Multi-mode microseismic-electrical method synchronous control method and controller based on FPGA (Field Programmable Gate Array)

Abstract

The invention provides a multi-mode microseismic-electrical method synchronous control method based on an FPGA (Field Programmable Gate Array) and a controller. The method mainly comprises the following steps: collecting a microseismic signal and an electrical method signal; performing data processing on the micro-seismic new signal and the electrical method signal, wherein the data processing comprises filtering and timestamp injection; calculating the dynamic delay compensation time according to the inherent delay of the electrical equipment, the environment temperature and the historical delay data; and performing synchronous processing on the microseismic signal with the timestamp and the electrical method signal based on the dynamic delay compensation time, and transmitting the processed signals to external equipment through an output interface. The method is suitable for dynamic time sequence cooperative control in an underground complex environment.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of coal mine safety monitoring and multi - physical field data acquisition for underground engineering. Specifically, it is a multi - modal microseismic - electrical method synchronous control method and controller based on FPGA, which is applicable to dynamic timing collaborative control in complex underground environments. Background Art

[0002] When coal mining, generally, microseismic signals and electrical method signals are used to achieve coal mine safety monitoring. In order to improve the accuracy of monitoring, the microseismic signals and electrical method signals can be coupled, and at this time, it is necessary to synchronize the microseismic signals and electrical method signals. In the prior art, the following problems mainly exist in the data synchronization of microseismic and electrical methods.

[0003] Insufficient synchronization accuracy: Traditional synchronization schemes rely on GPS or network time service. In an environment with electromagnetic shielding underground, the synchronization error is as high as 10 - 50 ms. For the timing correlation requirements of microseismic events (millisecond - level burst signals) and electrical method data (second - level continuous sampling), it is difficult to meet the requirements, resulting in the inability to accurately analyze the relationship between microseismic and electrical method data.

[0004] Poor hardware compatibility: Microseismic sensors usually require high - frequency sampling, while electrical method equipment has low - frequency response characteristics. There is a conflict in their trigger logics, and this conflict will cause data loss or redundancy, affecting the integrity and accuracy of data acquisition.

[0005] Weak environmental adaptability: The underground environment is harsh, with a large temperature fluctuation range (-20°C - 60°C) and electromagnetic interference. These factors will cause clock drift, and the existing controllers cannot dynamically compensate for this clock drift, resulting in poor stability of the equipment when operating underground.

[0006] Difficulty in data traceability and fusion: The prior art lacks effective means to accurately mark the acquisition time of microseismic and electrical method signals. When performing multi - source data fusion and fault analysis, it is difficult to accurately align the data and locate problems. Summary of the Invention

[0007] To solve the deficiencies of the current technology, the present invention combines the existing technology and starts from practical applications to provide a multi - modal microseismic - electrical method synchronous control method and controller based on FPGA, which is applicable to dynamic timing collaborative control in complex underground environments.

[0008] The technical solution of the present invention is as follows:

[0009] According to one aspect of the present invention, a multi - modal microseismic - electrical method synchronous control method based on FPGA is provided, and the method is as follows:

[0010] Collect microseismic signals and electrical method signals;

[0011] Perform data processing on microseismic signals and electrical method signals. The data processing includes filtering and injecting timestamps.

[0012] Calculate the dynamic delay compensation time based on the inherent delay of the electrical method equipment, the ambient temperature, and the historical delay data.

[0013] Synchronize the microseismic signals and electrical method signals with timestamps based on the dynamic delay compensation time, and transmit the processed signals to external devices through the output interface.

[0014] Furthermore, the calculation method of the dynamic delay compensation time is as follows:

[0015]

[0016] Among them, ΔT comp is the dynamic delay compensation time, T base is the reference delay of the electrical method equipment calibrated at the factory, α(T env ) is the temperature delay coefficient obtained by looking up the table, ΔT hist is the historical average delay deviation, β is the delay change rate coefficient, is the delay change rate.

[0017] Furthermore, the temperature delay coefficient α(T env ) is updated in real time based on the temperature data collected by the on-chip temperature sensor of the FPGA, and the update frequency ≥ 1 Hz.

[0018] Furthermore, the method also includes priority preemption and conflict arbitration, and realizes the priority management of microseismic events for the electrical method periodic sampling by means of a multi-level buffer pool.

[0019] Furthermore, the priority preemption and conflict arbitration logic is: if the microseismic trigger signal overlaps with the electrical method periodic sampling, immediately terminate the current electrical method cycle and start the microseismic associated acquisition; after 3 consecutive microseismic triggers, force the electrical method equipment to enter the high-speed sampling mode, and the sampling rate ≥ 10 Hz to ensure the real-time performance of key data.

[0020] According to another aspect of the present invention, a multi-modal microseismic-electrical method synchronization controller based on FPGA is provided, including:

[0021] FPGA chip: As the core control unit, it is configured to coordinate the work of each module, respond to the microseismic sensor interrupt signal, and generate the trigger enable signal of the electrical method equipment;

[0022] Clock management module: It is configured to provide accurate clock signals for the system and work in cooperation with the FPGA to ensure the consistency of the time reference of each module;

[0023] Microseismic signal acquisition module: It is configured to collect microseismic signals in real time.

[0024] Electrical method signal acquisition module: Configured to acquire electrical method signals in real time;

[0025] Signal preprocessing module: Integrated with a configurable FIR filter and a timestamp injection unit to perform preprocessing operations of filtering and timestamp marking on the acquired microseismic and electrical method signals;

[0026] Dynamic delay compensation module: Configured to calculate the dynamic delay compensation time based on the inherent delay of the electrical method device, the ambient temperature, and historical delay data;

[0027] Multi-level buffer pool: Configured to implement priority preemption and conflict arbitration of microseismic events for the periodic sampling of the electrical method;

[0028] Synchronization control module: Configured to synchronize the microseismic and electrical method signals with timestamps based on the dynamic delay compensation time and other control signals, and transmit the processed signals to external devices through the microseismic signal output interface and the electrical method signal output interface.

[0029] Furthermore, in the dynamic delay compensation module, the calculation method of the dynamic delay compensation time is as follows:

[0030]

[0031] Among them, ΔT comp is the dynamic delay compensation time, T base is the reference delay of the electrical method device calibrated at the factory, α(T env ) is the temperature delay coefficient obtained by looking up the table, ΔT hist is the historical average delay deviation, β is the delay change rate coefficient, is the delay change rate;

[0032] Based on the temperature data collected by the on-chip temperature sensor of the FPGA, the temperature delay coefficient α(T env ) is updated in real time, and the update frequency ≥ 1Hz.

[0033] Furthermore, in the multi-level buffer pool, the priority preemption and conflict arbitration logic is as follows: If the microseismic trigger signal overlaps with the periodic sampling of the electrical method, immediately terminate the current cycle of the electrical method and start the microseismic-related acquisition; after 3 consecutive microseismic triggers, force the electrical method device to enter the high-speed sampling mode, and the sampling rate ≥ 10Hz to ensure the real-time performance of key data.

[0034] Furthermore, the FIR filter supports dynamic configuration:

[0035] Microseismic channel: Passband 500Hz - 5kHz, stopband attenuation ≥ 60dB;

[0036] Electrical method channel: Passband DC~10Hz, adaptive power frequency notch filter, 50 / 60Hz selectable.

[0037] Advantages of the present invention:

[0038] 1. Sub-millisecond synchronization: Through the dynamic delay compensation model, the synchronization error is controlled within 0.3ms, effectively meeting the time series correlation requirements of microseismic and electrical method data, and improving the analysis value of the data.

[0039] 2. Strong environmental adaptability: The temperature drift compensation algorithm enables the device to work stably within the harsh temperature range of -20°C to 60°C, adapting to the complex underground environmental conditions.

[0040] 3. High resource efficiency: It only occupies 18% of the logic resources of the FPGA, providing sufficient space for subsequent function expansion, and supporting expansion to 8-channel synchronous control, enhancing the applicability of the device.

[0041] 4. Conflict intelligent arbitration: The design of the multi-level buffer pool can avoid data loss, ensure the real-time performance of key data such as water inrush warning during microseismic events, and provide strong support for coal mine safety monitoring.

[0042] 5. Precise data traceability and fusion: The injection of timestamps provides accurate time stamps for microseismic and electrical method signals, facilitating multi-source data fusion and fault analysis, and enhancing the accuracy and reliability of data processing. Description of the drawings

[0043] Attached Figure 1 is the block diagram of the controller of the present invention.

[0044] Attached Figure 2 is the control flow chart of the present invention. Detailed implementation manners

[0045] In combination with the drawings and specific embodiments, the present invention will be further described. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by this application.

[0046] Embodiment 1

[0047] This embodiment provides a multi-modal microseismic-electrical method synchronization controller based on FPGA, as shown in reference Figure 1 shown.

[0048] The controller mainly includes an FPGA chip, a clock management module, a microseismic signal acquisition module, an electrical method signal acquisition module, a signal preprocessing module, a dynamic delay compensation module, a multi-level buffer pool, a synchronous control module, etc.

[0049] The FPGA chip, as the core control unit, is configured to coordinate the work of each module, respond to the microseismic sensor interruption signal, and generate the trigger enable signal of the electrical method device. The chip model is Xilinx Artix-7 XC7A35T (low power consumption, 15K logic cells).

[0050] Clock management module: Configured to provide an accurate clock signal for the system and work in coordination with the FPGA to ensure the consistency of the time reference of each module. The clock management module uses a TCXO constant temperature crystal oscillator (±0.1ppm) and a standby IEEE 1588PTP synchronization interface.

[0051] The microseismic signal acquisition module uses relevant sensors to collect microseismic signals in real time, and the electrical method signal acquisition module uses sensors to collect electrical method signals in real time. The microseismic signal input uses an LVDS differential interface, supporting an adjustable rate of 1Mbps to 10Mbps. The electrical method control output uses isolated RS-485 and is built-in with a TVS diode for protection.

[0052] Signal preprocessing module: Integrates a configurable FIR filter and a timestamp injection unit to perform preprocessing operations such as filtering and timestamp marking on the collected microseismic and electrical method signals. Among them, the FIR filter supports dynamic configuration. For the microseismic channel, the passband is 500Hz to 5kHz, and the stopband attenuation is ≥60dB; for the electrical method channel, the passband is DC to 10Hz, with adaptive power frequency notch filtering (50 / 60Hz optional).

[0053] Dynamic delay compensation module: Configured to calculate the dynamic delay compensation time based on the inherent delay of the electrical method device, ambient temperature, and historical delay data. The dynamic delay compensation module has a built-in electrical method device delay calibration table (the response time of each mode is pre-stored at the factory), and a temperature drift real-time correction module (updates the compensation coefficient through an on-chip temperature sensor). In the dynamic delay compensation module, the calculation method of the dynamic delay compensation time is as follows:

[0054]

[0055] Among them, ΔT comp is the dynamic delay compensation time, T base is the reference delay of the electrical method device calibrated at the factory, α(T env ) is the temperature delay coefficient obtained by looking up the table, ΔT hist is the historical average delay deviation, β is the delay change rate coefficient, is the delay change rate; at the same time, the temperature delay coefficient α(T env ) is updated in real time based on the temperature data collected by the on-chip temperature sensor of the FPGA, and the update frequency is ≥1Hz.

[0056] Multi-level buffer pool, configured to implement priority preemption and conflict arbitration of microseismic events for the periodic sampling of electrical methods. Multi-level buffer pool: priority preemption logic (microseismic event > electrical method periodic sampling); conflict arbitration mechanism (automatically switch the electrical method to continuous acquisition mode when continuously triggered by microseismic events). The specific priority preemption logic includes: if the microseismic trigger signal overlaps with the periodic sampling of the electrical method, immediately terminate the current cycle of the electrical method and start the microseismic-related acquisition; after 3 consecutive microseismic triggers, force the electrical method device to enter the high-speed sampling mode (sampling rate ≥ 10Hz).

[0057] Synchronization control module: configured to synchronize microseismic and electrical method signals with timestamps based on the dynamic delay compensation time and other control signals, and transmit the processed signals to external devices through the microseismic signal output interface and the electrical method signal output interface.

[0058] Embodiment 2

[0059] This embodiment provides a multi-modal microseismic-electrical method synchronization control method based on FPGA, referring to Figure 2 as shown, the control method is mainly as follows.

[0060] 1) Collect microseismic signals and electrical method signals;

[0061] 2) Perform data processing on the microseismic signals and electrical method signals. The data processing includes filtering and injecting timestamps. The former performs targeted filtering according to the characteristics of the microseismic and electrical method signals, and the latter marks the precise time for the signals to provide a time reference for subsequent analysis;

[0062] 3) Calculate the dynamic delay compensation time based on the inherent delay of the electrical method device, the ambient temperature, and historical delay data. Specifically: the calculation method of the dynamic delay compensation time is as follows:

[0063]

[0064] where ΔT comp is the dynamic delay compensation time, T base is the reference delay of the electrical method device calibrated at the factory, α(T env ) is the temperature delay coefficient obtained by looking up the table, ΔT hist is the historical average delay deviation, β is the delay change rate coefficient, is the delay change rate. For the temperature delay coefficient, the temperature delay coefficient α(T env ) is updated in real time based on the temperature data collected by the on-chip temperature sensor of the FPGA, and the update frequency ≥ 1Hz.

[0065] 4) Synchronize the microseismic signals and electrical method signals with timestamps based on the dynamic delay compensation time, and at the same time perform priority preemption and conflict arbitration. Implement the priority management of microseismic events for the electrical method periodic sampling with the help of a multi-level buffer pool: if the microseismic trigger signal overlaps with the electrical method periodic sampling, immediately terminate the current electrical method cycle and start the microseismic associated acquisition; after three consecutive microseismic triggers, force the electrical method device to enter the high-speed sampling mode with a sampling rate ≥ 10 Hz to ensure the real-time nature of key data. The processed signals are transmitted to external devices through the output interface.

[0066] Based on the controller and control method provided in this application, a scenario test was conducted on the synchronization error of microseismic and electrical method signals, and the test results are shown in Table 1 below.

[0067] Table 1 Synchronization test results

[0068]

[0069] It has been verified that the controller and control method provided in this application can effectively solve the problem of timing mismatch in coal mine multi-modal monitoring and provide key technical support for the construction of intelligent mines.

Claims

1. A multi-modal microseismic-electrical synchronous control method based on FPGA, characterized in that: The method is as follows: Collect microseismic signals and electrical signals; Perform data processing on microseismic signals and electrical signals, including filtering and injecting time stamps; Calculate dynamic delay compensation time based on inherent delay of electrical equipment, ambient temperature and historical delay data; The microseismic signals and electrical method signals with timestamps are synchronously processed based on the dynamic delay compensation time, and the processed signals are transmitted to external devices through the output interface.

2. The FPGA-based multi-modal microseismic-electrical synchronous control method according to claim 1, characterized in that: The dynamic delay compensation time is calculated as follows: Where, ΔT comp is the dynamic delay compensation time, T base is the factory-calibrated reference delay of electrical equipment, α(T env ) is the temperature delay coefficient obtained by looking up the table, ΔT hist is the historical average delay deviation, β is the delay change rate coefficient, is the delay change rate.

3. The FPGA-based multi-modal microseismic-electrical synchronous control method according to claim 2, characterized in that: Based on the temperature data collected by the FPGA on-chip temperature sensor, the temperature delay coefficient α (T env ) for real-time update, with an update frequency ≥ 1Hz.

4. The FPGA-based multi-modal microseismic-electrical synchronous control method according to claim 1, characterized in that: The method also includes priority preemption and conflict arbitration, and uses a multi-level buffer pool to achieve priority management of electrical periodic sampling by microseismic events.

5. The FPGA-based multi-modal microseismic-electrical synchronous control method according to claim 4, characterized in that: The priority preemption and conflict arbitration logic is as follows: if the microseismic trigger signal overlaps with the electrical method periodic sampling, the current electrical method period is terminated immediately and microseismic associated acquisition is started; after three consecutive microseismic triggers, the electrical method equipment is forced to enter high-speed sampling mode with a sampling rate ≥10Hz to ensure the real-time nature of key data.

6. A multi-modal microseismic-electrical synchronization controller based on FPGA, characterized in that: include: FPGA chip: As the core control unit, it is configured to coordinate the work of each module, respond to the interrupt signal of the microseismic sensor, and generate the trigger enable signal of the electrical method equipment; Clock management module: configured to provide accurate clock signals for the system and work with the FPGA to ensure the consistency of the time base of each module; Microseismic signal acquisition module: configured to collect microseismic signals in real time; Electrical signal acquisition module: configured to acquire electrical signals in real time; Signal preprocessing module: Integrates configurable FIR filter and time stamp injection unit to perform filtering and time stamp preprocessing operations on the collected microseismic and electrical signals; Dynamic delay compensation module: configured to calculate the dynamic delay compensation time based on the inherent delay of the electrical equipment, the ambient temperature and the historical delay data; Multi-level buffer pools are configured to realize priority preemption and conflict arbitration of microseismic events on electrical periodic sampling; Synchronous control module: It is configured to synchronize the microseismic and electrical signals with time stamps based on the dynamic delay compensation time and other control signals, and transmit the processed signals to external devices through the microseismic signal output interface and the electrical signal output interface.

7. The FPGA-based multi-modal microseismic-electrical synchronous controller according to claim 6, characterized in that: In the dynamic delay compensation module, the dynamic delay compensation time is calculated as follows: Where, ΔT comp is the dynamic delay compensation time, T base is the factory-calibrated reference delay of electrical equipment, α(T env ) is the temperature delay coefficient obtained by looking up the table, ΔT hist is the historical average delay deviation, β is the delay change rate coefficient, is the delay change rate; Based on the temperature data collected by the FPGA on-chip temperature sensor, the temperature delay coefficient α (T env ) for real-time update, with an update frequency ≥ 1Hz.

8. The FPGA-based multi-modal microseismic-electrical synchronous controller according to claim 6, characterized in that: In the multi-level buffer pool, the priority preemption and conflict arbitration logic is as follows: if the microseismic trigger signal overlaps with the electrical method periodic sampling, the current electrical method period is terminated immediately and microseismic associated acquisition is started; after three consecutive microseismic triggers, the electrical method equipment is forced to enter the high-speed sampling mode with a sampling rate ≥10Hz to ensure the real-time nature of key data.

9. The FPGA-based multi-modal microseismic-electrical synchronization controller according to claim 6, characterized in that: The FIR filter supports dynamic configuration: Microseismic channel: passband 500Hz~5kHz, stopband attenuation ≥60dB; Electrical method channel: passband DC ~ 10Hz, adaptive power frequency notch, 50 / 60Hz optional.

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