological coefficient to obtain the adjustment factor, the initial drilling speed of the airborne drill arm and drilling anchor is dynamically adjusted based on the adjustment factor.

[0127] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0128] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0129] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An adaptive control method for drilling anchors of an airborne drill arm, characterized in that: The control method comprises the following steps: The acquisition end detects the geological conditions at the initial depth through a geological detector, imports the geological conditions into the database for matching, and generates an initial drilling speed for the airborne drill arm and anchor; During the drilling process, the operating posture data of the airborne drill arm and the drilling anchor are monitored in real time. After analyzing the operating posture data using the intelligent model, the health status of the airborne drill arm and the drilling anchor is evaluated. Based on the health status classification results, the airborne drill arm and the drilling anchor are divided into primary performance, secondary performance and tertiary performance, and corresponding control strategies are generated for the airborne drill arm and the drilling anchor of the primary performance and the tertiary performance. When the airborne drill arm and anchor are at the second level of performance, the performance change trend of the airborne drill arm and anchor is analyzed, and when the geological conditions change, the geological coefficient is obtained through the adjustment table. After the performance change trend is combined with the geological coefficient to obtain the adjustment factor, the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted based on the adjustment factor.

2. The adaptive control method for drilling anchor of an airborne drill arm according to claim 1, characterized in that: After the performance change trend is combined with the geological coefficient to obtain the adjustment factor, the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted based on the adjustment factor, including the following steps: The adjustment factor is obtained by combining the abnormal state index of the airborne drill arm and the geological coefficient. The expression is: , where is the regulating factor, is the abnormal state index, F is the geological coefficient; When the health of the drill arm is predicted to deteriorate, but the deterioration rate is slow, the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted by adjusting the factor. The expression is: ; When the health of the drill arm is predicted to deteriorate steadily and rapidly, the initial drilling speed of the airborne drill arm and anchor is dynamically adjusted by adjusting the factor. The expression is: , where To adjust the drilling speed, is the initial drilling speed, is the adjustment factor.

3. The adaptive control method for drilling anchor of an airborne drill arm according to claim 2, characterized in that: When the performance of the airborne drill arm and the anchor is at the second level, the performance change trend of the airborne drill arm and the anchor is analyzed, including the following steps: After collecting the abnormal state index of the airborne drill arm and anchor at each time interval, the change rate of the abnormal state index and the standard deviation of the abnormal state index are calculated: Predict performance change trends based on abnormal state index change rate and abnormal state index standard deviation: If the abnormal state index change rate is greater than the change rate threshold, and the abnormal state index standard deviation is less than or equal to the standard deviation threshold, it is predicted that the health of the drill arm is steadily deteriorating, and the deterioration speed is fast; The abnormal state index change rate is greater than the change rate threshold, and the abnormal state index standard deviation is greater than the standard deviation threshold, which predicts that the health of the drill arm is deteriorating, but the deterioration rate is slow; The abnormal state index change rate is less than the change rate threshold, and the abnormal state index standard deviation is less than or equal to the standard deviation threshold, which indicates that the health of the drill arm is improving steadily and rapidly. The abnormal state index change rate is less than the change rate threshold, and the abnormal state index standard deviation is greater than the standard deviation threshold, which indicates that the health of the drill arm is improving, but the improvement speed is slow; The abnormal status index change rate is equal to the change rate threshold, indicating that the health status continues to remain unchanged.

4. The adaptive control method for drilling anchor of an airborne drill arm according to claim 3, characterized in that: After analyzing the operating posture data using the intelligent model, the health status of the onboard drill arm and anchor is evaluated, including the following steps: The collected running posture data vector It is expressed as: , where are the pitch angle, yaw angle and roll angle of the drill arm respectively. is the acceleration of the drill arm, is the angular velocity of the drill arm, is the drilling torque, is the hydraulic system pressure; Calculate attitude stability deviation, including angle deviation, vibration deviation and rotational angular velocity deviation; The abnormal state index is obtained by weighted calculation of angle deviation, vibration deviation, rotation angular velocity deviation, drilling torque and hydraulic system pressure; The acquired abnormal state index is compared with a preset second abnormal threshold, where the second abnormal threshold is used to evaluate whether the health state of the onboard drill arm and the drill anchor supports operation; If the abnormal state index is less than or equal to the second abnormal threshold, it is evaluated that the health state of the onboard drill arm and the drilling anchor supports operation; if the abnormal state index is greater than the second abnormal threshold, it is evaluated that the health state of the onboard drill arm and the drilling anchor does not support operation.

5. The adaptive control method for drilling anchor of an airborne drill arm according to claim 4, characterized in that: According to the health status classification results, the airborne drill arm and anchor are divided into first-level performance, second-level performance and third-level performance, including the following steps: The acquired abnormal state index is compared with a first abnormal threshold and a second abnormal threshold, the first abnormal threshold is less than the second abnormal threshold, and the first abnormal threshold is used to analyze whether the performance of the airborne drill arm and anchor drilling is reduced; If the abnormal state index is less than or equal to the first abnormal threshold, it is analyzed that the performance of the airborne drill arm and anchor drilling has not decreased, and the airborne drill arm and anchor drilling is classified as the first-level performance; If the abnormal state index is greater than the first abnormal threshold, and the abnormal state index is less than or equal to the second abnormal threshold, the performance degradation of the airborne drill arm and the anchor is analyzed, and the airborne drill arm and the anchor is classified into the second level of performance; If the abnormal state index is greater than the second abnormal threshold, the performance of the airborne drill arm and anchor is severely degraded, and the airborne drill arm and anchor are divided into three levels of performance.

6. The adaptive control method for drilling anchor of an airborne drill arm according to claim 5, characterized in that: The angle deviation The calculation expression is: , where , , are the pitch angle, yaw angle, and roll angle under ideal conditions; The vibration deviation The calculation expression is: , where , , is the drill arm acceleration under ideal conditions; The rotational angular velocity deviation The calculation expression is: , where , , is the angular velocity of the drill arm under ideal conditions.

7. The adaptive control method for drilling anchor of an airborne drill arm according to claim 6, characterized in that: Corresponding control strategies are generated for the airborne drill arm and anchor drills of level one and level three performance, including not controlling the level one performance, allowing the airborne drill arm and anchor drills of level one performance to continue to operate at the initial drilling speed, controlling the airborne drill arm and anchor drills of level three performance to stop operating, and sending a warning signal to the administrator.

8. The adaptive control method for drilling anchor of an airborne drill arm according to claim 7, characterized in that: The acquisition end detects the geological conditions at the initial depth through a geological detector, imports the geological conditions into the database for matching, and generates an initial drilling speed for the airborne drill arm and anchor, including the following steps: The acquisition end activates the geological detector and prepares to conduct geological surveys at the drilling location. It uses ultrasonic, seismic, microseismic, geomagnetic or resistivity sensors to detect geological conditions and record the hardness, cracks, water content and density parameters of the strata. Before drilling, the initial depth of the borehole is surveyed to obtain the geological conditions of the first layer. The formation hardness, density, and water content parameters are stored in the database, and a link is established with historical construction data. The database is queried to find historical construction cases that match the current geological conditions and extract the drilling speed of similar formations.

9. The adaptive control method for drilling anchor of an airborne drill arm according to claim 8, characterized in that: Find historical construction cases that match the current geological conditions and extract drilling rates for similar formations, including the following steps: Represent the currently detected geological conditions as a geological parameter vector: ,in: is the current formation hardness, Current rock density, is the current moisture content, is the current porosity, is the current cuttings discharge; The historical construction cases stored in the database are represented as: , where represents the geological parameter vector of the i-th historical construction case, represents the ground hardness of the i-th historical construction case, represents the rock density of the i-th historical construction case, represents the moisture content of the i-th historical construction case, represents the porosity of the i-th historical construction case, represents the drilling cuttings discharge of the i-th historical construction case; The calculation formula for cosine similarity is: , where Score the similarity. is the dot product of the current geological parameter vector and the geological parameter vector of the i-th historical construction case, is the norm of the current geological parameter vector, is the norm of the geological parameter vector of the i-th historical construction case; Select the case with the highest similarity: , where To select historical construction cases, For similarity scoring, the drilling speed of the historical construction case is selected as the initial drilling speed for the current construction.

10. An adaptive control system for an airborne drill arm and anchor, used to implement the control method according to any one of claims 1 to 9, characterized in that: It includes initialization module, state evaluation module, performance division module and adjustment module; Initialization module: detects the geological conditions at the initial depth through a geological detector, imports the geological conditions into the database for matching, and generates an initial drilling speed for the airborne drill arm and anchor; Status assessment module: During the drilling process, the operating posture data of the onboard drill arm and anchor are monitored in real time. After analyzing the operating posture data using the intelligent model, the health status of the onboard drill arm and anchor is assessed. Performance classification module: The airborne drill arm and anchor are classified into primary performance, secondary performance and tertiary performance according to the health status classification results, and corresponding control strategies are generated for the airborne drill arm and anchor with primary performance and tertiary performance; Adjustment module: When the airborne drill arm and drilling anchor are at the second-level performance, the performance change trend of the airborne drill arm and drilling anchor is analyzed, and when the geological conditions change, the geological coefficient is obtained through the adjustment table. After combining the performance change trend with the geological coefficient to obtain the adjustment factor, the initial drilling speed of the airborne drill arm and drilling anchor is dynamically adjusted based on the adjustment factor.

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