An Adaptive Control Method and Control System for an Airborne Drill Boom Drilling Anchor

Abstract

The present invention discloses an adaptive control method and control system for an airborne drill arm for drilling and anchoring, which relates to the technical field of equipment control. After analyzing the operating attitude data through an intelligent model, the health state of the airborne drill arm for drilling and anchoring is evaluated, and the airborne drill arm for drilling and anchoring is divided into first-level performance, second-level performance, and third-level performance according to the division result of the health state. When the airborne drill arm for drilling and anchoring is of second-level performance, the performance change trend of the airborne drill arm for drilling and anchoring is analyzed, and when the geological conditions change, a geological coefficient is obtained through an adjustment table. After combining the performance change trend with the geological coefficient to obtain an adjustment factor, the initial drilling speed of the airborne drill arm for drilling and anchoring is dynamically adjusted based on the adjustment factor. The control system can, during the drilling process, analyze the geology at the current depth in real time, and then combine the performance change trend of the airborne drill arm for drilling and anchoring itself to dynamically adjust the drilling speed of the airborne drill arm for drilling and anchoring, which not only ensures the stability of the drilling operation but also improves the construction efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment control, and particularly to an adaptive control method and control system for an airborne drill boom drilling and anchoring device. Background Art

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

[0003] The prior art has the following defects:

[0004] During the drilling process of an airborne drill boom drilling and anchoring device, due to possible differences in geology at different depths underground, the existing airborne drill boom drilling and anchoring device constructs at a preset drilling speed. When the drilling speed is too large, for geological conditions such as granite and basalt, it may cause damage to the drill tool, drill sticking, or a decrease in drilling accuracy. If the performance of the airborne drill boom drilling and anchoring device itself is in a downward trend at this time, it may also cause the airborne drill boom drilling and anchoring device to malfunction in the short term, unable to ensure the stability of the drilling operation. When the drilling speed is too small, for low-hardness rock formations such as sandstone, shale, and gypsum rock, low-speed drilling will result in low efficiency, and the drill bit is prone to adhering to rock debris.

[0005] Based on this, the present invention proposes an adaptive control method and control system for an airborne drill boom drilling and anchoring device, which can analyze the geology at the current depth in real time during the drilling process, and then dynamically adjust the drilling speed of the airborne drill boom drilling and anchoring device in combination with the change trend of the performance of the airborne drill boom drilling and anchoring device itself, not only ensuring the stability of the drilling operation, but also improving the construction efficiency. Summary of the Invention

[0006] The purpose of the present invention is to provide an adaptive control method and control system for an airborne drill boom drilling and anchoring device to solve the deficiencies in the background art.

[0007] To achieve the above purpose, the present invention provides the following technical solution: An adaptive control method for an airborne drill boom drilling and anchoring device, the control method comprising the following steps:

[0008] The acquisition end detects the geological conditions at the initial depth through a geological detector, and after importing the geological conditions into the database for matching, generates an initial drilling speed for the airborne drill boom drilling and anchoring device;

[0009] During the drilling process, the operating attitude data of the airborne drill arm and drill anchor are monitored in real time. After analyzing the operating attitude data using an intelligent model, the health status of the airborne drill arm and drill anchor is evaluated, and the airborne drill arm and drill anchor are classified into first-level performance, second-level performance, and third-level performance according to the classification results of the health status. Corresponding control strategies are generated for the airborne drill arm and drill anchor with first-level performance and third-level performance;

[0010] When the airborne drill arm and drill anchor have second-level performance, analyze the performance change trend of the airborne drill arm and drill anchor. When the geological conditions change, obtain the geological coefficient through the adjustment table. After combining the performance change trend with the geological coefficient to obtain the adjustment factor, dynamically adjust the initial drilling speed of the airborne drill arm and drill anchor based on the adjustment factor.

[0011] In a preferred embodiment, after combining the performance change trend with the geological coefficient to obtain the adjustment factor, dynamically adjusting the initial drilling speed of the airborne drill arm and drill anchor includes the following steps:

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

[0013] When it is predicted that the health condition of the drill arm is deteriorating, but the deterioration speed is slowing down, dynamically adjust the initial drilling speed of the airborne drill arm and drill anchor through the adjustment factor. The expression is: ;

[0014] When it is predicted that the health condition of the drill arm is deteriorating steadily and the deterioration speed is fast, dynamically adjust the initial drilling speed of the airborne drill arm and drill anchor through the adjustment factor. The expression is: , where is the adjusted drilling speed, is the initial drilling speed, is the adjustment factor.

[0015] In a preferred embodiment, when the airborne drill arm and drill anchor have second-level performance, analyzing the performance change trend of the airborne drill arm and drill anchor includes the following steps:

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

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

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

[0019] The change rate of the abnormal state index is greater than the change rate threshold, and the standard deviation of the abnormal state index is greater than the standard deviation threshold. It is predicted that the health condition of the drill arm is deteriorating, but the deterioration speed is slowing down;

[0020] The change rate of the abnormal state index is less than the change rate threshold, and the standard deviation of the abnormal state index is less than or equal to the standard deviation threshold. It is predicted that the health condition of the drill arm is improving steadily, and the improvement speed is fast;

[0021] The change rate of the abnormal state index is less than the change rate threshold, and the standard deviation of the abnormal state index is greater than the standard deviation threshold. It is predicted that the health condition of the drill arm is improving, but the improvement speed is slowing down;

[0022] The change rate of the abnormal state index is equal to the change rate threshold, indicating that the health condition remains unchanged.

[0023] In a preferred embodiment, after analyzing the running attitude data using an intelligent model, the health state of the airborne drill arm for drilling and anchoring is evaluated, including the following steps:

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

[0025] , where are respectively the pitch angle, yaw angle, and roll angle of the drill arm, 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 the attitude stability deviation, including the angle deviation, vibration deviation, and rotational angular velocity deviation;

[0027] Weight the angle deviation, vibration deviation, rotational angular velocity deviation, drilling torque, and hydraulic system pressure to calculate the abnormal state index;

[0028] Compare the obtained abnormal state index with a preset second abnormal threshold, which is used to evaluate whether the health state of the airborne drill arm for drilling and anchoring 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 airborne drill arm for drilling and anchoring supports operation. If the abnormal state index is greater than the second abnormal threshold, it is evaluated that the health state of the airborne drill arm for drilling and anchoring does not support operation.

[0030] In a preferred embodiment, according to the health state classification result, the airborne drill arm for drilling and anchoring is divided into first-level performance, second-level performance, and third-level performance, including the following steps:

[0031] Compare the obtained abnormal state index with a first abnormal threshold and a second abnormal threshold, where 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 boom for drilling and anchoring has declined;

[0032] If the abnormal state index is less than or equal to the first abnormal threshold, analyze that the performance of the airborne drill boom for drilling and anchoring has not declined, and classify the airborne drill boom for drilling and anchoring as a first-level performance;

[0033] If the abnormal state index is greater than the first abnormal threshold and less than or equal to the second abnormal threshold, analyze that the performance of the airborne drill boom for drilling and anchoring has declined, and classify the airborne drill boom for drilling and anchoring as a second-level performance;

[0034] If the abnormal state index is greater than the second abnormal threshold, analyze that the performance of the airborne drill boom for drilling and anchoring has severely declined, and classify the airborne drill boom for drilling and anchoring as a third-level performance.

[0035] In a preferred embodiment, the angle deviation has the following calculation expression:

[0036] , where in the formula, , , are the pitch angle, yaw angle, and roll angle in the ideal state;

[0037] The vibration deviation has the following calculation expression:

[0038] , where in the formula, , , are the accelerations of the drill boom in the ideal state;

[0039] The rotational angular velocity deviation has the following calculation expression:

[0040] , where in the formula, , , are the angular velocities of the drill boom in the ideal state.

[0041] In a preferred embodiment, generate corresponding control strategies for the airborne drill booms for drilling and anchoring with first-level performance and third-level performance, including not controlling the first-level performance, allowing the airborne drill booms with first-level performance to continue operating at the initial drilling speed, controlling the airborne drill booms with third-level performance to stop operating, and sending a warning signal to the administrator.

[0042] In a preferred embodiment, the acquisition end detects the geological conditions at the initial depth through a geological detector. After importing the geological conditions into the database for matching, an initial drilling speed is generated for the airborne drill arm for drilling and anchoring, including the following steps:

[0043] The acquisition end activates the geological detector and prepares for the geological survey of the drilling position. It uses sensors such as ultrasonic waves, seismic waves, microseismic waves, geomagnetism, or resistivity to detect the geological situation, records the hardness, fracture conditions, moisture content, and density parameters of the formation, and surveys the initial depth of the borehole to obtain the geological conditions of the first layer before drilling.

[0044] Store the formation hardness, density, and moisture content parameters in the database, establish an association with historical construction data, query the database, find historical construction cases that match the current geological conditions, and extract the drilling speeds of similar formations.

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

[0046] Represent the currently detected geological conditions as a geological parameter vector: , where: is the current formation hardness, is the 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 formation 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 cuttings discharge of the i-th historical construction case;

[0048] The calculation formula for cosine similarity is: , where, is the similarity score, 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 is to select historical construction cases, is the similarity score. The drilling speed of the selected historical construction case is used as the initial drilling speed for the current construction.

[0050] An adaptive control system for an airborne drill arm drill anchor, including an initialization module, a state evaluation module, a performance classification module, and an adjustment module;

[0051] Initialization module: Detect the geological conditions at the initial depth through a geological detector. After importing the geological conditions into the database for matching, generate an initial drilling speed for the airborne drill arm drill anchor;

[0052] State evaluation module: During the drilling process, real-time monitor the operating attitude data of the airborne drill arm drill anchor. After analyzing the operating attitude data using an intelligent model, evaluate the health status of the airborne drill arm drill anchor;

[0053] Performance classification module: Classify the airborne drill arm drill anchor into first-level performance, second-level performance, and third-level performance according to the health status classification result, and generate corresponding control strategies for the airborne drill arm drill anchors with first-level performance and third-level performance;

[0054] Adjustment module: When the airborne drill arm drill anchor has second-level performance, analyze the performance change trend of the airborne drill arm drill anchor. When the geological conditions change, obtain the geological coefficient through an adjustment table. After combining the performance change trend with the geological coefficient to obtain an adjustment factor, dynamically adjust the initial drilling speed of the airborne drill arm drill anchor 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 operating attitude data through an intelligent model, the present invention evaluates the health status of the airborne drill arm drill anchor, and classifies the airborne drill arm drill anchor into first-level performance, second-level performance, and third-level performance according to the health status classification result. When the airborne drill arm drill anchor has second-level performance, analyze the performance change trend of the airborne drill arm drill anchor. When the geological conditions change, obtain the geological coefficient through an adjustment table. After combining the performance change trend with the geological coefficient to obtain an adjustment factor, dynamically adjust the initial drilling speed of the airborne drill arm drill anchor based on the adjustment factor. The control system can analyze the geology at the current depth in real time during the drilling process, and then combine the performance change trend of the airborne drill arm drill anchor itself to dynamically adjust the drilling speed of the airborne drill arm drill anchor, which not only ensures the stability of the drilling operation but also improves the construction efficiency. Description of the Drawings

[0057] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0058] Figure 1 It is a flowchart of the method of the present invention. Detailed implementation manners

[0059] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] Embodiment 1: Please refer to Figure 1 As shown, an adaptive control method for an airborne drill arm drilling and anchoring in this embodiment includes the following steps:

[0061] The acquisition end detects the geological conditions at the initial depth through a geological detector. After importing the geological conditions into the database for matching, an initial drilling speed is generated for the airborne drill arm drilling and anchoring, including the following steps:

[0062] The acquisition end activates the geological detector and prepares for geological exploration at the drilling position. Sensors such as ultrasonic, seismic, microseismic, geomagnetic, or resistivity are used to detect the geological situation, and parameters such as the hardness, fracture condition, moisture content, and density of the formation are recorded. Before drilling, a detailed exploration is carried out on the initial depth of the borehole (such as in the range of 0 - 1 meter) to obtain the geological conditions of the first layer.

[0063] The acquisition end formats the detected raw data, such as converting it into a numerical table, two-dimensional cross-section diagram, etc., stores the key parameters such as formation hardness, density, and moisture content in the database, establishes an association with historical construction data, queries the database, searches for the historical construction case that best matches the current geological conditions, and extracts the optimal drilling parameters for the similar formation, including the drilling speed.

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

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

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

[0067] Hard rock (such as granite, basalt): It is recommended to have a relatively low initial drilling speed (such as 10 - 30 mm / min).

[0068] Set the safe drilling speed range according to the current drill bit type (such as PDC bit, alloy bit). If the drill bit has good wear resistance, the drilling speed can be appropriately increased. Set the upper and lower limits of the drilling speed to ensure that the drill string is not overloaded and the borehole is stable. The acquisition end sends parameters such as the calculated initial drilling speed to the on - board drill arm control system. After receiving the parameters, the on - board drill arm adjusts the hydraulic system and the rotary motor and performs the drilling operation according to the recommended drilling speed.

[0069] To find the historical construction cases in the database that best match the current geological conditions, the cosine similarity (Cosine_Similarity) can be used 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. We can extract its optimal drilling parameters (such as drilling speed, thrust, rotary torque, etc.) for the current construction.

[0070] Construct a 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 rate (unit: L / min);

[0071] Assume that the currently detected geological conditions are represented as a geological parameter vector: , where: is the current formation hardness, is the current rock density, is the current water content, is the current porosity, is the current cuttings discharge rate. 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 formation hardness of the i - th historical construction case, represents the rock density of the i - th historical construction case, represents the water content of the i - th historical construction case, represents the porosity of the i - th historical construction case, represents the cuttings discharge rate of the i - th historical construction case.

[0072] The calculation formula for cosine similarity is: , where, is the similarity score, 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, that is , where is the selected historical construction case, is the similarity score, arg max means "the independent variable when the following function reaches the maximum value", and the drilling speed of the selected historical construction case is used as the initial drilling speed of the current construction.

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

[0075] During the drilling process, the operating attitude data of the airborne drill arm and drill anchor are collected through multiple sensors, including but not limited to:

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

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

[0078] Gyroscope: Record the rotational angular velocity of the drill arm, monitor the stability torque sensor: Detect changes in drilling torque and judge abnormal force conditions;

[0079] Pressure sensor: Monitor the pressure of the hydraulic system and judge whether the power is abnormal.

[0080] The collected operating attitude data vector 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 pressure of the hydraulic system.

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

[0083] Angle deviation The calculation expression of is:

[0084] , where 、 、 are the pitch angle, yaw angle, and roll angle in the ideal state. The larger the angle deviation, the more unstable the drill arm posture indicates.

[0085] Vibration deviation The calculation expression is:

[0086] , where in the formula, , , are the drill arm accelerations in the ideal state. An excessive vibration deviation indicates that the drill arm is subjected to excessive impact or abnormal vibration.

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

[0088] , where in the formula, , , are the drill arm angular velocities in the ideal state. An excessive rotational angular velocity deviation indicates that the drill arm rotates violently and is unstable.

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

[0090] , where in the formula, is the abnormal state index, is the angle deviation, is the vibration deviation, is the rotational angular velocity deviation, is the drilling torque, is the hydraulic system pressure, is the reference drilling torque, is the reference hydraulic system pressure, , , , , are the weight coefficients, and the weight coefficients are greater than 0. The larger the abnormal state index, the worse the drill arm state indicates.

[0091] The obtained abnormal state index is compared with the preset second abnormal threshold. The second abnormal threshold is used to evaluate whether the health state of the airborne drill arm for drilling and anchoring 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 airborne drill arm for drilling and anchoring supports operation. If the abnormal state index is greater than the second abnormal threshold, it is evaluated that the health state of the airborne drill arm for drilling and anchoring does not support operation.

[0092] According to the health state classification result, the airborne drill arm for drilling and anchoring is divided into first-level performance, second-level performance, and third-level performance, including the following steps:

[0093] Compare the obtained abnormal state index with a first abnormal threshold and a second abnormal threshold, where 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 for drilling and anchoring has decreased;

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

[0095] If the abnormal state index is greater than the first abnormal threshold and less than or equal to the second abnormal threshold, analyze that the performance of the airborne drill arm for drilling and anchoring has decreased, and classify the airborne drill arm for drilling and anchoring as second-level performance, that is, medium performance;

[0096] If the abnormal state index is greater than the second abnormal threshold, analyze that the performance of the airborne drill arm for drilling and anchoring has severely decreased, and classify the airborne drill arm for drilling and anchoring as third-level performance.

[0097] Generate corresponding control strategies for the airborne drill arms for drilling and anchoring with first-level performance and third-level performance, including not controlling the first-level performance, enabling the airborne drill arm for drilling and anchoring with first-level performance to continue operating at the initial drilling speed, controlling the airborne drill arm for drilling and anchoring with third-level performance to stop operating, and sending a warning signal to the administrator.

[0098] When the airborne drill arm for drilling and anchoring has second-level performance, analyze the performance change trend of the airborne drill arm for drilling and anchoring, including the following steps:

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

[0100] After collecting the abnormal state index of the airborne drill arm for drilling and anchoring at each time interval, calculate the change rate of the abnormal state index. The expression is: , where is the change rate of the abnormal state index, , are respectively the last and the first abnormal state index values within the monitoring time window, is the monitoring time window; the change rate reflects whether the abnormal state of the airborne drill arm for drilling and anchoring is intensifying, stable, or improving;

[0101] To judge whether the abnormal state fluctuates violently, calculate the standard deviation of the abnormal state index:

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

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

[0104] When the change rate of the abnormal state index is greater than 0 (the change rate threshold) and the standard deviation of the abnormal state index is less than or equal to the standard deviation threshold, it is predicted that the health condition of the drill boom is deteriorating steadily and the deterioration speed is fast;

[0105] When the change rate of the abnormal state index is greater than 0 and the standard deviation of the abnormal state index is greater than the standard deviation threshold, it is predicted that the health condition of the drill boom is deteriorating, but the deterioration speed is moderate;

[0106] When the change rate of the abnormal state index is less than 0 and the standard deviation of the abnormal state index is less than or equal to the standard deviation threshold, it is predicted that the health condition of the drill boom is improving steadily and the improvement speed is fast;

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

[0108] When the change rate of the abnormal state index is equal to 0, it indicates that the health condition remains unchanged continuously.

[0109] When the geological conditions change, obtain the geological coefficient through the adjustment table. The adjustment table is shown in Table 1:

[0110] Table 1: Adjustment Table of Drilling Speed and Geological Coefficient

[0111] Geological category Recommended drilling speed Geological coefficient F Soft soil layer 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 adjustment table of drilling speed and geological coefficient 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 boom for drilling and anchoring.

[0113] When the geological conditions change during the drilling process, the drilling speed can be adjusted with reference to this table to optimize the drilling efficiency and reduce the wear of the drill tools. The control system of the airborne drill boom for drilling and anchoring 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 larger the geological coefficient. The harder the formation, the slower the drilling speed and the smaller the geological coefficient. This table can be used in the automatic control system to realize the intelligent adjustment of drilling parameters, improve the construction efficiency and the service life of the equipment.

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

[0116] When it is predicted that the health condition of the drill boom is deteriorating, but the deterioration speed is slowing down, the adjustment factor is obtained by combining the abnormal state index of the airborne drill boom for drilling and anchoring with the geological coefficient. The expression is:

[0117] , where is the adjustment factor, is the abnormal state index, F is the geological coefficient. The larger the abnormal state index, the worse the health condition of the airborne drill boom for drilling and anchoring, and the more the drilling speed needs to be reduced. The larger the geological coefficient, the softer the geology, and the more the drilling speed needs to be increased.

[0118] The initial drilling speed of the airborne drill boom for drilling and anchoring is dynamically adjusted through the adjustment factor. The expression is:

[0119] , where is the adjusted drilling speed, is the initial drilling speed, is the adjustment factor. When it is predicted that the health condition of the drill boom is deteriorating, but the deterioration speed is slowing down, by taking the square root of the adjustment factor, the adjustment range of the drilling speed reduction can be reduced.

[0120] When it is predicted that the health condition of the drill boom is steadily deteriorating and the deterioration speed is fast, the initial drilling speed of the airborne drill boom for drilling and anchoring is dynamically adjusted through the adjustment factor. The expression is: , where is the adjusted drilling speed, is the initial drilling speed, is the adjustment factor.

[0121] After analyzing the operation attitude data through the intelligent model in this application, the health state of the airborne drill boom for drilling and anchoring is evaluated, and the airborne drill boom for drilling and anchoring is divided into first-level performance, second-level performance, and third-level performance according to the health state division result. When the airborne drill boom for drilling and anchoring is of second-level performance, the performance change trend of the airborne drill boom for drilling and anchoring is analyzed. When the geological condition changes, 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 boom for drilling and anchoring is dynamically adjusted based on the adjustment factor. The control system can analyze the geology at the current depth in real time during the drilling process, and then combine the performance change trend of the airborne drill boom for drilling and anchoring itself to dynamically adjust the drilling speed of the airborne drill boom for drilling and anchoring, which not only ensures the stability of the drilling operation but also improves the construction efficiency.

[0122] Embodiment 2: An adaptive control system for an airborne drill boom drill anchor described in this embodiment includes an initialization module, a state evaluation module, a performance classification module, and an adjustment module;

[0123] Initialization module: Detect the geological conditions at the initial depth through a geological detector. After importing the geological conditions into the database for matching, generate an initial drilling speed for the airborne drill boom drill anchor, and send the initial drilling speed to the adjustment module;

[0124] State evaluation module: During the drilling process, real-time monitor the operation attitude data of the airborne drill boom drill anchor. After analyzing the operation attitude data using an intelligent model, evaluate the health state of the airborne drill boom drill anchor, and send the health state to the performance classification module;

[0125] Performance classification module: Classify the airborne drill boom drill anchor into first-level performance, second-level performance, and third-level performance according to the health state classification result. Generate corresponding control strategies for the airborne drill boom drill anchors with first-level performance and third-level performance, and send the performance classification result to the adjustment module;

[0126] Adjustment module: When the airborne drill boom drill anchor has second-level performance, analyze the performance change trend of the airborne drill boom drill anchor. When the geological conditions change, obtain the geological coefficient through an adjustment table. After combining the performance change trend with the geological coefficient to obtain an adjustment factor, dynamically adjust the initial drilling speed of the airborne drill boom drill anchor based on the adjustment factor.

[0127] The above formulas are all dimensionless and take their numerical values for calculation. The formulas are obtained by collecting a large amount of data for software simulation to get a formula closest to the actual situation. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0128] In the description of this specification, the descriptions referring to terms such as "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0129] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to only the specific embodiments. Obviously, according to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present invention, so that those skilled in the art in the relevant technical field can understand and utilize the present invention well. The present invention is only limited 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 performance of the airborne drill arm and the drilling anchor is at the second level, the performance change trend of the airborne drill arm and the drilling anchor is analyzed, and when the geological conditions change, the geological coefficient is obtained through the adjustment table, and the adjustment factor is obtained by combining the performance change trend with the geological coefficient. Then, the initial drilling speed of the airborne drill arm and the drilling anchor is dynamically adjusted based on the adjustment factor; 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 drill anchor of the airborne drill arm is dynamically adjusted by adjusting the factor. The expression is: , where To adjust the drilling speed, is the initial drilling speed, is the regulating factor; 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; 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.

2. The adaptive control method for drilling anchor of an airborne drill arm according to claim 1, 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.

3. The adaptive control method for drilling anchor of an airborne drill arm according to claim 2, 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.

4. The adaptive control method for drilling anchor of an airborne drill arm according to claim 3, 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.

5. The adaptive control method for drilling anchor of an airborne drill arm according to claim 4, 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.

6. The adaptive control method for drilling anchor of an airborne drill arm according to claim 5, 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.

7. 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 6, 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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