Cylinder pressure control method, device, equipment, medium and program product of hydraulic system

Abstract

The invention discloses a cylinder pressure control method, device and equipment of a hydraulic system, a medium and a program product, and relates to the field of oil exploration and development, and the method comprises the steps that the current environment temperature, the real-time torque current and the real-time cylinder pressure of the hydraulic system when a rotary steering tool works underground are obtained in real time; if the real-time cylinder pressure does not reach the target cylinder pressure, the current environment temperature and the target cylinder pressure are input into a cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates a target torque current according to the current environment temperature and the target cylinder pressure, and the cylinder pressure of the hydraulic system is controlled according to the target torque current; and / or, the current environment temperature and the real-time torque current are input into a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the cylinder pressure of a virtual sensor according to the current environment temperature and the real-time torque current, and feedback regulation and control are conducted on the cylinder pressure of the hydraulic system according to the cylinder pressure of the virtual sensor. The cylinder pressure is stably controlled, the drilling time efficiency is improved, and the cost is saved.

Description

Technical Field

[0001] This application relates to the field of petroleum exploration and development, specifically to a cylinder pressure control method, device, computing equipment, computer storage medium, and computer program product for a hydraulic system. Background Technology

[0002] The push-type rotary steering tool (hereinafter referred to as the instrument) is equipped with multiple ribs, each of which can generate independently controllable thrust. Combined with the tool face measured by the downhole attitude measurement module, the multiple ribs can synthesize a guiding force of any direction from 0-360° and any size from 0-100%, thereby controlling the change of drilling trajectory. The thrust of each rib is determined by the cylinder pressure of the hydraulic system and its piston area. The process of the hydraulic system generating cylinder pressure is as follows: (1) The hydraulic system is equipped with an oil reservoir. The micro motor drives the plunger pump to rotate and pump the hydraulic oil in the oil reservoir into the hydraulic cylinder. At the same time, the hydraulic oil in the hydraulic cylinder flows back to the oil reservoir through the throttle valve; (2) Changing the motor speed can change the oil discharge of the plunger pump, thereby changing the hydraulic cylinder pressure. Therefore, to control the hydraulic system to generate a specified thrust, it is generally necessary to accurately collect the internal pressure by a pressure sensor, and the pressure controller controls the micro motor to output a suitable torque current and achieve a reasonable speed, thereby realizing closed-loop control of the internal pressure.

[0003] However, during drilling, pressure sensors in the hydraulic system are prone to failure, and the pressure fluctuations caused by vibrations and shocks during drilling are severe. Sensor failures and interference often result in large discrepancies between the collected and actual pressure values, leading to unstable pressure control in the rib cylinders. Due to the limitations of the operating environment of rotary steered downhole tools, if the hydraulic system sensors are faulty or subject to severe interference, the tool must be stopped or the drill string must be pulled out and replaced, significantly reducing drilling efficiency and increasing drilling costs. Summary of the Invention

[0004] In view of the above problems, this application is made in order to provide a method, apparatus, computing device, computer storage medium and computer program product for cylinder pressure control of a hydraulic system that overcomes or at least partially solves the above problems.

[0005] According to one aspect of the embodiments of this application, a cylinder pressure control method for a hydraulic system is provided, the method comprising: Real-time acquisition of hydraulic system operating data when the rotary steering tool is working downhole, including: current ambient temperature, real-time torque current, and real-time cylinder pressure; If the real-time cylinder pressure does not reach the target cylinder pressure, the current ambient temperature and the target cylinder pressure are input to the pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the target torque current based on the current ambient temperature and the target cylinder pressure, and controls the cylinder pressure of the hydraulic system based on the target torque current; and / or, the current ambient temperature and the real-time torque current are input to the pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the virtual sensor cylinder pressure based on the current ambient temperature and the real-time torque current, and performs feedback regulation of the cylinder pressure of the hydraulic system based on the virtual sensor cylinder pressure, wherein the cylinder pressure virtual sensor model is a multidimensional function of ambient temperature, torque current, and cylinder pressure.

[0006] Furthermore, controlling the cylinder pressure of the hydraulic system based on the target torque current further includes: The real-time torque current of the motor in the hydraulic system is controlled based on the target torque current to achieve cylinder pressure control of the hydraulic system.

[0007] Furthermore, the operating data also includes: motor speed; Further, feedback regulation of cylinder pressure in the hydraulic system based on virtual sensor cylinder pressure includes: The virtual sensor cylinder pressure is corrected based on the motor speed; The cylinder pressure of the hydraulic system is controlled by feedback based on the corrected virtual sensor cylinder pressure.

[0008] Furthermore, feedback regulation of the cylinder pressure in the hydraulic system based on the virtual sensor cylinder pressure further includes: The virtual sensor cylinder pressure is used as the cylinder pressure collected by the pressure sensor in the hydraulic system and fed back to the pressure controller to realize feedback control of the cylinder pressure in the hydraulic system.

[0009] Furthermore, the process of establishing the cylinder pressure virtual sensor model includes: S1, set the initial value of torque current, initial ambient temperature and maximum ambient temperature, and assign the initial ambient temperature to the ambient temperature parameter; S2, under the ambient temperature corresponding to the ambient temperature parameter, the torque current is increased at equal intervals with the set current amplitude, and when the motor speed is stable, the cylinder pressure corresponding to the hydraulic system is collected until the cylinder pressure is the maximum cylinder pressure, and the torque current is reset to the initial value of the torque current. S3. Based on the ambient temperature, torque current and cylinder pressure corresponding to the ambient temperature parameters, determine the functional relationship between torque current and cylinder pressure under ambient temperature. S4, update the ambient temperature parameter to the ambient temperature parameter + preset temperature amplitude, determine whether the updated ambient temperature parameter is greater than or equal to the highest ambient temperature. If not, proceed to S2; if yes, proceed to S5. S5. Based on the determined functional relationship between torque current and cylinder pressure at various ambient temperatures, establish a virtual sensor model for cylinder pressure.

[0010] Furthermore, the method also includes: if the real-time cylinder pressure reaches the target cylinder pressure, then the working data is matched and verified using the cylinder pressure virtual sensor model to determine whether the working data conforms to the functional relationship defined by the cylinder pressure virtual sensor model; If no match is found, the working data is recorded and the hydraulic system is triggered to output a warning signal.

[0011] According to another aspect of the embodiments of this application, a cylinder pressure control device for a hydraulic system is provided, the device comprising: The acquisition module is suitable for acquiring real-time working data of the hydraulic system when the rotary steering tool is working downhole. The working data includes: current ambient temperature, real-time torque current, and real-time cylinder pressure. The control module is adapted to input the current ambient temperature and target cylinder pressure into a pre-established virtual cylinder pressure sensor model if the real-time cylinder pressure does not reach the target cylinder pressure, so that the virtual cylinder pressure sensor model calculates the target torque current based on the current ambient temperature and target cylinder pressure, and controls the cylinder pressure of the hydraulic system based on the target torque current; and / or, input the current ambient temperature and real-time torque current into the pre-established virtual cylinder pressure sensor model, so that the virtual cylinder pressure sensor model calculates the virtual sensor cylinder pressure based on the current ambient temperature and real-time torque current, and performs feedback regulation of the cylinder pressure of the hydraulic system based on the virtual sensor cylinder pressure, wherein the virtual cylinder pressure sensor model is a multidimensional function of ambient temperature, torque current, and cylinder pressure.

[0012] According to another aspect of the embodiments of this application, a computing device is provided, including: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; The memory is used to store at least one executable instruction, which causes the processor to perform the operation corresponding to the cylinder pressure control method of the hydraulic system described above.

[0013] According to another aspect of the embodiments of this application, a computer storage medium is provided, which stores at least one executable instruction that causes a processor to perform an operation corresponding to the cylinder pressure control method of the hydraulic system described above.

[0014] According to another aspect of this application, a computer program product is provided, including at least one executable instruction that causes a processor to perform operations corresponding to the cylinder pressure control method of the hydraulic system described above.

[0015] According to the technical solution provided in this application, when the pressure sensor malfunctions or is subject to severe interference, the system switches to rotary steering virtual sensor cylinder pressure control, changing the controller's setpoint from the target cylinder pressure to the target torque current to maintain stable cylinder pressure control. Alternatively, feedback regulation using virtual sensor cylinder pressure can ensure that the cylinder pressure stabilizes at the target cylinder pressure, maintaining stable cylinder pressure control. This effectively expands the application range of drilling tools, improves drilling efficiency, and saves costs. It solves the problem in the prior art where, when the hydraulic system sensor is malfunctioning or receives severe interference, the tool must be stopped or the drill bit must be pulled out and the tool replaced. It also solves the problem of thrust instability caused by pressure sensor malfunction or excessive interference in the hydraulic system when rotary steering tools encounter such issues.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of a portion of the hydraulic system structure; Figure 2 This is a schematic diagram of the hydraulic system's working principle. Figure 3 This is a block diagram of the pressure control structure of a hydraulic system. Figure 4 A schematic flowchart of a cylinder pressure control method for a hydraulic system according to an embodiment of this application is shown; Figure 5 A schematic flowchart of a cylinder pressure control method for a hydraulic system according to another embodiment of this application is shown; Figure 6 A structural block diagram of a cylinder pressure control device for a hydraulic system according to an embodiment of this application is shown; Figure 7 A schematic diagram of the structure of a computing device according to an embodiment of this application is shown. Detailed Implementation

[0018] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0019] Figure 1 This is a schematic diagram of a portion of the hydraulic system. Figure 2 This is a schematic diagram of the hydraulic system's working principle. Figure 3 This is a block diagram of the pressure control structure of a hydraulic system. The following will combine... Figures 1-3 A brief explanation is provided: The push-type rotary guide tool mainly consists of a hydraulic drive circuit and a slow-rotating outer sleeve. The slow-rotating outer sleeve has multiple hydraulic system drive ribs evenly installed. The hydraulic system mainly includes the following components: a DC brushless motor, a piston pump, a pressure sensor, a flow conversion valve, a hydraulic cylinder, a throttle valve, an oil reservoir, and corresponding pipelines (such as...). Figure 1 As shown, the basic working process of the hydraulic system is as follows: A brushless DC motor drives a piston pump to rotate via a coupling. The piston pump pumps hydraulic oil from the reservoir into the pipeline. The hydraulic oil then enters the hydraulic cylinder through the pipeline, and simultaneously, the hydraulic oil in the cylinder flows back to the reservoir through a throttle valve. When the inflow and outflow velocities of the hydraulic oil in the cylinder are equal, the hydraulic cylinder pressure is stable. When the inflow velocity is greater than the outflow velocity, the hydraulic cylinder pressure rises. Changing the motor speed can change the hydraulic oil flow rate of the piston pump, thereby changing the hydraulic oil inflow rate into the hydraulic cylinder, and thus changing the pressure of the hydraulic cylinder.

[0020] The hydraulic system's cylinder pressure generates corresponding thrust through pistons of a certain area. Multiple ribbed hydraulic systems can generate thrust of different directions and magnitudes, forming a vector resultant force of arbitrary direction (0-360°) and arbitrary magnitude (0-100%Fmax). Therefore, if a drilling tool needs to generate a specified thrust, the hydraulic system must produce a specified cylinder pressure. Pressure sensors provide precise pressure feedback to the pressure controller, enabling closed-loop pressure control (such as...). Figure 2 and Figure 3 (As shown).

[0021] If a pressure sensor in a hydraulic system malfunctions or experiences severe interference during operation, it can cause inaccurate pressure feedback, resulting in pressure imbalance. In this case, the tool must be stopped or the drill string pulled out and replaced, significantly reducing drilling efficiency and increasing drilling costs.

[0022] To address the thrust instability issue in rotary guide tools caused by pressure sensor malfunctions or excessive interference in the hydraulic system, a cylinder pressure control scheme for the hydraulic system needs to be proposed. This scheme should achieve pressure control without directly using the actual cylinder pressure of the hydraulic cylinder collected by the pressure sensor.

[0023] The specific implementation process of the cylinder pressure control scheme of the hydraulic system is described below with reference to specific embodiments: Figure 4 A schematic flowchart of a cylinder pressure control method for a hydraulic system according to an embodiment of this application is shown, as follows: Figure 4 As shown, the method includes the following steps: Step S401: Real-time acquisition of hydraulic system operating data when the rotary steering tool is working downhole, including: current ambient temperature, real-time torque current, and real-time cylinder pressure.

[0024] The working data of a hydraulic system refers to the data corresponding to the hydraulic system during operation. The working data includes: current ambient temperature, real-time torque current, and real-time cylinder pressure.

[0025] Specifically, the current ambient temperature refers to the real-time temperature of the downhole environment where the rotary steering tool is located. Downhole temperature fluctuates significantly with increasing well depth and changes in geological conditions. The current ambient temperature can be collected using a high-temperature resistant temperature sensor built into the rotary steering tool. Real-time torque current refers to the current signal generated by the motor driving the hydraulic pump in the hydraulic system during operation. The torque current can be collected using a current sensor. Real-time cylinder pressure refers to the real-time pressure value inside the hydraulic cylinder performing the steering action in the hydraulic system. The real-time cylinder pressure can be collected using a pressure sensor on the cylinder body.

[0026] When collecting torque current, there are two main sampling points: Sampling point 1, bus current sampling, which measures the current on the DC bus connecting the inverter to the power source (such as a battery or grid). The bus current represents the total current flowing into the inverter and reflects the power flow of the entire system. Sampling point 2, lower bridge current sampling, which measures the current in the branch of the power switching devices (such as IGBTs or MOSFETs) connected to the motor windings and close to ground. The lower bridge arm of the inverter is responsible for providing the negative half-cycle current to the motor windings.

[0027] When collecting temperature data, there are two main sampling points: Sampling point 1, where a temperature sensor is installed on the measuring circuit to measure the temperature of the control circuit in real time; and Sampling point 2, where a temperature sensor is installed in the hydraulic system to measure the temperature of the hydraulic fluid in real time.

[0028] By acquiring the data uploaded by the aforementioned sensors, the working data of the hydraulic system can be obtained in real time when the rotary guide tool is working downhole.

[0029] Step S402: If the real-time cylinder pressure does not reach the target cylinder pressure, the current ambient temperature and the target cylinder pressure are input to the pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the target torque current based on the current ambient temperature and the target cylinder pressure, and controls the cylinder pressure of the hydraulic system based on the target torque current; and / or The current ambient temperature and real-time torque current are input into a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model can calculate the virtual sensor cylinder pressure based on the current ambient temperature and real-time torque current. The cylinder pressure of the hydraulic system is then controlled by feedback based on the virtual sensor cylinder pressure. The cylinder pressure virtual sensor model is a multidimensional function of ambient temperature, torque current, and cylinder pressure.

[0030] The cylinder pressure virtual sensor model is a mathematical model that indirectly calculates and outputs estimated cylinder pressure values ​​based on directly measurable parameters of the hydraulic system, such as ambient temperature and torque current, through a pre-defined multidimensional functional relationship. This model is constructed through prior calibration and fitting of experimental data across the entire operating range (under different temperature and torque current conditions). It can characterize the intrinsic physical relationship between the aforementioned parameters and cylinder pressure. Its core function is to replace or supplement the traditional pressure sensing function when physical pressure sensors malfunction (e.g., faults, data distortion), providing reliable cylinder pressure support for cylinder pressure control of the hydraulic system (e.g., target torque current calculation, feedback regulation), ensuring stable system operation under fault conditions.

[0031] Specifically, the target cylinder pressure is the cylinder pressure that the hydraulic system is expected to output. However, hardware failures in the pressure sensor, signal transmission interference causing data distortion, or abnormal operation of the motor or piston pump can all lead to abnormal pressure measurements in the hydraulic system. Therefore, after acquiring the hydraulic system's operating data, the real-time cylinder pressure is compared with the target cylinder pressure. If the real-time measured cylinder pressure does not reach the target cylinder pressure, continuing to use traditional cylinder pressure control logic that relies on physical sensor feedback will lead to an infinite loop of adjustment, affecting drilling. In this case, cylinder pressure control can be achieved using a virtual cylinder pressure sensor model. Essentially, this involves replacing physical sensing with data-driven virtual sensing to construct a new control method. Method 1: When the pressure measurement of the hydraulic system is abnormal and closed-loop control cannot be performed using the measured cylinder pressure, current open-loop control is adopted. That is, the current ambient temperature and target cylinder pressure are input into the virtual cylinder pressure sensor model to calculate the target torque current. The cylinder pressure is then controlled based on the target torque current. This method is essentially a model-based open-loop control strategy. Through a pre-built input-output mapping relationship, the required control quantity (i.e., torque current) is directly derived from the target cylinder pressure to achieve indirect regulation of the cylinder pressure. Its core logic is to use the model to accurately characterize the physical laws of the system, replacing the traditional control path that relies on pressure feedback.

[0032] The core of the cylinder pressure virtual sensor model is a pre-calibrated multidimensional function relationship (e.g., cylinder pressure = f(ambient temperature, torque current)). The calculation process here is the inverse operation of this function, that is, the unknown torque current is deduced from the known ambient temperature and target cylinder pressure. The formula can be expressed as: target torque current = f⁻¹(ambient temperature, target cylinder pressure).

[0033] The target cylinder pressure is a pre-set cylinder pressure that the hydraulic cylinders of the hydraulic system need to achieve. Therefore, after obtaining the current ambient temperature, the current ambient temperature and the target cylinder pressure can be input into a pre-established virtual cylinder pressure sensor model. Through inverse calculation, the target torque current is calculated, and the cylinder pressure of the hydraulic system is controlled according to the target torque current. Preferably, the torque current of the motor in the hydraulic system can be controlled according to the target torque current to achieve cylinder pressure control of the hydraulic system. For example, the pressure controller sends the target torque current to the motor, keeping the motor's torque current at the target torque current, thereby maintaining stable cylinder pressure control.

[0034] Therefore, when the pressure sensor malfunctions or experiences severe interference, the system switches to rotary-guided virtual sensor cylinder pressure control. Based on the calibrated relationship between torque current and cylinder pressure, combined with the current ambient temperature and target cylinder pressure, the target torque current is calculated and used as the setpoint for the pressure controller. This stabilizes the torque current of the micro-motor, ensuring stable cylinder pressure control. Throughout this process, although there is no real-time feedback from the pressure sensor, the virtual sensor model pre-contains the complete relationship between torque current, ambient temperature, and cylinder pressure. As long as the input parameters are accurate, the cylinder pressure can reach the target value through precise control of the torque current.

[0035] The above method does not rely on pressure sensor signals and can achieve control using only measurable parameters (ambient temperature, torque current), solving the problem of traditional closed-loop control interruption or pressure imbalance due to sensor failure. It does not require waiting for the pressure feedback adjustment process and directly calculates the control quantity through the model, making it suitable for working conditions with high response speed requirements (such as real-time trajectory adjustment of rotary guide tools). It can be used in combination with other control methods (such as virtual cylinder pressure feedback) as a basic control strategy when some sensors fail, improving system redundancy.

[0036] In this application, cylinder pressure control can also be achieved through a second method: when the pressure measurement of the hydraulic system is abnormal and precise closed-loop control cannot be achieved by relying on the measured cylinder pressure, the current ambient temperature and torque current are input into the cylinder pressure virtual sensor model to calculate the virtual sensor cylinder pressure and use it for feedback regulation. Essentially, this method reconstructs the closed-loop control link by generating virtual measurement values ​​through the model. That is, it uses data-driven virtual sensing to replace unreliable physical sensing, thereby achieving dynamic correction of cylinder pressure. Its core logic is to utilize the inherent physical laws of the system (the correlation between ambient temperature, torque current, and cylinder pressure) to allow the model to act as a virtual pressure sensor, ensuring that the control closed loop is not interrupted.

[0037] The core of the cylinder pressure virtual sensor model is a pre-calibrated multidimensional functional relationship (e.g., cylinder pressure = f(ambient temperature, torque current)). Here, the current ambient temperature and real-time torque current are input into the cylinder pressure virtual sensor model, which calculates the virtual sensor cylinder pressure based on the current ambient temperature and real-time torque current. The virtual sensor cylinder pressure refers to the estimated cylinder pressure calculated by the pre-established cylinder pressure virtual sensor model (based on the multidimensional functional relationship between measurable parameters such as ambient temperature and torque current and cylinder pressure) when the hydraulic system pressure measurement is abnormal. Its core feature is that it can reflect the actual cylinder pressure state of the hydraulic system under the current working conditions. When the deviation between the virtual sensor cylinder pressure and the target cylinder pressure is within the preset allowable range, it can be used as a judgment basis to avoid unnecessary adjustment actions, thereby ensuring the stability and efficiency of hydraulic system control while replacing abnormal measured pressure data.

[0038] The cylinder pressure of the hydraulic system is controlled by feedback based on the cylinder pressure from a virtual sensor. Preferably, the virtual sensor cylinder pressure is fed back to the pressure controller as the cylinder pressure collected by the pressure sensor in the hydraulic system, so as to realize feedback control of the cylinder pressure of the hydraulic system. The core value of using the virtual sensor cylinder pressure is to replace abnormal measured pressure data and reconstruct the closed-loop control logic of measurement-comparison-adjustment. For example, the virtual sensor cylinder pressure calculated by the model is sent to the pressure controller in real time as a substitute measurement value of the current cylinder pressure. The pressure controller compares the virtual sensor cylinder pressure with the target cylinder pressure, calculates the deviation value, and determines whether the deviation is within the allowable range. If the deviation value exceeds the range, the pressure controller generates an adjustment command based on the magnitude and direction of the deviation. For example, when the virtual sensor cylinder pressure is lower than the target cylinder pressure, the command increases the torque current to increase the motor output torque, increase the hydraulic pump power, and ultimately increase the cylinder pressure; when the virtual sensor cylinder pressure is higher than the target cylinder pressure, the command decreases the torque current to reduce the pump power and make the cylinder pressure drop. If the deviation value is within the allowable range, no action is taken. This method replaces abnormal measured values ​​with virtual data, ensuring a closed-loop measurement-adjustment system. It can correct deviations in real time through virtual sensor cylinder pressure, making the control accuracy closer to the level when the sensor is working normally.

[0039] In addition, both Method 1 and Method 2 control methods can be used simultaneously.

[0040] In one optional embodiment of this application, the process of establishing the cylinder pressure virtual sensor model includes: S1 sets the initial value of the torque current, the initial ambient temperature, and the maximum ambient temperature. The initial ambient temperature is assigned to the ambient temperature parameter. This parameter initialization aims to establish unified and controllable initial conditions and operating ranges for subsequent data acquisition and function calibration of the cylinder pressure virtual sensor model, avoiding experimental data deviations or component damage due to inconsistent parameter benchmarks. Setting the initial torque current value determines the low-load starting point for torque current acquisition. The set initial torque current value must ensure that acquisition starts from a low torque and low cylinder pressure state, avoiding excessively high initial current that could cause a sudden pressure surge in the hydraulic system and damage the cylinder or seals. It must also fully cover the correlation relationship across the entire current range from low current to low cylinder pressure to high current to high cylinder pressure, ensuring data integrity. Setting the initial and maximum ambient temperatures defines temperature boundaries: the initial ambient temperature can match the lowest normal operating temperature of the hydraulic system, serving as the first temperature acquisition point to ensure the model covers the parameter correlation patterns under low-temperature conditions; the maximum ambient temperature can be the highest temperature that the device can withstand. Assigning the initial ambient temperature to the ambient temperature parameter establishes a dynamically updatable temperature variable, providing a foundation for subsequent multi-temperature point cyclic data acquisition in S4. This eliminates the need to repeatedly set the initial temperature; simply updating this variable switches temperatures, simplifying the experimental procedure and ensuring temperature parameter consistency. For example, the initial ambient temperature can be set to a℃, and the highest ambient temperature to b℃. S2, under the ambient temperature corresponding to the ambient temperature parameter, increases the torque current at equal intervals with the set current amplitude, and when the motor speed is stable, collects the cylinder pressure corresponding to the hydraulic system until the cylinder pressure is the maximum cylinder pressure, and resets the torque current to the initial value of the torque current.

[0041] Under the current fixed ambient temperature, through systematic current regulation and data acquisition, paired discrete data of torque current → motor speed → cylinder pressure are obtained, providing real and reliable raw data support for the subsequent S3 calibration of the functional relationship at this temperature.

[0042] Data acquisition is performed at the ambient temperature corresponding to the ambient temperature parameters, which means that the ambient temperature is kept constant. This is because the ambient temperature directly affects the viscosity of hydraulic oil (viscosity increases at low temperatures and decreases at high temperatures) and the output efficiency of the motor (temperature changes will change the winding resistance and torque constant). Fixing the temperature can eliminate temperature interference and ensure that the acquired data only reflects the direct relationship between torque current and cylinder pressure.

[0043] The current amplitude (i.e., the current increment step size, such as the amplitude size c) can be set according to the model accuracy requirements: when the accuracy requirement is high, the step size can be set to a lower point to increase the data point density; when the accuracy requirement is low, the step size can be set to a higher point to improve experimental efficiency. Equal interval increments can ensure that the current change is uniform and avoid the data sparse in a certain current interval, which would lead to excessive error in the subsequent function fitting.

[0044] The standard for judging stable rotational speed is usually that the speed fluctuation is ≤ ± a preset speed threshold (e.g., when the target speed is 1500 rpm, the actual speed needs to be within 1495-1505 rpm for 1 second). This is because the motor speed directly determines the displacement efficiency of the hydraulic pump (unstable speed will cause fluctuations in pump output flow, which in turn will cause fluctuations in cylinder pressure). Only when the speed is stable can a deterministic correlation between torque current and cylinder pressure be established. To reduce random errors from the sensor, the cylinder pressure can be recorded three times consecutively and the average value can be taken as the cylinder pressure corresponding to the torque current. To cover the full load range, the cylinder pressure must reach the maximum cylinder pressure, which is the upper limit of the rated working pressure of the hydraulic system (e.g., 30 MPa). Acquiring data up to this value ensures that the data includes complete operating conditions from low load to high load, preventing the subsequent model from failing due to lack of data support in the high cylinder pressure range. By resetting the torque current to its initial value, the acquisition of the next temperature point is zeroed out to prevent the high current state at the current temperature from affecting the data acquisition of the low current segment at the next temperature point, ensuring that the acquisition of each temperature point starts from a unified benchmark.

[0045] S3. Based on the ambient temperature, torque current and cylinder pressure corresponding to the ambient temperature parameters, determine the functional relationship between torque current and cylinder pressure under ambient temperature.

[0046] Here, the ambient temperature, torque current, and cylinder pressure collected by S2 at the current fixed temperature are transformed into a deterministic functional relationship between torque current and cylinder pressure at that temperature through mathematical fitting or data modeling, forming a local sub-model of the model.

[0047] First, the torque current-cylinder pressure is strongly bound to the current ambient temperature to ensure that the function relationship only reflects the parameter correlation law at that temperature. This is because the changes in hydraulic oil viscosity and motor torque constant at different temperatures will lead to differences in the correlation coefficient of torque current-cylinder pressure. If multiple temperature data are mixed and modeled directly, the accuracy of the function will be severely reduced.

[0048] Secondly, the form of the functional relationship needs to be selected based on the data characteristics: if the torque current and cylinder pressure are linearly related, a linear fitting formula can be used; if the torque current and cylinder pressure are nonlinear, a polynomial fitting or a data mapping table can be used. By transforming experimental data into mathematical relationships, the foundation is laid for the subsequent integration of the full temperature range model in S5. By first clarifying the local correlations at each ambient temperature, a global model covering multiple temperatures is finally constructed.

[0049] S4. Update the ambient temperature parameter to the ambient temperature parameter plus the preset temperature amplitude. Determine whether the updated ambient temperature parameter is greater than or equal to the highest ambient temperature. If not, proceed to S2. If yes, proceed to S5.

[0050] By dynamically updating the ambient temperature parameters and repeatedly executing S2-S3, the calibration of the torque current-cylinder pressure function is ensured to cover the entire temperature range from the initial ambient temperature to the highest ambient temperature, providing a complete multi-temperature local sub-model library for building the global model in S5.

[0051] The preset temperature amplitude (i.e., the temperature increment step size, such as amplitude d℃) needs to balance experimental efficiency and model accuracy: too large a step size will result in incomplete temperature range coverage, while too small a step size will increase the experimental workload. By setting a reasonable temperature assignment, it can be ensured that all key temperature ranges affecting the torque-current-cylinder pressure correlation are covered. Each temperature adjustment is based on the ambient temperature parameter plus the preset temperature assignment, that is, the ambient temperature parameter is updated to the ambient temperature parameter + preset temperature amplitude.

[0052] By determining whether the updated ambient temperature is greater than or equal to the highest ambient temperature (or whether the updated ambient temperature is less than the highest ambient temperature b℃), it can be determined whether the full-range data acquisition and local calibration from the initial ambient temperature to the highest ambient temperature has been completed.

[0053] If the updated temperature does not reach the maximum ambient temperature (e.g., the updated ambient temperature is lower than the maximum ambient temperature b℃), it indicates that there is still a temperature range not covered. It is necessary to jump back to S2 and repeat the torque current increment acquisition-cylinder pressure recording-torque current reset process under the updated ambient temperature. Then, calibrate the torque current-cylinder pressure function relationship under the updated ambient temperature using S3. If the updated ambient temperature reaches or exceeds the maximum ambient temperature, it indicates that the full-range data acquisition and local calibration from the initial ambient temperature to the maximum ambient temperature have been completed. There is no need to continue the loop, and it is possible to jump to S5 for global model integration. This loop ensures that each temperature point has a corresponding local sub-model, providing support for the temperature adaptability of the global model and solving the problem that a single temperature model cannot cope with actual temperature changes.

[0054] S5. Based on the determined functional relationship between torque current and cylinder pressure at various ambient temperatures, establish a virtual sensor model for cylinder pressure.

[0055] The functional relationship between torque current and cylinder pressure at various ambient temperatures calibrated by S3 is integrated into a unified multidimensional model, ultimately forming a virtual cylinder pressure sensor model that can output accurate cylinder pressure estimates based on ambient temperature and torque current, thus achieving a leap from a local sub-model to a globally usable model.

[0056] First, the core input data consists of the local function relationships obtained by S3 at each temperature point. These local functions contain the correlation between torque current and cylinder pressure at different temperatures. The integration process requires using ambient temperature as a key variable and connecting all local functions in series: if the local functions are linear, a unified formula can be constructed through multivariate fitting; if the local functions differ significantly, a piecewise function form can be used, and the model automatically matches the corresponding piecewise function based on the current ambient temperature during model invocation. The final constructed cylinder pressure virtual sensor model can receive arbitrary ambient temperature and torque current inputs and output corresponding cylinder pressure estimates. This overcomes the limitations of single-temperature local models, covering the operating conditions across the entire temperature range. Furthermore, through the collaborative calculation of ambient temperature and torque current, it accurately reflects the cylinder pressure state of the actual hydraulic system. Additionally, through the collaborative calculation of ambient temperature and target cylinder pressure, it accurately calculates the target torque current of the motor, providing reliable model support for cylinder pressure control in case of subsequent pressure measurement anomalies.

[0057] In one optional embodiment of this application, the working data further includes: motor speed, wherein the motor speed refers to the number of revolutions of the motor driving the hydraulic pump per unit time, and the speed is calculated by a speed acquisition and processing chip. Therefore, the virtual sensor cylinder pressure can be corrected based on the motor speed; the cylinder pressure of the hydraulic system can be controlled by feedback based on the corrected virtual sensor cylinder pressure. For example, the corrected virtual sensor cylinder pressure can be fed back to the pressure controller as the cylinder pressure collected by the pressure sensor in the hydraulic system to achieve feedback control of the cylinder pressure of the hydraulic system. For example, a correlation model between motor speed and cylinder pressure deviation can be established in advance. After the motor speed is acquired, based on the correlation model between motor speed and cylinder pressure deviation (such as linear relationship, nonlinear polynomial, or speed-correction mapping table) calibrated in advance through experiments, the cylinder pressure correction amount at the corresponding motor speed is calculated, and the virtual sensor cylinder pressure is compensated to obtain the corrected virtual sensor cylinder pressure.

[0058] In one optional embodiment of this application, the method further includes: if the real-time cylinder pressure reaches the target cylinder pressure, then the working data is matched and verified using a cylinder pressure virtual sensor model to determine whether the working data conforms to the functional relationship defined by the cylinder pressure virtual sensor model; if it does not match, then the working data is recorded and a warning signal is triggered by the hydraulic system.

[0059] Specifically, although the real-time cylinder pressure reaches the target cylinder pressure, a torque-current mismatch may occur. Therefore, the cylinder pressure virtual sensor model predefines the normal functional relationship between parameters such as ambient temperature and torque current and cylinder pressure, that is, the numerical correspondence rules that these parameters should meet under reasonable working conditions. When the real-time cylinder pressure reaches the target cylinder pressure, the real-time collected working data (including ambient temperature, real-time torque current, and real-time cylinder pressure) is substituted into the model for parameter matching verification to determine whether the combination of these real-time data conforms to the normal functional relationship set by the model. If the verification finds that the parameter combination of the real-time working data deviates from the reasonable relationship defined by the model (i.e., it does not match), then on the one hand, these abnormal working data are recorded (for subsequent fault analysis, model optimization, etc.), and on the other hand, the hydraulic system is triggered to output a warning signal (such as through indicator lights, buzzers, or prompts on the operating interface to inform the operator or control system that there is an abnormality and that attention or intervention is required).

[0060] This scheme primarily involves establishing a virtual cylinder pressure sensor model to define the functional relationship between ambient temperature, torque current, and cylinder pressure. It converts cylinder pressure control into torque current control. When the pressure sensor malfunctions or experiences severe interference, it switches to rotary-guided virtual sensor cylinder pressure closed-loop control. Based on the current ambient temperature and target cylinder pressure, it calculates the target torque current and uses the pressure controller to maintain the motor's torque current at the target level, thus ensuring stable cylinder pressure control. Alternatively, when the pressure sensor malfunctions or experiences severe interference, it switches to rotary-guided virtual sensor cylinder pressure closed-loop control, calculating the virtual sensor cylinder pressure based on the current ambient temperature and torque current. The actual cylinder pressure collected by the pressure sensor is replaced with the virtual sensor cylinder pressure and fed back to the pressure controller, thereby maintaining stable cylinder pressure control. This effectively expands the application range of drilling tools, improves drilling efficiency, and saves costs.

[0061] According to the cylinder pressure control method of the hydraulic system provided in the embodiments of this application, when the pressure sensor fails or there is severe interference, the method switches to rotary guide virtual sensor cylinder pressure control, changes the controller's set value from the target cylinder pressure to the target torque current, and maintains stable cylinder pressure control. Alternatively, feedback regulation using virtual sensor cylinder pressure can ensure that the cylinder pressure stabilizes to the target cylinder pressure and maintains stable cylinder pressure control. This can effectively expand the application range of drilling tools, improve drilling efficiency, and save costs. It solves the problem in the prior art where, when the hydraulic system sensor is in a faulty state or receives severe interference, the tool can only be stopped or the drill bit needs to be pulled out and replaced. It also solves the problem of thrust instability caused by pressure sensor failure or excessive interference in the hydraulic system when rotary guide tools encounter such issues.

[0062] Figure 5 A schematic flowchart of a cylinder pressure control method for a hydraulic system according to another embodiment of this application is shown. Figure 5As shown, given the target cylinder pressure P0, the hydraulic system is started to operate. It is then determined whether the cylinder pressure has reached the target level. If the real-time cylinder pressure has not reached the target, the following control modes can be selected: Current open-loop control: The current ambient temperature and target cylinder pressure are input to the cylinder pressure virtual sensor model. The virtual sensor model calculates the required target torque current based on the current ambient temperature and target cylinder pressure, and performs current open-loop control based on the target torque current. Virtual sensor closed-loop control: The real-time torque current and current ambient temperature are collected and input to the cylinder pressure virtual sensor model. The virtual sensor model calculates the virtual sensor cylinder pressure based on the real-time torque current and current ambient temperature, and corrects the calculated virtual sensor cylinder pressure based on the real-time engine speed. The virtual sensor cylinder pressure serves as the feedback value for the cylinder pressure closed-loop control.

[0063] If the real-time cylinder pressure reaches the target cylinder pressure, the working data is matched and verified using the cylinder pressure virtual sensor model to determine whether the working data conforms to the functional relationship defined by the cylinder pressure virtual sensor model. If it does not match, the working data is recorded and the hydraulic system is triggered to output a warning signal. If it matches, the hydraulic system is normal.

[0064] Figure 6 A structural block diagram of a cylinder pressure control device for a hydraulic system according to an embodiment of this application is shown, as follows: Figure 6 As shown, the device includes: The acquisition module 601 is suitable for acquiring the working data of the hydraulic system of the rotary steering tool in real time when it is working downhole. The working data includes: current ambient temperature, real-time torque current, and real-time cylinder pressure. The control module 602 is adapted to input the current ambient temperature and the target cylinder pressure into a pre-established cylinder pressure virtual sensor model if the real-time cylinder pressure does not reach the target cylinder pressure, so that the cylinder pressure virtual sensor model calculates the target torque current based on the current ambient temperature and the target cylinder pressure, and controls the cylinder pressure of the hydraulic system based on the target torque current; and / or, input the current ambient temperature and the real-time torque current into the pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the virtual sensor cylinder pressure based on the current ambient temperature and the real-time torque current, and performs feedback regulation of the cylinder pressure of the hydraulic system based on the virtual sensor cylinder pressure, wherein the cylinder pressure virtual sensor model is a multidimensional function of ambient temperature, torque current, and cylinder pressure.

[0065] Optionally, the control module is further adapted to: control the real-time torque current of the motor in the hydraulic system according to the target torque current, so as to realize the cylinder pressure control of the hydraulic system.

[0066] Optionally, the operating data may also include: motor speed; The control module is further adapted to: correct the virtual sensor cylinder pressure based on the motor speed; The cylinder pressure of the hydraulic system is controlled by feedback based on the corrected virtual sensor cylinder pressure.

[0067] Optionally, the control module is further adapted to: feed back the virtual sensor cylinder pressure as the cylinder pressure collected by the pressure sensor in the hydraulic system to the pressure controller, so as to realize feedback regulation of the cylinder pressure of the hydraulic system.

[0068] Optionally, the device further includes: a cylinder pressure virtual sensor model establishment module, adapted to S1, which sets the initial value of torque current, the initial ambient temperature and the maximum ambient temperature, and assigns the initial ambient temperature to the ambient temperature parameter; S2, under the ambient temperature corresponding to the ambient temperature parameter, the torque current is increased at equal intervals with the set current amplitude, and when the motor speed is stable, the cylinder pressure corresponding to the hydraulic system is collected until the cylinder pressure is the maximum cylinder pressure, and the torque current is reset to the initial value of the torque current. S3. Based on the ambient temperature, torque current and cylinder pressure corresponding to the ambient temperature parameters, determine the functional relationship between torque current and cylinder pressure under ambient temperature. S4, update the ambient temperature parameter to the ambient temperature parameter + preset temperature amplitude, determine whether the updated ambient temperature parameter is greater than or equal to the highest ambient temperature. If not, proceed to S2; if yes, proceed to S5. S5. Based on the determined functional relationship between torque current and cylinder pressure at various ambient temperatures, establish a virtual sensor model for cylinder pressure.

[0069] Optionally, the device further includes: a parameter matching verification module, which is adapted to perform parameter matching verification on the working data using the cylinder pressure virtual sensor model if the real-time cylinder pressure reaches the target cylinder pressure, so as to determine whether the working data conforms to the functional relationship defined by the cylinder pressure virtual sensor model; if it does not match, the working data is recorded and the hydraulic system is triggered to output a warning signal.

[0070] According to the cylinder pressure control device of the hydraulic system provided in the embodiments of this application, when the pressure sensor fails or is subject to severe interference, it switches to rotary guide virtual sensor cylinder pressure control, changes the controller's set value from the target cylinder pressure to the target torque current, and maintains stable cylinder pressure control. Alternatively, it uses virtual sensor cylinder pressure for feedback regulation, which can ensure that the cylinder pressure is stable to the target cylinder pressure and maintain stable cylinder pressure control. This can effectively expand the application range of drilling tools, improve drilling efficiency, and save costs. It solves the problem in the prior art that when the hydraulic system sensor is in a faulty state or receives severe interference, the tool can only be stopped or the drill bit needs to be pulled out and replaced. It also solves the problem of thrust instability caused by pressure sensor failure or excessive interference in the hydraulic system when rotary guide tools encounter problems.

[0071] This application provides a non-volatile computer storage medium storing at least one executable instruction or computer program that enables a processor to perform the operation corresponding to the cylinder pressure control method of the hydraulic system in any of the above method embodiments.

[0072] This application provides a computer program product, which includes at least one executable instruction or computer program that enables a processor to perform the operation corresponding to the cylinder pressure control method of the hydraulic system in any of the above method embodiments.

[0073] Figure 7 The diagram shows a structural schematic of a computing device according to one embodiment of the present application. The specific embodiments of the present application do not limit the specific implementation of the computing device.

[0074] like Figure 7 As shown, the computing device may include: a processor 702, a communication interface 704, a memory 706, and a communication bus 708.

[0075] The processor 702, communication interface 704, and memory 706 communicate with each other via communication bus 708.

[0076] The communication interface 704 is used to communicate with other network elements such as clients or other servers.

[0077] The processor 702 is used to execute program 710, specifically to execute the relevant steps in the above embodiment of the cylinder pressure control method for the hydraulic system.

[0078] Specifically, program 710 may include program code that includes computer operation instructions.

[0079] The processor 702 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The computing device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0080] Memory 706 is used to store program 710. Memory 706 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0081] Specifically, program 710 can be used to cause processor 702 to execute the cylinder pressure control method of the hydraulic system in any of the above method embodiments. The specific implementation of each step in program 710 can be found in the corresponding descriptions of the steps and units in the above embodiments of the cylinder pressure control method for the hydraulic system, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0082] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, this application is not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0083] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0084] Similarly, it should be understood that, in order to streamline this disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of this application, various features of this application are sometimes grouped together in a single embodiment, figure, or description thereof. However, this approach to disclosure should not be construed as reflecting an intention that the claimed application requires more features than expressly recited in each claim. Rather, as reflected in the claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0085] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0086] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0087] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components according to the embodiments of this application. This application can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0088] It should be noted that the above embodiments are illustrative of this application and not limiting of it, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "enclosed" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "a" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words "first," "second," and "third," etc., does not indicate any order. These words can be interpreted as names.

Claims

1. A cylinder pressure control method for a hydraulic system, characterized in that, The method includes: Real-time acquisition of hydraulic system operating data when the rotary steering tool is working downhole, wherein the operating data includes: current ambient temperature, real-time torque current, and real-time cylinder pressure; If the real-time cylinder pressure does not reach the target cylinder pressure, the current ambient temperature and the target cylinder pressure are input to a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the target torque current based on the current ambient temperature and the target cylinder pressure, and controls the cylinder pressure of the hydraulic system based on the target torque current; and / or, the current ambient temperature and the real-time torque current are input to a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the virtual sensor cylinder pressure based on the current ambient temperature and the real-time torque current, and performs feedback regulation of the cylinder pressure of the hydraulic system based on the virtual sensor cylinder pressure, wherein the cylinder pressure virtual sensor model is a multidimensional function of ambient temperature, torque current, and cylinder pressure.

2. The cylinder pressure control method for a hydraulic system according to claim 1, characterized in that, The step of controlling the cylinder pressure of the hydraulic system based on the target torque current further includes: The real-time torque current of the motor in the hydraulic system is controlled based on the target torque current to achieve cylinder pressure control of the hydraulic system.

3. The cylinder pressure control method for a hydraulic system according to claim 1, characterized in that, The operating data also includes: motor speed; The step of feedback regulation of the cylinder pressure of the hydraulic system based on the cylinder pressure of the virtual sensor further includes: The virtual sensor cylinder pressure is corrected based on the motor speed. The cylinder pressure of the hydraulic system is controlled by feedback based on the corrected virtual sensor cylinder pressure.

4. The cylinder pressure control method for a hydraulic system according to claim 1 or 3, characterized in that, The step of feedback regulation of the cylinder pressure of the hydraulic system based on the cylinder pressure of the virtual sensor further includes: The virtual sensor cylinder pressure is used as the cylinder pressure collected by the pressure sensor in the hydraulic system and fed back to the pressure controller to achieve feedback regulation of the cylinder pressure in the hydraulic system.

5. The cylinder pressure control method for a hydraulic system according to any one of claims 1-3, characterized in that, The process of establishing the cylinder pressure virtual sensor model includes: S1, set the initial value of torque current, initial ambient temperature and maximum ambient temperature, and assign the initial ambient temperature to the ambient temperature parameter; S2, under the ambient temperature corresponding to the ambient temperature parameter, the torque current is increased at equal intervals with the set current amplitude, and when the motor speed is stable, the cylinder pressure corresponding to the hydraulic system is collected until the cylinder pressure is the maximum cylinder pressure, and the torque current is reset to the initial value of the torque current. S3, based on the ambient temperature, torque current and cylinder pressure corresponding to the ambient temperature parameters, determine the functional relationship between torque current and cylinder pressure at the ambient temperature; S4, update the ambient temperature parameter to the ambient temperature parameter + preset temperature amplitude, determine whether the updated ambient temperature parameter is greater than or equal to the highest ambient temperature, if not, jump to S2, if yes, jump to S5. S5. Based on the determined functional relationship between torque current and cylinder pressure at various ambient temperatures, establish a virtual sensor model for cylinder pressure.

6. The cylinder pressure control method for a hydraulic system according to any one of claims 1-3, characterized in that, The method further includes: if the real-time cylinder pressure reaches the target cylinder pressure, then the working data is matched and verified using the cylinder pressure virtual sensor model to determine whether the working data conforms to the functional relationship defined by the cylinder pressure virtual sensor model; If no match is found, the working data is recorded, and the hydraulic system is triggered to output a warning signal.

7. A cylinder pressure control device for a hydraulic system, characterized in that, The device includes: The acquisition module is suitable for acquiring real-time operating data of the hydraulic system when the rotary steering tool is working downhole, wherein the operating data includes: current ambient temperature, real-time torque current, and real-time cylinder pressure; The control module is adapted to, if the real-time cylinder pressure does not reach the target cylinder pressure, input the current ambient temperature and the target cylinder pressure to a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the target torque current based on the current ambient temperature and the target cylinder pressure, and controls the cylinder pressure of the hydraulic system based on the target torque current; and / or, input the current ambient temperature and the real-time torque current to a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the virtual sensor cylinder pressure based on the current ambient temperature and the real-time torque current, and performs feedback regulation of the cylinder pressure of the hydraulic system based on the virtual sensor cylinder pressure, wherein the cylinder pressure virtual sensor model is a multidimensional function of ambient temperature, torque current, and cylinder pressure.

8. A computing device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation corresponding to the cylinder pressure control method of the hydraulic system as described in any one of claims 1-6.

9. A computer storage medium, characterized in that, The computer storage medium stores at least one executable instruction, which causes the processor to perform the operation corresponding to the cylinder pressure control method of the hydraulic system as described in any one of claims 1-6.

10. A computer program product, characterized in that, It includes at least one executable instruction that causes the processor to perform the operation corresponding to the cylinder pressure control method of the hydraulic system as described in any one of claims 1-6.

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