An adaptive grouting control method for orifice closure grouting process

Abstract

The application discloses a self-adaptive grouting control method for orifice sealing grouting process, which comprises the following steps: 1, obtaining parameters of the orifice sealing grouting process; 2, establishing various parameter models according to the parameters of the orifice sealing grouting process; 3, establishing a parameter model of a grouting pressure target value and a grouting flow target value; 4, constructing a fuzzy PID controller; 5, adjusting the opening degree of a grouting valve and a back grouting valve based on the first fuzzy PID controller to meet the initial grouting pressure target value, and judging whether the orifice sealing grouting process is normal through the grouting flow; 6, adjusting based on the fuzzy PID controller, gradually increasing the grouting pressure target value until the grouting pressure target value reaches the design grouting pressure requirement value, and then carrying out constant-pressure grouting. The application has reasonable design, only needs to carry out self-adaptive control under the grouting pressure target value, avoids self-adaptive control of both the grouting pressure target value and the grouting flow target value, reduces the control difficulty, and improves the control precision.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of stratum curtain grouting anti-seepage technology, and particularly relates to a self-adaptive grouting control method for an orifice closed grouting process. BACKGROUND

[0002] As a core process of complex stratum anti-seepage system construction, the construction quality of stratum curtain grouting technology directly determines key indicators such as stratum anti-seepage and structural stability. According to the requirements of the grouting technology specification, the continuity and compactness of the anti-seepage curtain need to meet the stringent standard of a permeability coefficient ≤ 1 × 10 -5 cm / s, which puts extremely high requirements on the control accuracy of the grouting process. The "orifice closed, hole circulating, top-down, segmented grouting method" (referred to as "orifice closed grouting process") formed through long-term engineering practice in China has the advantages of high grouting efficiency, grouting quality assurance, and simple process, and has been applied on a large scale. However, like traditional grouting processes, the current process still highly relies on manual experience to guide the operation mode, mainly in the aspects of: delayed grouting parameter regulation and control, lack of grouting control theory, and difficulty in accurately diagnosing grouting pressure changes.

[0003] Therefore, a self-adaptive grouting control method for the orifice closed grouting process is needed, which is designed reasonably and realizes self-adaptive control of grouting parameters in the grouting process based on the establishment of a parameter model of the grouting pressure target value and the grouting flow target value. In this way, only the grouting pressure target value needs to be adaptively controlled, avoiding the adaptive control of both the grouting pressure target value and the grouting flow target value, reducing the control difficulty, and improving the control accuracy. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a self-adaptive grouting control method for the orifice closed grouting process, which is designed reasonably and realizes self-adaptive control of grouting parameters in the grouting process based on the establishment of a parameter model of the grouting pressure target value and the grouting flow target value, thus only the grouting pressure target value needs to be adaptively controlled, avoiding the adaptive control of both the grouting pressure target value and the grouting flow target value, reducing the control difficulty, and improving the control accuracy.

[0005] To solve the above technical problems, the technical solution adopted by the present application is: a self-adaptive grouting control method for the orifice closed grouting process, characterized in that the method comprises the following steps:

[0006] Step 1: Obtain the parameters of the orifice closed grouting process; the parameters of the orifice closed grouting process include the slurry density , slurry specific weight , system damping coefficient , and coefficient of the grouting valve And the coefficient of the back slurry valve ;

[0007] Step two, according to the parameters of the orifice closed grouting process, the parameter model between the grouting flow and the grouting valve opening, the parameter model between the grouting flow, the grouting valve opening and the back slurry valve opening, and the parameter model between the grouting pressure, the grouting valve opening and the back slurry valve opening are established;

[0008] Step three, the parameter model of the grouting pressure target value and the grouting flow target value is established;

[0009] Step four, the fuzzy PID controller is constructed; wherein, the fuzzy PID controller includes the first fuzzy PID controller for controlling the grouting valve opening and the second fuzzy PID controller for controlling the back slurry valve opening;

[0010] Step five, based on the fuzzy PID controller, the opening of the grouting valve and the back slurry valve is adjusted to meet the initial grouting pressure target value, and the orifice closed grouting process is judged to be normal through the grouting flow;

[0011] Step six, based on the fuzzy PID controller adjustment, the grouting pressure target value is gradually increased until the grouting pressure target value reaches the design grouting pressure requirement value, then the constant pressure grouting is carried out:

[0012] The grouting pressure target value is gradually increased, and the opening of the grouting valve and the back slurry valve is adjusted based on the first fuzzy PID controller and the second fuzzy PID controller to meet the grouting pressure target value; then, under the condition that the opening of the back slurry valve is unchanged, the opening of the grouting valve is adjusted by the first fuzzy PID controller to meet the grouting flow target value, and the above process is repeated until the grouting pressure target value reaches the design grouting pressure requirement value , then the constant pressure grouting is carried out until the grouting flow is less than 1L / min, and then the grouting is stopped.

[0013] The above-mentioned self-adaptive grouting control method for orifice closed grouting process is characterized in that: in step two, the parameter model between the grouting pressure , the grouting valve opening and the back slurry valve opening is established as follows: Or ; wherein, P represents the pressure value shown by the pressure gauge, P0 represents the self-weight pressure of grouting, A represents the cross-sectional area of the grouting pipeline, C represents the slurry control parameter in the grouting pipeline, C represents the slurry control parameter in the back slurry pipeline, K represents the constant variable, K represents the coefficient relationship between the grouting valve and the back slurry valve opening, is 1.0-1.5, and is greater than .

[0014] The self-adaptive grouting control method for the orifice sealing grouting process has the characteristics that step two has the following specific process:

[0015] Step A, a parameter model between the grouting flow rate and the grouting valve opening degree is established, as follows: wherein, a represents the coefficient of the grouting valve, and

[0016] ; wherein, represents the maximum flow rate that can pass through the grouting valve, represents the maximum opening degree of the valve,

[0017] Step B, a parameter model between the backflow rate and the backflow valve opening degree is established, as follows: ; wherein, represents the coefficient of the backflow valve, represents the maximum flow rate that can pass through the backflow valve,

[0018] Step C, a parameter model between the grouting flow rate, the grouting valve opening degree, and the backflow valve opening degree is constructed

[0019] , and is simplified , wherein, represents the grout control parameter in the grouting pipeline, and , represents the grout control parameter in the backflow pipeline, and ; represents a constant variable, and ;

[0020] Step D, if the grouting is above the underground water level, the grouting self-weight pressure is obtained according to ; wherein, represents the vertical height between the grouting pipeline inlet and the grouting pipeline outlet,

[0021] if the grouting is below the underground water level, the grouting self-weight pressure is obtained according to ; wherein, represents the vertical height of the grouting pipeline inlet from the underground water level, ​​​​​​​Vertical height of the inlet pipe outlet from the groundwater level;

[0022] Step E, according to , the loss pressure of slurry flow is obtained ;

[0023] Step F, if the pressure gauge is installed on the inlet pipe, according to , the grouting pressure is obtained ; wherein, represents the pressure shown by the pressure gauge;

[0024] If the pressure gauge is installed on the return pipe, according to , the grouting pressure is obtained ;

[0025] Step G, substituting steps C to E into step F, the parameter model between the grouting pressure , the inlet valve and the return valve is obtained.

[0026] The adaptive grouting control method for the orifice sealing grouting process described above is characterized in that: step three is specifically as follows:

[0027] Step 301, in the orifice sealing grouting process, the drilling pressure applied by the drilling rig is collected by installing a hydraulic sensor on the drilling rig hydraulic line, and is recorded as drilling pressure ;

[0028] Step 302, according to , the formation breaking degree index is obtained ; wherein, represents the slope coefficient, and takes the value of 0.32, represents the drilling speed, represents the drilling rod rotating speed; represents the weight of the drilling rod connected to the drilling rig to reach the designed drilling depth;

[0029] Step 303, the parameter model between the grouting pressure target value and the grouting flow target value is established; wherein, represents the correction coefficient, and takes the value of 0.1-0.5, increases with the increase of slurry density .

[0030] The adaptive grouting control method for the orifice sealing grouting process described above is characterized in that: step five is specifically as follows:

[0031] Step 501, initial grouting is performed by using the orifice closed grouting process; wherein an initial grouting pressure target value is set For , Design grouting pressure requirement value;

[0032] Step 502, based on the fuzzy PID controller, the opening of the grouting valve and the return valve is adjusted to meet the initial grouting pressure target value under the parameter model between the grouting pressure, the grouting valve opening and the return valve opening ;

[0033] Step 503, initial continuous grouting is performed by using the orifice closed grouting process under the initial grouting pressure target value , and the grouting flow is continuously collected by collecting the grouting flow and the return flow. It is judged whether the grouting flow is less than 25L / min. If the grouting flow is less than 25L / min and lasts for 5min, the orifice closed grouting process is normal, and step six is executed. If the grouting flow Q is greater than 25L / min and does not decrease within 30s, the system issues an abnormal alarm and is repaired.

[0034] The above-mentioned self-adaptive grouting control method for orifice closed grouting process is characterized in that: step 502, the specific process is as follows:

[0035] Step 5021, let the grouting pressure take value as , substitute it into the established parameter model between the grouting pressure, the grouting valve opening and the return valve opening, to obtain the target opening of the grouting valve and the target opening of the return valve;

[0036] Step 5022, during initial grouting, the actual value of the grouting pressure is collected, and the grouting pressure is taken as the actual value of the grouting pressure at the current collection time. Substitute it into the established parameter model between the grouting pressure, the grouting valve opening and the return valve opening, to obtain the actual opening of the grouting valve and the actual opening of the return valve at the current collection time;

[0037] Step 5023, according to the target opening of the grouting valve and the target opening of the return valve, and the actual opening of the grouting valve and the actual opening of the return valve at the current collection time, the grouting valve opening error value, the grouting valve opening error value change rate, the return valve opening error value and the return valve opening error value change rate are obtained;

[0038] Step 5024, the computer inputs the grouting valve opening error value and the grouting valve opening error value change rate into the first fuzzy PID controller, to obtain the proportional adjustment coefficient kp, the integral adjustment coefficient ki and the differential adjustment coefficient kd of the grouting valve;

[0039] At the same time, the computer inputs the acquired slurry return valve opening error value and the rate of change of the slurry return valve opening error value into the second fuzzy PID controller to obtain the proportional adjustment coefficient kp, integral adjustment coefficient ki and derivative adjustment coefficient kd of the slurry return valve;

[0040] Step 5025: Adjust the opening of the slurry inlet valve according to the proportional adjustment coefficient kp, integral adjustment coefficient ki, and derivative adjustment coefficient kd of the slurry inlet valve. At the same time, adjust the opening of the slurry return valve according to the proportional adjustment coefficient kp, integral adjustment coefficient ki, and derivative adjustment coefficient kd of the slurry return valve.

[0041] Step 5026: Following the methods in steps 5022 to 5025, adjust the next sampling time until the actual grouting pressure value meets the initial grouting pressure target value. .

[0042] The above-mentioned adaptive grouting control method for orifice sealing grouting process is characterized by: Step six, the specific process is as follows:

[0043] Step 601, the target value of grouting pressure is set as follows: ~ Within the interval, according to the step size Gradually increase the target grouting pressure value, then until the [number]th [time / stage]... Target value for secondary grouting pressure ,and , , Indicates the first Target value for grouting pressure. Wait 2 hours, This represents the target value for the first grouting pressure, and its value is [value missing]. ;

[0044] Step 602: Utilize the orifice sealing grouting process to perform the first... Secondary grouting;

[0045] Step 603: Follow the methods in steps 5021 to 5026 until the actual value of the grouting pressure meets the requirements of the first step. Target value for secondary grouting pressure to be satisfied Adjustment of the opening degree of the return slurry valve;

[0046] Step 604: Set the target grouting pressure value to [value missing]. Substituting these values ​​into the parameter model for the target values ​​of grouting pressure and grouting flow rate, we obtain the first... Target value of secondary grouting flow rate ;

[0047] Step 605, in the Target value of secondary grouting flow rate ,satisfy Given the adjusted opening degree of the return grout valve, and substituting the parameters of the grout flow rate, the opening degree of the inlet valve, and the opening degree of the return valve into the parameter model, we can obtain the first value of the inlet valve opening degree. Secondary target value;

[0048] Step 606, in the During the grouting process, the actual grout flow rate at the current sampling time is collected and substituted into the parameter model between the grout flow rate and the grout valve opening to obtain the first value of the grout valve at the current sampling time. The actual opening degree of the second grouting operation, based on the opening degree of the grout inlet valve. The second target value and the opening degree of the slurry inlet valve. The actual opening of the second grouting was obtained. The error value of the grout inlet valve during the second grouting and the first Rate of change of grout inlet valve opening error during the second grouting;

[0049] Step 607: Following the methods of steps 5022 to 5025, adjust the control based on the first fuzzy PID controller, and determine the adjustment for the next sampling time until the actual value of the slurry flow rate meets the requirements of the first step. Target value for secondary grouting flow rate ;

[0050] Step 608: Repeat steps 602 to 607 multiple times, gradually increasing the target grouting pressure value, to perform the next step. The grouting process continues until the actual grouting pressure meets the requirements of the first grouting. The target pressure for secondary grouting is [value]. Then, constant pressure grouting is carried out until the grouting flow rate is less than 1L / min, and then grouting is stopped.

[0051] Compared with the prior art, the present invention has the following advantages:

[0052] 1. Based on the parameters of the orifice sealing grouting process, this invention establishes parameter models between grout flow rate and grout valve opening, grout flow rate, grout valve opening and return valve opening, as well as grout pressure, grout valve opening and return valve opening. This is to obtain the actual and target openings of the grout valve and return valve, facilitate the acquisition of valve opening error and error change rate, and thus meet the adjustment requirements of the fuzzy PID controller.

[0053] 2、The parameter model of the grouting pressure target value and the grouting flow target value in the application, on the basis that the stratum grouting energy is relatively fixed, the change of the grouting pressure at any time in the grouting process affects the establishment of the grouting flow, and the correction coefficient a is affected by the slurry density, and b is affected by the stratum breaking degree, the stratum information evaluation is a stratum information evaluation in-situ method which does not affect the process and is achieved by recording the drilling rock breaking parameters while drilling to inverse the stratum breaking degree, which can provide theoretical guidance for the grouting strategy and ensure that the pressure and flow are close to the model curve when the ideal grouting process is ensured. In addition, the model provides an overall grouting strategy, optimizes the selection of grouting parameters, and provides a continuous reference for PID control. Compared with the traditional PID control based on fixed experience value, the model adapts to the stratum difference and improves the accuracy.

[0054] 3、The application first adjusts the opening degree of the grouting valve and the back grouting valve based on the first fuzzy PID controller to meet the initial grouting pressure target value, and judges the normality of the hole sealing grouting process through the grouting flow, and also ensures that the initial grouting meets the construction requirements before gradually increasing the grouting pressure target value, so as to realize the gradual increase of the grouting pressure after the grouting pressure target value.

[0055] 4、In the process of gradually increasing the grouting pressure target value, the opening degree of the grouting valve and the back grouting valve is first adjusted based on the first fuzzy PID controller and the second fuzzy PID controller to meet the grouting pressure target value; then the opening degree of the grouting valve is adjusted by the first fuzzy PID controller under the condition that the opening degree of the back grouting valve is unchanged to meet the grouting flow target value, until the grouting pressure target value reaches the design grouting pressure requirement value, then constant pressure grouting is carried out, so as to make the continuity and density of the anti-seepage curtain meet the permeability coefficient, and improve the accuracy of the stratum curtain grouting technology.

[0056] In summary, the application has reasonable design, realizes self-adaptive control of grouting parameters in the grouting process based on the parameter model of the grouting pressure target value and the grouting flow target value, so that only self-adaptive control needs to be carried out under the grouting pressure target value, the control difficulty is reduced, and the control accuracy is improved.

[0057] The technical scheme of the application will be further described in detail below with reference to the drawings and embodiments. DESCRIPTION OF DRAWINGS

[0058] Figure 1 The method flow chart of the application. DETAILED DESCRIPTION

[0059] As Figure 1 shown, the application is a self-adaptive grouting control method for hole sealing grouting process, which comprises the following steps:

[0060] Step one, obtaining parameters of the orifice sealing grouting process; the parameters of the orifice sealing grouting process include slurry density , slurry specific weight , system damping coefficient , coefficient of the grouting valve and coefficient of the back valve ;

[0061] Step two, establishing a parameter model between the grouting flow and the grouting valve opening degree, a parameter model between the grouting flow, the grouting valve opening degree and the back valve opening degree, and a parameter model between the grouting pressure, the grouting valve opening degree and the back valve opening degree according to the parameters of the orifice sealing grouting process;

[0062] Step three, establishing a parameter model of the grouting pressure target value and the grouting flow target value;

[0063] Step four, constructing a fuzzy PID controller; wherein the fuzzy PID controller includes a first fuzzy PID controller for controlling the grouting valve opening degree and a second fuzzy PID controller for controlling the back valve opening degree;

[0064] Step five, adjusting the opening degrees of the grouting valve and the back valve based on the fuzzy PID controller to meet the initial grouting pressure target value, and judging the orifice sealing grouting process to be normal through the grouting flow;

[0065] Step six, gradually increasing the grouting pressure target value based on the fuzzy PID controller adjustment until the grouting pressure target value reaches the design grouting pressure requirement value, then constant pressure grouting:

[0066] Gradually increasing the grouting pressure target value, adjusting the opening degrees of the grouting valve and the back valve based on the first fuzzy PID controller and the second fuzzy PID controller to meet the grouting pressure target value; then adjusting the opening degree of the grouting valve to meet the grouting flow target value using the first fuzzy PID controller under the constant opening degree of the back valve, repeating multiple times until the grouting pressure target value reaches the design grouting pressure requirement value , then constant pressure grouting until the grouting flow is less than 1L / min, and then stopping grouting.

[0067] In this embodiment, the parameter model between the grouting pressure , the grouting valve opening degree and the back valve opening degree established in step two is as follows: or ; wherein, P represents the pressure value shown by the pressure gauge, G represents the self-weight pressure of grouting, A represents the cross-sectional area of the grouting pipeline, and P represents the slurry control parameter in the grouting pipeline, represents the pulp control parameter in the back pulp pipe, represents a constant variable, represents the coefficient relationship between the pulp inlet valve opening and the back pulp valve opening, is 1.0-1.5, and is greater than .

[0068] In this embodiment, step two has the following specific process:

[0069] Step A, establish the parameter model between the pulp inlet flow and the pulp inlet valve opening as follows: and the pulp inlet valve opening .

[0070] ; wherein, represents the coefficient of the pulp inlet valve, represents the maximum flow that can pass through the pulp inlet valve; represents the maximum opening of the valve;

[0071] Step B, establish the parameter model between the back pulp flow and the back pulp valve opening as follows: and the back pulp valve opening . ; wherein, represents the coefficient of the back pulp valve, represents the maximum flow that can pass through the back pulp valve;

[0072] Step C, construct the parameter model between the grouting flow, the pulp inlet valve opening, and the back pulp valve opening , , .

[0073] , and simplify , represents the pulp control parameter in the pulp inlet pipe, and , represents the pulp control parameter in the back pulp pipe, and ; represents a constant variable, and ;

[0074] Step D, if the grouting is above the underground water level, according to , the grouting self-weight pressure is obtained; wherein, represents the vertical height between the inlet of the pulp inlet pipe and the outlet of the pulp inlet pipe;

[0075] If the grouting is below the underground water level, according to , the grouting self-weight pressure is obtained; wherein, This indicates the vertical height of the slurry inlet pipe from the groundwater level; This indicates the vertical height of the slurry inlet pipe outlet from the groundwater level;

[0076] Step E, according to The pressure loss during the slurry flow process is obtained. ;

[0077] Step F: If the pressure gauge is installed on the slurry inlet pipe, then according to... To obtain the grouting pressure ;in, This indicates the pressure shown on the pressure gauge;

[0078] If the pressure gauge is installed on the return slurry pipe, then according to To obtain the grouting pressure ;

[0079] Step G: Substitute steps C through E into step F to obtain the grouting pressure. 1. Slurry inlet valve and return valve The parameter model between them.

[0080] In this embodiment, step three is as follows:

[0081] Step 301: During the borehole sealing grouting process, the drilling pressure applied by the drilling rig is collected by installing a hydraulic sensor in the drilling rig's hydraulic pipeline and recorded as the drilling pressure. ;

[0082] Step 302, according to The degree of stratigraphic fracturing was obtained. ;in, Represents the slope coefficient, and The value is 0.32. Indicates drilling speed. Indicates the drill pipe rotation speed; This indicates the weight of the drill rod connected to the drilling rig when the designed drilling depth is reached.

[0083] Step 303: Establish target value for grouting pressure Target value of grouting flow parametric model ;in, This represents the correction factor, and The value ranges from 0.1 to 0.5. Depending on the slurry density Increase and rise.

[0084] In this embodiment, step five is as follows:

[0085] Step 501, initial grouting is performed by using the orifice sealing grouting process; wherein an initial grouting pressure target value is set For , Design grouting pressure requirement value;

[0086] Step 502, based on the fuzzy PID controller, the opening of the grouting valve and the return valve is adjusted to meet the initial grouting pressure target value under the parameter model between the grouting pressure, the grouting valve opening and the return valve opening ;

[0087] Step 503, initial continuous grouting is performed by using the orifice sealing grouting process under the initial grouting pressure target value , and the grouting flow is continuously collected by collecting the grouting flow and the return flow to determine whether the grouting flow is less than 25L / min. If the grouting flow is less than 25L / min and lasts for 5min, the orifice sealing grouting process is normal, and step six is executed. If the grouting flow Q is greater than 25L / min and does not decrease within 30s, the system issues an abnormal alarm and is repaired.

[0088] In this embodiment, step 502, the specific process is as follows:

[0089] Step 5021, the grouting pressure value is taken as , which is substituted into the established parameter model between the grouting pressure, the grouting valve opening and the return valve opening to obtain the target opening of the grouting valve and the target opening of the return valve;

[0090] Step 5022, during initial grouting, the actual value of the grouting pressure is collected, and the grouting pressure value is taken as the actual value of the grouting pressure at the current collection time, which is substituted into the established parameter model between the grouting pressure, the grouting valve opening and the return valve opening to obtain the actual opening of the grouting valve and the actual opening of the return valve at the current collection time;

[0091] Step 5023, according to the target opening of the grouting valve and the target opening of the return valve and the actual opening of the grouting valve and the actual opening of the return valve at the current collection time, the grouting valve opening error value, the grouting valve opening error value change rate, the return valve opening error value and the return valve opening error value change rate are obtained;

[0092] Step 5024, the computer inputs the obtained grouting valve opening error value and grouting valve opening error value change rate into the first fuzzy PID controller to obtain the proportional adjustment coefficient kp, the integral adjustment coefficient ki and the differential adjustment coefficient kd of the grouting valve;

[0093] Meanwhile, the computer inputs the obtained error value of the back slurry valve opening and the change rate of the error value of the back slurry valve opening into the second fuzzy PID controller to obtain the proportional adjustment coefficient kp, the integral adjustment coefficient ki and the differential adjustment coefficient kd of the back slurry valve;

[0094] Step 5025, adjusting the opening of the inlet slurry valve according to the proportional adjustment coefficient kp, the integral adjustment coefficient ki and the differential adjustment coefficient kd of the inlet slurry valve, and adjusting the opening of the back slurry valve according to the proportional adjustment coefficient kp, the integral adjustment coefficient ki and the differential adjustment coefficient kd of the back slurry valve;

[0095] Step 5026, judging the adjustment at the next sampling time according to the method of steps 5022 to 5025 until the actual value of the grouting pressure meets the initial grouting pressure target value .

[0096] In this embodiment, step six has the following specific process:

[0097] Step 601, the grouting pressure target value is taken as ~ , and the grouting pressure target value is gradually increased according to the step size , then the grouting pressure target value is obtained at the n th time, and , , , represents the grouting pressure target value at the n th time, , etc. 2, represents the grouting pressure target value at the first time, and is taken as ;

[0098] Step 602, the n th grouting is performed by using the orifice sealing grouting process;

[0099] Step 603, the method of steps 5021 to 5026 is used until the actual value of the grouting pressure meets the grouting pressure target value at the n th time , and the adjusted opening of the back slurry valve when is obtained;

[0100] Step 604, the grouting pressure target value is taken as , and the grouting pressure target value is substituted into the parameter model of the grouting pressure target value and the grouting flow target value to obtain the grouting flow target value at the n th time ;

[0101] Step 605, the grouting flow target value at the n th time , and the grouting flow target value ​​​The first target value of the grouting valve is obtained by substituting the grouting flow, the grouting valve opening and the grouting valve opening into the parameter model between the grouting flow and the grouting valve opening.

[0102] Step 606, in the first grouting, the grouting flow actual value of the current sampling time is collected and substituted into the parameter model between the grouting flow and the grouting valve opening to obtain the first grouting actual opening of the grouting valve at the current sampling time.

[0103] Step 607, according to the method of steps 5022 to 5025, the first fuzzy PID controller is used to control the adjustment, and the adjustment of the next sampling time is judged until the grouting flow actual value meets the first grouting flow target value.

[0104] Step 608, steps 602 to 607 are repeated multiple times to gradually increase the grouting pressure target value to perform the first grouting until the grouting pressure actual value meets the first grouting pressure target value. If the grouting pressure actual value meets the first grouting pressure target value, constant pressure grouting is performed until the grouting flow is less than 1L / min, and then the grouting is stopped.

[0105] In this embodiment, when specifically implemented, the grouting pressure requirement value is set according to the construction requirements of the orifice sealing grouting process, and is not specifically limited.

[0106] In this embodiment, when specifically implemented, the slurry density is obtained by a density instrument, the unit of the slurry density is kg / m 3 , and the slurry gravity , i.e., the weight of unit volume of slurry, is kN / m 3 .

[0107] In this embodiment, when specifically implemented, before the orifice sealing grouting process is performed, the orifice sealing grouting system is tested, and the system damping coefficient is obtained according to ; wherein represents the pressure drop between the inlet and the outlet of the orifice sealing grouting system.

[0108] ​​​​​​​​​​​In this embodiment, the drilling pressure and the weight of the drill pipe are both in kN, the drilling speed is in m / min, and the rotation speed of the drill pipe is in r / min.

[0109] It should be noted that only the value of the formation fragmentation degree index is substituted into the parameter model of the grouting pressure target value and the grouting flow target value, and the unit thereof is not considered.

[0110] In this embodiment, the sampling time is set according to actual requirements in specific implementation, and is not specifically limited.

[0111] In this embodiment, the maximum opening degree of the valve is 100% in specific implementation; the coefficients of the grout inlet valve and the grout return valve are both 30. In actual use, the valve coefficients of different models of valves are usually listed in product manuals or technical data sheets, and the valve coefficients should be obtained according to actual conditions.

[0112] In this embodiment, the fuzzy PID controller constructed in step four can be referred to the conventional manner in the art in specific implementation.

[0113] In this embodiment, the fuzzy set of the first fuzzy PID controller and the second fuzzy PID controller is {negative big NB, negative small NS, zero ZE, positive small PS, positive big PB} in specific implementation, the input quantity of the first fuzzy PID controller includes the grout inlet valve opening error value and the grout inlet valve opening error rate, and the input quantity of the second fuzzy PID controller includes the grout return valve opening error value and the grout return valve opening error rate.

[0114] In this embodiment, the initial values of the proportional adjustment coefficient kp, the integral adjustment coefficient ki and the differential adjustment coefficient kd are selected as 0.5, 0.1 and 0.25 in specific implementation.

[0115] In this embodiment, the membership function of the input quantity and the output quantity adopts a triangular membership function in specific implementation.

[0116] In this embodiment, the fuzzy domain of the grout inlet valve opening error value, the grout inlet valve opening error rate, the proportional adjustment coefficient kp, the integral adjustment coefficient ki and the differential adjustment coefficient kd is {-0.5, 0.25, 0, 0.25, 0.5}, and the fuzzy domain of the grout return valve opening error value, the grout return valve opening error rate, the proportional adjustment coefficient kp, the integral adjustment coefficient ki and the differential adjustment coefficient kd is {-0.2, -0.1, 0, 0.1, 0.2}.

[0117] To sum up, the application has reasonable design, and realizes self-adaptive control of grouting parameters in the grouting process based on the parameter model of establishing the grouting pressure target value and the grouting flow target value, so that only self-adaptive control under the grouting pressure target value is needed, avoiding self-adaptive control of both the grouting pressure target value and the grouting flow target value, reducing control difficulty, and improving control precision.

[0118] The above is only the preferred embodiment of the application, and does not limit the application, and any simple modification, change and equivalent structure change of the above embodiment according to the technical essence of the application still belong to the protection scope of the technical solution of the application.

Claims

1. An adaptive grouting control method for orifice sealing grouting process, characterized in that: The method includes the following steps: Step 1: Obtain the parameters for the orifice sealing grouting process; the parameters for the orifice sealing grouting process include grout density. slurry density System damping coefficient Coefficient of the slurry inlet valve and the coefficient of the return valve ; Step 2: Based on the parameters of the orifice sealing grouting process, establish parameter models for the relationship between grout flow rate and grout inlet valve opening, grout flow rate, grout inlet valve opening, and return valve opening, as well as parameter models for the relationship between grout pressure, grout inlet valve opening, and return valve opening. Step 3: Establish a parametric model for the target values ​​of grouting pressure and grouting flow rate; Step 4: Construct a fuzzy PID controller; wherein the fuzzy PID controller includes a first fuzzy PID controller for controlling the opening of the slurry inlet valve and a second fuzzy PID controller for controlling the opening of the slurry return valve. Step 5: Adjust the opening of the grout inlet valve and the grout return valve based on the fuzzy PID controller to meet the initial grouting pressure target value, and judge the orifice sealing grouting process to be normal by the grouting flow rate; Step Six: Based on the fuzzy PID controller adjustment, gradually increase the grouting pressure target value until the grouting pressure target value reaches the design grouting pressure requirement value, then constant pressure grouting is performed. The grouting pressure target value is gradually increased, and the openings of the grout inlet and return valves are adjusted using a first and a second fuzzy PID controller to meet the grouting pressure target value. Then, with the return valve opening unchanged, the opening of the grout inlet valve is adjusted using the first fuzzy PID controller to meet the grouting flow target value. This process is repeated multiple times until the grouting pressure target value reaches the design grouting pressure requirement. Then, constant pressure grouting is carried out until the grouting flow rate is less than 1L / min, and then grouting is stopped.

2. The adaptive grouting control method for orifice sealing grouting process according to claim 1, characterized in that: Establish grouting pressure in step two , Inlet valve opening and return valve opening The parameter model between them is as follows: or ;in, This indicates the pressure value shown on the pressure gauge. This indicates the pressure of the grout's own weight. This represents the cross-sectional area of ​​the slurry inlet pipe. This indicates the slurry control parameters in the slurry inlet pipe. This indicates the slurry control parameters in the slurry return pipeline. Represents a constant variable. This indicates the coefficient relationship between the opening degrees of the slurry inlet and slurry return valves. The value ranges from 1.0 to 1.5, and Greater than .

3. The adaptive grouting control method for orifice sealing grouting process according to claim 2, characterized in that: Step two, the specific process is as follows: Step A: Establish the slurry flow rate and the opening degree of the slurry inlet valve The parameter model between them is as follows: ;in, This indicates the coefficient of the slurry inlet valve. Indicates the maximum flow rate that can pass through the slurry inlet valve; Indicates the maximum opening degree of the valve; Step B: Establish slurry return flow rate and return valve opening The parameter model between them is as follows: ;in, This indicates the coefficient of the slurry return valve. Indicates the maximum flow rate that can pass through the return valve; Step C: Constructing the grouting flow rate , Inlet valve opening and return valve opening The parameter model between and simplify ,but This indicates the slurry control parameters in the slurry inlet pipe, and , This indicates the slurry control parameters in the slurry return pipeline, and ; Represents a constant variable, and ; Step D: If grouting is performed above the groundwater level, according to... The grouting self-weight pressure is obtained. ;in, This indicates the vertical height between the inlet and outlet of the slurry inlet pipe; If grouting is performed below the groundwater level, according to The grouting self-weight pressure is obtained. ;in, This indicates the vertical height of the slurry inlet pipe from the groundwater level; This indicates the vertical height of the slurry inlet pipe outlet from the groundwater level; Step E, according to The pressure loss during the slurry flow process is obtained. ; Step F: If the pressure gauge is installed on the slurry inlet pipe, then according to... To obtain the grouting pressure ;in, This indicates the pressure shown on the pressure gauge; If the pressure gauge is installed on the return slurry pipe, then according to To obtain the grouting pressure ; Step G: Substitute steps C through E into step F to obtain the grouting pressure.

1. Slurry inlet valve and return valve The parameter model between them.

4. An adaptive grouting control method for orifice sealing grouting process according to claim 1, characterized in that: Step three, as follows: Step 301: During the borehole sealing grouting process, the drilling pressure applied by the drilling rig is collected by installing a hydraulic sensor in the drilling rig's hydraulic pipeline and recorded as the drilling pressure. ; Step 302, according to The degree of stratigraphic fracturing was obtained. ;in, Represents the slope coefficient, and The value is 0.

32. Indicates drilling speed. Indicates the drill pipe rotation speed; This indicates the weight of the drill rod connected to the drilling rig when the designed drilling depth is reached. Step 303: Establish target value for grouting pressure Target value of grouting flow parametric model ;in, This represents the correction factor, and The value ranges from 0.1 to 0.

5. Depending on the slurry density Increase and rise.

5. An adaptive grouting control method for orifice sealing grouting process according to claim 4, characterized in that: Step five, the specific process is as follows: Step 501: Initial grouting is performed using the orifice sealing grouting process; wherein, the target value of the initial grouting pressure is set. for , The required grouting pressure value is specified in the design. Step 502: Under the parameter model of grouting pressure, grout inlet valve opening, and grout return valve opening, adjust the opening of the grout inlet valve and grout return valve based on the fuzzy PID controller to meet the initial grouting pressure target value. ; Step 503: Utilize the orifice sealing grouting process to achieve the initial grouting pressure target value. Initial continuous grouting is performed, and the grout inflow and return flow rates are continuously collected to obtain the grouting flow rate. It is determined whether the grouting flow rate is less than 25 L / min. If the grouting flow rate is less than 25 L / min and continues for 5 minutes, the orifice sealing grouting process is normal, and step six is ​​executed. If the grouting flow rate Q is greater than 25 L / min and does not decrease within 30 seconds, the system issues an abnormal alarm and maintenance is performed.

6. An adaptive grouting control method for orifice sealing grouting process according to claim 5, characterized in that: Step 502, the specific process is as follows: Step 5021: Set the grouting pressure to a value of Substituting these parameters into the established parameter model relating grouting pressure, grout inlet valve opening, and grout return valve opening, we obtain the target opening of the grout inlet valve and the target opening of the grout return valve. Step 5022: During the initial grouting, collect the actual value of the grouting pressure and set the grouting pressure to the actual value of the grouting pressure at the current collection time. Substitute this value into the established parameter model between the grouting pressure, the opening of the grout inlet valve, and the opening of the grout return valve to obtain the actual opening of the grout inlet valve and the actual opening of the grout return valve at the current collection time. Step 5023: Based on the target opening degree of the slurry inlet valve and the target opening degree of the slurry return valve, as well as the actual opening degree of the slurry inlet valve and the actual opening degree of the slurry return valve at the current acquisition time, obtain the slurry inlet valve opening error value, the slurry inlet valve opening error value change rate, the slurry return valve opening error value, and the slurry return valve opening error value change rate. Step 5024: The computer inputs the obtained slurry valve opening error value and the slurry valve opening error value change rate into the first fuzzy PID controller to obtain the proportional control coefficient kp, integral control coefficient ki, and derivative control coefficient kd of the slurry valve. At the same time, the computer inputs the acquired slurry return valve opening error value and the rate of change of the slurry return valve opening error value into the second fuzzy PID controller to obtain the proportional adjustment coefficient kp, integral adjustment coefficient ki and derivative adjustment coefficient kd of the slurry return valve; Step 5025: Adjust the opening of the slurry inlet valve according to the proportional adjustment coefficient kp, integral adjustment coefficient ki, and derivative adjustment coefficient kd of the slurry inlet valve. At the same time, adjust the opening of the slurry return valve according to the proportional adjustment coefficient kp, integral adjustment coefficient ki, and derivative adjustment coefficient kd of the slurry return valve. Step 5026: Following the methods in steps 5022 to 5025, adjust the next sampling time until the actual grouting pressure value meets the initial grouting pressure target value. .

7. An adaptive grouting control method for orifice sealing grouting process according to claim 6, characterized in that: Step six, the specific process is as follows: Step 601, the target value of grouting pressure is set as follows: ~ Within the interval, according to the step size Gradually increase the target grouting pressure value, then until the [number]th [time / stage]... Target value for secondary grouting pressure ,and , , Indicates the first Target value for grouting pressure. Wait 2 hours, This represents the target value for the first grouting pressure, and its value is [value missing]. ; Step 602: Utilize the orifice sealing grouting process to perform the first... Secondary grouting; Step 603: Follow the methods in steps 5021 to 5026 until the actual value of the grouting pressure meets the requirements of the first step. Target value for secondary grouting pressure to be satisfied Adjustment of the opening degree of the return slurry valve; Step 604: Set the target grouting pressure value to [value missing]. Substituting these values ​​into the parameter model for the target values ​​of grouting pressure and grouting flow rate, we obtain the first... Target value of secondary grouting flow rate ; Step 605, in the Target value of secondary grouting flow rate ,satisfy Given the adjusted opening degree of the return grout valve, and substituting the parameters of the grout flow rate, the opening degree of the inlet valve, and the opening degree of the return valve into the parameter model, we can obtain the first value of the inlet valve opening degree. Secondary target value; Step 606, in the During the grouting process, the actual grout flow rate at the current sampling time is collected and substituted into the parameter model between the grout flow rate and the grout valve opening to obtain the first value of the grout valve at the current sampling time. The actual opening degree of the second grouting operation, based on the opening degree of the grout inlet valve. The second target value and the opening degree of the slurry inlet valve. The actual opening of the second grouting was obtained. The error value of the grout inlet valve during the second grouting and the first Rate of change of grout inlet valve opening error during the second grouting; Step 607: Following the methods of steps 5022 to 5025, adjust the control based on the first fuzzy PID controller, and determine the adjustment for the next sampling time until the actual value of the slurry flow rate meets the requirements of the first step. Target value of secondary grouting flow rate ; Step 608: Repeat steps 602 to 607 multiple times, gradually increasing the target grouting pressure value, to perform the next step. The grouting process continues until the actual grouting pressure meets the requirements of the first grouting. The target pressure for secondary grouting is [value]. Then, constant pressure grouting is carried out until the grouting flow rate is less than 1L / min, and then grouting is stopped.

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