Intelligent control method and system for directional drilling machine

Abstract

The invention discloses an intelligent control method and system for a directional drilling machine. The system comprises a sensing data collecting and processing module, a control instruction execution module, a drilling machine action decision module, a construction process state analysis module, a process execution decision module, an automatic drilling control module and a drilling track control module. According to the intelligent directional drilling control system, an existing directional drilling machine control system is subjected to function division again, and the functions are operated on different devices according to resource requirements, so that the whole intelligent directional control target is achieved through coupling among the functions, and the whole intelligent directional control system is achieved through interaction among the devices; and secondly, a process execution decision module, an automatic drilling control module, a drilling track control module and the like are provided, so that the process in the whole directional construction process is controllable, the experience requirement of driller personnel is reduced, and the intelligent level of the directional drilling machine is improved.

Description

Technical Field

[0001] The present invention belongs to the field of coal mine equipment, and specifically relates to an intelligent control method and system for a directional drill. Background Art

[0002] High-power directional drilling rigs are commonly used equipment for efficient gas extraction in coal mines, advanced drainage of roof, grouting reinforcement of floor waterproof layers, and disaster geological exploration. During the operation of high-power directional drilling rigs, the bottom hole coordinate information uploaded by the drilling measurement system is collected to display the drilling trajectory in real time. The driller operates the drilling rig and the bottom hole motor according to the deviation between the designed drilling trajectory and the actual drilling trajectory, so as to achieve the coincidence of the drilling trajectory with the designed trajectory. Therefore, how to coordinate the transformation of the bottom hole motor, the drilling measurement system, and the drilling rig control system is one of the important issues that need to be solved in the process of intelligentization of large-scale directional drilling rigs.

[0003] At present, the control core hardware of high-power directional drilling rigs includes an electric control cabinet and an explosion-proof computer, and the two cannot communicate directly. The electric control cabinet is responsible for controlling the movement of the drilling rig, and the explosion-proof computer displays the drilling trajectory information at the bottom of the hole. However, the drilling trajectory control and drilling status analysis require the driller to make judgments based on experience. Therefore, during the operation of existing high-power directional drilling rigs, the driller mainly collects the drilling rig status and drilling trajectory information, makes decisions on the drilling trajectory and drilling rig movement based on manual experience, and then operates the bottom hole motor and the drilling rig to perform drilling construction. Therefore, directional drilling construction places relatively high demands on the experience and knowledge of the driller. Therefore, it is necessary to develop an intelligent control system that can assist the driller in making directional construction decisions. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent control method and system for a directional drilling rig, so as to solve the problem of excessive manual participation in the construction process of existing coal mine directional drilling rigs.

[0005] In order to solve the above problems, the technical solution adopted by the present invention is implemented as follows:

[0006] An intelligent control method for a directional drilling rig, comprising a sensor data acquisition and processing module, a control instruction execution module, a drilling rig action decision module, a construction process state analysis module, a process execution decision module, an automatic drilling control module and a drilling trajectory control module;

[0007] The sensor parameter acquisition and processing module receives the current action status of the drilling rig and the directional drilling trajectory data, classifies and organizes them, and sends them to the construction process status analysis module for analysis, and then transmits them to the process execution decision module. The automatic drilling control module receives the drilling task instructions issued by the process execution decision module and the drilling rig operation status information provided by the construction process status analysis module, and uses the drilling condition judgment model established by the automatic drilling control module and the feed speed control model trained by the data to perform real-time drilling condition judgment and feed control parameter calculation;

[0008] The drilling trajectory control module receives the drilling trajectory information provided by the construction process status analysis module and the drilling trajectory deviation correction task instructions provided by the process execution decision module, analyzes the deviation of the existing drilling trajectory, establishes a trajectory control strategy, and calculates the adjustment parameters of the bottom hole motor tool surface;

[0009] The drilling rig action execution decision module receives the tool face adjustment angle instruction issued by the drilling trajectory control module, the feed parameter control instruction provided by the automatic drilling module or the specific action instruction in the drilling rig preparation work issued by the process execution decision module, and formulates the control current value provided to the solenoid valve at each time point; the control instruction execution module converts the current value provided by the drilling rig action execution decision module into an output of 0.2A~0.8A, and provides it to the corresponding solenoid valve action.

[0010] Optionally, the construction process status analysis module includes drilling trajectory analysis and drilling operation status analysis. The drilling trajectory analysis collects the bottom hole probe information. c , the directional drilling trajectory status information C is obtained through calculation; the drilling operation status analysis collects the main information I during the operation of the drilling rig m , the drilling rig operation status information S is obtained through calculation, and the specific implementation process is as follows:

[0011] (a) Drilling trajectory analysis: Bottom hole probe information I c The drilling depth l, the inclination angle α of the bottom hole motor and the azimuth angle θ of the bottom hole motor are included. The full-angle half-distance method is used to obtain the bottom hole probe information I c Perform iterative calculations to obtain the three-dimensional coordinates ψ of each drill rod inside the borehole i ={x i ,y i ,z i}, 1≤i≤n, where ψ i is the three-dimensional coordinate of the i-th drill rod, including the horizontal coordinate x i 、azimuth coordinate y i and the inclination coordinate z i , that is, the actual drilling trajectory information is The coordinates of the drill pipe are defined as ψ i ={yi ,z i}; The calculation method of full-angle half moment is shown in formula (1);

[0012]

[0013] Where i represents the i-th drill rod, w is the azimuth of the drilling hole and it is a constant;

[0014] Similarly, the full-angle half-moment method is used to calculate the drilling trajectory designed by the drilling construction personnel to obtain the expected drilling trajectory information where ψ i ′ is the expected three-dimensional coordinates of the i-th drill pipe {y i ′,z i '}; Get the information C in the current borehole m and C e Then the trajectory deviation calculation needs to be performed, that is, Here

[0015] (b) Drilling rig operation status analysis: The data obtained during the drilling rig operation at the sensor sampling time t is I m (t), the state analysis definition of the electronic control system at sampling time t Where ε(t) represents the current supplied to the solenoid valve at sampling time t, and H is I m The mapping relationship between (t) and ε(t), the relationship between the above parameters is described as shown in formula (2),

[0016] ε(t)=H(I m (t),t) (2);

[0017] Formula (2) is used to describe the control logic of the electronic control system when the drilling rig is executing actions;

[0018] The analysis of the hydraulic system adopts the hydraulic dynamics analysis theory, and the state analysis at the sampling time t is defined as ρ 1 (t) represents the flow rate and pressure value of the hydraulic oil from the pump outlet at sampling time t, ρ 2 (t) represents the flow and pressure values ​​at the key position of the hydraulic circuit at sampling time t, ρ 3 (t) represents the hydraulic property value of the hydraulic actuator at sampling time t. The above state analysis definition is shown in formula (3):

[0019] ρ 3 (t) = G(ρ 1 (t),ρ 2 (t),t)(3);

[0020] Formula (3) is used to describe the execution logic of the hydraulic circuit;

[0021] The running state of the main body at sampling time t Where σ(t) represents the actual action attribute value of the drilling rig, where σ 1 (t) is determined by the sensor parameter I m (t) directly provided, σ 2 (t) is the action attribute value of the drilling rig. The above state is described by formula (4):

[0022] σ 2 (t) = F(σ 1 (t),t)(4);

[0023] Formula (4) is used to describe the acquisition of drilling rig action attributes.

[0024] Optionally, the process execution decision module is based on the control task I o , combined with the directional drilling trajectory status information C and the drilling rig operation status information S provided by the construction process status analysis module, the subsequent drilling rig execution task δ = {δ 1 ,δ 2 ,δ 3}, where the execution task δ 1 Indicates that the drilling rig needs to perform preparation work next, δ 2 Indicates that the drilling rig needs to perform directional drilling trajectory correction operation next, δ 3 The drill rig will then perform an automatic drilling operation, which includes the following steps:

[0025] Step 2.1: Send the drilling construction preparation start instruction I to the process execution decision module o , the process execution decision module sends the execution task δ to the drilling rig execution action decision module 1 , the drilling rig execution action decision module cooperates to carry out drill pipe loading and unloading and drill pipe make-up operations;

[0026] Step 2.2: After completing the drill pipe loading and unloading and drill pipe make-up operations, send a drilling construction preparation completion instruction to the process execution decision module, and the process execution decision module will go to step 2.3;

[0027] Step 2.3: The process execution decision module receives the directional drilling trajectory status information C = {C m ,C e ,C d}, for C d In {τ 1 ,…,τ n} is processed. Specifically, the process execution decision module processes (τ i -τ i-1) is derived. If the value is less than 0, it means that the actual drilling trajectory is approaching the expected trajectory. At this time, there is no need to correct the trajectory, and the drilling rig is sent to perform the subsequent task δ 3 Otherwise, the process execution decision module sends the drilling rig subsequent execution task δ 2 ;

[0028] Step 2.4: The drilling trajectory control module receives the subsequent execution task δ 2 , then the drilling correction operation is performed. At this time, the correction work is judged whether it is completed according to the on-site construction situation. If it is completed, the drilling correction completion instruction is sent to the process execution decision module. At this time, the process execution decision module sends the drilling rig subsequent execution task δ 3 ;

[0029] Step 2.5: The automatic drilling control module receives the subsequent execution task δ 3 , sending execution instructions to the process execution decision module according to the execution information, including performing the next round of directional drilling construction or interrupting the current operation;

[0030] Step 2.6: If the process execution decision module receives the instruction to carry out the next round of directional drilling construction, it goes to step 2.1; if the process execution decision module receives the instruction to interrupt the current operation, it interrupts all actions of the drilling rig and waits for manual intervention.

[0031] Optionally, the drilling trajectory control module receives the subsequent execution task instruction δ issued by the process execution decision module 2 , based on the directional drilling trajectory status information C provided by the construction process status analysis m ,C e ,C d}, formulate a drilling trajectory correction strategy, which includes the following steps:

[0032] Step 3.1: Analyze the current drilling trajectory deviation. The deviation value of the current i-th drill rod is obtained by the construction process state analysis module. where τ i Contains three elements as well as Represents the left and right displacement deviation values ​​y respectively i -y i ′ and the upper and lower displacement deviation value z i -z i ',right and The values ​​are classified, assuming and The values ​​are all greater than 0, and they are divided into m categories according to the deviation value, and each category is assigned a number from 1 to m. Less than 0 or When the value is less than 0, the deviation value is processed by classification assignment;

[0033] Step 3.2: Formulate a trajectory control strategy and calculate the value of the tool face of the i+1th drill rod; the adjustment angle of the tool face is 0° to 360°, and the deviation value obtained in step 3.1 is used for calculation;

[0034] Step 3.3: Adjust the drilling tool face. Assume that the range of the tool face angle of the i+1th drill rod obtained in step 3.2 is [a i+1 ,b i+1 ], and the actual tool face value of the current i-th drill pipe is c i , calculate the tool face difference d i+1 =(a i+1 +b i+1 -2c i ) / 2, and the difference is the rotation angle of the power head. The drilling rig execution action decision in the lower computer system sends the control current and voltage values ​​to slowly rotate the power head to achieve automatic adjustment of the tool face.

[0035] Optionally, the automatic drilling control module receives the execution task instruction δ sent by the process execution decision module. 2 , based on the drilling rig operation status information provided by the construction process status analysis module {S e ,S h ,S m}, formulate an automatic drilling control strategy, the specific steps are as follows:

[0036] Step 4.1: Establish an automatic drilling process model, including a drilling condition judgment model and a feed speed control model;

[0037] Step 4.2: The automatic drilling control module receives the execution task instruction δ sent by the process execution decision module 2 , firstly, the drilling process working condition is judged; specifically, the execution current value ε(t) is manipulated in the test time period [t, t+Δt] so that its value increases uniformly from 0.2A to 0.8A, and the value of {ρ, ε, σ} in the test time period is collected, and the value is input into the drilling working condition judgment model, and the current working condition is inferred by the model; if the drilling working condition is in a normal state, go to step 4.3;

[0038] Step 4.3: Calculate the feed speed based on the feed control speed model. Different stages in the directional drilling process correspond to different drilling speeds. Instead of the expected drilling speed value, k here represents the different stages of the directional drilling construction process, and this information is passed to the automatic drilling control module to generate the expected drilling speed value Go to step 4.4;

[0039] Step 4.4: Generate the control current value of the electric control system. Specifically, the expected value of the current drilling speed is obtained by step 4.3. The solenoid valve current value ε(t) and pump pressure ρ(t) at the current time t are collected, and the solenoid valve control current ε(t+Δt) at the next time t+Δt is calculated based on the feed speed control model.

[0040] Optionally, the step 4.1 specifically includes:

[0041] Step 4.1.1: Use expert experience to establish an automatic drilling process model, that is, to analyze the drilling rig operation process data {S e ,S h ,S m} features and mapping them with drilling conditions, including: e Medium control current ε value, S h Pressure value of key hydraulic position ρ 2 With S m The drilling rig action attribute value σ 2 There is a direct correlation between the parameters. If there is an abnormality in the relationship between the above parameters during the drilling process, the current drilling condition can be judged from the abnormality based on expert experience, and then a drilling condition judgment model can be established.

[0042] Step 4.1.2: Establish a control model including pump pressure ρ, solenoid valve control current ε and feed speed v, that is, the drilling rig operation process data {S e ,S h ,S m} to analyze the relevant parameters of the feed speed control function of the drilling rig; specifically, the feed speed value of the drilling rig is 0~v max Divided into n equal parts, the value of the jth part is At this time, the pump pressure ρ and the feed execution current E are used as input parameters, and the feed speed v is used as the output parameter. The sampling time period [t 0 ,t m ] a data set {ρ, ε, v}, where 0≤i≤m, and then a neural network is established. The network is trained using the above data to obtain the weights and thresholds of the neural network, thereby establishing a feed speed control model.

[0043] Optionally, the drilling rig execution action decision module receives a tool face adjustment angle instruction issued by the drilling trajectory control module, or a staged control current value provided by the automatic drilling module, or a specific instruction in the drilling rig preparation work issued by the process execution decision module. For the above instructions, the specific implementation process of the module is as follows:

[0044] (a) Tool face angle adjustment command: Current bottom hole probe information Ic The tool face value of the bottom hole drilling tool at time t Assume that the drilling trajectory control module requires that the tool face of the bottom hole drill should be adjusted to The number of rotating gears of the power head is k. When the tool face adjustment angle instruction is executed, the number of gears of the power head rotated is n. The calculation process is shown in formula (5):

[0045]

[0046] Where n is an integer of n′, and the drilling rig execution action decision module monitors I in real time. m (t) The pulse signal of the proximity switch is used to determine whether the current number of gears has reached the expected value. If it has not reached the expected value, the control instruction execution module is required to provide the switching current value of the solenoid valve;

[0047] (b) Automatic drilling control command: Assume that the staged control current value provided by the automatic drilling module is the current value of the feed solenoid valve at [t, t+Δt] ε(t), and the module sends the current control value ε(t) to the control command module at time t, and stops sending at time t+Δt, and ensures that the current control value received by the control command execution module remains ε(t) within the time period [t, t+Δt].

[0048] (c) Drilling rig preparation control command: This command implements the action control task when the directional drilling rig is preparing for construction. The action is performed by the driller sending specific control commands to the lower computer through the remote control.

[0049] Optionally, it also includes a remote control data receiving and processing module, which receives the command sent by the remote control and processes its data; specifically, it receives the information frame sent by the remote control center or the remote control, unpacks the frame to obtain key data in the frame, classifies the data, and provides the classified information to the process execution decision module;

[0050] The process execution decision module receives the manual instructions sent by the remote control data receiving and processing module, as well as the drilling rig operation status information and drilling trajectory information provided by the construction process status analysis module, and formulates the execution process of each process of the drilling rig in combination with the process switching and execution judgment conditions during the drilling rig construction process, and sends the relevant tasks to the automatic drilling control module, the drilling trajectory control module and the drilling rig execution action decision module.

[0051] An intelligent control system for a directional drilling rig, the system being used to execute any intelligent control method for a directional drilling rig described in the present invention;

[0052] include:

[0053] The host computer system includes a construction process status analysis module, a process execution decision module, an automatic drilling control module and a drilling trajectory control module;

[0054] The lower computer system includes a sensor data acquisition and processing module, a control instruction execution module and a drilling rig action decision module.

[0055] Optionally, the system provides a support platform for the functions of data collection, algorithm operation, strategy decision and action execution required in the directional drilling process, and also includes a sensor component, an execution component, a communication network, a control component and a human-computer interaction component, wherein:

[0056] 1) The sensor components are divided into drilling rig status sensor components and drilling trajectory sensor components. The drilling rig status sensor components include hydraulic pressure sensors, speed sensors, displacement sensors and proximity switches arranged on the drilling rig, which provide collected information to the control component according to a certain sampling period. m The drilling trajectory sensor assembly includes a measurement while drilling probe arranged at the bottom of the drilling tool, which is used to collect information about the bottom of the hole at the current time. c ;

[0057] 2) The control components include a PLC controller for drilling rig motion control, an explosion-proof computer for hole bottom trajectory control, and corresponding electronic components. The PLC controller provides an operating platform for the lower computer of the intelligent control system, and the explosion-proof computer provides an operating platform for the upper computer of the intelligent control system;

[0058] 3) Communication network connects the wired and wireless networks of the above components, including CAN, RS232, 433MHz RF protocol and industrial Ethernet, through which the information collected by the sensor components is transmitted c and I m Upload to explosion-proof computer, and transmit the information provided by human-computer interaction component c Pass it to the explosion-proof computer, and issue the control instructions generated by the PLC to the execution components;

[0059] 4) The human-computer interaction system includes a display and a remote controller, wherein the display is used to display the drilling trajectory status information {C m ,C e ,C d} and rig operation status information {S e ,S h ,S m}; The remote control will control the driller to task I o Send to explosion-proof computer;

[0060] 5) The execution component includes a directional drilling tool that controls the drilling trajectory coordinates and a set of solenoid valves that control the drilling rig action. It receives the control instructions generated by the PLC and changes the action of the corresponding equipment according to the instructions.

[0061] The present invention has the following technical effects:

[0062] The present invention proposes a new intelligent directional drilling control system, which redivides the functions of the existing directional drilling rig control system and runs the above functions on different devices according to resource requirements, thereby achieving the entire intelligent directional control goal through coupling between functions and realizing the entire intelligent directional control system through interaction between devices; secondly, the present invention proposes modules such as process execution decision-making, automatic drilling control, and drilling trajectory control, which not only realize the process controllability of the entire directional construction, but also reduce the experience requirements of the driller, thereby improving the intelligence level of the directional drilling rig. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0064] Figure 1 The hardware structure diagram of the directional drilling rig intelligent control system of the present invention;

[0065] Figure 2 The software architecture diagram of the directional drilling rig intelligent control system in the present invention;

[0066] Figure 3 Provide a functional implementation flow chart for the process execution decision module;

[0067] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. DETAILED DESCRIPTION

[0068] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0069] The present invention provides an intelligent control system for a directional drilling rig, including a hardware system and a software system;

[0070] The hardware system includes sensor components, execution components, control components, communication network, and human-computer interaction components, among which: the sensor components are divided into drilling rig status sensor components and drilling trajectory sensor components. The drilling rig status sensor components include hydraulic pressure sensors, speed sensors, displacement sensors, proximity switches, etc. arranged on the drilling rig, and the drilling trajectory sensor components include a downhole measurement probe arranged on the top of the drill tool; the execution components include hydraulic actuators for controlling the movement of the coal mine drilling rig and bottom hole motors for controlling the tool face angle of the drilling tool; the control components include a PLC controller for drilling rig movement control, an explosion-proof computer for bottom hole trajectory control, and corresponding electronic components; the communication network connects the wired and wireless networks of the above components, including CAN, RS232, 433MHz radio frequency protocol and industrial Ethernet; the human-computer interaction system includes a display screen for displaying the operating status of the drilling rig and the drilling trajectory, and a remote control for sending control tasks to the control component.

[0071] The software system includes a lower computer system running on a PLC controller and an upper computer system running on an explosion-proof computer, wherein the lower computer system includes a sensor data acquisition and processing module, a control instruction execution module, and a drilling rig action decision module. The upper computer includes a construction process status analysis module, a process execution decision module, an automatic drilling control module, a drilling trajectory control module, and a remote control data receiving and processing module.

[0072] Furthermore, the functional description of the modules included in the lower computer and the upper computer is as follows:

[0073] The construction process status analysis module analyzes the current action status of the drilling rig and the directional drilling trajectory. Specifically, it analyzes the received drilling rig hydraulic parameters, drilling rig action parameters and electric control signals, and uses the system identification method to obtain the current operation status of the drilling rig; it analyzes the received bottom hole motor inclination, azimuth and hole depth information, and uses the full-angle half-moment method to calculate the drilling trajectory. This module transmits the drilling rig operation status and drilling trajectory information to the process execution decision module.

[0074] The automatic drilling control module includes a drilling condition judgment model established using expert experience and a feed speed control model trained using data. This module receives the drilling task instructions issued by the process execution decision module and the drilling rig operation status information provided by the construction process status analysis module, and uses the above models to perform real-time drilling condition judgment and feed control parameter calculation.

[0075] The drilling trajectory control module receives the drilling trajectory information provided by the construction process status analysis module and the drilling trajectory correction task instructions provided by the process execution decision module, analyzes the deviation of the existing drilling trajectory, establishes the trajectory control strategy based on expert experience, and calculates the adjustment parameters of the bottom hole motor tool face.

[0076] The process execution decision module receives the manual instructions sent by the remote control data receiving and processing module, as well as the drilling rig operation status information and drilling trajectory information provided by the construction process status analysis module. Combined with the process switching and execution judgment conditions during the drilling rig construction process, it formulates the execution process of each process of the drilling rig and sends the relevant tasks to the automatic drilling control module, the drilling trajectory control module and the drilling rig execution action decision module.

[0077] The remote control data receiving and processing module receives the instructions sent by the remote control and processes the data. Specifically, it receives the information frame sent by the remote control center or the remote control, unpacks the frame to obtain the key data in the frame, classifies the data, and provides the classified information to the process execution decision module.

[0078] The drilling rig execution action decision module receives the tool face adjustment angle instruction issued by the drilling trajectory control module, or the feed parameter control instruction provided by the automatic drilling module, or the specific action instruction in the drilling rig preparation work issued by the process execution decision module, and formulates the control current value provided to the solenoid valve at each time point.

[0079] The control instruction execution module converts the current value provided by the drilling rig execution action decision module into an output of 0.2A~0.8A through the driver running in the PLC, and provides it to the corresponding solenoid valve.

[0080] The sensor parameter acquisition and processing module receives the information frames sent by the drilling rig status sensor component and the drilling trajectory sensor component, and unpacks and classifies the received frames.

[0081] In order to illustrate the technical implementation of the present invention, the key information involved in the technical solution is defined as follows:

[0082] 1) Define the information set collected by the drilling control system as I = {I c ,I m ,I o}, where I c The information collected by the bottom hole probe includes hole depth, inclination, azimuth, tool face, etc.; m It is the information collected by the sensors arranged in the drilling rig body, including the pressure value of key hydraulic positions, the moving speed of the power head, the rotation speed, the current and voltage values ​​of the electronic control system, etc.; o It is the control task information of the driller on the drilling rig, including the switching instructions and emergency stop instructions of the drilling rig execution process.

[0083] 2) Define the directional drilling trajectory status information C = {C m ,C e ,C d}, where C mThe actual drilling trajectory information includes hole depth, inclination, azimuth, up and down displacement, left and right displacement, etc.; C e Provides drillers with design trajectory information, including hole depth, up and down displacement, and left and right displacement; C d It is the deviation information between the actual drilling trajectory and the designed trajectory.

[0084] 3) The drilling rig operation status information is defined as S = {S e ,S h ,S m}, where S e The operating status of the drilling rig electronic control system, including whether each action execution loop is executed normally and the current "sensing data - control data - execution data" information; S h The operating status of the drilling rig hydraulic system, including the execution of the hydraulic circuits supporting each action of the drilling rig and the hydraulic parameters of key positions; S m It is the operating status of the drilling rig, including the execution status of each action of the drilling rig.

[0085] like Figure 1 As shown in the figure, the hardware system of the intelligent directional drilling rig control system provides a support platform for the functions of data collection, algorithm operation, strategy decision-making and action execution required in the directional drilling process, which specifically includes sensor components, execution components, communication networks, control components and human-computer interaction components, among which:

[0086] 1) The sensor components are divided into drilling rig status sensor components and drilling trajectory sensor components. The drilling rig status sensor components include hydraulic pressure sensors, speed sensors, displacement sensors, proximity switches, etc. arranged on the drilling rig, which provide collected information to the control component according to a certain sampling period. m The drilling trajectory sensor assembly includes a measurement while drilling probe arranged at the bottom of the drilling tool, which is used to collect information about the current back hole bottom. c , including inclination, azimuth, tool face, etc.

[0087] 2) The control components include a PLC controller for drilling rig motion control, an explosion-proof computer for bottom hole trajectory control, and corresponding electronic components. The PLC controller provides an operating platform for the lower computer of the intelligent control system, and the explosion-proof computer provides an operating platform for the upper computer of the intelligent control system.

[0088] 3) Communication network connects the wired and wireless networks of the above components, including CAN, RS232, 433MHz RF protocol and industrial Ethernet, through which the information collected by the sensor components is transmitted c and I m Upload to explosion-proof computer, and transmit the information provided by human-computer interaction component cPass it to the explosion-proof computer, and issue the control instructions generated by the PLC to the execution components.

[0089] 4) The human-computer interaction system includes a display and a remote controller, wherein the display is used to display the drilling trajectory status information {C m ,C e ,C d} and rig operation status information {S e ,S h ,S m}; The remote control will control the driller to task I o Sent to explosion proof computer.

[0090] 5) The execution component includes a directional drilling tool that controls the drilling trajectory coordinates and a set of solenoid valves that control the drilling rig action. It receives the control instructions generated by the PLC and changes the action of the corresponding equipment according to the instructions.

[0091] like Figure 2 The structure of the intelligent directional drilling control system is shown in the figure, which includes a host system running on an explosion-proof computer and a slave system running on a PLC. The functions of the modules included in the system and their implementation methods are described as follows:

[0092] 1) Construction process status analysis module: including drilling trajectory analysis and drilling operation status analysis. The former collects the bottom hole probe information I c , and obtain the directional drilling trajectory status information C through calculation; the latter collects the main body information I during the operation of the drilling rig m , the drilling rig operation status information S is obtained through calculation, and the specific implementation process is as follows:

[0093] (a) Drilling trajectory analysis: Bottom hole probe information I c Including the drilling depth l, the inclination angle α of the bottom hole motor, and the azimuth angle θ of the bottom hole motor, the full-angle half-distance method is used to iteratively calculate the bottom hole parameters to obtain the three-dimensional coordinates ψ of each drill rod inside the borehole i ={x i ,y i ,z i}, 1≤i≤n, where ψ i is the three-dimensional coordinate of the i-th drill rod, including the horizontal coordinate x i 、azimuth coordinate y i and the inclination coordinate z i , that is, the actual drilling trajectory information is Since the horizontal coordinate x i The value does not participate in the calculation in this invention, so the horizontal coordinate x is not required. i The calculation method of the subsequent drill pipe coordinates is defined as ψ i ={y i ,zi}. The calculation method of the full-angle half moment is shown in formula (1).

[0094]

[0095] Where i represents the i-th drill rod, w is the azimuth of the drilling hole and is a constant.

[0096] Similarly, the full-angle half-moment method is used to calculate the drilling trajectory designed by the drilling construction personnel to obtain the expected drilling trajectory information where ψ i ′ is the expected three-dimensional coordinates of the i-th drill pipe {y i ′,z i ′}. Get the information C in the current borehole m and C e Then the trajectory deviation calculation needs to be performed, that is, Here

[0097] (b) Drilling rig operation status analysis: The data obtained during the drilling rig operation at the sensor sampling time t is I m (t), where I m (t) is the current and voltage values, pressure and flow values ​​at key positions of the hydraulic system, and drilling rig action attributes collected at sampling time t. The state analysis definition of the electronic control system at sampling time t is: Where ε(t) represents the current supplied to the solenoid valve at sampling time t, and H is I m The mapping relationship between (t) and ε(t), the relationship between the above parameters is described as shown in formula (2),

[0098] ε(t)=H(I m (t),t) (2);

[0099] Formula (2) is used to describe the control logic of the electronic control system when the drilling rig performs an action. For example, when the drilling rig performs a feeding action, I m (t) represents the feed speed v of the power head and the input current value e of the solenoid valve that currently controls the feed of the power head. Therefore, e=0.2+0.8×v / v max Describe the electronic control logic of equation (2) when the drilling rig is feeding. Similarly, establish the electronic control description of the drilling rig's actions such as make-up, make-out, pull-out, and rotation.

[0100] The analysis of the hydraulic system adopts the hydraulic dynamics analysis theory, and the state analysis at the sampling time t is defined as ρ 1 (t) represents the flow rate and pressure value of the hydraulic oil from the pump outlet at sampling time t, ρ 2 (t) represents the flow and pressure values ​​at the key position of the hydraulic circuit at sampling time t, ρ3 (t) represents the hydraulic property value of the hydraulic actuator at sampling time t, such as the operating properties of the hydraulic cylinder and hydraulic motor. The above state analysis is defined as shown in formula (3):

[0101] ρ 3 (t) = G(ρ 1 (t),ρ 2 (t),t)(3);

[0102] Formula (3) is used to describe the execution logic of the hydraulic circuit. For example, when the drilling rig performs the pulling action, its main actuator is the cylinder. Let Q be the input flow, v be the cylinder pulling speed, D and d be the rod cavity diameter, so v = 4Q / π(D 2 -d 2 ) describes the hydraulic state when the drilling rig performs the pulling action (3). Similarly, the hydraulic state analysis description of the drilling rig's make-up, make-out, feeding, rotation and other actions is established.

[0103] The running state of the main body at sampling time t Where σ(t) represents the actual action attribute value of the drilling rig, such as the feed / extraction speed, the forward / reverse speed of the power head, etc. 1 (t) is determined by the sensor parameter I m (t) directly provided, σ 2 (t) is the action attribute value of the drilling rig. The above state is described by formula (4):

[0104] σ 2 (t) = F(σ 1 (t),t)(4);

[0105] Formula (4) is used to describe the acquisition of the action attributes of the drilling rig. For example, when the drilling rig performs a rotary action, its main sensor component is the proximity switch. Assuming that the number of pulse signals collected by the proximity switch in 1 minute is j, and the number of gears of the power head is k, then its rotation speed is v = 60 × j / k. This formula is used to describe the state analysis formula (4) when the drilling rig is rotating. Similarly, the state analysis formula of the drilling rig body for the actions of the drilling rig, such as making up, breaking up, feeding, and pulling out, is established.

[0106] 2) Process execution decision module: receiving the control task I provided by the remote control data receiving and processing module o , combined with the directional drilling trajectory status information C and the drilling rig operation status information S provided by the construction process status analysis module, the subsequent drilling rig execution task δ = {δ 1 ,δ 2 ,δ 3}, where the execution task δ 1 Indicates that the drilling rig needs to perform preparation work next, δ 2 Indicates that the drilling rig needs to perform directional drilling trajectory correction operation next, δ3 Indicates that the drilling rig needs to perform automatic drilling operations next. The specific implementation process of this module is as follows Figure 3 As shown, it is divided into the following steps:

[0107] Step 2.1: The driller sends a drilling construction preparation start instruction I to the process execution decision module through the remote control data receiving and processing module o , the process execution decision module sends the execution task δ to the lower computer 1 , the lower computer cooperates with the driller to load and unload the drill pipe and make up the drill pipe;

[0108] Step 2.2: After the driller completes the drill pipe loading and unloading and drill pipe buckling operations, the remote control data receiving and processing module sends the drilling construction preparation completion instruction I to the process execution decision module. o , at this time, the process execution decision module goes to step 3.2.

[0109] Step 2.3: The process execution decision module receives the directional drilling trajectory status information C = {C m ,C e ,C d}, for C d In {τ 1 ,…,τ n} is processed. Specifically, the process execution decision module processes (τ i -τ i-1 ) is derived. If the value is less than 0, it means that the actual drilling trajectory is approaching the expected trajectory. At this time, there is no need to correct the trajectory, and the drilling rig is sent to perform the subsequent task δ 3 Otherwise, the process execution decision module sends the drilling rig subsequent execution task δ 2 .

[0110] Step 2.4: The drilling trajectory control module receives the subsequent execution task δ 2 , the drilling correction operation is performed. At this time, the driller determines whether the correction work is completed based on the on-site construction situation. If completed, the remote control data receiving and processing module sends a drilling correction completion instruction I to the process execution decision module. o At this time, the process execution decision module sends the drilling rig subsequent execution task δ 3 .

[0111] Step 2.5: The automatic drilling control module receives the subsequent execution task δ 3 , execute the task and display the execution result on the display screen of the human-computer interaction component. At this time, the driller sends an execution instruction I to the process execution decision module through the remote control data receiving and processing module based on the execution information. o , including carrying out the next directional drilling operation or interrupting the current operation.

[0112] Step 2.6: The process execution decision module receives the next directional drilling construction instruction I o , then go to step 2.1; if the process execution decision module receives the interrupt current operation instruction I o , all drilling rig actions are interrupted and wait for manual intervention.

[0113] 3) Drilling trajectory control module: The drilling trajectory control module receives the subsequent execution task instructions issued by the process execution decision module 2 , based on the directional drilling trajectory status information C provided by the construction process status analysis m ,C e ,C d}, formulate a drilling trajectory correction strategy, which is divided into the following steps:

[0114] Step 3.1: Analyze the current drilling trajectory deviation. The deviation value of the current i-th drill rod is obtained by the construction process state analysis module. where τ i Contains three elements as well as Represents the left and right displacement deviation values ​​y respectively i -y i ′ and the upper and lower displacement deviation value z i -z i ',right and The values ​​are classified, assuming and The values ​​are all greater than 0, and they are divided into m categories according to the deviation value, and each category is assigned a number from 1 to m. Less than 0 or When it is less than 0, the deviation value is processed by classification assignment. The specific assignment process is shown in Table 1.

[0115] Table 1 Assignment table of trajectory deviation

[0116]

[0117] Step 3.2: Formulate trajectory control strategy. Here, the main task is to calculate the tool face value of the i+1th drill rod. The tool face adjustment angle is 0° to 360°. The deviation value obtained in step 3.1 is used for calculation. and For example, when all values ​​are less than 0, the value of the tool face is the angle of the first quadrant. The first quadrant angle is divided into n areas, and the assigned and The value is comprehensively judged to determine that the value of the tool face is a certain area in the first quadrant. The specific judgment process is shown in Table 1. and For any combination of , find the value range of the tool face corresponding to it in the figure, where it is assumed that the value of m in step 2.1 is 9. Similarly, the same method is used to operate on the tool faces in other quadrants.

[0118] Step 3.3: Adjust the drilling tool face. Assume that the range of the tool face angle of the i+1th drill rod obtained in step 3.2 is [a i+1 ,b i+1 ], and the actual tool face value of the current i-th drill pipe is c i , the intelligent control software calculates the tool face difference d i+1 =(a i+1 +b i+1 -2c i ) / 2, and the difference is the rotation angle of the power head. The drilling rig execution action decision in the lower computer system sends the control current and voltage values ​​to slowly rotate the power head, thereby realizing automatic adjustment of the tool face.

[0119] 4) Automatic drilling control module: This module receives the execution task instruction sent by the process execution decision module 2 , based on the drilling rig operation status information provided by the construction process status analysis module {S e ,S h ,S n}, formulate an automatic drilling control strategy, the specific steps are as follows:

[0120] Step 4.1: Establish an automatic drilling process model, including a drilling condition judgment model and a feed speed control model.

[0121] Step 4.1.1: Use expert experience to establish a working condition judgment model, that is, to analyze the drilling rig operation process data {S e ,S h ,S m} and map the characteristics with the drilling conditions. e Medium control current E value, S h Pressure value of key hydraulic position ρ 2 With S m The drilling rig action attribute value σ 2 There is a direct correlation between the parameters. If there is an abnormality in the relationship between the above parameters during drilling, the current drilling condition can be judged by the expert experience based on the abnormality. For example, in the time period [t, t+Δt], the execution current and voltage values ​​ε(t) and ε(t+Δt) are equal, and the difference between the feed pressures ρ 2 (t+Δt)-ρ 2 (t) is greater than the threshold given by the expert within this time, and the rotation speed of the power head in the drilling rig action attribute σ 2If (T+Δt) is lower than the speed threshold given by experts, it can be judged that the drilling process is in a stuck drill condition. Similarly, expert experience is used to give judgment methods for several other drilling conditions, and then a drilling condition judgment model is established.

[0122] Step 4.1.2: Establish a control model including pump pressure ρ, solenoid valve control current E and feed speed v, that is, the drilling rig operation process data {S e ,S h ,S m} to analyze the relevant parameters of the feed speed control function to obtain the drilling rig feed control function. Specifically, the value of the drilling rig feed speed is 0~v max Divided into n equal parts, the value of the jth part is At this time, the pump pressure ρ and the feed execution current E are used as input parameters, and the feed speed v is used as the output parameter. The sampling time period [t 0 ,t m ] a data set {ρ, ε, v}, where 0≤i≤m, and then a neural network is established. The network is trained using the above data to obtain the weights and thresholds of the neural network, thereby establishing a feed speed control model.

[0123] Step 4.2: The automatic drilling control module receives the execution task instruction δ sent by the process execution decision module 2 First, the drilling process working condition is judged. Specifically, the execution current value ε(t) is manipulated in the test time period [t, t+Δt] so that its value increases uniformly from 0.2A to 0.8A, and the value of {ρ, ε, σ} in the test time period is collected and input into the drilling working condition judgment model, and the current working condition is inferred by the model. If the drilling working condition is normal, go to step 4.3.

[0124] Step 4.3: Calculate the feed speed based on the feed control speed model. Different stages in the directional drilling process correspond to different drilling speeds. For example, the branching stage, rock drilling, and coal seam drilling require different drilling speeds. Instead of the expected drilling speed value, k here represents the different stages of the directional drilling construction process. The driller sends the directional drilling stage information to the intelligent control system through the wireless remote control, and the latter passes the information to the automatic drilling control module, thereby generating the expected drilling speed value. Proceed to step 4.4.

[0125] Step 4.4: Generate the control current value of the electric control system. Specifically, the expected value of the current drilling speed is obtained by step 3.3. The solenoid valve current value ε(t) and the pump pressure ρ(t) at the current time t are collected, and the solenoid valve control current ε(t+Δt) at the next time t+Δt is calculated based on the feed speed control model.

[0126] 5) Remote control data receiving and processing module: The driller sends execution instructions to the process execution decision module through this module. o , which includes instructions for drilling rig construction preparation work and manual interruption. Specifically, the driller turns the toggle switch on the remote control, and the remote control transmits the generated information to the signal receiving device in the drilling rig intelligent control system through the wireless network. The latter packages the received information into a CAN communication frame. The remote control data receiving and processing module receives the corresponding CAN data frame, unpacks it to obtain the ID number and data contained in the frame, and determines the instruction I according to the ID number. o The purpose is to control or manually interrupt different stages of the drilling rig construction preparation work; determine the execution parameters and execution targets of different stages in the preparation work execution process based on the data in this frame.

[0127] 6) Drilling rig execution action decision module: This module receives the tool face adjustment angle instruction issued by the drilling trajectory control module, or the staged control current value provided by the automatic drilling module, or the specific instruction of the drilling rig preparation work issued by the process execution decision module. For the above instructions, the specific implementation process of this module is as follows:

[0128] (a) Tool face angle adjustment command: Current bottom hole probe information I c The tool face value of the bottom hole drilling tool at time t Assume that the drilling trajectory control module requires that the tool face of the bottom hole drill should be adjusted to The number of rotating gears of the power head is k. When the tool face adjustment angle instruction is executed, the number of gears of the power head rotated is n. The calculation process is shown in formula (5):

[0129]

[0130] Where n is an integer of n′, and the drilling rig execution action decision module monitors I in real time. m (t) is a pulse signal of the proximity switch, which determines whether the current number of gears has reached the expected value. If it has not reached the expected value, the control instruction execution module is required to provide the switching current value of the solenoid valve.

[0131] (b) Automatic drilling control instructions: Assume that the staged control current value provided by the automatic drilling module is the current value ε(t) of the feed solenoid valve at [t, t+Δt]. The module sends the current control value ε(t) to the control instruction module at time t, and stops sending it at time t+Δt, and ensures that the current control value received by the control instruction execution module remains ε(t) within the time period [t, t+Δt].

[0132] (c) Drilling rig preparation control instructions: This instruction implements the motion control tasks when the directional drilling rig is preparing for construction, including drilling rig angle adjustment, rod raising, buckling, buckling, and pulling out. The above actions are sent by the driller to the lower computer through the remote control. This technology has been widely used in electric-controlled drilling rigs, so this patent will no longer explain this process.

[0133] 7) Control instruction execution module: This module receives the solenoid valve control current value v at each time point issued by the drilling rig execution action decision module, and converts ε into the corresponding current value through the PLC driver and provides it to the corresponding solenoid valve of the drilling rig.

[0134] 8) Sensor data acquisition and processing module: The sensor components of the intelligent control system include the drilling rig status sensor component and the drilling trajectory sensor component. The communication protocols involved include CAN, 232, pulse signal, etc. This module receives the frames of the above protocols, unpacks them and converts the data into I c ,I m and I o Define classification.

[0135] Although the present invention has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements may be made thereto based on the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection claimed by the present invention.

Claims

1. An intelligent control method for a directional drilling rig, characterized in that: It includes sensor data acquisition and processing module, control instruction execution module, drilling rig action decision module, construction process status analysis module, process execution decision module, automatic drilling control module and drilling trajectory control module; The sensor parameter acquisition and processing module receives the current action status of the drilling rig and the directional drilling trajectory data, classifies and organizes them, and sends them to the construction process status analysis module for analysis, and then transmits them to the process execution decision module. The automatic drilling control module receives the drilling task instructions issued by the process execution decision module and the drilling rig operation status information provided by the construction process status analysis module, and uses the drilling condition judgment model established by the automatic drilling control module and the feed speed control model trained by the data to perform real-time drilling condition judgment and feed control parameter calculation; The drilling trajectory control module receives the drilling trajectory information provided by the construction process status analysis module and the drilling trajectory deviation correction task instructions provided by the process execution decision module, analyzes the deviation of the existing drilling trajectory, establishes a trajectory control strategy, and calculates the adjustment parameters of the bottom hole motor tool surface; The drilling rig action execution decision module receives the tool face adjustment angle instruction issued by the drilling trajectory control module, the feed parameter control instruction provided by the automatic drilling module or the specific action instruction in the drilling rig preparation work issued by the process execution decision module, and formulates the control current value provided to the solenoid valve at each time point; the control instruction execution module converts the current value provided by the drilling rig action execution decision module into an output of 0.2A~0.8A, and provides it to the corresponding solenoid valve action.

2. The intelligent control method for a directional drilling rig according to claim 1, characterized in that: The construction process status analysis module includes drilling trajectory analysis and drilling operation status analysis. The drilling trajectory analysis collects the bottom hole probe information. c , the directional drilling trajectory status information C is obtained through calculation; the drilling operation status analysis collects the main body information I during the operation of the drilling rig m , the drilling rig operation status information S is obtained through calculation, and the specific implementation process is as follows: (a) Drilling trajectory analysis: Bottom hole probe information I c The drilling depth l, the inclination angle α of the bottom hole motor and the azimuth angle θ of the bottom hole motor are included. The full-angle half-distance method is used to obtain the bottom hole probe information I c Perform iterative calculations to obtain the three-dimensional coordinates ψ of each drill rod inside the borehole i ={x i ,y i ,z i }, 1≤i≤n, where ψ i is the three-dimensional coordinate of the i-th drill rod, including the horizontal coordinate x i 、azimuth coordinate y i and the inclination coordinate z i , that is, the actual drilling trajectory information is The coordinates of the drill pipe are defined as ψ i ={y i ,z i }; The calculation method of full-angle half moment is shown in formula (1); Where i represents the i-th drill rod, w is the azimuth of the drilling hole and it is a constant; Similarly, the full-angle half-moment method is used to calculate the drilling trajectory designed by the drilling construction personnel to obtain the expected drilling trajectory information where ψ i ′ is the expected three-dimensional coordinates of the i-th drill pipe {y i ′,z i '}; Get the information C in the current drilling hole m and C e Then the trajectory deviation calculation needs to be performed, that is, Here (b) Drilling rig operation status analysis: The data obtained during the drilling rig operation at the sensor sampling time t is I m (t), the state analysis definition of the electronic control system at sampling time t Where ε(t) represents the current supplied to the solenoid valve at sampling time t, and H is I m The mapping relationship between (t) and ε(t), the relationship between the above parameters is described as shown in formula (2), ε(t)=H(I m (t),t) (2); Formula (2) is used to describe the control logic of the electronic control system when the drilling rig is executing actions; The analysis of the hydraulic system adopts the hydraulic dynamics analysis theory, and the state analysis at the sampling time t is defined as ρ 1 (t) represents the flow rate and pressure value of the hydraulic oil from the pump outlet at sampling time t, ρ 2 (t) represents the flow and pressure values ​​at the key position of the hydraulic circuit at sampling time t, ρ 3 (t) represents the hydraulic property value of the hydraulic actuator at sampling time t. The above state analysis is defined as shown in formula (3): r 3 (t)=G(ρ 1 (t),p 2 (t),t)(3); Formula (3) is used to describe the execution logic of the hydraulic circuit; The running state of the main body at sampling time t Where σ(t) represents the actual action attribute value of the drilling rig, where σ 1 (t) is determined by the sensor parameter I m (t) directly provided, σ 2 (t) is the action attribute value of the drilling rig. The above state is described by formula (4): s 2 (t)=F(σ 1 (t),t)(4); Formula (4) is used to describe the acquisition of drilling rig action attributes.

3. The intelligent control method for a directional drilling rig according to claim 1 or 2, characterized in that: The process execution decision module is based on the control task I o , combined with the directional drilling trajectory status information C and the drilling rig operation status information S provided by the construction process status analysis module, the subsequent drilling rig execution task δ = {δ1,δ2,δ3} is determined, where the execution task δ1 represents the preparation work that the drilling rig needs to perform next, δ2 represents the directional drilling trajectory correction operation that the drilling rig needs to perform next, and δ3 represents the automatic drilling operation that the drilling rig needs to perform next, including the following steps: Step 2.1: Send the drilling construction preparation start instruction I to the process execution decision module o , the process execution decision module sends the execution task δ1 to the drilling rig execution action decision module, and the drilling rig execution action decision module cooperates to perform drill pipe loading and unloading and drill pipe buckling operations; Step 2.2: After completing the drill pipe loading and unloading and drill pipe make-up operations, send a drilling construction preparation completion instruction to the process execution decision module, and the process execution decision module will go to step 2.3; Step 2.3: The process execution decision module receives the directional drilling trajectory status information C = {C m ,C e ,C d }, for C d In {τ1,…,τ n } is processed. Specifically, the process execution decision module processes (τ i -τ i-1 ) is derived. If the value is less than 0, it means that the actual drilling trajectory is approaching the expected trajectory. At this time, no trajectory correction is required, and the drilling rig is sent to perform the subsequent task δ3; otherwise, the process execution decision module sends the drilling rig to perform the subsequent task δ2; Step 2.4: The drilling trajectory control module receives the subsequent execution task δ2, and then performs the drilling correction operation. At this time, it determines whether the correction work is completed based on the on-site construction situation. If completed, it sends a drilling correction completion instruction to the process execution decision module. At this time, the process execution decision module sends the drilling rig subsequent execution task δ3; Step 2.5: The automatic drilling control module receives the subsequent execution task δ3, and sends an execution instruction to the process execution decision module according to the execution information, including performing the next round of directional drilling construction or interrupting the current operation; Step 2.6: If the process execution decision module receives the instruction to carry out the next round of directional drilling construction, it goes to step 2.1; if the process execution decision module receives the instruction to interrupt the current operation, it interrupts all actions of the drilling rig and waits for manual intervention.

4. The intelligent control method for a directional drilling rig according to claim 3, characterized in that: The drilling trajectory control module receives the subsequent execution task instruction δ2 issued by the process execution decision module, and according to the directional drilling trajectory state information C provided by the construction process state analysis, m ,C e ,C d }, formulate a drilling trajectory correction strategy, which includes the following steps: Step 3.1: Analyze the current drilling trajectory deviation. The deviation value of the current i-th drill rod is obtained by the construction process state analysis module. where τ i Contains three elements as well as Represents the left and right displacement deviation values ​​y respectively i -y i ′ and the upper and lower displacement deviation value z i -z i ',right and The values ​​are classified, assuming and The values ​​are all greater than 0, and they are divided into m categories according to the deviation value, and each category is assigned a number from 1 to m. Less than 0 or When the value is less than 0, the deviation value is processed by classification assignment; Step 3.2: Formulate a trajectory control strategy and calculate the value of the tool face of the i+1th drill rod; the adjustment angle of the tool face is 0° to 360°, and the deviation value obtained in step 3.1 is used for calculation; Step 3.3: Adjust the drilling tool face. Assume that the range of the tool face angle of the i+1th drill rod obtained in step 3.2 is [a i+1 ,b i+1 ], and the actual tool face value of the current i-th drill pipe is c i , calculate the tool face difference d i+1 =(a i+1 +b i+1 -2c i ) / 2, and the difference is the rotation angle of the power head. The drilling rig execution action decision in the lower computer system sends the control current and voltage values ​​to slowly rotate the power head to achieve automatic adjustment of the tool face.

5. The intelligent control method for a directional drilling rig according to claim 3, characterized in that: The automatic drilling control module receives the execution task instruction δ2 sent by the process execution decision module, and according to the drilling rig operation status information {S e ,S h ,S m }, formulate an automatic drilling control strategy, the specific steps are as follows: Step 4.1: Establish an automatic drilling process model, including a drilling condition judgment model and a feed speed control model; Step 4.2: The automatic drilling control module receives the execution task instruction δ2 sent by the process execution decision module, and first determines the working condition of the drilling process; specifically, the execution current value ε(t) is manipulated within the test time period [t, t+Δt] so that its value increases uniformly from 0.2A to 0.8A, and the value of {ρ, ε, σ} within the test time period is collected, and the value is input into the drilling working condition judgment model, and the current working condition is inferred by the model; if the drilling working condition is in a normal state, go to step 4.3; Step 4.3: Calculate the feed speed based on the feed control speed model. Different stages in the directional drilling process correspond to different drilling speeds. Instead of the expected drilling speed value, k here represents the different stages of the directional drilling construction process, and this information is passed to the automatic drilling control module to generate the expected drilling speed value Go to step 4.4; Step 4.4: Generate the control current value of the electric control system. Specifically, the expected value of the current drilling speed is obtained by step 4.

3. The solenoid valve current value ε(t) and pump pressure ρ(t) at the current time t are collected, and the solenoid valve control current ε(t+Δt) at the next time t+Δt is calculated based on the feed speed control model.

6. The intelligent control method for a directional drilling rig according to claim 5, characterized in that: The step 4.1 specifically includes: Step 4.1.1: Use expert experience to establish an automatic drilling process model, that is, to analyze the drilling rig operation process data {S e ,S h ,S m } features and mapping them with drilling conditions, including: e Medium control current ε value, S h Pressure value of key hydraulic position ρ 2 With S m The drilling rig action attribute value σ 2 There is a direct correlation between the parameters. If there is an abnormality in the relationship between the above parameters during the drilling process, the current drilling condition can be judged from the abnormality based on expert experience, and then a drilling condition judgment model can be established. Step 4.1.2: Establish a control model including pump pressure ρ, solenoid valve control current ε and feed speed v, that is, the drilling rig operation process data {S e ,S h ,S m } to analyze the relevant parameters of the feed speed control function of the drilling rig; specifically, the feed speed value of the drilling rig is 0~v max Divided into n equal parts, the value of the jth part is At this time, the pump pressure ρ and the feed execution current E are used as input parameters, and the feed speed v is used as the output parameter. The sampling time period [t0,t m ] a data set {ρ, ε, v}, where 0≤i≤m, and then a neural network is established. The network is trained using the above data to obtain the weights and thresholds of the neural network, thereby establishing a feed speed control model.

7. The intelligent control method for a directional drilling rig according to claim 1 or 2, characterized in that: The drilling rig execution action decision module receives the tool face adjustment angle instruction issued by the drilling trajectory control module, or the staged control current value provided by the automatic drilling module, or the specific instruction in the drilling rig preparation work issued by the process execution decision module. For the above instructions, the specific implementation process of the module is as follows: (a) Tool face angle adjustment command: Current bottom hole probe information I c The tool face value of the bottom hole drilling tool at time t Assume that the drilling trajectory control module requires that the tool face of the bottom hole drill should be adjusted to The number of rotating gears of the power head is k. When the tool face adjustment angle instruction is executed, the number of gears of the power head rotated is n. The calculation process is shown in formula (5): Where n is an integer of n′, and the drilling rig execution action decision module monitors I in real time. m (t) The pulse signal of the proximity switch is used to determine whether the current number of gears has reached the expected value. If it has not reached the expected value, the control instruction execution module is required to provide the switching current value of the solenoid valve; (b) Automatic drilling control command: Assume that the staged control current value provided by the automatic drilling module is the current value of the feed solenoid valve at [t, t+Δt] ε(t), and the module sends the current control value ε(t) to the control command module at time t, and stops sending at time t+Δt, and ensures that the current control value received by the control command execution module remains ε(t) within the time period [t, t+Δt]. (c) Drilling rig preparation control command: This command implements the action control task when the directional drilling rig is preparing for construction. The action is performed by the driller sending specific control commands to the lower computer through the remote control.

8. The intelligent control method for a directional drilling rig according to claim 1 or 2, characterized in that: It also includes a remote control data receiving and processing module, which receives the command sent by the remote control and processes its data; specifically, it receives the information frame sent by the remote control center or the remote control, unpacks the frame to obtain the key data in the frame, classifies the data, and provides the classified information to the process execution decision module; The process execution decision module receives the manual instructions sent by the remote control data receiving and processing module, as well as the drilling rig operation status information and drilling trajectory information provided by the construction process status analysis module, and formulates the execution process of each process of the drilling rig in combination with the process switching and execution judgment conditions during the drilling rig construction process, and sends the relevant tasks to the automatic drilling control module, the drilling trajectory control module and the drilling rig execution action decision module.

9. An intelligent control system for a directional drilling rig, characterized in that: The system is used to execute the intelligent control method of the directional drilling rig described in any one of claims 1 to 8; include: The host computer system includes a construction process status analysis module, a process execution decision module, an automatic drilling control module and a drilling trajectory control module; The lower computer system includes a sensor data acquisition and processing module, a control instruction execution module and a drilling rig action decision module.

10. The intelligent control system of a directional drilling rig according to claim 9, characterized in that: The system provides a support platform for the functions of data collection, algorithm operation, strategy decision and action execution required in the directional drilling process, and also includes sensor components, execution components, communication networks, control components and human-computer interaction components, among which: 1) The sensor components are divided into drilling rig status sensor components and drilling trajectory sensor components. The drilling rig status sensor components include hydraulic pressure sensors, speed sensors, displacement sensors and proximity switches arranged on the drilling rig, which provide collected information to the control component according to a certain sampling period. m The drilling trajectory sensor assembly includes a measurement while drilling probe arranged at the bottom of the drilling tool, which is used to collect information about the current back hole bottom. c ; 2) The control components include a PLC controller for drilling rig motion control, an explosion-proof computer for hole bottom trajectory control, and corresponding electronic components. The PLC controller provides an operating platform for the lower computer of the intelligent control system, and the explosion-proof computer provides an operating platform for the upper computer of the intelligent control system; 3) Communication network connects the wired and wireless networks of the above components, including CAN, RS232, 433MHz RF protocol and industrial Ethernet, through which the information collected by the sensor components is transmitted c and I m Upload to explosion-proof computer, and transmit the information provided by human-computer interaction component c Pass it to the explosion-proof computer, and issue the control instructions generated by the PLC to the execution components; 4) The human-computer interaction system includes a display and a remote controller, wherein the display is used to display the drilling trajectory status information {C m ,C e ,C d } and rig operation status information {S e ,S h ,S m }; The remote control will control the driller to task I o Send to explosion-proof computer; 5) The execution component includes a directional drilling tool that controls the drilling trajectory coordinates and a set of solenoid valves that control the drilling rig action. It receives the control instructions generated by the PLC and changes the action of the corresponding equipment according to the instructions.

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