Intelligent control method and system of directional drilling machine

Abstract

The application discloses an intelligent control method and system of a directional drilling machine, comprising a sensing data acquisition and processing module, a control instruction execution module, a drilling machine action decision module, a construction process state analysis module, a work procedure execution decision module, an automatic drilling control module and a drilling trajectory control module; the intelligent directional drilling control system provided by the application re-divides the functions of an existing directional drilling machine control system, and executes the above functions on different devices according to resource requirements, so that the whole intelligent directional control target is realized through the coupling between functions, and the whole intelligent directional control system is realized through the interaction between devices; secondly, the work procedure execution decision module, the automatic drilling control module and the drilling trajectory control module are provided, not only the process in the whole directional construction is controllable, but also the experience requirement of a driller is reduced, so that the intelligent level of the directional drilling machine is improved.

Description

Technical Field

[0001] This invention belongs to the field of coal mining equipment, specifically an intelligent control method and system for directional drilling rigs. Background Technology

[0002] High-power directional drilling rigs are commonly used in coal mines for efficient gas extraction, roof drainage, floor aquitard grouting and reinforcement, and geological exploration for potential disasters. During operation, the directional drilling rig collects bottom-hole coordinate information uploaded by the measurement-while-drilling (MWD) system, displaying the drilling trajectory in real time. The driller operates the rig and bottom-hole motor based on the deviation between the designed and actual drilling trajectories, thus achieving alignment between the drilling and designed trajectories. Therefore, how to coordinate the modification of the bottom-hole motor, the MWD system, and the drilling rig control system is one of the key issues that needs to be addressed in the intelligentization of large-scale directional drilling rigs.

[0003] Currently, the core control hardware of high-power directional drilling rigs consists of an electrical control cabinet and an explosion-proof computer. These two components cannot communicate directly. The electrical control cabinet controls the rig's movements, while the explosion-proof computer displays the drilling trajectory information at the bottom of the hole. However, drilling trajectory control and drilling status analysis require the driller to make judgments based on experience. Therefore, existing high-power directional drilling rigs primarily rely on the driller collecting rig status and drilling trajectory information, making decisions about the drilling trajectory and rig actions based on manual experience, and then operating the bottom-hole motor and rig for drilling operations. Thus, directional drilling operations place 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 drilling decisions. Summary of the Invention

[0004] The purpose of this invention is to propose an intelligent control method and system for directional drilling rigs to solve the problem of excessive manual intervention in the construction process of existing directional drilling rigs in coal mines.

[0005] To solve the above problems, the present invention adopts the following technical solution:

[0006] A method for intelligent control of a directional drilling rig includes a sensor data acquisition and processing module, a control command execution module, a drilling rig action decision module, a construction process status analysis module, a process execution decision module, an automatic drilling control module, and a drilling trajectory control module.

[0007] The sensing parameter acquisition and processing module receives the current action state of the drilling rig and the directional drilling trajectory data, and sends the classified and arranged data to the construction process state analysis module for analysis, and then 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 state information provided by the construction process state analysis module, and uses the drilling condition judgment model established by the automatic drilling control module and the feed speed control model trained by 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 state 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 a trajectory control strategy, and calculates the adjustment parameters of the tool face of the hole bottom motor;

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

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

[0011] (a) Drilling trajectory analysis: hole bottom probe information I c includes the hole depth l, the inclination angle α of the hole bottom motor, and the azimuth angle θ of the hole bottom motor. The hole bottom probe information I c is iteratively calculated by using the full-angle half-distance method to obtain the three-dimensional coordinates ψ i ={x i ,y i ,z i} of each drill rod, 1≤i≤n, wherein ψ i is the three-dimensional coordinates of the i-th drill rod, including the horizontal coordinate x i , the azimuth coordinate y i , and the inclination coordinate z i . The actual drilling trajectory information is The coordinates of the drill rod are defined as ψ i ={yi ,z i The calculation method for the full angle half moment is shown in equation (1).

[0012]

[0013] Where i represents the i-th drill rod, and w is the borehole azimuth angle, which is a constant;

[0014] Similarly, the full-angle half-moment method is used to calculate the drilling trajectory designed by the drilling operators to obtain the desired drilling trajectory information. Where ψ i Let ′ be the desired three-dimensional coordinates of the i-th drill pipe {y i ′,z i ′}; Obtain information C within the current borehole m and C e Then, trajectory deviation calculation is required, that is... Here

[0015] (b) Drilling Rig Operation Status Analysis: The data obtained by the sensor during the drilling rig operation at the 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 the current supplied to the solenoid valve. m The mapping relationship between ε(t) and ε(t) is described by equation (2).

[0016] ε(t)=H(I m (t),t) (2);

[0017] Equation (2) is used to describe the control logic of the electrical control system when the drilling rig performs its actions;

[0018] The analysis of the hydraulic system adopts the theory of hydraulic dynamics analysis, and the state analysis is defined at sampling time t. ρ 1 (t) represents the flow rate and pressure of hydraulic oil from the pump outlet at sampling time t, ρ 2 (t) represents the flow rate and pressure values ​​at key locations in the hydraulic circuit at sampling time t, ρ 3 (t) represents the hydraulic property value of the hydraulic actuator at sampling time t. The state analysis definition above is shown in equation (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 body at the sampling time t Wherein σ(t) represents the actual action attribute value of the rig, wherein σ 1 (t) is directly provided by the sensing parameter I m (t), σ 2 (t) is the action attribute value of the rig, and 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 the action attribute of the rig.

[0024] Optionally, the procedure execution decision module decides the subsequent execution task δ = {δ1, δ2, δ3} of the rig according to the control task I o , in combination with the directional drilling trajectory state information C and the rig running state information S provided by the construction process state analysis module, wherein the execution task δ1 represents that the rig needs to perform the preparation work next, δ2 represents that the rig needs to perform the directional drilling trajectory deviation correction operation next, and δ3 represents that the rig needs to perform the automatic drilling operation next, including the following steps.

[0025] Step 2.1: a drilling construction preparation start instruction I o is sent to the procedure execution decision module, the procedure execution decision module sends the execution task δ1 to the rig execution action decision module, and the rig execution action decision module cooperates to perform the drill rod loading and unloading and the drill rod make-up operation.

[0026] Step 2.2: after the drill rod loading and unloading and the drill rod make-up operation are completed, a drilling construction preparation completion instruction is sent to the procedure execution decision module, and at this time the procedure execution decision module goes to step 2.3.

[0027] Step 2.3: the procedure execution decision module receives the directional drilling trajectory state information C = {C m , C e , C d}, processes the values of {τ1, …, τ n} in C d , and specifically, the procedure execution decision module module differentiates (τ i - τ i-1 ), if the value of the differentiation is less than 0, it represents that the actual drilling trajectory approaches the expected trajectory, at this time the trajectory deviation correction is not needed, and the subsequent execution task δ3 of the rig is sent; otherwise, the procedure execution decision module sends the subsequent execution task δ2 of the rig.

[0028] Step 2.4: the drilling trajectory control module receives the subsequent execution task δ2, and performs the drilling deviation correction operation, at this time, it is judged according to the field construction condition whether the deviation correction operation is completed, if yes, a drilling deviation correction completion instruction is sent to the process execution decision module, at this time, the process execution decision module sends a subsequent execution task δ3 of the drilling rig;

[0029] 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, which contains the next directional drilling construction or interruption of the current operation;

[0030] Step 2.6: the process execution decision module receives the next directional drilling construction instruction, and goes to step 2.1; if the process execution decision module receives the interruption of the current operation instruction, all actions of the drilling rig are interrupted, and manual intervention is waited.

[0031] Optionally, the drilling trajectory control module receives the subsequent execution task instruction δ2 sent by the process execution decision module, and formulates a drilling trajectory deviation correction strategy according to the directional drilling trajectory state information C = {C m ,C e ,C d} provided by the construction process state analysis module, which specifically includes the following steps:

[0032] Step 3.1: deviation analysis of the current drilling trajectory, the deviation value of the current i-th drill rod obtained by the construction process state analysis module is Wherein τ i contains three elements and represent left and right displacement deviation values y i -y i ' and up and down displacement deviation values z i -z i ', the values of and are classified, it is assumed that the values of and are greater than 0, and they are divided into m classes according to the size of the deviation value, and each class is assigned a number from 1 to m, and similarly, for the case that is less than 0 or is less than 0, the deviation value is also processed by classification and assignment;

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

[0034] Step 3.3: Adjust the tool face of the drilling tool, assuming that the range of the tool face orientation of the i+1 drill pipe obtained from step 3.2 is [a i+1 ,b i+1 ], and the actual tool face value of the current i drill pipe is c i , the difference d i+1 =(a i+1 +b i+1 -2c i ) / 2 of the tool face is calculated, and the difference is the rotation angle of the power head, and the drilling machine in the lower machine system executes the action decision to send the control current voltage value to slowly rotate the angle of the power head, so as to realize the automatic adjustment of the tool face.

[0035] Optionally, the automatic drilling control module receives the execution task instruction δ2 sent by the process execution decision module, formulates the automatic drilling control strategy according to the drilling machine running state information {S e ,S h ,S m} provided by the construction process state analysis module, and 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 δ2 sent by the process execution decision module, first judges the drilling process condition; specifically, the execution current value ε(t) is manipulated within the test time period [t, t+Δt] so that its value increases uniformly from 0.2 A to 0.8 A, and the values of {ρ, ε, σ} within the test time period are collected and input into the drilling condition judgment model, and the current condition is inferred from the model; if the drilling condition is in a normal state, step 4.3 is entered;

[0038] Step 4.3: Calculate the feed speed according to the feed control speed model, different stages of the directional drilling construction process correspond to different drilling speeds, and k is used instead of the drilling speed expectation value, which is the information transmitted to the automatic drilling control module, so as to generate the drilling speed expectation value Step 4.4: Generate the control current value of the electric control system, specifically, the drilling speed expectation value is obtained from step 4.3, and the electromagnetic valve current value ε(t) and pump pressure ρ(t) value at the current time t are collected, and the electromagnetic valve control current ε(t+Δt) at the next time t+Δt is calculated according to the feed speed control model.

[0039] Step 4.4: Generate the control current value of the electric control system, specifically, the drilling speed expectation value is obtained from step 4.3, and the electromagnetic valve current value ε(t) and pump pressure ρ(t) value at the current time t are collected, and the electromagnetic valve control current ε(t+Δt) at the next time t+Δt is calculated according to the feed speed control model.

[0040] Optionally, the step 4.1 specifically comprises:

[0041] Step 4.1.1: Establishing an automatic drilling process model by using expert experience, i.e. analyzing the characteristics of drilling rig operation process data {S e , h , m} and mapping the characteristics with drilling conditions, including: S e The control current ε value in S h The key hydraulic position pressure value ρ 2 The drilling rig action attribute value σ m There is a direct correlation between S 2 If the relationship between the above parameters is abnormal during drilling, the current drilling condition is determined by the expert experience from the abnormality, and then a drilling condition determination model is established.

[0042] Step 4.1.2: Establishing a control model containing pump pressure ρ, solenoid valve control current ε and feed speed v, i.e. analyzing the relevant parameters of drilling rig operation process data {S e , h , m} to control the feed speed, and obtaining a drilling rig feed control function; specifically, the drilling rig feed speed value 0 ~ v max is divided into n equal parts, and the jth part value is At this time, the pump pressure ρ and the feed execution current E are input parameters, and the feed speed v is an output parameter. The data set {ρ, ε, v} in the sampling time period [t0, t m ] is collected, where 0≤i≤m. Then a neural network is established, and the above data is used to train the network to obtain the weight and threshold of the neural network, thereby establishing a feed speed control model.

[0043] Optionally, the drilling rig execution action decision module receives the tool face adjustment angle instruction issued by the drilling trajectory control module, or the stage 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. The specific implementation process of the module for the above instructions is as follows:

[0044] (a) Tool face adjustment angle instruction: the current hole bottom probe information I c contains the tool face value of the hole bottom drilling tool at time t Suppose the drilling trajectory control module requires that the hole bottom drilling tool face should be adjusted to at time t+Δt, and the number of rotating gears of the power head is k, then when executing the tool face adjustment angle instruction, the number of gears of the power head rotates is n, and its calculation process is shown in formula (5):

[0045]

[0046] Wherein n takes the integer of n', the rig action decision module monitors I m (t) the pulse signal of the proximity switch, to determine whether the current gear number has reached the expected value, and if not, to request the control instruction execution module to provide the switch current value of the electromagnetic valve;

[0047] (b) automatic drilling control instruction: the phase control current value provided by the automatic drilling module is the current value of the feed electromagnetic valve in [t, t+Δt], the module then issues the current control value ε(t) to the control instruction module at time t, and ends at 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];

[0048] (c) rig preparation control instruction: the instruction realizes the action control task of the directional drilling rig during preparation for construction, and the action is sent by the driller to the lower computer through the remote controller.

[0049] Optionally, it also includes a remote control data receiving and processing module, which receives the instructions sent by the remote controller and processes the data; specifically, it receives the information frame sent by the remote control center or the remote controller, 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;

[0050] The process execution decision module receives the manual instructions sent by the remote control data receiving and processing module, and the rig operation state information and drilling trajectory information provided by the construction process state analysis module, combines the process switching and execution judgment conditions in the rig construction process, formulates the execution process of each process of the rig, and issues related tasks to the automatic drilling control module, the drilling trajectory control module, and the rig action decision module.

[0051] An intelligent control system of a directional drilling rig, the system is used to execute the intelligent control method of any directional drilling rig described in the application;

[0052] It includes:

[0053] The upper computer system includes a construction process state 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 sensing data acquisition and processing module, a control instruction execution module, and a rig action decision module.

[0055] Optionally, the system provides a support platform for data collection, algorithm operation, strategy decision and action execution in directional drilling process, and further comprises a sensing component, an execution component, a communication network, a control component and a human-machine interaction component, wherein:

[0056] 1) The sensing component is divided into a drilling rig state sensing component and a drilling trajectory sensing component, the drilling rig state sensing component comprises a hydraulic pressure sensor, a speed sensor, a displacement sensor and a proximity switch arranged on the drilling rig, which provides collected information I m to the control component according to a certain sampling period; the drilling trajectory sensing component comprises a measurement-while-drilling probe arranged at the bottom end of a drilling tool, which is used to collect information I c at the bottom of the current hole;

[0057] 2) The control component comprises a PLC controller for drilling rig action control, an explosion-proof computer for hole bottom trajectory control and corresponding electronic components, wherein the PLC controller provides a running platform for the lower computer of the intelligent control system, and the explosion-proof computer provides a running platform for the upper computer of the intelligent control system;

[0058] 3) The communication network connecting the above components is a wired and wireless network, including CAN, RS232, 433MHz radio frequency protocol and industrial Ethernet, through which the information I c and I m collected by the sensing component is uploaded to the explosion-proof computer, the information I c provided by the human-machine interaction component is transmitted to the explosion-proof computer, and the control instructions generated by the PLC are issued to the execution component;

[0059] 4) The human-machine interaction system comprises a display and a remote controller, wherein the display is used to display drilling trajectory state information {C m ,C e ,C d} and drilling rig running state information {S e ,S h ,S m}; the remote controller sends the drilling personnel control task I o to the explosion-proof computer;

[0060] 5) The execution component comprises a directional drilling tool for controlling drilling trajectory coordinates and a set of electromagnetic valves for controlling drilling rig actions, which receives the control instructions generated by the PLC and changes the actions of the corresponding devices according to the instructions.

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

[0062] The application proposes a new intelligent directional drilling control system, re-divides the functions of the existing directional drilling rig control system, and runs the above functions on different devices according to resource requirements, so as to realize the whole intelligent directional control target through the coupling between functions, and realize the whole intelligent directional control system through the interaction between devices; secondly, the application proposes process execution decision, automatic drilling control, drilling trajectory control and other modules, not only realizes the process controllability in the whole directional construction, but also reduces the experience requirement of the driller, thereby improving the intelligent level of the directional drilling rig. BRIEF DESCRIPTION OF DRAWINGS

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

[0064] Figure 1 It is a hardware structure diagram of the intelligent control system of the directional drilling rig in the application;

[0065] Figure 2 It is a software architecture diagram of the intelligent control system of the directional drilling rig in the application;

[0066] Figure 3 It is a function implementation flowchart of the process execution decision module;

[0067] The application is further explained in the following in combination with the drawings and specific embodiments. DETAILED DESCRIPTION

[0068] The following gives a specific embodiment of the application, and it should be noted that the application is not limited to the following specific embodiments, and any equivalent transformation made on the basis of the technical scheme of the application falls within the protection scope of the application.

[0069] The application provides an intelligent control system of a directional drilling rig, including a hardware system and a software system;

[0070] The hardware system comprises a sensing component, an executing component, a control component, a communication network, and a human-machine interaction component, wherein: the sensing component is divided into a rig state sensing component and a borehole trajectory sensing component, the rig state sensing component comprises a hydraulic pressure sensor, a speed sensor, a displacement sensor, a proximity switch and the like arranged on the rig, and the borehole trajectory sensing component comprises a measurement-while-drilling probe arranged at the top end of a drilling tool; the executing component comprises a hydraulic executing element for controlling the action of the coal mine rig and a downhole motor for controlling the tool face angle of the drilling tool; the control component comprises a PLC controller for rig action control, an explosion-proof computer for borehole trajectory control, and corresponding electronic components; the communication network connects the above components through wired and wireless networks, including CAN, RS232, 433MHz radio frequency protocol and industrial Ethernet; the human-machine interaction system comprises a display screen for displaying the rig operation state and the borehole trajectory, and a remote controller for sending control tasks to the control component.

[0071] The software system comprises a lower computer system running on the PLC controller and an upper computer system running on the explosion-proof computer, wherein the lower computer system comprises a sensing data acquisition and processing module, a control instruction executing module, and a rig action decision module; the upper computer comprises a construction process state 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] Further, the functions of the modules comprised in the lower computer and the upper computer are described as follows:

[0073] The construction process state analysis module analyzes the current action state of the rig and the directional drilling trajectory, specifically, analyzes the received rig hydraulic parameters, rig action parameters and electric control signals, and obtains the current operation state of the rig by using a system identification method; analyzes the received inclination angle, azimuth angle and hole depth information of the downhole motor, and calculates the drilling trajectory by using a full-angle half-matrix method. The module transmits the rig operation state and the drilling trajectory information to the process execution decision module.

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

[0075] The drilling trajectory control module receives the drilling trajectory information provided by the construction process state 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 by using expert experience, and calculates the adjustment parameters of the tool face of the downhole motor.

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

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

[0078] The drilling rig action decision module receives tool face adjustment angle instructions from the drilling trajectory control module, or feed parameter control instructions from the automatic drilling module, or specific action instructions for drilling rig preparation from the process execution decision module, and determines the control current values ​​provided to the solenoid valves at each time point.

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

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

[0081] To illustrate the technical implementation of this 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 Information collected by the bottom probe includes borehole depth, dip angle, azimuth, tool face, etc.; I m Information collected by sensors deployed within the drilling rig includes pressure values ​​at key hydraulic positions, power head movement speed, rotation speed, and current and voltage values ​​of the electrical control system; I o This information pertains to the driller's control of the drilling rig, including instructions for switching drilling operations and emergency stop commands.

[0083] 2) Define the directional drilling trajectory status information as C = {C m C e C d}, where C mThis includes actual borehole trajectory information, such as borehole depth, inclination angle, azimuth angle, vertical displacement, and horizontal displacement; C e The design trajectory information provided to the driller includes hole depth, vertical displacement, and horizontal displacement; C d This refers to the deviation information between the actual drilling trajectory and the designed trajectory.

[0084] 3) Define the drilling rig operating status information as S = {S e ,S h ,S m}, where S e This refers to the operating status of the drilling rig's electrical control system, including whether each action execution loop is functioning correctly and the current "sensor data - control data - execution data" information; S h This refers to the operating status of the drilling rig's hydraulic system, including the execution status of the hydraulic circuits supporting various drilling rig movements and the hydraulic parameters at key locations; S m This refers to the operating status of the drilling rig itself, including the execution status of each action of the drilling rig.

[0085] like Figure 1 As shown, the hardware system of the intelligent directional drilling rig control system provides a support platform for functions such as data acquisition, algorithm calculation, strategy decision-making, and action execution required during directional drilling. Specifically, it includes sensing components, execution components, communication networks, control components, and human-machine interaction components, among which:

[0086] 1) The sensing components are divided into drilling rig status sensing components and drilling trajectory sensing components. The drilling rig status sensing components include hydraulic pressure sensors, speed sensors, displacement sensors, proximity switches, etc., arranged on the drilling rig. They provide collected information to the control components according to a certain sampling period. m The borehole trajectory sensing component includes a measurement-while-drilling probe positioned at the bottom of the drill string, used to acquire information from the bottom of the hole during the current drilling cycle. c This includes tilt angle, azimuth angle, 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-level machine of the intelligent control system, while the explosion-proof computer provides an operating platform for the upper-level machine of the intelligent control system.

[0088] 3) The communication network connects the wired and wireless networks of the above components, including CAN, RS232, 433MHz RF protocol, and industrial Ethernet. The information collected by the sensing components is transmitted through this network. c and I m Upload the information provided by the human-computer interaction component to the explosion-proof computer. cIt transmits the control commands generated by the PLC to the explosion-proof computer and issues them to the execution components.

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

[0090] 5) The execution components include directional drilling tools that control the drilling trajectory coordinates and a set of solenoid valves that control the drilling rig's movements. They receive control commands generated by the PLC and change the actions of the corresponding equipment according to the commands.

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

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

[0093] (a) Drilling trajectory analysis: Bottom hole probe information I c The borehole parameters, including the drilling depth l, the inclination angle α of the bottom-hole motor, and the azimuth angle θ of the bottom-hole motor, are iteratively calculated using the full-angle half-distance method 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 Let x be the three-dimensional coordinates of the i-th drill pipe, including the horizontal coordinate x. i azimuth coordinates y i and the tilt coordinate z i That is, the actual borehole trajectory information is Because the horizontal coordinate x i The value is not included in the calculation in this invention patent, therefore the horizontal coordinate x does not need to be provided. i The calculation method is as follows: the coordinates of the subsequent drill pipe are defined as ψ. i ={y i ,zi The calculation method for the full angle half moment is shown in equation (1).

[0094]

[0095] Where i represents the i-th drill rod, and w is the borehole azimuth angle, which is a constant.

[0096] Similarly, the full-angle half-moment method is used to calculate the drilling trajectory designed by the drilling operators to obtain the desired drilling trajectory information. Where ψ i Let ′ be the expected three-dimensional coordinates of the i-th drill pipe {y i ′,z i ′}。 Obtain information C currently within the borehole. m and C e Then, trajectory deviation calculation is required, that is... Here

[0097] (b) Drilling Rig Operation Status Analysis: The data obtained by the sensor during the drilling rig operation at the sampling time t is I. m (t), where I m (t) represents the current and voltage values, pressure and flow values ​​at key locations in the hydraulic system, and drilling rig movement attributes acquired at sampling time t. The state analysis definition of the electrical control system at sampling time t is as follows. Where ε(t) represents the current supplied to the solenoid valve at sampling time t, and H is the current supplied to the solenoid valve. m The mapping relationship between ε(t) and ε(t) is described by equation (2).

[0098] ε(t)=H(I m (t),t) (2);

[0099] Equation (2) is used to describe the control logic of the electrical control system when the drilling rig performs its actions. For example, when the drilling rig performs the feed action, I m (t) represents the feed speed v of the power head and the input current e of the solenoid valve currently controlling the feed speed of the power head. Therefore, e = 0.2 + 0.8 × v / v max Describe the electrical control logic of the drilling rig feed mode (2). Similarly, establish the electrical control description of the drilling rig's actions such as hooking, unhooking, pulling, and rotating.

[0100] The analysis of the hydraulic system adopts the theory of hydraulic dynamics analysis, and the state analysis is defined at sampling time t. ρ 1 (t) represents the flow rate and pressure of hydraulic oil from the pump outlet at sampling time t, ρ 2 (t) represents the flow rate and pressure values ​​at key locations in the hydraulic circuit at sampling time t, ρ3 (t) represents the hydraulic attribute value of the hydraulic actuator at sampling time t, such as the operating attributes of hydraulic cylinders, hydraulic motors, etc. The above state analysis definition is shown in equation (3).

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

[0102] Equation (3) is used to describe the execution logic of the hydraulic circuit. For example, when the drilling rig performs the lifting action, its main actuator is the hydraulic cylinder. Let Q be the input flow rate, v be the lifting speed of the hydraulic cylinder, and D and d be the inner diameter of the rod cavity. Therefore, v = 4Q / π(D 2 -d 2 (3) Describes the hydraulic state of the drilling rig when it performs the lifting and pulling action. Similarly, establish hydraulic state analysis descriptions for the drilling rig's actions such as hooking, unhooking, feeding, and rotating.

[0103] The running state of the entity at sampling time t Where σ(t) represents the actual action attribute value of the drilling rig, such as feed / pulling speed, forward / reverse rotation speed of the power head, etc. 1 (t) is derived from the sensing parameter I m (t) provided directly, σ 2 (t) represents the action attribute value of the drilling rig, and the above state is described by equation (4).

[0104] σ 2 (t)=F(σ 1 (t),t)(4);

[0105] Equation (4) is used to describe the acquisition of drilling rig action attributes. For example, when the drilling rig performs a slewing action, its main sensing component is a proximity switch. Let the number of pulse signals collected by the proximity switch in 1 minute be j, and the number of gears in the power head be k. Then its slewing speed is v = 60 × j / k. This equation is used to describe the state analysis equation (4) when the drilling rig performs a slewing action. Similarly, state analysis equations for the drilling rig body actions such as hooking, unhooking, feeding, and pulling are established.

[0106] 2) Process Execution Decision Module: Receives control tasks I provided by the remote control data receiving and processing module. o Combining 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 tasks δ={δ1,δ2,δ3} are determined. Here, δ1 represents the preparatory work the drilling rig needs to perform next, δ2 represents the directional drilling trajectory correction operation the drilling rig needs to perform next, and δ3 represents the automatic drilling operation the drilling rig needs to perform 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 the drilling preparation start command I to the process execution decision module through the remote data receiving and processing module. o The process execution decision module sends the execution task δ1 to the lower-level machine, which then cooperates with the driller to load and unload the drill pipe and perform drill pipe fastening operations.

[0108] Step 2.2: After the driller completes the drill pipe loading and unloading and drill pipe fastening operations, the driller sends a drilling preparation completion instruction I to the process execution decision module via the remote data receiving and processing module. o At this point, the process execution decision module will proceed 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 {τ1,…,τ} n The value of} is processed. Specifically, the process execution decision module processes (τ) i -τ i-1 If the derivative is less than 0, it means that the actual drilling trajectory is approaching the expected trajectory. In this case, no trajectory correction is needed, and the subsequent execution task δ3 of the drilling rig is sent. Otherwise, the process execution decision module sends the subsequent execution task δ2 of the drilling rig.

[0110] Step 2.4: When the drilling rig trajectory control module receives the subsequent execution task δ2, it performs a drilling correction operation. At this time, the driller determines whether the correction work is completed based on the on-site construction situation. If completed, the driller sends a drilling correction completion command I to the process execution decision module through the remote control data receiving and processing module. o At this point, the process execution decision module sends the drilling rig's subsequent execution task δ3.

[0111] Step 2.5: The automatic drilling control module receives the subsequent execution task δ3, executes the task, and displays the execution result on the display screen of the human-machine interface component. At this time, the driller sends the execution command I to the process execution decision module through the remote control data receiving and processing module based on the execution information. o This includes proceeding with the next round of directional drilling or interrupting the current operation.

[0112] Step 2.6: The process execution decision module receives the instruction to proceed with the next directional drilling operation. o Then proceed to step 2.1; if the process execution decision module receives an interrupt current operation instruction I o If this happens, all drilling operations will be interrupted, and manual intervention will be required.

[0113] 3) Drilling trajectory control module: The drilling trajectory control module receives the subsequent execution task instruction δ2 issued by the process execution decision module, and based on the directional drilling trajectory status information C={C provided by the construction process status analysis... m C e C d The drilling trajectory correction strategy is formulated, which consists of the following steps:

[0114] Step 3.1: Analyze the deviation of the current drilling trajectory. Obtain the deviation value of the current i-th drill rod from the construction process status analysis module. Where τ i Contains three elements as well as These represent the left and right displacement deviation values ​​y, respectively. i -y i ′ and vertical displacement deviation value z i -z i ',right and Values ​​are categorized, assuming here... and The values ​​are all greater than 0. Based on the magnitude of the deviation, they are divided into m categories. Each category is assigned a value from 1 to m. Similarly, for... Less than 0 or For cases where the value is less than 0, the deviation value is also processed using the classification assignment method, and the specific assignment process is shown in Table 1.

[0115] Table 1. Assignment Table for Trajectory Deviation

[0116]

[0117] Step 3.2: Develop a trajectory control strategy. This mainly involves calculating the tool face value of the (i+1)th drill pipe. The tool face adjustment angle is 0° to 360°. The deviation value obtained in Step 3.1 is used for calculation. and Taking the case where all values ​​are less than 0 as an example, the value on the tool surface is the angle in the first quadrant. The first quadrant angle is divided into n regions, based on the assigned values... and The values ​​are comprehensively judged to determine the value of the tool face to be within a certain region of the first quadrant. The specific judgment process is shown in Table 1. and For any combination of values, find the corresponding tool face range in the graph, where m is assumed to be 9 in step 2.1. Similarly, apply the same method to 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+1)th drill pipe obtained from step 3.2 is [ai+1 ,b i+1 The actual tool face value of the current i-th drill pipe is c. i The intelligent control software calculates the difference d between the tool surfaces. i+1 =(a i+1 +b i+1 -2c i The difference is calculated as 2 / 2, and the rotation angle of the power head is determined by the difference. The drilling rig in the lower-level system then sends control current and voltage values ​​to slowly rotate the power head, thereby achieving automatic adjustment of the tool face.

[0119] 4) Automatic Drilling Control Module: This module receives the execution task instruction δ2 sent by the process execution decision module, and bases its operation on the drilling rig operating status information {S} provided by the construction process status analysis module. e ,S h ,S n The following steps outline the development of an automatic drilling control strategy:

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

[0121] Step 4.1.1: Establish a working condition judgment model using expert experience, that is, analyze the drilling rig operation data {S}. e ,S h ,S m The characteristics of} are analyzed, and these characteristics are mapped to drilling conditions. Specifically, S e Control current E value, S h Pressure value ρ at critical hydraulic positions 2 With S m The motion attribute value σ of the drilling rig 2 There is a direct correlation between these parameters. If an anomaly occurs in the relationship between these parameters during drilling, expert experience will be used to determine the current drilling condition based on this anomaly. For example, within the time period [t, t+Δt], the execution current and voltage values ​​ε(t) and ε(t+Δt) are equal, while the difference in feed pressure ρ... 2 (t+Δt)-ρ 2 (t) is greater than the threshold given by the expert within this time period, and the power head rotation speed σ in the drilling rig action attributes is greater than the threshold given by the expert. 2 If (T+Δt) is lower than the speed threshold given by the experts, it can be determined that the drilling process is in a stuck drill condition. Similarly, the judgment methods for other drilling conditions are given by experts, and a drilling condition judgment model is established.

[0122] Step 4.1.2: Establish a control model that includes pump pressure ρ, solenoid valve control current E, and feed rate v, i.e., the data of the drilling rig operation process {S} e ,S h ,Sm The relevant parameters controlling the feed rate are analyzed to obtain the drilling rig feed control function. Specifically, the values ​​of the drilling rig feed rate from 0 to v are... max If the part is divided into n equal parts, then the value of the j-th part is... At this time, the pump pressure ρ and the feed current E are used as input parameters, and the feed speed v is used as the output parameter. The sampling time period [t0, t] is collected. m The dataset {ρ,ε,v} is used, where 0≤i≤m. A neural network is then built, and the above data is used to train the network to obtain the weights and thresholds of the neural network, thereby establishing a feed rate control model.

[0123] Step 4.2: The automatic drilling control module receives the execution task instruction δ2 sent by the process execution decision module and first performs a drilling process condition judgment. Specifically, during the test time period [t, t+Δt], the execution current value ε(t) is manipulated to increase its value uniformly from 0.2A to 0.8A, and the values ​​of {ρ, ε, σ} during this test time period are collected and input into the drilling condition judgment model. The model infers the current working condition. If the drilling condition is normal, proceed to step 4.3.

[0124] Step 4.3: Calculate the feed rate based on the feed control rate model. Different stages in directional drilling correspond to different drilling speeds, such as the branching stage, drilling through rock holes, and drilling coal seam holes, which require different drilling speeds. Instead of the expected drilling speed, k represents different stages of the directional drilling process. The driller sends information about each stage of the directional drilling to the intelligent control system via a wireless remote control. The system then transmits this information to the automatic drilling control module, which generates the expected drilling speed. Proceed to step 4.4.

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

[0126] 5) Remote Control Data Receiving and Processing Module: The driller sends execution commands (I) to the process execution decision module through this module. oThis instruction includes drilling rig preparation instructions and manual interruption instructions. Specifically, the driller flips a switch on the remote control, which transmits the generated information to the signal receiving device in the drilling rig's intelligent control system via a 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 frame's ID number and the data it contains, and determines the instruction based on the ID number. o Its purpose is to control or manually interrupt different stages during the drilling rig construction preparation process; and to determine the execution parameters and execution objectives for different stages during the preparation process based on the data in this frame.

[0127] 6) Drilling Rig Action Decision Module: This module receives tool face adjustment angle commands from the drilling trajectory control module, or staged control current values ​​provided by the automatic drilling module, or specific commands from the process execution decision module regarding drilling rig preparation. The specific implementation process of this module for the above commands 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 drill bit at time t Assume the drilling trajectory control module requires that the tool face of the drill bit at the bottom of the hole should be adjusted to the specified value at time t+Δt. If the number of rotating gears of the power head is k, then when the tool face adjustment angle command is executed, the number of gears that the power head rotates is n, and the calculation process is shown in equation (5):

[0129]

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

[0131] (b) Automatic drilling control command: Suppose that the phased control current value provided by the automatic drilling module is the current value of the feed solenoid valve controlled at time [t, t+Δt], which is ε(t). The module sends the current control value ε(t) to the control command module at time t and ends at time t+Δt. It ensures that the current control value received by the control command execution module is ε(t) within the time period [t, t+Δt].

[0132] (c) Drilling rig preparation control instructions: These instructions control the actions of the directional drilling rig during preparation for construction, including actions such as rig angle adjustment, rod mounting, hook mounting, hook unmounting, and pull-out. The above actions are controlled by the driller through a remote control to send specific control instructions to the lower-level machine. This technology has been widely used in electrically controlled drilling rigs, so this patent will not describe this process.

[0133] 7) Control command execution module: This module receives the solenoid valve control current value v at each time point issued by the drilling rig 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 sensing components of the intelligent control system include drilling rig status sensing components and drilling trajectory sensing components. The communication protocols involved include CAN, RS-232, pulse signals, etc. This module receives frames from the above protocols, unpacks them, and processes the data according to I... c I m and I o Define and categorize.

[0135] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention 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, The intelligent control method for the directional drilling rig is operated using the intelligent control system of the directional drilling rig; The intelligent control system of the directional drilling rig includes: 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-level machine system includes a sensor data acquisition and processing module, a control command execution module, and a drilling rig action decision module. The intelligent control method for the directional drilling rig includes: The sensor data 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. Then, it 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. It uses the drilling condition judgment model established by the automatic drilling control module and the feed rate control model trained by the data to perform real-time drilling condition judgment and feed control parameter calculation. The drilling trajectory control module receives drilling trajectory information provided by the construction process status analysis module and drilling trajectory correction task instructions provided by the process execution decision module. It analyzes the deviation of the existing drilling trajectory, establishes a trajectory control strategy, and calculates the adjustment parameters of the bottom hole motor tool face. The drilling rig action decision module receives tool face adjustment angle instructions from the drilling trajectory control module, feed parameter control instructions from the automatic drilling control module, or specific action instructions for drilling rig preparation from the process execution decision module, and determines the control current values ​​provided to the solenoid valves at each time point; the control instruction execution module converts the current values ​​provided by the drilling rig action decision module into 0.2A to 0.8A and provides them to the corresponding solenoid valves for action.

2. The intelligent control method for directional drilling rigs 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 information from the bottom hole probe. The directional drilling trajectory status information was obtained through calculation. Drilling operation status analysis collects information about the drilling rig itself during operation. The drilling rig's operating status information was obtained through calculation. The specific implementation process is as follows: (a) Drilling trajectory analysis: Bottom hole probe information Including the depth of the drilled hole Inclination angle of the bottom motor Azimuth angle of the bottom motor The full-angle half-distance method was used to obtain information from the probe at the bottom of the borehole. Iterative calculations were performed to obtain the three-dimensional coordinates of each drill rod inside the borehole. , ,in For the first The three-dimensional coordinates of the drill pipe, including the horizontal coordinates. Azimuth coordinates and tilt coordinates That is, the actual borehole trajectory information is The coordinates of the drill pipe are defined as follows: The calculation method for the full angle half moment is shown in equation (1); （1）； in Representing the root drill pipe, The borehole azimuth angle is a constant. Similarly, the full-angle half-moment method is used to calculate the drilling trajectory designed by the drilling operators to obtain the desired drilling trajectory information. ,in For the first Desired 3D coordinates of the root drill pipe ; Obtain information about the current borehole and Then, trajectory deviation calculation is required, that is... , here ; (b) Drilling Rig Operation Status Analysis: During the drilling rig operation process at the sensor sampling time The data obtained is The electronic control system during sampling time State analysis definition ,in Represents sampling time The current constantly supplied to the solenoid valve, for and The mapping relationship between the parameters is described in equation (2). (2)； Equation (2) is used to describe the control logic of the electrical control system when the drilling rig performs its actions; The analysis of the hydraulic system adopts the theory of hydraulic dynamics analysis, and the sampling time... State analysis definition , Represents the sampling time The flow rate and pressure of the hydraulic oil at the pump outlet. Represents the sampling time Flow and pressure values ​​at key locations in the hydraulic circuit. This means that at the sampling time The hydraulic property values ​​of the hydraulic actuator are defined in the above state analysis as shown in equation (3). （3）； Equation (3) is used to describe the execution logic of the hydraulic circuit; The entity at sampling time Operating status ,in Represents the actual action attribute value of the drilling rig, where From sensing parameters Provided directly The above states are described by equation (4), representing the action attribute values ​​of the drilling rig. （4）； Equation (4) is used to describe the acquisition of drilling rig action attributes.

3. The intelligent control method for directional drilling rigs according to claim 2, characterized in that, The process execution decision module is based on the control task. Combined with the directional drilling trajectory status information provided by the construction process status analysis module drilling rig operating status information This will determine the subsequent drilling rig's tasks. Among them, the task execution This means the drilling rig needs to perform preparatory work next. This means the drilling rig will need to perform a directional drilling trajectory correction operation next. This indicates that the drilling rig will next need to perform automatic drilling operations, including the following steps: Step 2.1: Send the drilling preparation start command to the process execution decision module. The process execution decision module sends the execution task to the drilling rig action decision module. The drilling rig action decision module works in conjunction with the drilling rod loading and unloading and drilling rod fastening operations; Step 2.2: After completing the drill pipe loading and unloading and drill pipe fastening operations, send a drilling preparation completion instruction to the process execution decision module. At this time, the process execution decision module will proceed to step 2.

3. Step 2.3: The process execution decision module receives the directional drilling trajectory status information. ,right middle The value is processed; specifically, the process execution decision module processes... If the derivative is less than 0, it means the actual drilling trajectory is approaching the desired trajectory. In this case, no trajectory correction is needed, and the drilling rig can proceed with its subsequent tasks. ; Otherwise, the process execution decision module sends the drilling rig subsequent execution tasks. ; Step 2.4: The drilling trajectory control module receives subsequent execution tasks. If the drilling deviation is not detected, a drilling correction operation is performed. At this point, the completion status of the correction operation is determined based on the on-site construction situation. If it is completed, a drilling correction completion command is sent to the process execution decision module, which then sends the subsequent tasks to be executed by the drilling rig. ; Step 2.5: The automatic drilling control module receives the subsequent execution task. Based on the execution information, an execution instruction is sent to the process execution decision module, which may include proceeding with the next round of directional drilling or interrupting the current operation. Step 2.6: If the process execution decision module receives an instruction to proceed with the next directional drilling operation, it will proceed to step 2.1; if the process execution decision module receives an instruction to interrupt the current operation, it will interrupt all drilling rig actions and wait for manual intervention.

4. The intelligent control method for directional drilling rigs according to claim 3, characterized in that, The drilling trajectory control module receives subsequent execution task instructions issued by the process execution decision module. Based on the directional drilling trajectory status information provided by the construction process status analysis Develop a drilling trajectory correction strategy, which includes the following steps: Step 3.1: Analyze the deviation of the current drilling trajectory. The current deviation is obtained from the construction process status analysis module. The deviation value of the drill pipe is ,in Contains three elements as well as These represent the left and right displacement deviation values, respectively. and vertical displacement deviation values ,right and Values ​​are categorized, assuming here... and All values ​​are greater than 0, and they are divided into groups based on the magnitude of the deviation. Classes are assigned values ​​from 1 to m for each class. Similarly, for each class... Less than 0 or For cases where the value is less than 0, the deviation value is also handled using the same classification and assignment method; Step 3.2: Develop a trajectory control strategy and calculate the... The value of the tool face of the drill pipe; the adjustment angle of the tool face is... The deviation value obtained in step 3.1 is used for calculation; Step 3.3: Adjust the drilling tool face, assuming the result obtained from step 3.2 is... The range of the tool face angle of the drill pipe is And the current number The actual tool face value of the drill pipe is Calculate the difference between the tool faces. The difference is used as the rotation angle of the power head. The drilling rig in the lower-level system then sends control current and voltage values ​​to slowly rotate the angle of the power head, thereby achieving automatic adjustment of the tool face.

5. The intelligent control method for directional drilling rigs according to claim 3, characterized in that, The automatic drilling control module receives the task execution instruction sent by the process execution decision module. Based on the drilling rig operating status information provided by the construction process status analysis module The following steps outline the development of an automated drilling control strategy: Step 4.1: Establish an automatic drilling process model, including a drilling condition judgment model and a feed rate control model; Step 4.2: The automatic drilling control module receives the task execution instruction sent by the process execution decision module. First, the drilling process conditions are assessed; specifically, during the testing period... Internal execution current value The value was manipulated to increase uniformly from 0.2A to 0.8A, and data were collected during this test period. The value is then input into the drilling condition judgment model, which infers the current working condition. If the drilling conditions are normal, proceed to step 4.3; Step 4.3: Calculate the feed rate based on the feed control rate model. Different stages in directional drilling correspond to different drilling speeds. Instead of the expected drilling speed, here This information, representing different stages of the directional drilling process, is transmitted to the automatic drilling control module, thereby generating the expected drilling speed. Proceed to step 4.4; Step 4.4: Generate the control current value of the electrical control system. Specifically, obtain the expected value of the current drilling speed from step 4.

3. and collect the current moment Solenoid valve current value and pump pressure value The next moment is calculated based on the feed rate control model. Solenoid valve control current .

6. The intelligent control method for a directional drilling rig according to claim 5, characterized in that, Step 4.1 specifically includes: Step 4.1.1: Establish an automated drilling process model using expert experience, i.e., analyze the drilling rig operation data. The characteristics are analyzed and mapped to drilling conditions, including: Control current value , Pressure values ​​at key hydraulic positions and Drilling rig action attribute values There is a direct correlation between the parameters. If there is an anomaly in the relationship between the above parameters during the drilling process, the current drilling condition can be judged by the expert's experience based on the anomaly, and then a drilling condition judgment model can be established. Step 4.1.2: Establish a system including pump pressure Solenoid valve control current and feed rate The control model, that is, the data of the drilling rig operation process. The relevant parameters of the drilling rig feed speed are analyzed to obtain the drilling rig feed control function; specifically, the value of the drilling rig feed speed is... Divided into Divide into equal parts, then the first Share value At this time, the pump pressure Feed in the execution current As input parameters, in terms of feed rate The sampling time period is used as the output parameter. Internal dataset ,in Subsequently, a neural network was established, and the network was trained using the aforementioned data to obtain the weights and thresholds of the neural network, thereby establishing a feed rate control model.

7. The intelligent control method for directional drilling rigs according to claim 2, characterized in that, The drilling rig action decision module receives tool face adjustment angle commands from the drilling trajectory control module, or staged control current values ​​from the automatic drilling control module, or specific commands from the process execution decision module during drilling rig preparation. The specific implementation process of this module for the aforementioned commands is as follows: (a) Tool face angle adjustment command: Current borehole probe information Included Tool face value of bottom hole drill bit Assume the drilling trajectory control module is required to... The tool face of the drill bit at the bottom of the hole should be adjusted to... The number of gears rotating in the power head is in When the tool face adjustment angle command is executed, the number of gears on the power head that rotate is... The calculation process is shown in equation (5): （5）； in Pick Integers, drilling rig action decision module monitors in real time The pulse signal from the proximity switch determines whether the current number of gears has reached the expected value. If the expected value has not been reached, the control command execution module is required to provide the switching current value of the solenoid valve. (b) Automatic Drilling Control Command: Assume the phased control current value provided by the automatic drilling control module is... The current value of the time control feed solenoid valve is The value, the module then at time Send current control values ​​to the control command execution module ,exist The message is sent out at the end of the specified time and is guaranteed to be delivered within the specified time period. The internal control command execution module receives the current control value and holds it. ; (c) Drilling rig preparation control instructions: These instructions control the actions of the directional drilling rig during preparation for construction. The actions are controlled by the driller through a remote control, sending specific control instructions to the lower-level system.

8. The intelligent control method for directional drilling rigs according to claim 2, characterized in that, The intelligent control system of the directional drilling rig also includes a remote control data receiving and processing module. The remote control data receiving and processing module receives instructions sent by the remote controller and processes the data. Specifically, it receives information frames sent by the remote control center or the remote controller, unpacks the frames to obtain key data in the frames, classifies the data, and provides the classified information to the process execution decision module. The process execution decision module receives manual instructions sent by the remote control data receiving and processing module, as well as drilling rig operating status information and drilling trajectory information provided by the construction process status analysis module. Combining the process switching and execution judgment conditions during drilling rig construction, it formulates the execution process of each process of the drilling rig and issues the relevant tasks to the automatic drilling control module, drilling trajectory control module and drilling rig action decision module.

9. The intelligent control method for a directional drilling rig according to any one of claims 2-8, characterized in that, The intelligent control system of the directional drilling rig provides a support platform for the data acquisition, algorithm calculation, strategy decision-making, and action execution functions required during the directional drilling process. It also includes sensing components, execution components, a communication network, control components, and human-machine interaction components, wherein: 1) The sensing components are divided into drilling rig status sensing components and drilling trajectory sensing components. The drilling rig status sensing components include hydraulic pressure sensors, speed sensors, displacement sensors, and proximity switches arranged on the drilling rig. They provide the control components with information about the drilling rig during operation according to a certain sampling period. The borehole trajectory sensing component includes a measurement-while-drilling (MWD) bottom hole probe positioned at the bottom of the drill string, used to collect information from the bottom hole probe during the current drilling cycle. ; 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-level system of the intelligent control system, while the explosion-proof computer provides an operating platform for the upper-level system of the intelligent control system. 3) The 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 sensing components is transmitted. and Upload the information provided by the human-computer interaction component to the explosion-proof computer. It transmits the control commands generated by the PLC to the explosion-proof computer and issues them to the execution components; 4) The human-machine interaction system includes a display and a remote control, wherein the display is used to show the status information of the directional drilling trajectory. and drilling rig operating status information The remote control will control the drilling crew's tasks. Send to the explosion-proof computer; 5) The execution components include directional drilling tools that control the drilling trajectory coordinates and a set of solenoid valves that control the drilling rig's movements. They receive control commands generated by the PLC and change the actions of the corresponding equipment according to the commands.

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