An angular velocity control method, system, electronic device, and storage medium

Abstract

The application relates to the field of oil and gas drilling technology and discloses a kind of angular velocity control method, system, electronic equipment and storage medium, including acquisition motor current signal, generate dynamic compensation voltage signal;Dynamic compensation voltage signal is decomposed into axial drive component and circumferential drive component, corresponding polarization voltage waveform is generated and piezoelectric ceramic actuator is driven, superimposed axial deformation variable and circumferential shear deformation variable are generated, are converted into displacement compensation amount, when displacement compensation direction deviation, inject phase shift amount to correct the deformation direction of piezoelectric ceramic;Real-time acquisition of rotary body rotation angle deviation value and displacement compensation amount feedback data, generate differential speed cooperative control instruction, adjust motor speed and rotary body rotation angle, verify that rotary body rotation angle deviation converges to preset deviation range, and update displacement compensation amount generation logic based on convergence result feedback.The application can correct transmission chain gap error in real time, realize accurate matching of rotary body angular velocity and target value.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of oil and gas drilling, and particularly relates to an angular velocity control method and system, an electronic device and a storage medium. BACKGROUND

[0002] At present, in the process of drilling deep wells, ultra-deep wells and complex formations, sudden changes in drilling pressure are prone to cause gap errors in the transmission chain of the rotary body, and then cause angular velocity fluctuations and angular deviations.

[0003] The traditional control method relies on a single feedback (such as a current or speed signal), and it is difficult to synchronously compensate for dynamic gap errors and angular deviations, resulting in a mismatch between the actual angular velocity of the rotary body and the target value, and affecting the accuracy of the vertical drilling trajectory.

[0004] In the prior art, although the piezoelectric ceramic actuator can achieve nanoscale displacement compensation, it lacks a cooperative mechanism with differential ratio adjustment and angular closed-loop control, and cannot adapt to the non-steady error distribution in the alternating hard and soft rock formation.

[0005] Therefore, the present application provides an angular velocity control method to solve the above technical problems. SUMMARY

[0006] The purpose of the present application is to provide an angular velocity control method, system, electronic device and storage medium to solve the technical problem of dynamic compensation of gap errors in the transmission chain of the rotary body in the sudden change of drilling pressure in the prior art.

[0007] In order to solve the above technical problems, the present application provides an angular velocity control method, comprising:

[0008] Real-time acquisition of motor current signals, extraction of current harmonic components based on frequency spectrum analysis and calculation of current harmonic energy values, when the current harmonic energy value is greater than a preset energy threshold, a dynamic compensation voltage signal is generated through proportional integral adjustment;

[0009] The dynamic compensation voltage signal is decomposed into an axial driving component and a circumferential driving component, corresponding polarization voltage waveforms are generated and the piezoelectric ceramic actuator is driven to produce superimposed axial deformation variables and circumferential shear deformation variables;

[0010] The axial deformation variable and the circumferential shear deformation variable are input into a multi-stage lever amplification process to convert into displacement compensation, and the lever fulcrum position is dynamically adjusted based on displacement monitoring data, when a displacement compensation direction deviation is monitored, a phase offset is injected to correct the deformation direction of the piezoelectric ceramic;

[0011] Real-time acquisition of rotary body rotation angle deviation value and displacement compensation amount feedback data, performing fractional order integral operation on the separated periodic fluctuation component, generating fractional order integral control signal, at the same time, adopting fuzzy proportional integral derivative adjustment on the trend deviation component to generate angle correction signal, distributing proportionally the fractional order integral control signal and the angle correction signal according to the dynamic weight to generate differential speed cooperative control instruction;

[0012] According to the differential speed cooperative control instruction, the motor speed and the rotary body rotation angle are adjusted, the convergence of the rotary body rotation angle deviation to the preset deviation range is verified, and the displacement compensation amount generation logic is updated based on the convergence result.

[0013] In some embodiments, real-time acquisition of motor current signal, based on frequency spectrum analysis to extract current harmonic component and calculate current harmonic energy value, when the current harmonic energy value is greater than the preset energy threshold, a dynamic compensation voltage signal is generated by proportional integral adjustment, further comprising:

[0014] Acquisition of motor three-phase current signal and extraction of specified harmonic component by fast Fourier transform;

[0015] The current harmonic energy value is calculated by using the sliding window root mean square algorithm;

[0016] When the current harmonic energy value exceeds the preset energy threshold, the dynamic compensation mechanism is triggered, and a continuous dynamic compensation voltage signal is generated by linear combination of proportional gain and integral coefficient;

[0017] The dynamic compensation voltage signal is subjected to sliding window smoothing processing to suppress random noise interference.

[0018] In some embodiments, the dynamic compensation voltage signal is decomposed into axial driving component and circumferential driving component, corresponding polarized voltage waveforms are generated and drive piezoelectric ceramic actuators to produce superimposed axial deformation and circumferential shear deformation, further comprising:

[0019] The axial driving component and the circumferential driving component of the dynamic compensation voltage signal are separated by using wavelet packet decomposition algorithm;

[0020] The axial driving component is subjected to proportional integral derivative control to generate a stepped polarized voltage waveform, and the circumferential driving component is subjected to phase-locked loop synchronization to generate a sinusoidal modulation waveform, and the polarized voltage waveform composed of the stepped polarized voltage waveform and the sinusoidal modulation waveform is input to the piezoelectric ceramic actuator;

[0021] The piezoelectric ceramic unit is driven to produce axial displacement vector superimposed deformation and circumferential tangential shear deformation, and the superimposed effect of the axial displacement vector and the circumferential tangential shear deformation is enhanced by pulse polarization method.

[0022] In some embodiments, the axial deformation and the circumferential shear deformation are converted into displacement compensation through a multi-stage lever amplification process, the lever fulcrum position is dynamically adjusted based on displacement monitoring data, when the displacement compensation direction deviation is monitored, a phase offset is injected to correct the deformation direction of the piezoelectric ceramic, and further comprising:

[0023] The axial deformation and the circumferential shear deformation are converted into displacement compensation through a three-stage lever amplification process at a preset ratio;

[0024] The lever fulcrum position is dynamically offset based on the differential ratio change;

[0025] When the displacement compensation direction deviation monitored by the monitoring data exceeds the set deviation threshold, the direction deviation feature is extracted, the phase offset is calculated based on the product relationship between the direction deviation feature and the lever fulcrum position offset, and the phase offset is injected into the polarization voltage waveform to correct the deformation direction of the piezoelectric ceramic.

[0026] In some embodiments, the rotation angle deviation of the rotary body and the displacement compensation feedback data are collected in real time, the separated periodic fluctuation component is subjected to fractional order integral operation to generate a fractional order integral control signal, the trend deviation component is subjected to fuzzy proportional integral derivative adjustment to generate an angle correction signal, and the fractional order integral control signal and the angle correction signal are proportionally fused according to a dynamic weight distribution to generate a differential speed cooperative control instruction, and further comprising:

[0027] Separate the periodic fluctuation component and the trend deviation component of the rotation angle deviation of the rotary body;

[0028] The periodic fluctuation component is subjected to integral operation of a specified order to generate a fractional order integral control signal;

[0029] The trend deviation component is processed based on fuzzy proportional integral derivative control to generate an angle correction signal;

[0030] The fractional order integral control signal and the angle correction signal are proportionally fused according to a dynamic weight distribution to generate a differential speed cooperative control instruction.

[0031] In some embodiments, the motor speed and the rotation angle of the rotary body are adjusted according to the differential speed cooperative control instruction, the convergence of the rotation angle deviation of the rotary body to a preset deviation range is verified, and the displacement compensation generation logic is updated based on the convergence result, and further comprising:

[0032] Based on the differential speed cooperative control instruction, the motor speed is dynamically corrected through a frequency conversion adjustment process, and the rotation angle of the rotary body is adjusted through the angle correction signal;

[0033] The stability criterion is used to verify the exponential convergence process of the rotation angle deviation of the rotary body;

[0034] When the rotation angle deviation value of the rotating body is greater than the preset deviation range, the angle deviation is corrected, and the displacement compensation amount generation logic is updated in combination with the temperature parameter and the convergence result.

[0035] In some embodiments, after updating the displacement compensation amount generation logic based on the convergence result feedback, the method further comprises:

[0036] The current harmonic weight coefficient is dynamically adjusted according to the real-time rotating body rotation angle deviation value.

[0037] The output amplitude range of the differential cooperative control instruction is constrained based on an adaptive saturation process.

[0038] Based on the same concept, the application also provides an angular velocity control system, comprising:

[0039] A dynamic compensation voltage signal generation module is configured to collect motor current signals in real time, extract current harmonic components based on frequency spectrum analysis and calculate current harmonic energy values, and generate a dynamic compensation voltage signal through proportional integral adjustment when the current harmonic energy values are greater than a preset energy threshold.

[0040] A deformation variable generation module is configured to decompose the dynamic compensation voltage signal into an axial driving component and a circumferential driving component, generate corresponding polarization voltage waveforms and drive piezoelectric ceramic actuators to produce superimposed axial deformation variables and circumferential shear deformation variables.

[0041] A deformation variable correction module is configured to input the axial deformation variables and circumferential shear deformation variables into a multi-stage lever amplification process to convert them into displacement compensation amounts, dynamically adjust the lever fulcrum position based on displacement monitoring data, and inject a phase offset to correct the deformation direction of the piezoelectric ceramic when a displacement compensation direction deviation is monitored.

[0042] A differential cooperative control instruction generation module is configured to collect rotating body rotation angle deviation values and displacement compensation amount feedback data in real time, perform fractional order integral operation on the separated periodic fluctuation components, generate fractional order integral control signals, and use fuzzy proportional integral derivative adjustment on the trend deviation components to generate angle correction signals. The fractional order integral control signals and the angle correction signals are proportionally fused according to dynamic weight distribution to generate differential cooperative control instructions.

[0043] A displacement compensation logic update module is configured to adjust the motor speed and the rotating body rotation angle according to the differential cooperative control instructions, verify that the rotating body rotation angle deviation converges to a preset deviation range, and update the displacement compensation amount generation logic based on the convergence result feedback.

[0044] Based on the same concept, the application further provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the angular velocity control method.

[0045] Based on the same concept, the application further provides a computer readable storage medium, which stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the angular velocity control method.

[0046] Compared with the prior art, the application has the beneficial effects that:

[0047] The application discloses an angular velocity control method and system, an electronic device and a storage medium, which can correct the transmission chain gap error in real time, realize accurate matching of the angular velocity of a rotary body and a target value, guarantee the dynamic stability of a drilling system under complex stratum conditions, and solve the problems of angular velocity misalignment and mechanical impact bottleneck caused by sudden changes in drilling pressure of a traditional rigid transmission chain. BRIEF DESCRIPTION OF DRAWINGS

[0048] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0049] Figure 1 is a flowchart of the angular velocity control method of the application in some specific embodiments;

[0050] Figure 2 is a structural schematic diagram of the angular velocity control system of the application in some specific embodiments;

[0051] Figure 3 is a structural schematic diagram of the electronic device of the application in some specific embodiments;

[0052] In the figure, 710 is a processor, 720 is a memory, 730 is an input device, and 740 is an output device. DETAILED DESCRIPTION

[0053] In order to make the purposes, technical solutions and advantages of the application more clear, the application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0054] The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the description of the application and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be understood that the terms "and / or", "at least one of", "one or more of", and "and / or at least one of", used herein in the description and in the claims, are open-ended expressions that are intended to mean that there is at least one, but it is also possible that more than one, of the recited items can be present, inter alia.

[0055] It should be understood that the term "and / or" as used herein is merely an associative relationship to describe the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally represents that the front and rear associated objects are in an "or" relationship.

[0056] It should be understood that although the terms first, second, third, etc. can be used in the description of the application, these descriptions should not be limited to these terms. These terms are only used to distinguish the description. For example, without departing from the scope of the application, the first can also be called the second, and similarly, the second can also be called the first.

[0057] Depending on the context, the word "if" as used herein can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting." Similarly, depending on the context, the phrase "if it is determined" or "if [a stated condition or event] is detected" can be interpreted to mean "when it is determined" or "in response to determining" or "when [a stated condition or event] is detected" or "in response to detecting [a stated condition or event]."

[0058] It should also be noted that the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a product or article comprising a list of elements does not include only those elements, but can also include other elements not expressly listed or inherent to such product or article. Without more limitations, an element defined by the phrase "comprising a" does not exclude the existence of additional identical elements in the product or article comprising the element.

[0059] It should be particularly noted that the symbols and / or numbers present in the specification, if not marked in the description of the drawings, are not drawing reference numbers.

[0060] Referring to Figure 1 A method for controlling angular velocity, comprising:

[0061] S101, real-time acquisition of motor current signal, extraction of current harmonic component and calculation of current harmonic energy value based on frequency spectrum analysis, generation of dynamic compensation voltage signal by proportional integral adjustment when the current harmonic energy value is greater than the preset energy threshold.

[0062] S102, decompose the dynamic compensation voltage signal into an axial driving component and a circumferential driving component, generate corresponding polarization voltage waveforms and drive the piezoelectric ceramic actuator to produce superimposed axial deformation and circumferential shear deformation;

[0063] S103, input the axial deformation and circumferential shear deformation into a multi-stage lever amplification process to convert into displacement compensation, dynamically adjust the lever fulcrum position based on displacement monitoring data, when the displacement compensation direction deviation is monitored, inject phase offset to correct the deformation direction of the piezoelectric ceramic;

[0064] S104, real-time acquisition of rotary body rotation angle deviation value and displacement compensation feedback data, fractional order integral operation is performed on the separated periodic fluctuation component to generate fractional order integral control signal, and fuzzy proportional integral derivative adjustment is adopted for the trend offset component to generate angle correction signal, and the fractional order integral control signal and the angle correction signal are proportionally fused according to the dynamic weight to generate differential cooperative control instruction;

[0065] S105, adjust the motor speed and the rotary body rotation angle according to the differential cooperative control instruction, verify that the rotary body rotation angle deviation converges to the preset deviation range, and update the displacement compensation generation logic based on the convergence result feedback.

[0066] Specifically, in the embodiment of the present application, the three-phase current signals of the top drive motor are collected in real time, the harmonic component amplitudes are extracted by fast Fourier transform, the current harmonic energy values are calculated by sliding window root mean square algorithm, when the current harmonic energy values are greater than the preset energy threshold, the dynamic compensation voltage signals are generated by proportional gain and integral time proportional integral adjustment, and the voltage signals are subjected to sliding window smoothing processing to suppress random noise interference; the dynamic compensation voltage signals are separated into axial driving components and circumferential driving components by wavelet packet decomposition algorithm, the axial driving components are subjected to proportional integral differential controller to generate step-shaped polarization voltage waveform, the circumferential driving components are subjected to phase-locked loop synchronization technology to generate sinusoidal modulation waveform, the composite polarization voltage waveform is input into the annular piezoelectric ceramic array to drive the piezoelectric ceramic unit to generate axial displacement superposition deformation and circumferential tangential shear deformation, and the deformation superposition effect is enhanced by pulse polarization method; the axial deformation and the circumferential shear deformation are converted into displacement compensation through a three-stage lever amplification process, the laser displacement monitoring data is used to dynamically offset the lever fulcrum position, the fulcrum offset error is closed-loop controlled, the direction deviation feature is extracted when the displacement sensor detects the displacement compensation direction deviation, the phase offset amount is calculated based on the product relationship between the direction deviation angle and the fulcrum offset amount and injected into the polarization voltage waveform to correct the deformation direction; the periodic fluctuation component and the trend offset component of the rotary body rotation angle deviation value are separated by empirical mode decomposition technology, the fractional order integral control signal is generated by performing order integral operation on the periodic component through Riemann-Liouville fractional order integrator, and the angle correction signal is generated by processing the trend component through fuzzy proportional integral differential controller to set the proportional coefficient and integral time, the two types of signals are fused according to the dynamic weight proportion, the differential speed cooperative control command is generated by eliminating the frequency band overlap interference through the finite length unit impulse response filter; the differential speed cooperative control command is converted into the top drive motor speed through the vector frequency converter, the rotary body rotation angle is corrected through the servo motor based on the angle correction signal, the Lyapunov stability criterion is used to verify that the rotation angle deviation converges to the preset deviation range, and the displacement compensation is updated based on the convergence result and the bottom hole temperature to generate the logic.

[0067] For example, when the bit pressure suddenly increases from 10 tons to 25 tons, the 5th harmonic amplitude of the top drive motor increases from 5 amperes to 15 amperes, and the 7th harmonic amplitude increases from 3 amperes to 10 amperes. The harmonic energy value is calculated as 15²+10²=325, which exceeds the 50 amperes square hertz threshold to trigger the compensation mechanism. A dynamic compensation voltage signal of 8 volts is generated through proportional-integral adjustment with a proportional gain of 0.8 and an integral time of 0.05 seconds. The axial drive component outputs a step voltage from 0 volts to 5 volts for 1 millisecond and then rises to 8 volts for 2 milliseconds through a proportional-integral-differential controller. The circumferential drive component generates a 50 kilohertz sinusoidal modulation wave through a phase-locked loop. The composite waveform drives the piezoelectric ceramic unit to produce an 80 nanometer axial displacement at 8 volts multiplied by 10 nanometers per volt, and a 20 nanometer circumferential displacement at 8 volts multiplied by 2.5 nanometers per volt. A 200 volt 100 microsecond pulse polarization enhances the deformation. It is detected that the displacement compensation direction deviation is 3 degrees and the fulcrum position offset is 15%. The phase offset amount is 0.45 degrees, which is 3 degrees multiplied by 15%. The corrected direction deviation is reduced to 0.5 degrees. The 3-stage lever amplification process is 80 nanometers multiplied by 5 times the first-stage amplification rate, then multiplied by 20 times the second-stage amplification rate, and finally multiplied by 4 times the third-stage amplification rate, resulting in a displacement compensation amount of 32000 nanometers, i.e. 32 micrometers. The amplitude of the fractional-order integral control signal is 2 volts, and the amplitude of the angle correction signal is 5 volts. The weight fusion calculation is 2 volts multiplied by 0.3 to get 0.6 volts plus 5 volts multiplied by 0.7 to get 3.5 volts, and the total is 4.1 volts. After filtering out 50 hertz to 100 hertz interference through a finite-length unit impulse response filter, a 4.1 volt differential cooperative control command is output. The command drives the top drive motor to increase the speed from 120 revolutions per minute to 128 revolutions per minute, and the rotation angle correction is 0.28 degrees. The angle deviation of 0.3 degrees is reduced to 0.15 degrees in 1 second, to 0.05 degrees after 3 seconds, and to 0.02 degrees after 10 seconds. Based on the 150 degrees Celsius working condition, the compensation logic is updated according to the drift coefficient of -0.5% per degree Celsius: 8 / (8-0.04×(150-25))≈2.1 times, and the drive voltage increases from 8 volts to 16.8 volts.

[0068] In some applications, real-time acquisition of motor current signals, extraction of current harmonic components based on spectral analysis and calculation of current harmonic energy value, when the current harmonic energy value is greater than the preset energy threshold, a dynamic compensation voltage signal is generated through proportional-integral adjustment, including acquisition of motor three-phase current signals and extraction of specified harmonic components through fast Fourier transform; the current harmonic energy value is calculated by using the sliding window root mean square algorithm; when the current harmonic energy value exceeds the preset energy threshold, the dynamic compensation mechanism is triggered, and a continuous dynamic compensation voltage signal is generated through linear combination of proportional gain and integral coefficient; the dynamic compensation voltage signal is subjected to sliding window smoothing processing to suppress random noise interference.

[0069] It can be understood that the three-phase current signals of the motor are collected in real time, the amplitude values of harmonic components of a predetermined number of times are extracted through spectrum transformation, the harmonic energy characteristic value is calculated by using a sliding window statistical method, when the harmonic energy characteristic value exceeds a preset determination threshold, a dynamic compensation mechanism is triggered, a continuous adjustable voltage signal is generated by linear combination operation of a proportional gain coefficient and an integral time coefficient, and the voltage signal is subjected to time domain smoothing processing to suppress random interference noise.

[0070] For example, three-phase currents are collected at a sampling frequency of 1 kHz, when the amplitude of the 5th harmonic is increased to 15A and the amplitude of the 7th harmonic is increased to 10A, the harmonic energy characteristic value is calculated: the square operation is performed on the amplitude of the 5th harmonic to obtain 225A²·Hz, the square operation is performed on the amplitude of the 7th harmonic to obtain 100A²·Hz, and the sum of the two is 325A²·Hz (exceeding the preset threshold of 50A²·Hz); proportional integral adjustment is performed on the proportional gain coefficient 0.8 and the integral time coefficient 0.05s: the harmonic energy overshoot is multiplied by the proportional gain coefficient to obtain the proportional component, the integral component is obtained by time integration of the overshoot and multiplication by the integral time coefficient, and the two are linearly superimposed to generate an 8V dynamic compensation voltage signal; the voltage signal is subjected to mean value smoothing processing by using a sliding window with a window length of 200 points.

[0071] In some applications, the dynamic compensation voltage signal is decomposed into an axial driving component and a circumferential driving component, corresponding polarized voltage waveforms are generated and drive the piezoelectric ceramic actuator to produce superimposed axial deformation and circumferential shear deformation, including separating the axial driving component and the circumferential driving component of the dynamic compensation voltage signal by using a wavelet packet decomposition algorithm; the proportional integral derivative control is used on the axial driving component to generate a stepped polarized voltage waveform, the phase-locked loop is used to synchronously generate a sinusoidal modulation waveform, the polarized voltage waveform obtained by compounding the stepped polarized voltage waveform and the sinusoidal modulation waveform is input into the piezoelectric ceramic actuator; the piezoelectric ceramic unit is driven to produce superimposed axial displacement vector deformation and circumferential tangential shear deformation, and the superposition effect of the axial displacement vector and the circumferential tangential shear deformation is enhanced by the pulse polarization method.

[0072] It can be understood that the dynamic compensation voltage signal is separated into an axial driving component and a circumferential driving component by a signal decomposition algorithm, the proportional integral derivative control is used on the axial driving component to generate a stepped polarized voltage waveform, the phase synchronization technology is used on the circumferential driving component to generate a sinusoidal modulation waveform, and the two types of waveforms are compounded into a polarized voltage waveform input into the piezoelectric ceramic actuator; the piezoelectric ceramic unit is driven to produce superimposed axial displacement vector deformation and circumferential tangential shear deformation, and the deformation superposition effect is enhanced by the pulse polarization method.

[0073] For example, when the dynamic compensation voltage signal is 8V, the axial component and the circumferential component are separated by using the wavelet packet decomposition algorithm; the axial component is generated into a staircase waveform by proportional integral derivative control: from 0V to 5V for 1ms and then to 8V for 2ms; the circumferential component is generated into a 50kHz sine modulation waveform by a phase-locked loop; after the composite waveform is input into the piezoelectric ceramic actuator, the axial component drives to generate a displacement of 8V x 10nm / V = 80nm, and the circumferential component drives to generate 8V x 2.5nm / V = 20nm tangential shear deformation; the application of a 200V intensity and 100μs width pulse polarization enhances the superposition effect, so that the coupling efficiency of the axial displacement and the circumferential deformation is improved.

[0074] In some applications, the axial deformation and the circumferential shear deformation are input into a multi-stage lever amplification process to convert into displacement compensation, and the lever fulcrum position is dynamically adjusted based on displacement monitoring data; when the displacement compensation direction deviation is monitored, a phase offset is injected to correct the deformation direction of the piezoelectric ceramic, including converting the axial deformation and the circumferential shear deformation into displacement compensation by a three-stage lever amplification process at a preset ratio; the lever fulcrum position is dynamically offset based on the differential ratio change; when the displacement compensation direction deviation monitored by the monitoring data exceeds the set deviation threshold, the direction deviation feature is extracted, the phase offset is calculated based on the product relationship between the direction deviation feature and the lever fulcrum position offset, and the phase offset is injected into the polarization voltage waveform to correct the deformation direction of the piezoelectric ceramic.

[0075] It can be understood that the axial deformation and the circumferential shear deformation are converted into displacement compensation by a multi-stage lever amplification process at a preset ratio, and the lever fulcrum position parameter is dynamically adjusted based on displacement monitoring information; when the displacement compensation direction deviation detected by the monitoring information exceeds the set threshold, the direction deviation feature is extracted, the phase offset control quantity is calculated based on the product relationship between the direction deviation feature and the lever fulcrum position offset parameter, and the phase offset control quantity is injected into the polarization voltage waveform to correct the deformation direction of the piezoelectric ceramic.

[0076] For example, when the axial deformation is 80nm and the circumferential shear deformation is 20nm, the conversion is performed by a three-stage lever amplification process at a first-stage amplification ratio of 5, a second-stage amplification ratio of 20, and a third-stage amplification ratio of 4: the axial component is amplified to 80nm x 5 = 400nm, then multiplied by 20 to get 8000nm, and then multiplied by 4 to get 32000nm, i.e. 32μm displacement compensation; when the displacement compensation direction deviation is 3 degrees and the differential ratio changes from 1:2.5 to 1:3, causing the fulcrum to shift by 15%, the phase offset control quantity is calculated as the product of the 3-degree direction deviation feature and the 15% fulcrum position offset parameter, i.e. 0.45 degrees; after the phase offset control quantity is injected into the polarization voltage waveform, the piezoelectric ceramic deformation direction deviation is corrected from 3 degrees to 0.5 degrees.

[0077] In some applications, real-time acquisition of rotary body rotation angle deviation value and displacement compensation amount feedback data, the separated periodic fluctuation component is subjected to fractional order integral operation, a fractional order integral control signal is generated, and the trend offset component is subjected to fuzzy proportional integral derivative adjustment, an angle correction signal is generated, and the fractional order integral control signal and the angle correction signal are proportionally fused according to dynamic weight distribution to generate a differential speed cooperative control instruction, including the periodic fluctuation component and the trend offset component of the separated rotary body rotation angle deviation value; the periodic fluctuation component is subjected to integral operation of a specified order to generate a fractional order integral control signal; the trend offset component is processed based on fuzzy proportional integral derivative control to generate an angle correction signal; the fractional order integral control signal and the angle correction signal are proportionally fused according to dynamic weight distribution to generate a differential speed cooperative control instruction.

[0078] It can be understood that real-time acquisition of rotary body rotation angle deviation value and displacement compensation amount feedback data, the periodic fluctuation component and the trend offset component are separated by signal decomposition technology; the periodic fluctuation component is subjected to fractional order integral operation of a predetermined order to generate an integral control signal; the trend offset component is subjected to fuzzy proportional integral derivative adjustment to generate an angle correction signal; the integral control signal and the angle correction signal are proportionally fused according to adaptive weight distribution, and a differential speed cooperative control instruction is generated after frequency band filtering.

[0079] For example, when the rotation angle deviation value is 0.3°, the empirical mode decomposition separates 0.1-5Hz periodic component (amplitude ratio 60%) and 0.02Hz trend component (amplitude ratio 40%); the periodic component is subjected to 0.6 order fractional order integral operation to output 2V integral control signal; the trend component is subjected to fuzzy proportional integral derivative control (proportional coefficient 1.2, integral time 0.5s) to output 5V angle correction signal; proportionally fuse the signals according to 3:7 dynamic weight distribution: integral control signal 2V multiplied by weight coefficient 0.3 to get 0.6V, angle correction signal 5V multiplied by weight coefficient 0.7 to get 3.5V, and the two are added to generate 4.1V fusion signal; after 0-100Hz band-pass filtering, a differential speed cooperative control instruction is output.

[0080] In some applications, the motor speed and the rotary body rotation angle are adjusted according to the differential speed cooperative control instruction, it is verified that the rotary body rotation angle deviation converges to a preset deviation range, and the displacement compensation amount generation logic is updated based on the convergence result, including dynamically correcting the motor speed through variable frequency adjustment process based on the differential speed cooperative control instruction, and adjusting the rotary body rotation angle through the angle correction signal; the stability criterion is used to verify the exponential convergence process of the rotary body rotation angle deviation; when the rotary body rotation angle deviation value is greater than the preset deviation range, the angle deviation is corrected, and the displacement compensation amount generation logic is updated in combination with the temperature parameter and the convergence result.

[0081] It can be understood that the variable frequency regulation process is dynamically corrected based on the differential cooperative control instruction to correct the motor speed parameter, and the rotation angle parameter of the rotary body is adjusted according to the angle correction signal; the exponential convergence characteristic of the rotation angle deviation is verified by using the stability criterion method; the angle deviation is preferentially corrected when the rotation angle deviation value exceeds the preset allowable range; and the generation logic rule of the displacement compensation amount is updated in combination with the environmental temperature parameter and the convergence verification result.

[0082] For example, when the differential cooperative control instruction is 4.1V, the motor speed is increased from 120 rpm to 128 rpm by the vector frequency converter; the rotation angle of the rotary body is adjusted by 0.28° based on the angle correction signal to drive the servo motor; the angle deviation convergence process is verified by using the Lyapunov stability criterion: the initial deviation of 0.3° is reduced to 0.15° in 1 second, to 0.05° after 3 seconds, and to 0.02° (the preset allowable range is ±0.05°) after 10 seconds; the piezoelectric coefficient drift is caused by the 150 °C well temperature, and the displacement compensation logic is updated: the product of 8 divided by 8 minus 0.04 multiplied by the temperature difference of 125, that is, 3.8 nanometers per volt, is obtained, and the driving voltage is increased from 8V to 16.8V.

[0083] In some applications, after the generation logic of the displacement compensation amount is updated based on the convergence result, the method further comprises dynamically adjusting the current harmonic feedback weight coefficient according to the real-time rotation angle deviation value of the rotary body; and the output amplitude range of the differential cooperative control instruction is constrained based on the adaptive saturation process.

[0084] It can be understood that, after the generation logic of the displacement compensation amount is updated based on the convergence result, the weight distribution proportion of the current harmonic feedback mechanism is dynamically adjusted according to the real-time rotation angle deviation value of the rotary body; and the output amplitude boundary range of the differential cooperative control instruction is constrained by the adaptive saturation process.

[0085] For example, when the rotation angle deviation value is 0.3° (exceeding the threshold value of 0.2°), the current harmonic feedback weight coefficient is dynamically adjusted: the initial weight coefficient of 0.3 is multiplied by the difference proportion coefficient of 0.5 between the angle deviation value and the threshold value, to obtain the updated weight coefficient of 0.15; at the same time, the amplitude of the differential cooperative control instruction of 4.1V is constrained by the adaptive saturation process, and the current output amplitude range is set to be 1.5 times of the angle deviation value, that is, the boundary of 0.45V to 4.5V, and finally the instruction amplitude is constrained to be about 4.1V; in the 150 °C working condition, the generation logic of the displacement compensation amount is recalculated in combination with the updated weight coefficient of 0.15.

[0086] The following describes another embodiment of the angular velocity control method of the application:

[0087] This embodiment collects the three-phase current of the top drive motor in real time through high-speed sampling circuit (1 kHz or above), extracts the amplitude of harmonic components using fast Fourier transform (FFT), then calculates the root mean square (RMS) of harmonic energy with sliding window, and detects energy mutation points with wavelet transform. When the harmonic energy exceeds the preset threshold (such as 50 A²·Hz), a dynamic compensation signal is generated through proportional-integral (PI) algorithm, with an output of 0-10V analog quantity, and the signal strength is linearly related to the energy mutation amplitude. The dynamic compensation signal drives the ring piezoelectric ceramic actuator through a high-voltage amplifier (gain x 10), so that the PZT sheet generates a nanoscale deformation proportional to the voltage (such as 8V input corresponding to 80nm displacement). This displacement is converted into a micrometer-level displacement compensation amount (such as 8μm) of the transmission chain through a lever mechanism (amplification ratio 1:100), which directly corrects the gear meshing clearance. At the same time, a laser displacement sensor monitors the displacement of the transmission chain in real time, and dynamically adjusts the differential ratio through PID closed-loop control to ensure that the error is less than 0.1%. Based on the real-time feedback data of nanoscale displacement compensation amount (such as 8μm) and the hardness distribution of the rock formation (from the logging while drilling data), a fractional order integrator (order 0.6) is used to generate a non-integer order integral control signal. At the same time, an absolute value encoder (resolution 17bit) collects the rotation angle of the rotary body in real time, and calculates the deviation value (such as 0.3°) between the rotation angle and the target angle. A fuzzy PID controller (Kp=1.2, Ti=0.5s) is used to generate an angle correction signal, and finally the two types of signals are fused in a weighted proportion (such as 3:7). The non-integer order integral control signal and the angle correction signal are coupled to generate a differential cooperative control instruction through dynamic weight allocation (weight ratio 3:7). The instruction is input into the vector frequency converter and the servo motor to adjust the rotation speed of the top drive motor (such as from 120rpm to 128rpm) and the angle of the rotary body (such as correction 0.28°), respectively. At the same time, based on Lyapunov stability criterion, the control process is verified to ensure that the angle error converges from 0.3° to within 0.02° within 5 seconds.

[0088] Further, the dynamic compensation signal is separated into amplitude component (axial driving component) and frequency component (circumferential driving component) by wavelet packet decomposition algorithm. The time-domain mutation characteristics of the axial component generate a step-like polarization voltage waveform through a PID controller, while the circumferential component generates a high-frequency modulation waveform (such as a 50 kHz sine wave) through a phase-locked loop (PLL) synchronization. When the composite polarization voltage waveform is input into the ring-shaped piezoelectric ceramic array, the axial driving component makes the adjacent PZT-8 piezoelectric ceramic units produce displacement vector superposition along the transmission chain in the axial direction, and the circumferential driving component triggers the circumferential tangential shear deformation of each unit (such as 20 nm circumferential displacement per unit, and the ring-shaped array accumulates to form a 0.1° angle offset) through the inverse piezoelectric effect. This process uses pulse polarization method to enhance the polarization effect, and a high-voltage amplifier (gain x 10) is used to drive the piezoelectric ceramic array to ensure that the deformation and voltage are in a linear relationship. The superimposed axial deformation (5 μm) and circumferential tangential deformation (0.1°) are input into the transmission lever group composed of three levers. The first lever amplifies the axial displacement to 25 μm at a ratio of 1:5, and the second lever converts the circumferential angle offset into a 7 μm lateral displacement. The lever fulcrum position is adjusted in real time by a servo motor. When the differential ratio increases from 1:2.5 to 1:3, the fulcrum shifts 15% towards the power arm, so that the compensation displacement corresponding to the unit deformation decreases by the square inverse of the differential ratio (1 / 9). This process combines the planar graph determination theorem, monitors the lever displacement trajectory through a laser displacement sensor, and uses a PID closed-loop control to ensure that the fulcrum offset error is less than 0.1 mm. A nanometer-level displacement sensor (resolution 0.1 nm) detects the direction of the compensation displacement in real time, and when the actual direction deviates from the preset direction by 3°, the Hilbert-Huang transform is used to extract the deviation angle characteristics. Through the reverse phase compensation algorithm, the phase shift of the polarization voltage waveform is set to the product (0.45°) of the deviation angle (3°) and the fulcrum position offset (15%), and is injected into the piezoelectric ceramic driving signal. During the iterative correction process, the compensation parameters are updated by Kalman filtering every cycle until the deviation angle converges to within 0.5°. This process combines the Lyapunov stability criterion to ensure that the direction error is eliminated within 3 correction cycles.

[0089] Further, the real-time feedback data of nanoscale displacement compensation is separated into axial compensation component (reflecting axial deformation) and circumferential compensation component by wavelet packet decomposition algorithm. The time-domain fluctuation amplitude of axial component is calculated by sliding window root mean square (RMS), and the frequency-domain energy density of circumferential component is extracted by fast Fourier transform (FFT). Based on the steady-state error distribution of soft and hard alternating areas of rock stratum, the axial time-domain amplitude and the circumferential frequency-domain energy are matched by cross-correlation algorithm to generate a dynamic weight coefficient matrix. The coefficient matrix is adjusted by a half-life dynamic weight model, and finally outputs a dynamic weight coefficient in the range of 0.5-1.2, which is used for amplitude modulation of the subsequent control signal. The rotation angle deviation value is collected in real time by an absolute value encoder (resolution 17bit), and the periodic fluctuation component (such as 0.1-5Hz fluctuation) and the trend offset component (such as 0.02Hz low frequency offset) are separated by empirical mode decomposition (EMD). The dynamic weight coefficient and the periodic fluctuation component are superimposed by weighting to generate the amplitude modulation component of the non-integer order integral control signal, and the weight distribution adopts the inverse tangent dynamic weight algorithm (slope coefficient 0.8, high frequency noise suppression). At the same time, the trend offset component and the frequency-domain energy density (phase spectrum extracted by Hilbert transform) of the circumferential compensation component are phase-matched, and the phase shift amount is adjusted by phase-locked loop (PLL) technology to generate the phase shift component of the angle correction signal (error <0.05°). The preset integral kernel function adopts Riemann-Liouville fractional order integrator (order 0.6-0.8) to perform dynamic integral operation on the amplitude modulation component and the phase shift component. The integral process combines Kalman filter to correct noise interference in real time, generating the time-domain waveform of the non-integer order integral control signal (amplitude accuracy ±0.02V). The trend offset component and the preset angle threshold (such as ±0.5°) are compared to generate the amplitude limiting coefficient of the angle correction signal, and the adaptive saturation algorithm is used to prevent integral overflow, and the amplitude limiting range is dynamically adjusted to 1.2-1.5 times of the current angle deviation. The amplitude limiting coefficient of the angle correction signal and the phase shift component are multiplied by the multiplier to generate the output waveform (such as 0-10V sine modulation signal), and the waveform superimposer uses quadrature modulation technology to superimpose the time-domain waveform of the non-integer order integral control signal (bandwidth 0-50Hz) and the angle correction signal (bandwidth 5-100Hz) synchronously. The superimposition process eliminates the frequency band overlap interference through FIR filter, and finally generates the driving component of the differential cooperative control command (synthetic bandwidth 0-100Hz, harmonic distortion rate <2%). The driving component input vector frequency converter adjusts the top drive motor speed, and at the same time adjusts the rotation angle through the servo motor, realizing the double-parameter closed-loop control of angular velocity and angle.

[0090] The following will illustrate this embodiment in combination with application scenarios:

[0091] During drilling, when the drill bit encounters a hard layer, the sudden change in drilling pressure causes the top drive motor current harmonic energy to increase sharply, and the transmission chain gap error accumulates, causing the rotation body angular velocity to oscillate (deviation > 0.5°), which in turn affects the drilling trajectory verticality. At the same time, the mechanical hysteresis effect generated during the dynamic adjustment of the rotating body and the rock heterogeneity coupling exacerbate the convergence difficulty of the rotation angle error.

[0092] This embodiment controls the link through double feedback differential. In the first feedback loop, a compensation signal is dynamically generated based on current harmonic energy (response time < 10ms), driving the ring-shaped piezoelectric ceramic actuator to generate a nanoscale displacement compensation (±50nm), which is converted into a fine adjustment (0.1%-0.5%) of the differential ratio of the transmission chain through the geometric mapping relationship of the elastic coupling wedge-shaped tooth groove, directly offsetting the gap error caused by the sudden change in drilling pressure. In the second feedback loop, the actual rotation angle deviation of the rotating body and the displacement compensation data are collected in real time, and a rock adaptability correction signal is generated through a non-integer order integral controller (integral order 0.7-1.2), and a dynamic angle correction command is generated in combination with the angle sensor feedback value. After the above two signals are fused through the differential cooperative control module, the target angular velocity is dynamically corrected from 120rpm to 118.5rpm, and the piezoelectric actuator voltage polarity and amplitude are continuously adjusted through closed-loop feedback, so that the rotation angle error converges to ±0.1° within 10 seconds.

[0093] In addition, the multi-layer stacked structure of the ring-shaped piezoelectric ceramic actuator and the high stiffness design of the elastic coupling improve the displacement compensation resolution to the nanoscale (±5nm), and combined with the fractional order differential characteristics of the non-integer order integral control, the overshoot oscillation at the hard layer interface is effectively suppressed. The thermal expansion coefficient matching design of the metal cover plate and the transmission chain shell further reduces the influence of mechanical deformation on gap compensation accuracy under high temperature working conditions.

[0094] The key steps in this embodiment are described in detail as follows:

[0095] Dynamic implementation of the double closed-loop feedback cooperative compensation mechanism in the drilling pressure mutation scenario: Drilling condition adaptation of the current harmonic feedback loop: During hard rock drilling, the contact surface of the drill bit and the formation is suddenly pressed (drilling pressure increases from 10 tons to 25 tons), causing the top drive motor load to change suddenly, and the three-phase current harmonic energy to increase sharply. This embodiment accurately identifies the drilling pressure mutation characteristics through real-time calculation of Clarke transformation and harmonic energy density:

[0096] Current harmonic feature extraction: When the drill bit contacts a hard layer, the 5th and 7th harmonic amplitudes of the motor current increase significantly. Through 1024-point FFT analysis, the harmonic energy density is extracted:

[0097] ;

[0098] wherein, represents the harmonic energy value, represents the frequency component, represents the current amplitude threshold value.

[0099] When > 50 A 2·Hz (corresponding to the weight-on-bit threshold of 20 tons), triggering the dynamic compensation signal.

[0100] Dynamic compensation signal generation:

[0101] The harmonic energy is smoothed by using a sliding window RMS algorithm (window length N=200, overlap rate 50%) to suppress random noise interference:

[0102] ;

[0103] wherein, is the harmonic current root mean square value at time t, N is the sliding window length, t is the current time index, n is the summation index variable, is the α-axis current component at sampling point n. This formula calculates the effective value of the harmonic current through a sliding window, which is used to monitor the current harmonic energy level in real time.

[0104] The compensation voltage Vcomp is generated by a PI controller (Kp=0.8, Ki=0.05), whose output has a linear relationship with the harmonic energy overshoot:

[0105] ; wherein, V comp (t) is the dynamic compensation voltage signal, K p =0.8 is the proportional gain coefficient, K i =0.05 is the integral gain coefficient, RMS harm (t) is the harmonic current root mean square value, E threshold is the preset energy threshold, and dt is the time differential element; this signal drives the ring-shaped piezoelectric ceramic actuator through a high-voltage amplifier (gain x 10) to generate an axial displacement compensation (8V input corresponds to 80nm displacement).

[0106] Gear clearance correction of displacement compensation feedback loop:

[0107] At the interface of soft and hard rock layers (such as alternating layers of shale and granite), the transmission chain generates periodic gap errors (amplitude 5-20μm) due to weight-on-bit fluctuations. This embodiment converts the nanoscale displacement of the piezoelectric ceramic into real-time correction of the gear meshing gap through a three-stage lever amplification mechanism: displacement amplification and direction control:

[0108] The output displacement of the piezoelectric ceramic is Δ xpztThrough three-stage levers (amplification ratio 1:5→1:20→1:4) to micron level:

[0109] Δxgear=Δxpzt×5×20×4=400Δxpzt;

[0110] Wherein, Δxgear is the gear gap compensation amount, Δxpzt is the piezoelectric ceramic output displacement amount, 5, 20, 4 are the amplification ratios of the three-stage levers respectively, and 400 is the total amplification ratio. The formula describes the process of converting the nanometer level displacement of the piezoelectric ceramic into micron level compensation amount of the gear gap through three-stage lever amplification.

[0111] For example, when Δ xpzt =80nm, the gear gap compensation amount Δ xgear =32μm, which can directly offset the gap error caused by hard rock layer.

[0112] Double closed-loop collaborative mechanism:

[0113] Current harmonic feedback and displacement compensation feedback realize collaborative control through dynamic weight fusion algorithm: V final =w1·V comp +w2·V disp ;(w1:w2=3:7);

[0114] Wherein, V final is the final control voltage signal, w1 and w2 are the weight coefficients (proportion 3:7) of current harmonic feedback and displacement compensation feedback respectively, V comp is the dynamic compensation voltage signal (based on current harmonic analysis), V disp is the displacement compensation voltage signal (based on displacement compensation amount). The formula realizes the collaborative control of double feedback signals through dynamic weight distribution.

[0115] The weight coefficient is dynamically adjusted according to the angle deviation Δ θ :

[0116] Wherein, is the current harmonic feedback weight coefficient, e is the natural constant, Δθ is the rotation angle deviation value of the rotary body, |Δθ| is the absolute value of the angle deviation, and 0.5 is the slope coefficient of the Sigmoid function. The formula dynamically adjusts the weight of current harmonic feedback according to the angle deviation through the Sigmoid function, realizing adaptive control. The algorithm can shorten the gap compensation response time from 50ms of traditional PID to 8ms in hard rock layer drilling, significantly reducing the angular velocity fluctuation amplitude (from ±0.5° to ±0.15°).

[0117] Co-optimization of fractional integrator and fuzzy PID (heterogeneous rock formations): Adaptive design of fractional integrator for rock formations: In alternating layers of hard and soft rock (such as interbedded sandstone and mudstone), the angular velocity fluctuations of the rotating body exhibit non-integer order characteristics (coexistence of high-frequency oscillations and low-frequency drift). This embodiment uses a Riemann-Liouville fractional integrator (order α=0.6) for dynamic suppression:

[0118] Fractional integral kernel function: ;in, This represents a 0.6th order fractional integral operator. For periodic fluctuation component functions, This represents the value of the Gamma function at 0.6. Let be the integral variable and t be the current time. This formula is based on the Riemann-Liouville definition and uses a power-law kernel function to perform fractional integration on the periodic fluctuation components, generating a control signal with memory characteristics.

[0119] The discretization implementation uses the Grünwald-Letnikov approximation, with a calculation step size h = 1 ms:

[0120] ;in, To discretize the step size, For the summation index, The number of discrete points, For the Gamma function, These are the periodic fluctuation components at historical moments. This algorithm can effectively filter out high-frequency noise (5-50Hz) at rock strata interfaces while retaining low-frequency trend signals (0.1-0.5Hz).

[0121] Dynamic parameter tuning of a fuzzy PID controller:

[0122] When the drill bit passes through a hard interlayer, the angle deviation Δ θ It may exhibit nonlinear changes (e.g., a sudden change from 0.1° to 0.5°). Dynamic weight allocation: fractional integral signal. ufrac With fuzzy PID signal uPID Through adaptive weight fusion:

[0123] uout = λ · ufrac +(1- λ )· uPID ( λ ∈[0.2,0.8]); where, u out This is the final output control signal;

[0124] The weighting coefficient λ is adjusted according to the error convergence rate:

[0125] ;in, d is the arctangent function, d is the differential operator, and dt is the time differential element.

[0126] In drilling through hard rock formations, this algorithm can reduce angular overshoot by 62% (from 0.5° to 0.19°) and shorten convergence time to within 5 seconds.

[0127] Nanoscale Compensation Implementation of Piezoelectric Ceramic-Lever Mechanism (High Temperature and High Pressure Conditions): Piezoelectric Ceramic Drive and Thermal Compensation Design: In the High Temperature Environment at the Bottom of the Well (150-200℃), the Inverse Piezoelectric Coefficient of Piezoelectric Ceramics d The value 33 will drift with temperature (-0.5% / ℃). This embodiment maintains displacement accuracy through a temperature-voltage compensation algorithm:

[0128] Thermal drift compensation formula:

[0129] Real-time acquisition of piezoelectric ceramic temperature T (accuracy ±0.1℃) and correction of driving voltage: ; where d 33 Where is the piezoelectric constant, and T is the real-time temperature; for example, when T At 150℃, d 33 = 8 - 0.04 × 125 = 3 nm / V, the driving voltage needs to be increased to... Vpzt =10 V ×(8 / 3)≈26.7 V Ensure the output displacement Δ xpzt =80nm remains unchanged.

[0130] Nonlinear error suppression of lever mechanism:

[0131] Under high-load conditions in hard rock formations, the lever fulcrum may experience micron-level displacement due to stress deformation. This embodiment compensates for this displacement using closed-loop feedback from a laser displacement sensor and a dynamic fulcrum adjustment algorithm: fulcrum position correction model:

[0132] Let the total length of the lever be... L =500mm, initial position of the fulcrum L 1: L 2=1:5. When a pivot offset Δ is detected. L When the value is 0.1mm, the position is adjusted using a servo motor: L 1′= L 1+Δ L cos θ ( θ The magnification ratio (for lever inclination angle) is corrected to: Wherein, M is a lever amplification ratio, L1 is a power arm length, L2 is a resistance arm length, ΔL is a fulcrum offset, θ is a lever angle, and cosθ is a cosine function.

[0133] The algorithm can suppress the lever nonlinear error within 0.05 μm.

[0134] Transmission chain mapping of nanoscale displacement: axial displacement Δ of piezoelectric ceramic output xpzt After three-stage lever amplification, the displacement compensation amount is converted into a gear gap compensation amount through an elastic coupling wedge-shaped tooth groove: geometric mapping relationship: assuming that the coupling tooth groove inclination angle is α = 15°, the compensation displacement Δ xgear is related to the gear gap δ . δ = Δ xgear · tan α = 32 μm· tan 15° ≈ 8.6 μm, which can directly offset the maximum gap error (± 10 μm) caused by sudden change of drilling pressure in hard rock drilling.

[0135] For the method steps disclosed in the above embodiments, the method steps are described as a series of action combinations for the purpose of simple description, but those skilled in the art should know that the embodiments of the present application are not limited by the action sequence described, because according to the embodiments of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0136] As shown in Figure 2 , the present application also provides an angular velocity control system, comprising:

[0137] A dynamic compensation voltage signal generation module 201 is configured to collect motor current signals in real time, extract current harmonic components and calculate current harmonic energy values based on frequency spectrum analysis, and generate a dynamic compensation voltage signal through proportional integral adjustment when the current harmonic energy value is greater than a preset energy threshold value;

[0138] A deformation amount generation module 202 is configured to decompose the dynamic compensation voltage signal into an axial driving component and a circumferential driving component, generate corresponding polarization voltage waveforms and drive a piezoelectric ceramic actuator to produce superimposed axial deformation and circumferential shear deformation;

[0139] A deformation amount correction module 203 is configured to input the axial deformation and circumferential shear deformation into a multi-stage lever amplification process to convert into a displacement compensation amount, dynamically adjust the lever fulcrum position based on displacement monitoring data, and inject a phase offset amount to correct the deformation direction of the piezoelectric ceramic when a displacement compensation direction deviation is monitored;

[0140] The differential cooperative control instruction generation module 204 is configured to collect the rotation angle deviation value of the rotating body and the displacement compensation amount feedback data in real time, perform fractional order integral operation on the separated periodic fluctuation component, generate a fractional order integral control signal, simultaneously adopt fuzzy proportional integral derivative adjustment on the trend deviation component to generate an angle correction signal, and generate a differential cooperative control instruction by proportionally fusing the fractional order integral control signal and the angle correction signal according to a dynamic weight.

[0141] The displacement compensation logic updating module 205 is configured to adjust the motor speed and the rotation angle of the rotating body according to the differential cooperative control instruction, verify that the rotation angle deviation of the rotating body converges to a preset deviation range, and update the displacement compensation amount generation logic based on the convergence result feedback.

[0142] It is worth noting that, although only some basic function modules are disclosed in the embodiments of the present application, it does not mean that the composition of the system is limited to only the above basic function modules. On the contrary, the meaning expressed in the embodiments is that one or more function modules can be added to the above basic function modules by those skilled in the art in combination with existing technology to form infinite embodiments or technical solutions. That is, the system is open rather than closed, and the protection scope of the present application claims cannot be limited to the disclosed basic function modules. At the same time, for the convenience of description, the above device is described as various units and modules. Of course, the functions of the units and modules can be realized in the same software and / or hardware in the implementation of the present application.

[0143] As shown in Figure 3 , the present application also provides an electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of an angular velocity control method.

[0144] Figure 3 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. As shown in the structure of Figure 3 , the electronic device provided in the embodiment of the present application comprises one or more processors 710 and a memory 720; the processor 710 in the electronic device can be one or more, Figure 3 , taking a processor 710 as an example; the memory 720 is used to store one or more programs; the one or more programs are executed by the one or more processors 710, so that the one or more processors 710 implement an angular velocity control method according to any one of the embodiments of the present application.

[0145] The electronic device can further include an input device 730 and an output device 740.

[0146] The processor 710, the memory 720, the input device 730, and the output device 740 in the electronic device can be connected through a bus or other means, Figure 3 The bus connection is taken as an example.

[0147] The memory 720 in the electronic device, as a kind of computer readable storage medium, can be used to store one or more programs, which can be software programs, computer executable programs and modules, such as program instructions / modules corresponding to the angular velocity control method provided in the embodiments of the present application. The processor 710 executes the software programs, instructions and modules stored in the memory 720, thereby performing various functional applications and data processing of the electronic device, i.e. implementing the angular velocity control method in the above method embodiments.

[0148] The memory 720 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; the data storage area can store data created according to the use of the electronic device, etc. In addition, the memory 720 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some examples, the memory 720 can further include a memory remotely arranged relative to the processor 710, which can be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0149] The input device 730 can be used to receive input digital or character information, and generate key signal input related to user settings and function control of the electronic device. The output device 740 can include a display device such as a display screen.

[0150] The present application also provides a computer readable storage medium storing a computer program executable by an electronic device, which causes the electronic device to perform the steps of an angular velocity control method when the computer program is run on the electronic device.

[0151] In particular, a computer storage medium of embodiments of the present application can employ any combination of one or more computer readable medium or media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, the computer readable storage medium can be any tangible medium that contains or stores a program used by an instruction execution system, apparatus, or device to function or to be combined with the instruction execution system, apparatus, or device.

[0152] Finally, it should be noted that the above embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the present application; even though the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced equivalently; and these modifications or replacements do not cause the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of angular velocity control, characterized by, The method comprises the following steps: Real-time acquisition of motor current signal, extraction of current harmonic component based on spectral analysis and calculation of current harmonic energy value, generation of dynamic compensation voltage signal through proportional integral adjustment when the current harmonic energy value is greater than the preset energy threshold; The dynamic compensation voltage signal is decomposed into axial driving component and circumferential driving component, corresponding polarization voltage waveform is generated and piezoelectric ceramic actuator is driven to produce superimposed axial deformation variable and circumferential shear deformation variable; The axial deformation variable and the circumferential shear deformation variable are input into a multi-stage lever amplification process to convert them into displacement compensation, and the lever fulcrum position is dynamically adjusted based on displacement monitoring data. When the displacement compensation direction deviation is monitored, a phase offset is injected to correct the deformation direction of the piezoelectric ceramic; Real-time acquisition of rotary body rotation angle deviation value and displacement compensation feedback data, fractional order integral operation is performed on the separated periodic fluctuation component to generate fractional order integral control signal, fuzzy proportional integral differential adjustment is adopted for the trend deviation component to generate angle correction signal, and the fractional order integral control signal and the angle correction signal are proportionally fused according to the dynamic weight to generate differential speed cooperative control instruction; According to the differential speed cooperative control instruction, the motor speed and the rotary body rotation angle are adjusted, the rotary body rotation angle deviation convergence to the preset deviation range is verified, and the displacement compensation generation logic is updated based on the convergence result.

2. A method of angular velocity control according to claim 1, characterized in that Real-time acquisition of motor current signal, extraction of current harmonic component based on spectral analysis and calculation of current harmonic energy value, generation of dynamic compensation voltage signal through proportional integral adjustment when the current harmonic energy value is greater than the preset energy threshold, further comprising: Acquisition of motor three-phase current signal and extraction of specified harmonic component through fast Fourier transform; The current harmonic energy value is calculated by using the sliding window root mean square algorithm; When the current harmonic energy value exceeds the preset energy threshold, the dynamic compensation mechanism is triggered, and a continuous dynamic compensation voltage signal is generated through linear combination of proportional gain and integral coefficient; The dynamic compensation voltage signal is subjected to sliding window smoothing processing to suppress random noise interference.

3. The angular velocity control method according to claim 1, characterized by, The dynamic compensation voltage signal is decomposed into axial driving component and circumferential driving component, corresponding polarization voltage waveform is generated and piezoelectric ceramic actuator is driven to produce superimposed axial deformation variable and circumferential shear deformation variable, further comprising: The axial driving component and the circumferential driving component of the dynamic compensation voltage signal are separated by using wavelet packet decomposition algorithm; The axial driving component is controlled by using proportional integral differential control to generate a stepped polarization voltage waveform, and the circumferential driving component is controlled by using phase-locked loop synchronization to generate a sinusoidal modulation waveform. The polarization voltage waveform composed of the stepped polarization voltage waveform and the sinusoidal modulation waveform is input into the piezoelectric ceramic actuator; The piezoelectric ceramic unit is driven to produce axial displacement vector superposition deformation and circumferential tangential shear deformation, and the superposition effect of the axial displacement vector and the circumferential tangential shear deformation is enhanced by pulse polarization method.

4. The angular velocity control method according to claim 1, characterized by, The axial deformation variable and the circumferential shear deformation variable are input into a multi-stage lever amplification process to convert them into displacement compensation, and the lever fulcrum position is dynamically adjusted based on displacement monitoring data. When the displacement compensation direction deviation is monitored, a phase offset is injected to correct the deformation direction of the piezoelectric ceramic, further comprising: The axial deformation variable and the circumferential shear deformation variable are converted into displacement compensation by a three-stage lever amplification process at a preset ratio to generate displacement compensation; The lever fulcrum position is dynamically offset based on the differential ratio change; When the direction deviation of the displacement compensation monitored by the monitoring data exceeds the set deviation threshold, the direction deviation feature is extracted, the phase offset is calculated based on the product relationship between the direction deviation feature and the lever fulcrum position offset, and the phase offset is injected into the polarized voltage waveform to correct the piezoelectric ceramic deformation direction.

5. The angular velocity control method according to claim 1, wherein Real-time acquisition of rotary body rotation angle deviation value and displacement compensation feedback data, fractional order integral operation is performed on the separated periodic fluctuation component, fractional order integral control signal is generated, at the same time, fuzzy proportional integral derivative adjustment is adopted for the trend offset component to generate angle correction signal, dynamic weight allocation proportional fusion of fractional order integral control signal and angle correction signal is carried out to generate differential speed cooperative control instruction, further comprising: Separate the periodic fluctuation component and the trend offset component of the rotary body rotation angle deviation value; Perform specified order integral operation on the periodic fluctuation component to generate fractional order integral control signal; Trend offset component is processed based on fuzzy proportional integral derivative control to generate angle correction signal; The fractional order integral control signal and the angle correction signal are proportionally fused according to the dynamic weight allocation to generate the differential speed cooperative control instruction.

6. The angular velocity control method according to claim 1, wherein According to the differential speed cooperative control instruction, the motor speed and the rotary body rotation angle are adjusted, the convergence of the rotary body rotation angle deviation to the preset deviation range is verified, and the displacement compensation generation logic is updated based on the convergence result, further comprising: Based on the differential speed cooperative control instruction, the motor speed is dynamically corrected through frequency conversion adjustment process, and the rotary body rotation angle is adjusted through the angle correction signal; The stability criterion is used to verify the exponential convergence process of the rotary body rotation angle deviation; When the rotary body rotation angle deviation value is greater than the preset deviation range, the angle deviation is corrected, and the displacement compensation generation logic is updated combined with the temperature parameter and the convergence result.

7. A method of angular velocity control according to claim 6, wherein After updating the displacement compensation generation logic based on the convergence result, the method further comprises: According to the real-time rotary body rotation angle deviation value, the current harmonic inverse weight coefficient is dynamically adjusted; The output amplitude range of the differential speed cooperative control instruction is constrained based on the adaptive saturation process.

8. An angular velocity control system characterized by comprising: It comprises: A dynamic compensation voltage signal generation module is configured to acquire motor current signals in real time, extract current harmonic components based on frequency spectrum analysis and calculate current harmonic energy values, and generate dynamic compensation voltage signals through proportional integral adjustment when the current harmonic energy values are greater than a preset energy threshold; The deformation variable generation module is configured to decompose the dynamic compensation voltage signal into axial driving component and circumferential driving component, generate corresponding polarized voltage waveform and drive piezoelectric ceramic actuator to produce superimposed axial deformation variable and circumferential shear deformation variable; The deformation variable correction module is configured to input the axial deformation variable and the circumferential shear deformation variable into a multi-stage lever amplification process to convert them into displacement compensation, dynamically adjust the lever fulcrum position based on displacement monitoring data, and inject phase offset to correct the deformation direction of the piezoelectric ceramic when the displacement compensation direction deviation is monitored. The differential cooperative control instruction generation module is configured to collect the rotation angle deviation value of the rotary body and displacement compensation feedback data in real time, perform fractional order integral operation on the separated periodic fluctuation component, generate a fractional order integral control signal, simultaneously adopt fuzzy proportional integral derivative adjustment on the trend deviation component to generate an angle correction signal, and fuse the fractional order integral control signal and the angle correction signal according to a dynamic weight distribution ratio to generate a differential cooperative control instruction. The displacement compensation logic updating module is configured to adjust the motor rotating speed and the rotary angle of the rotary body according to the differential cooperative control instruction, verify that the rotary angle deviation of the rotary body converges to a preset deviation range, and update the displacement compensation amount generation logic based on the convergence result feedback.

9. An electronic device, comprising: The device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method in any one of claims 1 to 7. The device stores a computer program executable by the electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the method in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, ​

Images