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

Abstract

The application discloses a cylinder pressure control method, device, equipment, medium and program product of a hydraulic system, relates to the field of oil exploration and development, and comprises the following steps: acquiring the current environment temperature of the hydraulic system of a rotary steering tool when working in a well, the real-time torque current and the real-time cylinder pressure; if the real-time cylinder pressure does not reach a target cylinder pressure, inputting the current environment temperature and the target cylinder pressure 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 controls the cylinder pressure of the hydraulic system according to the target torque current; and / or inputting the current environment temperature and the real-time torque current into a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates a virtual sensor cylinder pressure according to the current environment temperature and the real-time torque current, and feedback regulates and controls the cylinder pressure of the hydraulic system according to the virtual sensor cylinder pressure, so that the cylinder pressure is stably controlled, drilling time efficiency is improved, and cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of oil exploration and development, and in particular to a cylinder pressure control method and device of a hydraulic system, a computing device, a computer storage medium, and a computer program product. BACKGROUND

[0002] The push-the-bit rotary steerable tool (hereinafter referred to as the tool) is installed with multiple wing ribs, each of which can generate a push force of an independently controlled size. In combination with a tool face measured by a downhole attitude measurement module, the multiple wing ribs can synthesize a steering force of any direction from 0 to 360° and any size from 0 to 100% to control the change of a drilling trajectory. The push force of each wing rib is determined by a cylinder pressure of a hydraulic system and a piston area, and the process of generating the cylinder pressure by the hydraulic system is as follows: (1) the hydraulic system is provided with an oil storage bag, a micro motor drives a plunger pump to rotate to pump hydraulic oil in the oil storage bag into a hydraulic cylinder, and the hydraulic oil in the hydraulic cylinder flows back to the oil storage bag through a throttle valve; (2) changing the motor speed of the motor can change the oil discharge amount of the plunger pump, and then change the hydraulic cylinder pressure. Therefore, to control the hydraulic system to generate a specified push force, it is generally necessary to accurately collect the internal pressure by a pressure sensor, control the micro motor to output a suitable torque current by a pressure controller, and reach a reasonable speed, so as to realize closed-loop control of the internal pressure.

[0003] However, in the drilling process, the pressure sensor in the hydraulic system is prone to failure, and is subjected to severe pressure fluctuations due to vibration impact during the drilling process. The sensor failure and interference often show a large error between the collected value and the actual pressure value, thereby causing unstable control of the cylinder pressure of the wing rib. Due to the limitation of the working scene of the rotary steerable downhole tool, when the sensor of the hydraulic system is in a failure state or is subjected to severe interference, the tool can only be stopped for use or tripped out for replacement, and the drilling time efficiency is greatly reduced, and the drilling cost is increased. SUMMARY

[0004] In view of the above problems, the present application is proposed to provide a cylinder pressure control method and device of a hydraulic system, a computing device, a computer storage medium, and a computer program product, which overcome the above problems or at least partially solve the above problems.

[0005] According to an aspect of an embodiment of the present application, a cylinder pressure control method of a hydraulic system is provided, and the method comprises:

[0006] Real-time acquisition of working data of the hydraulic system when the rotary steerable tool works downhole, wherein the working data comprises: a current environmental temperature, a real-time torque current, and a real-time cylinder pressure;

[0007] 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 pre-established 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 controls the cylinder pressure of the hydraulic system according to the target torque current; and / or, the current environment temperature and the real-time torque current are input into the pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates a virtual sensor cylinder pressure according to the current environment temperature and the real-time torque current, and feedback controls the cylinder pressure of the hydraulic system according to the virtual sensor cylinder pressure, wherein the cylinder pressure virtual sensor model is a multi-dimensional function of the environment temperature, the torque current and the cylinder pressure.

[0008] Further, the controlling the cylinder pressure of the hydraulic system according to the target torque current further comprises:

[0009] Controlling the real-time torque current of the motor in the hydraulic system according to the target torque current to realize the cylinder pressure control of the hydraulic system.

[0010] Further, the working data further comprises: a motor speed;

[0011] The feedback controlling the cylinder pressure of the hydraulic system according to the virtual sensor cylinder pressure further comprises:

[0012] According to the motor speed, the virtual sensor cylinder pressure is corrected;

[0013] According to the corrected virtual sensor cylinder pressure, the cylinder pressure of the hydraulic system is feedback controlled.

[0014] Further, the feedback controlling the cylinder pressure of the hydraulic system according to the virtual sensor cylinder pressure further comprises:

[0015] The virtual sensor cylinder pressure is fed back to a pressure controller as the cylinder pressure collected by a pressure sensor in the hydraulic system to realize the feedback control of the cylinder pressure of the hydraulic system.

[0016] Further, the establishing process of the cylinder pressure virtual sensor model comprises:

[0017] S1, setting a torque current initial value, an environment initial temperature and an environment maximum temperature, and assigning the environment initial temperature to an environment temperature parameter;

[0018] S2, under the environment temperature corresponding to the environment temperature parameter, increasing the torque current at a set current amplitude interval, and collecting the corresponding cylinder pressure of the hydraulic system when the motor speed is stable until the cylinder pressure is the maximum cylinder pressure, and resetting the torque current to the torque current initial value;

[0019] S3, according to the environment temperature corresponding to the environment temperature parameter, the torque current and the cylinder pressure, determining the functional relationship between the torque current and the cylinder pressure under the environment temperature.

[0020] S4, updating the ambient temperature parameter to the ambient temperature parameter + preset temperature amplitude, judging whether the ambient temperature of the updated ambient temperature parameter is greater than or equal to the ambient maximum temperature, if not, jumping to execute S2, if yes, jumping to execute S5;

[0021] S5, establishing a cylinder pressure virtual sensor model according to the determined function relationship between the torque current and the cylinder pressure at each ambient temperature.

[0022] Further, the method further comprises: if the real-time cylinder pressure reaches the target cylinder pressure, performing parameter matching verification on the working data by using the cylinder pressure virtual sensor model, to judge whether the working data conforms to the function relationship defined by the cylinder pressure virtual sensor model;

[0023] If not matched, recording the working data, and triggering a warning signal of the hydraulic system.

[0024] According to another aspect of the embodiment of the present application, a cylinder pressure control device of a hydraulic system is provided, the device comprising:

[0025] An acquisition module is adapted to acquire working data of the hydraulic system in real time when the rotary steering tool is working downhole, wherein the working data comprises: current ambient temperature, real-time torque current, and real-time cylinder pressure;

[0026] A 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 into a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the target torque current according to the current ambient temperature and the target cylinder pressure, and controls the cylinder pressure of the hydraulic system according to 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 a virtual sensor cylinder pressure according to the current ambient temperature and the real-time torque current, and feedback regulates the cylinder pressure of the hydraulic system according to the virtual sensor cylinder pressure, wherein the cylinder pressure virtual sensor model is a multi-dimensional function about the ambient temperature, the torque current, and the cylinder pressure.

[0027] According to still another aspect of the embodiment of the present application, a computing device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, the processor, the memory, and the communication interface complete communication with each other through the communication bus;

[0028] The memory is used to store at least one executable instruction, and the executable instruction makes the processor execute the corresponding operation of the above-mentioned cylinder pressure control method of the hydraulic system.

[0029] According to still another aspect of the embodiments of the present application, a computer storage medium is provided, and the computer storage medium stores at least one executable instruction, and the executable instruction causes a processor to perform operations corresponding to the cylinder pressure control method of the hydraulic system.

[0030] According to still another aspect of the embodiments of the present application, a computer program product is provided, and the computer program product includes at least one executable instruction, and the executable instruction causes a processor to perform operations corresponding to the cylinder pressure control method of the hydraulic system.

[0031] According to the technical scheme provided by the present application, when the pressure sensor is faulty or is subjected to severe interference, the virtual sensor cylinder pressure control of the rotary steerable system is switched to, the set value of the controller is changed from the target cylinder pressure to the target torque current, the cylinder pressure is stably controlled, or the virtual sensor cylinder pressure is used for feedback control, so that the cylinder pressure can be stably controlled to the target cylinder pressure, the use range of the drilling tool can be effectively expanded, the drilling efficiency can be improved, the cost can be saved, and the problem that the hydraulic system sensor can only be stopped or the tool can only be replaced when the hydraulic system sensor is faulty or is subjected to severe interference in the prior art is solved, and the problem of thrust instability of the rotary steerable tool caused by the pressure sensor fault or severe interference in the hydraulic system is solved.

[0032] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0033] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several drawings to represent similar components. In the drawings:

[0034] Figure 1 is a schematic view of part of the structure of the hydraulic system;

[0035] Figure 2 is a schematic view of the working principle of the hydraulic system;

[0036] Figure 3 is a block diagram of the pressure control structure of the hydraulic system;

[0037] Figure 4 shows a flowchart of the cylinder pressure control method of the hydraulic system according to an embodiment of the present application;

[0038] Figure 5A flowchart of a cylinder pressure control method of a hydraulic system according to another embodiment of the present application is shown.

[0039] Figure 6 A structural block diagram of a cylinder pressure control device of a hydraulic system according to an embodiment of the present application is shown.

[0040] Figure 7 A structural diagram of a computing device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0041] Exemplary embodiments of the present disclosure will be described below in greater detail with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and so that the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0042] Figure 1 is a schematic diagram of a partial structure of a hydraulic system, Figure 2 is a working principle diagram of a hydraulic system, Figure 3 is a pressure control structural block diagram of a hydraulic system, which will be described below in conjunction with Figures 1-3 for a brief description:

[0043] The push-type rotary steering tool mainly includes a hydraulic drive circuit and a slow rotation sleeve, wherein the slow rotation sleeve is uniformly provided with a plurality of hydraulic system drive ribs. The hydraulic system mainly includes the following parts: a brushless DC motor, a plunger pump, a pressure sensor, a flow passage switching valve, a hydraulic cylinder, a throttle valve, an oil storage bag, and corresponding pipelines (as shown in Figure 1 The basic working process of the hydraulic system is as follows: the brushless DC motor drives the plunger pump to rotate through a shaft coupling, the plunger pump pumps the hydraulic oil in the oil storage bag into the pipeline, the hydraulic oil enters the hydraulic cylinder through the pipeline, and the hydraulic oil in the hydraulic cylinder flows back to the oil storage bag through the throttle valve. When the inflow rate of the hydraulic oil in the hydraulic cylinder is equal to the outflow rate, the pressure of the hydraulic cylinder is stable. When the inflow rate of the hydraulic oil is greater than the outflow rate, the pressure of the hydraulic cylinder rises. Changing the speed of the motor can change the flow rate of the hydraulic oil of the plunger pump, and in turn change the inflow rate of the hydraulic oil of the hydraulic cylinder, and the pressure change of the hydraulic cylinder will change.

[0044] The hydraulic system cylinder pressure generates a corresponding thrust through a piston with a certain area, and the thrusts of multiple ribs in different directions and different sizes can form a vector resultant force with any direction (0-360°) and any size (0-100% Fmax). Therefore, if the drilling tool generates a specified thrust, the hydraulic system needs to generate a specified cylinder pressure. The pressure sensor provides accurate pressure feedback for the pressure controller to realize closed-loop pressure control (as shown in Figure 2 andFigure 3 As shown in FIG. 1.

[0045] If a pressure sensor in a hydraulic system fails or is severely disturbed during operation, the pressure feedback information will not be accurate, causing pressure imbalance. At this time, the tool can only be stopped or replaced by tripping out, which greatly reduces the drilling efficiency and increases the drilling cost.

[0046] To solve the problem of thrust instability caused by the failure of the pressure sensor in the hydraulic system or excessive interference encountered by the rotary steering tool, a cylinder pressure control scheme for the hydraulic system is needed, which can still achieve pressure control without directly using the actual cylinder pressure of the hydraulic system collected by the pressure sensor.

[0047] The specific implementation process of the cylinder pressure control scheme for the hydraulic system will be described below in conjunction with specific embodiments:

[0048] Figure 4 As shown in FIG. 1, the flowchart of the cylinder pressure control method for the hydraulic system according to an embodiment of the present application, as shown in FIG. 1, the method comprises the following steps: Figure 4

[0049] Step S401, real-time acquisition of working data of the hydraulic system when the rotary steering tool is working downhole, wherein the working data includes: current environmental temperature, real-time torque current, and real-time cylinder pressure.

[0050] The working data of the hydraulic system refers to the data corresponding to the working of the hydraulic system, wherein the working data includes: current environmental temperature, real-time torque current, and real-time cylinder pressure.

[0051] Specifically, the current environmental temperature refers to the real-time temperature of the downhole environment where the rotary steering tool is located. The downhole temperature fluctuates significantly with the increase of well depth and changes in geological conditions, and the current environmental temperature can be collected by the high-temperature resistant temperature sensor built-in the rotary steering tool. The real-time torque current refers to the current signal generated by the motor driving the hydraulic pump in the hydraulic system when it is running, which can be collected by the current sensor. The real-time cylinder pressure refers to the real-time pressure value inside the hydraulic cylinder performing the steering action in the hydraulic system, which can be collected by the pressure sensor on the cylinder body of the hydraulic cylinder.

[0052] When collecting the torque current, there are mainly two sampling points, which are: sampling point 1, bus current sampling, that is, measuring the current on the DC bus connected to the inverter and the power source (such as battery, power grid, etc.). 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, that is, measuring the current of the power switching device (such as IGBT, MOSFET, etc.) branch connected to the motor winding and close to the ground end. The lower bridge arm of the inverter is responsible for providing negative half-cycle current for the motor winding. ​

[0053] When collecting temperature, there are mainly two sampling points, specifically: sampling point 1, a temperature sensor is installed on the measurement circuit to measure the temperature of the control circuit in real time; sampling point 2, a temperature sensor is installed in the hydraulic system to measure the temperature of the hydraulic system in real time.

[0054] The data uploaded by the above sensor is acquired, so as to acquire the working data of the hydraulic system of the rotary steering tool in real time when working in the well.

[0055] In step S402, if the real-time cylinder pressure does not reach the target cylinder pressure, the current environmental temperature and the target cylinder pressure are input into the pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the target torque current according to the current environmental temperature and the target cylinder pressure, and controls the cylinder pressure of the hydraulic system according to the target torque current; and / or

[0056] The current environmental temperature and the real-time torque current are input into the pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates the virtual sensor cylinder pressure according to the current environmental temperature and the real-time torque current, and feedbacks and regulates the cylinder pressure of the hydraulic system according to the virtual sensor cylinder pressure, wherein the cylinder pressure virtual sensor model is a multi-dimensional function about the environmental temperature, the torque current and the cylinder pressure.

[0057] The cylinder pressure virtual sensor model is a mathematical model that indirectly calculates and outputs the cylinder pressure estimation value based on the parameters such as the environmental temperature and the torque current that can be directly measured by the hydraulic system through a pre-set multi-dimensional function relationship. The model is constructed by calibrating and fitting the experimental data in the full working condition range (different temperature, torque current conditions) in the early stage, and can depict the internal physical correlation between the above parameters and the cylinder pressure. The core function is to replace or supplement the traditional pressure sensor function when the physical pressure sensor measurement is abnormal (such as failure, data distortion), and to provide reliable cylinder pressure support for the cylinder pressure control (such as target torque current calculation, feedback regulation) of the hydraulic system, and to ensure the stable operation of the system in the fault state.

[0058] Specifically, the target cylinder pressure is the cylinder pressure that the hydraulic system is expected to output, and when the pressure sensor hardware fails, the signal transmission is disturbed to cause data distortion, or the motor or plunger pump works abnormally, the corresponding pressure measurement of the hydraulic system will be abnormal. Therefore, after acquiring the working data of the hydraulic system, the real-time cylinder pressure is compared with the target cylinder pressure. If the measured cylinder pressure does not reach the target cylinder pressure, if the traditional cylinder pressure control logic that relies on the feedback of the physical sensor is continued to be used, it will lead to an infinite loop adjustment process, affecting drilling. At this time, the cylinder pressure control can be realized by means of the cylinder pressure virtual sensor model, and the essence is to replace the physical sensor with a data-driven virtual sensor to construct a new control method.

[0059] The first mode: when the pressure measurement of the hydraulic system is abnormal, and the closed-loop control cannot be realized through the actual cylinder pressure, the current environmental temperature and the target cylinder pressure are input into the cylinder pressure virtual sensor model to calculate the target torque current, and the cylinder pressure is controlled according to the target torque current. This mode is essentially an open-loop control strategy based on a model. Through the pre-constructed input-output mapping relationship, the required control quantity (i.e., torque current) is directly deduced from the target cylinder pressure, thereby realizing indirect regulation of the cylinder pressure. The core logic is to use the model to accurately describe the physical law of the system, thereby replacing the traditional control path that relies on pressure feedback.

[0060] The core of the cylinder pressure virtual sensor model is a pre-calibrated multi-dimensional function relationship (for example, cylinder pressure = f(environmental temperature, torque current)), and the calculation process here is the inverse operation of this function, that is, the unknown torque current is deduced from the known environmental temperature and target cylinder pressure. The formula can be expressed as: target torque current = f - (environmental temperature, target cylinder pressure).

[0061] The target cylinder pressure is the cylinder pressure that the hydraulic cylinder of the hydraulic system needs to reach, and therefore, after the current environmental temperature is obtained, the current environmental temperature and the target cylinder pressure can be input into the pre-established cylinder pressure virtual sensor model to calculate the target torque current through inverse operation. 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 realize the cylinder pressure control of the hydraulic system. For example, the pressure controller sends the target torque current to the motor, so that the torque current of the motor is maintained at the target torque current, thereby maintaining stable control of the cylinder pressure.

[0062] Therefore, when the pressure sensor fails or is severely disturbed, the rotary guide virtual sensor cylinder pressure control is switched to, the target torque current is calculated according to the calibrated relationship between the torque current and the cylinder pressure, combined with the current environmental temperature and the target cylinder pressure, and is used as the set value of the pressure controller, so that the torque current of the micro motor is stable, thereby ensuring that the cylinder pressure can still be stably controlled. In the whole process, although there is no real-time feedback of the pressure sensor, since the cylinder pressure virtual sensor model has already pre-included the complete law of torque current-environmental temperature-cylinder pressure, as long as the input parameters are accurate, the cylinder pressure can reach the target value through accurate control of the torque current.

[0063] The above-mentioned mode does not depend on the pressure sensor signal, and control can be realized only by measurable parameters (ambient temperature, torque current), solving the problem of interruption of traditional closed-loop control due to sensor failure or pressure imbalance; without waiting for the adjustment process of pressure feedback, the control quantity is directly calculated through the model, which is suitable for working conditions with high response speed requirements (such as real-time trajectory adjustment of rotary steering tools); it can be used in combination with other control modes (such as virtual cylinder pressure feedback mode) as a basic control strategy when the sensor is partially failed, improving system redundancy.

[0064] In the present application, the cylinder pressure control can also be realized by mode two: when the pressure measurement of the hydraulic system is abnormal, and the measured cylinder pressure cannot be relied on for accurate closed-loop control, 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. The essence is to reconstruct the closed-loop control link by generating virtual measurement values through the model, that is, to replace the unreliable physical sensor with a data-driven virtual sensor to realize dynamic correction of the cylinder pressure. The core logic is to use the inherent physical law (the correlation of ambient temperature-torque current-cylinder pressure) to make the model play the role of a virtual pressure sensor, ensuring that the control closed loop is not interrupted.

[0065] The core of the cylinder pressure virtual sensor model is a pre-calibrated multi-dimensional function relationship (for example, cylinder pressure=f(ambient temperature, torque current)), and the current ambient temperature and real-time torque current are input into the cylinder pressure virtual sensor model. The virtual sensor cylinder pressure is calculated by the cylinder pressure virtual sensor model according to the current ambient temperature and real-time torque current, wherein the virtual sensor cylinder pressure refers to the cylinder pressure estimate value calculated by the pre-established cylinder pressure virtual sensor model (based on the multi-dimensional function relationship between measurable parameters such as ambient temperature, 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 condition, and 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 basis to avoid unnecessary adjustment actions, thereby replacing abnormal measured pressure data while ensuring the stability and efficiency of hydraulic system control.

[0066] According to the virtual sensor cylinder pressure, the cylinder pressure of the hydraulic system is feedback controlled, 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 feedback control the cylinder pressure of the hydraulic system, the core value of the virtual sensor cylinder pressure is to replace the abnormal measured pressure data, and the closed-loop control logic of measurement-comparison-regulation is reconstructed, for example, the virtual sensor cylinder pressure calculated by the model is sent to the pressure controller in real time as a replacement 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 judges whether the deviation is within the allowable range, if the deviation value is out of the range, the pressure controller generates a regulation instruction according to the deviation size and direction, for example, when the virtual sensor cylinder pressure is lower than the target cylinder pressure, the instruction increases the torque current to increase the motor output torque, increases the hydraulic pump power, and finally increases the cylinder pressure; when the virtual sensor cylinder pressure is higher than the target cylinder pressure, the instruction reduces the torque current, reduces the pump power, and makes the cylinder pressure fall, if the deviation value is within the allowable range, no treatment is made. The method replaces the abnormal measured value with virtual data, ensures the measurement-regulation closed loop, can correct the deviation in real time through the virtual sensor cylinder pressure, and the control precision is closer to the level when the normal sensor works.

[0067] In addition, the control mode of mode one and mode two can be used at the same time.

[0068] In an optional embodiment of the present application, the establishment process of the cylinder pressure virtual sensor model comprises:

[0069] S1, set the torque current initial value, the initial environment temperature and the highest environment temperature, and assign the initial environment temperature to the environment temperature parameter. Here, the parameter is initialized, and the goal is to provide subsequent data collection and function calibration for the cylinder pressure virtual sensor model. A unified and controllable initial condition and working condition range is set to avoid experimental data deviation or component damage caused by parameter reference confusion. Among them, setting the torque current initial value determines the low load starting point for torque current collection. The set torque current initial value not only ensures that the collection starts from a low torque and low cylinder pressure state to avoid damage to the cylinder or sealing elements caused by a sudden rise in hydraulic system pressure due to an excessively high initial current, but also can completely cover the full current segment correlation from low current-low cylinder pressure to high current-high cylinder pressure, ensuring data integrity. Setting the initial environment temperature and the highest environment temperature is to define the temperature boundary: the initial environment temperature can match the lowest normal working temperature of the hydraulic system, serving as the first temperature collection point to ensure that the model covers the parameter correlation law under low temperature conditions; the highest environment temperature can be the highest temperature that the device can withstand. Assigning the initial environment temperature to the environment temperature parameter provides a basis for subsequent S4 multi-temperature point cyclic collection by establishing a dynamically updated temperature variable. There is no need to repeatedly set the initial temperature, and the temperature can be switched by simply updating the variable, simplifying the experimental process and ensuring the consistency of the temperature parameter. For example, the initial environment temperature is set to a ℃, and the highest environment temperature is set to b ℃

[0070] S2, at the environment temperature corresponding to the environment temperature parameter, the torque current is increased at a set current amplitude interval, and the corresponding cylinder pressure of the hydraulic system is collected when the motor speed is stable until the cylinder pressure is the maximum cylinder pressure, and the torque current is reset to the torque current initial value.

[0071] At the current fixed environment temperature, through systematic current adjustment and data collection, the paired discrete data of torque current→motor speed→cylinder pressure are obtained, providing real and reliable raw data support for subsequent S3 function relationship calibration at this temperature.

[0072] Collecting at the environment temperature corresponding to the environment temperature parameter means that the environment temperature remains constant at this time, because the environment temperature will directly affect the viscosity of hydraulic oil (the viscosity increases at low temperature and decreases at high temperature) and the output efficiency of the motor (temperature changes will change the winding resistance and torque constant). Fixed temperature can exclude temperature interference and ensure that the collected data only reflects the direct correlation between torque current and cylinder pressure.

[0073] The current amplitude (i.e. current increment step, such as amplitude c) can be determined according to the model accuracy requirement: when the accuracy requirement is high, the step can be set low to increase the data point density, and when the accuracy requirement is low, the step can be set high to improve the experimental efficiency. Equal interval increment can ensure uniform current change and avoid sparse data in a certain current interval, which may cause excessive function fitting error.

[0074] The determination criterion of speed stability is generally that the speed fluctuation is less than or equal to a preset speed threshold (for example, when the target speed is 1500 rpm, the actual speed needs to be within 1495-1505 rpm for 1 second), because the motor speed directly determines the displacement efficiency of the hydraulic pump (unstable speed will cause the pump output flow to fluctuate, thereby causing the cylinder pressure to fluctuate), and only when the speed is stable, can the deterministic correlation between the torque current and the cylinder pressure be established. In order to reduce accidental errors of the sensor, 3 cylinder pressures can be recorded continuously and the average value is taken as the cylinder pressure corresponding to the torque current. In order to cover the full load range, the cylinder pressure needs to reach the maximum cylinder pressure, which is the upper limit of the rated working pressure of the hydraulic system (for example, 30 MPa), and collecting to this value can ensure that the data contains complete working conditions from low load to high load, avoiding the failure of the subsequent model in the high cylinder pressure interval due to lack of data support. By resetting the torque current to the initial value for the next temperature point, it is prevented that the high current state of the current temperature affects the data collection of the low current section of the next temperature point, and it is ensured that the collection of each temperature point starts from a unified reference.

[0075] S3, according to the environmental temperature corresponding to the environmental temperature parameter, the torque current and the cylinder pressure, determining the function relationship between the torque current and the cylinder pressure at the environmental temperature.

[0076] Here, based on the environmental temperature-torque current-cylinder pressure collected at the current fixed temperature in S2, the discrete experimental data is converted into a deterministic function relationship between the torque current and the cylinder pressure at the temperature through mathematical fitting or data modeling, forming a local sub-model of the model.

[0077] Firstly, the torque current-cylinder pressure is strongly bound to the current environmental temperature, ensuring that the function relationship only reflects the parameter correlation law at this temperature, because the changes of the viscosity of the hydraulic oil and the motor torque constant at different temperatures will cause the difference of the correlation coefficient of the torque current-cylinder pressure, and if the data of multiple temperatures are directly modeled, the function accuracy will be seriously reduced.

[0078] Secondly, the form of the function relationship needs to be selected according to the data characteristics: if the torque current-cylinder pressure is linearly correlated, a linear fitting formula can be used; if the torque current-cylinder pressure is nonlinear, a polynomial fitting or a data mapping table can be used. By converting the experimental data into a mathematical relationship, a foundation is laid for the subsequent S5 to integrate the model covering the full temperature range. By first determining the local correlation at each environmental temperature, a global model covering multiple temperatures is finally constructed.

[0079] S4, updating the environmental temperature parameter to the environmental temperature parameter+pre-set temperature amplitude, judging whether the environmental temperature of the updated environmental temperature parameter is greater than or equal to the environmental maximum temperature, if not, jumping to execute S2, if yes, jumping to execute S5.

[0080] By dynamically updating the ambient temperature parameter, repeating S2-S3 ensures that the torque current-cylinder pressure function calibration covers the full temperature range from the initial ambient temperature to the maximum ambient temperature, providing a complete multi-temperature local sub-model library for S5 to build a global model.

[0081] The preset temperature amplitude (i.e. temperature increment step, such as amplitude d℃) needs to balance the experimental efficiency and model accuracy: too large step size will result in incomplete temperature range coverage, and too small step size will increase experimental workload. By setting a reasonable temperature assignment, all key temperature ranges affecting the torque current-cylinder pressure correlation can be covered. Each temperature adjustment is based on the ambient temperature parameter plus the preset temperature assignment, i.e. updating the ambient temperature parameter to ambient temperature parameter + preset temperature amplitude.

[0082] By determining whether the updated ambient temperature is greater than or equal to the maximum ambient temperature (determining whether the updated ambient temperature is less than the maximum ambient temperature b℃), it can be determined whether the full range data collection and local calibration from the initial ambient temperature to the maximum ambient temperature has been completed.

[0083] If the updated temperature does not reach the maximum ambient temperature (e.g. the updated ambient temperature is less than the maximum ambient temperature b℃), it means that there is still a temperature range that has not been covered, and it needs to jump back to S2 to repeat the torque current increment collection-cylinder pressure recording-torque current reset at the updated ambient temperature, and then update the torque current-cylinder pressure function relationship at the updated ambient temperature through S3; if the updated ambient temperature reaches or exceeds the maximum ambient temperature, it means that the full range data collection and local calibration from the initial ambient temperature to the maximum ambient temperature has been completed, and there is no need to continue the cycle, which can jump to S5 for global model integration. By cycling, each temperature point has a corresponding local sub-model, which provides support for the temperature adaptability of the global model and solves the problem that a single temperature model cannot cope with actual temperature changes.

[0084] S5, according to the determined function relationship between torque current and cylinder pressure at each ambient temperature, establishes a cylinder pressure virtual sensor model.

[0085] Integrate the function relationship between torque current and cylinder pressure at each ambient temperature calibrated by S3 into a unified multi-dimensional model, and finally form a cylinder pressure virtual sensor model that can output accurate cylinder pressure estimation value according to ambient temperature and torque current, realizing the leap from local sub-model to globally usable model.

[0086] Firstly, the input core data is the local function relationship obtained by S3 at each temperature point, and these local functions contain the torque current-cylinder pressure correlation law at different temperatures. The integration process needs to take the ambient temperature as the key variable and connect all local functions: if the local function is a linear relationship, a unified formula can be constructed by multivariate fitting; if the local functions differ greatly, a piecewise function form can be used, and the model calls automatically match the corresponding piecewise function according to the current ambient temperature. The finally constructed cylinder pressure virtual sensor model can receive any ambient temperature and torque current input and output the corresponding cylinder pressure estimate, solving the limitations of single-temperature local models, covering the working condition requirements of the full temperature range, and accurately reflecting the actual hydraulic system cylinder pressure state through the coordinated calculation of ambient temperature-torque current, and accurately calculating the target torque current of the motor through the coordinated calculation of ambient temperature-target cylinder pressure, providing reliable model support for subsequent cylinder pressure control when the pressure measurement is abnormal.

[0087] In an optional embodiment of the present application, the working data further includes: motor speed, wherein the motor speed refers to the number of rotations of the motor driving the hydraulic pump per unit time, and the calculation of the speed is realized by a speed acquisition and processing chip. Therefore, the virtual sensor cylinder pressure can be corrected according to the motor speed; the corrected virtual sensor cylinder pressure is fed back to the pressure controller to realize feedback regulation and control of the cylinder pressure of the hydraulic system. For example, a motor speed and cylinder pressure deviation correlation model can be established in advance, after the motor speed is collected, based on the motor speed and cylinder pressure deviation correlation model (such as linear relationship, nonlinear polynomial or speed-correction amount mapping table) calibrated in advance through experiments, the cylinder pressure correction amount corresponding to the motor speed is calculated, and the virtual sensor cylinder pressure is compensated to obtain the corrected virtual sensor cylinder pressure.

[0088] In an optional embodiment of the present application, the method further comprises: if the real-time cylinder pressure reaches the target cylinder pressure, the working data is parameter matched and verified by the cylinder pressure virtual sensor model to determine whether the working data conforms to the function relationship defined by the cylinder pressure virtual sensor model; if it is not matched, the working data is recorded, and a pre-warning signal is triggered by the hydraulic system.

[0089] Specifically, although the real-time cylinder pressure reaches the target cylinder pressure, the torque current may not match, and therefore, the cylinder pressure virtual sensor model defines a normal functional relationship between the environmental temperature, the torque current and the cylinder pressure, i.e., a value corresponding rule that should be met by these parameters under a reasonable working condition. In the case that the real-time cylinder pressure reaches the target cylinder pressure, the working data (including the environmental temperature, the real-time torque current and the real-time cylinder pressure) collected in real time are substituted into the model for parameter matching verification to determine whether the combination of the real-time data meets 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., not matched), on one hand, the abnormal working data are recorded (for subsequent fault analysis, model optimization, etc.), and on the other hand, a hydraulic system output warning signal is triggered (such as through an indicator light, a buzzer or an operation interface prompt to inform the operator or the control system that there is an abnormality and attention or intervention is needed).

[0090] The scheme mainly establishes a cylinder pressure virtual sensor model to establish a functional relationship between the environmental temperature, the torque current and the cylinder pressure, converts the cylinder pressure control into torque current control, switches to rotary steerable virtual sensor cylinder pressure closed-loop control when the pressure sensor fails or is subjected to severe interference, calculates a target torque current according to the current environmental temperature and the target cylinder pressure, uses the pressure controller to control the torque current of the motor to keep the torque current at the target torque current, and thereby keeps the cylinder pressure stable, and / or switches to rotary steerable virtual sensor cylinder pressure closed-loop control when the pressure sensor fails or is subjected to severe interference, calculates a virtual sensor cylinder pressure according to the current environmental temperature and the torque current, feeds back the actual cylinder pressure collected by the pressure sensor to the pressure controller as the virtual sensor cylinder pressure, and thereby keeps the cylinder pressure stable. The use range of the drilling tool can be effectively expanded, the drilling efficiency can be improved, and the cost can be saved.

[0091] According to the cylinder pressure control method of the hydraulic system provided in the embodiments of the present application, when the pressure sensor fails or is subjected to severe interference, the set value of the controller is changed from the target cylinder pressure to the target torque current, the cylinder pressure is kept stable, or the virtual sensor cylinder pressure is used for feedback regulation, which can ensure that the cylinder pressure is stable to the target cylinder pressure and keeps the cylinder pressure stable. The use range of the drilling tool can be effectively expanded, the drilling efficiency can be improved, and the cost can be saved. The problem that the hydraulic system sensor is in a fault state or subjected to severe interference and the tool can only be stopped for use or tripped for replacement is solved, and the problem of thrust instability of the rotary steerable tool caused by the failure of the pressure sensor in the hydraulic system or the excessive interference is solved.

[0092] Figure 5 A flowchart of a cylinder pressure control method of a hydraulic system according to another embodiment of the present application is shown. As shown in FIG. 6, the method comprises the following steps. Figure 5As shown, given the target cylinder pressure P0. The control hydraulic system starts to work, and it is determined whether the cylinder pressure is executed in place, that is, whether the real-time cylinder pressure reaches the target cylinder pressure. If the real-time cylinder pressure does not reach the target cylinder pressure, the control mode can be selected: current open-loop control, input the current environment temperature and target cylinder pressure to the cylinder pressure virtual sensor model, and the target torque current required by the cylinder pressure virtual sensor model is calculated according to the current environment temperature and target cylinder pressure. The current open-loop control is performed according to the target torque current; and virtual sensor closed-loop control, the real-time torque current and current environment temperature are collected and input to the cylinder pressure virtual sensor model, and the virtual sensor cylinder pressure is calculated by the cylinder pressure virtual sensor model according to the real-time torque current and current environment temperature. The virtual sensor cylinder pressure is corrected according to the real-time click speed, and the virtual sensor cylinder pressure is used as the feedback value of the cylinder pressure closed-loop control.

[0093] If the real-time cylinder pressure reaches the target cylinder pressure, the working data is verified by parameter matching using the cylinder pressure virtual sensor model to determine whether the working data meets the function relationship defined by the cylinder pressure virtual sensor model. If it does not match, the working data is recorded, and a warning signal is triggered for the hydraulic system; if it matches, the hydraulic system is normal.

[0094] Figure 6 The structure block diagram of the cylinder pressure control device of the hydraulic system according to an embodiment of the present application is shown, as shown in the figure, the device comprises: Figure 6

[0095] The acquisition module 601 is adapted to acquire the working data of the hydraulic system in real time when the rotary steering tool works in the well, wherein the working data comprises: current environment temperature, real-time torque current, and real-time cylinder pressure.

[0096] The control module 602 is adapted to input the current environment temperature and target cylinder pressure to the pre-established cylinder pressure virtual sensor model if the real-time cylinder pressure does not reach the target cylinder pressure, so that the target torque current is calculated by the cylinder pressure virtual sensor model according to the current environment temperature and 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 real-time torque current are input to the pre-established cylinder pressure virtual sensor model, so that the virtual sensor cylinder pressure is calculated by the cylinder pressure virtual sensor model according to the current environment temperature and real-time torque current, and the cylinder pressure of the hydraulic system is feedback regulated according to the virtual sensor cylinder pressure, wherein the cylinder pressure virtual sensor model is a multi-dimensional function about the environment temperature, torque current and cylinder pressure.

[0097] 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.

[0098] Optionally, the working data further comprises: motor speed. ​

[0099] The control module is further adapted to correct the virtual sensor cylinder pressure according to the motor speed;

[0100] The cylinder pressure of the hydraulic system is feedback controlled according to the corrected virtual sensor cylinder pressure.

[0101] Optionally, the control module is further adapted to feed back the virtual sensor cylinder pressure to a pressure controller as the cylinder pressure collected by a pressure sensor in the hydraulic system, so as to feedback control the cylinder pressure of the hydraulic system.

[0102] Optionally, the device further comprises a cylinder pressure virtual sensor model establishing module adapted to S1, setting a torque current initial value, an initial environment temperature and a maximum environment temperature, and assigning the initial environment temperature to an environment temperature parameter;

[0103] S2, under the environment temperature corresponding to the environment temperature parameter, increasing the torque current at a set current amplitude interval, and collecting the corresponding cylinder pressure of the hydraulic system until the cylinder pressure is the maximum cylinder pressure when the motor speed is stable, and resetting the torque current to the torque current initial value;

[0104] S3, determining the function relationship between the torque current and the cylinder pressure under the environment temperature according to the environment temperature corresponding to the environment temperature parameter, the torque current and the cylinder pressure;

[0105] S4, updating the environment temperature parameter to the environment temperature parameter + a preset temperature amplitude, judging whether the environment temperature of the updated environment temperature parameter is greater than or equal to the maximum environment temperature, if not, jumping to execute S2, if yes, jumping to execute S5;

[0106] S5, establishing a cylinder pressure virtual sensor model according to the determined function relationship between the torque current and the cylinder pressure under each environment temperature.

[0107] Optionally, the device further comprises a parameter matching verification module adapted to, if the real-time cylinder pressure reaches the target cylinder pressure, performing parameter matching verification on the working data by using the cylinder pressure virtual sensor model, so as to judge whether the working data conforms to the function relationship defined by the cylinder pressure virtual sensor model; if not matched, recording the working data and triggering the hydraulic system to output a warning signal.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] The processor 702, communication interface 704, and memory 706 communicate with each other via communication bus 708.

[0114] The communication interface 704 is used to communicate with other network elements such as clients or other servers.

[0115] 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.

[0116] Specifically, program 710 may include program code that includes computer operation instructions.

[0117] The processor 702 can be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to carry out the embodiments of the present application. The computing device can include one or more processors of the same type or different types, such as one or more CPUs and one or more ASICs.

[0118] The memory 706 is configured to store the program 710. The memory 706 can include a high-speed RAM memory, and can also include a non-volatile memory, such as at least one disk memory.

[0119] The program 710 can be specifically configured to enable the processor 702 to perform the cylinder pressure control method of the hydraulic system in any of the method embodiments described above. The specific implementation of each step in the program 710 can refer to the corresponding description in the corresponding step and unit in the cylinder pressure control method embodiments of the hydraulic system described above, and will not be described here. It can be clearly understood by those skilled in the art that, for the convenience and brevity of description, the specific working process of the devices and modules described above can refer to the corresponding process description in the foregoing method embodiments, and will not be described here.

[0120] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems can be used with these teachings, based on the description as set forth above. In terms of structure, those required to construct such systems are apparent from the above description. In addition, the present application is not directed to any particular programming language. It will be appreciated that a variety of programming languages can be used to implement the teachings of the present application as described herein, and any references below to specific languages are provided for disclosure of the best mode of the application.

[0121] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not shown in detail in order not to obscure the understanding of the specification.

[0122] Similarly, it is to be understood that the features of the present application that are of a proprietary nature are set forth in only some embodiments of the application seeking patent protection herein and combinations of these features in any one claim are intended to be within the scope of the present application and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0123] Those skilled in the art will appreciate that the modules in the apparatuses in the embodiments can be adapted and placed in one or more apparatuses other than the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and further can be divided into multiple sub-modules or sub-units or sub-components. Any combination of all the features disclosed in the specification (including the accompanying claims, abstract and drawings), and any method or apparatus so disclosed, can be used in any combination, except that at least some of such features and / or processes or units are mutually exclusive. Unless explicitly stated otherwise, each feature disclosed in the specification (including the accompanying claims, abstract and drawings) can be replaced by alternative features providing the same, equivalent or similar functionality.

[0124] Further, those skilled in the art will appreciate that a combination of features of different embodiments means that such combination is within the scope of the present application and forms a different embodiment. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0125] The various component embodiments of the present application can be implemented in hardware, or as software modules running in one or more processors, or in combinations thereof. Those skilled in the art will appreciate that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in accordance with some or all of the embodiments of the present application. The present application can also be implemented as a program of apparatuses or devices (for example, computer programs and computer program products) for performing part or all of the methods described herein. Such program implementing the present 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, or provided on a carrier signal, or in any other form.

[0126] It should be noted that the foregoing examples have been provided merely for the purpose of explanation and are in no way to be construed as limiting of the present application. While the application has been described with reference to preferred embodiments and illustrations, the person of ordinary skill in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word comprising does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a unitary claim, several devices, apparatuses or means can be listed having the same reference numerals and can thus constitute means for performing the same function, even if they are not explicitly mentioned as such. The use of the terms "first", "second", and other such number-related terms does not imply any order. These terms are used as labels in this patent for the purpose of distinguishing between different elements.

Claims

1. A cylinder pressure control method of a hydraulic system, characterized by, The method comprises: real-time acquisition of working data of a hydraulic system of the rotary steering tool when working in a well, wherein the working data comprises: a current ambient temperature, a real-time torque current, and a real-time cylinder pressure; if the real-time cylinder pressure does not reach a target cylinder pressure, inputting the current ambient temperature and the target cylinder pressure into a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates a target torque current according to the current ambient temperature and the target cylinder pressure, and controls the cylinder pressure of the hydraulic system according to the target torque current; and / or inputting the current ambient temperature and the real-time torque current into a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates a virtual sensor cylinder pressure according to the current ambient temperature and the real-time torque current, and feedback controls the cylinder pressure of the hydraulic system according to the virtual sensor cylinder pressure, wherein the cylinder pressure virtual sensor model is a multi-dimensional function of ambient temperature, torque current, and cylinder pressure; wherein the establishment process of the cylinder pressure virtual sensor model comprises: S1, setting a torque current initial value, an ambient initial temperature, and an ambient maximum temperature, and assigning the ambient initial temperature to an ambient temperature parameter; S2, under the ambient temperature corresponding to the ambient temperature parameter, increasing the torque current at a set current amplitude interval, and collecting the corresponding cylinder pressure of the hydraulic system when the motor speed is stable until the cylinder pressure is the maximum cylinder pressure, and resetting the torque current to the torque current initial value; S3, determining the functional relationship between the torque current and the cylinder pressure under the ambient temperature according to the ambient temperature corresponding to the ambient temperature parameter, the torque current, and the cylinder pressure; S4, updating the ambient temperature parameter to the ambient temperature parameter + a preset temperature amplitude, and judging whether the ambient temperature of the updated ambient temperature parameter is greater than or equal to the ambient maximum temperature, if not, jumping to execute S2, and if yes, jumping to execute S5; S5, establishing a cylinder pressure virtual sensor model according to the determined functional relationship between the torque current and the cylinder pressure under each ambient temperature.

2. The cylinder pressure control method of a hydraulic system according to claim 1, characterized by, The control of the cylinder pressure of the hydraulic system according to the target torque current further comprises: controlling 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.

3. The cylinder pressure control method of a hydraulic system according to claim 1, characterized by, The working data further comprises: a motor speed; The feedback control of the cylinder pressure of the hydraulic system according to the virtual sensor cylinder pressure further comprises: correcting the virtual sensor cylinder pressure according to the motor speed; feedback controlling the cylinder pressure of the hydraulic system according to the corrected virtual sensor cylinder pressure.

4. The cylinder pressure control method of a hydraulic system according to claim 1 or 3, characterized by, The feedback control of the cylinder pressure of the hydraulic system according to the virtual sensor cylinder pressure further comprises: feedbacking the virtual sensor cylinder pressure to a pressure controller as the cylinder pressure collected by a pressure sensor in the hydraulic system, so as to realize the feedback control of the cylinder pressure of the hydraulic system.

5. The cylinder pressure control method of the hydraulic system according to any one of claims 1 to 3, characterized by, The method further comprises: if the real-time cylinder pressure reaches the target cylinder pressure, performing parameter matching verification on the working data by using the cylinder pressure virtual sensor model to determine whether the working data conforms to the function relationship defined by the cylinder pressure virtual sensor model. If not, the working data is recorded, and a pre-warning signal is triggered for the hydraulic system.

6. A cylinder pressure control device of a hydraulic system, characterized by comprising: A cylinder pressure control method for a hydraulic system as claimed in any one of claims 1-5, the device comprising: an acquisition module adapted to acquire working data of the hydraulic system in real time when the rotary steerable tool is working downhole, wherein the working data comprises: a current ambient temperature, a real-time torque current, and a real-time cylinder pressure; a control module adapted to, if the real-time cylinder pressure does not reach a target cylinder pressure, input the current ambient temperature and the target cylinder pressure into a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates a target torque current according to the current ambient temperature and the target cylinder pressure, and controls the cylinder pressure of the hydraulic system according to the target torque current; and / or input the current ambient temperature and the real-time torque current into a pre-established cylinder pressure virtual sensor model, so that the cylinder pressure virtual sensor model calculates a virtual sensor cylinder pressure according to the current ambient temperature and the real-time torque current, and feedback regulates the cylinder pressure of the hydraulic system according to the virtual sensor cylinder pressure, wherein the cylinder pressure virtual sensor model is a multi-dimensional function with respect to the ambient temperature, the torque current, and the cylinder pressure.

7. A computing device, comprising: comprising: a processor, a memory, a communication interface, and a communication bus, the processor, the memory, and the communication interface being in communication with each other through the communication bus; the memory is configured to store at least one executable instruction, and the executable instruction causes the processor to perform operations corresponding to the cylinder pressure control method of the hydraulic system as claimed in any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer storage medium stores at least one executable instruction, and the executable instruction causes the processor to perform operations corresponding to the cylinder pressure control method of the hydraulic system as claimed in any one of claims 1-5.

9. A computer program product, characterised in that, comprising at least one executable instruction, and the executable instruction causes the processor to perform operations corresponding to the cylinder pressure control method of the hydraulic system as claimed in any one of claims 1-5.

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