While-drilling multi-parameter and sound-vibration response synchronous impact rock drilling test device and method thereof

Abstract

The invention discloses a while-drilling multi-parameter and sound-vibration response synchronous impact rock drilling test device and a method thereof, belongs to the technical field of rock drilling engineering tests, and solves the problem that an existing test device is difficult to truly and independently simulate a cooperative relationship of three actions of impact, propulsion and rotation in an actual rock drilling process. A multi-stage mechanical filtering chain of impact source-elastic energy storage-damping dissipation-inertia isolation-low-frequency servo is formed, high-frequency impact energy is effectively limited in a drill rod and rock sample area, impact disturbance is prevented from being transmitted into a propulsion servo system along a rigid path, and therefore effective decoupling of impact loading and propulsion loading is achieved on the structural level. Meanwhile, the rotary loading unit realizes physical decoupling with axial impact and propulsion load through an independent hollow rotating shaft structure, and the axial impact load and the propulsion load act on the drill rod and the rock sample through an independent axial force transmission path instead of being transmitted through a rotary transmission path.

Description

Technical Field

[0001] This invention relates to the field of rock drilling engineering testing technology, specifically to an impact rock drilling testing device and method with synchronized multi-parameter and acoustic-vibration response during drilling. Background Technology

[0002] Percussion drilling, one of the most common drilling methods in drill-and-blast tunnels, underground chambers, and mining engineering, works by using the synergistic effect of high-frequency impact loads, rotary cutting, and axial propulsion to break up and remove slag from the rock mass. During percussion drilling, the drilling system not only withstands periodic impact loads and continuous propulsion and rotational loads, but also experiences dynamic responses such as acoustic waves and vibrations generated by rock mass failure and energy release. These multi-source response characteristics are closely related to rock mass strength, structural integrity, fracture development, and fragmentation state, and are important information carriers for revealing the mechanism of percussion drilling and inverting rock mass properties.

[0003] As tunnels and underground engineering develop towards deeper burial, larger cross-sections, and more complex geological conditions, intelligent sensing and parameter optimization in percussion drilling have gradually become research hotspots. Identifying rock mass properties and assessing fracture states based on drilling parameters and dynamic response signals has become an important research direction in rock drilling engineering. To achieve these goals, extensive research has been conducted both domestically and internationally on the mechanism of percussion drilling, drilling parameter control, and the utilization of drilling information.

[0004] In terms of research methods, current experimental studies on the impact drilling process mainly include two approaches: on-site engineering monitoring and indoor physical experiments. On-site engineering monitoring can obtain drilling parameters and some dynamic response information under real working conditions. However, due to factors such as complex geological conditions, uncontrollable construction conditions, and variable equipment operating status, the impact frequency, impact energy, propulsion conditions, and rotation parameters are highly coupled, making it difficult to achieve independent control of a single parameter. The repeatability of experimental conditions is also poor, which is not conducive to the systematic analysis of the interaction law of various factors in the impact drilling process.

[0005] In contrast, indoor physical testing offers advantages such as controllable environment, adjustable parameters, and high repeatability, and is gradually becoming an important method for studying the mechanism of impact rock drilling. Existing indoor impact rock drilling test equipment can be mainly categorized as follows: The first type of device focuses on a single action, such as applying axial impact loads to rock samples using drop hammers, impact hammers, or electromagnetic impact devices, or conducting static or quasi-static drilling tests using rotating drill bits. While these devices are relatively simple in structure, they cannot simulate the synergistic effects of impact, rotation, and propulsion during actual impact drilling, resulting in significant discrepancies between their test results and actual engineering practices.

[0006] The second type of device can achieve rotary drilling and axial propulsion loading under indoor conditions, controlling the propulsion displacement or speed through a servo system and simultaneously acquiring drilling parameters such as torque and rotational speed. However, this type of device usually does not have the capability for real high-frequency impact loading, or only approximates the impact effect through low-frequency periodic loading, making it difficult to reflect the transient impact characteristics of a single impact event on the rock mass failure process.

[0007] To address the aforementioned issues, the third type of device introduces an impact loading module based on rotation and propulsion, attempting to simulate the impact drilling process under indoor conditions. However, in existing solutions, the impact loading method is often directly coupled with the propulsion system or rotary transmission system at the structural or control level, with the impact load often transmitted through the propulsion servo actuator or rotary transmission path. This coupling method easily causes drastic fluctuations in propulsion force, rotational speed, and torque during impact loading, leading to instability in the control system, decreased parameter control accuracy, and even adverse effects on the safety and reliability of the experimental device.

[0008] In summary, under confined indoor space and testing conditions, existing testing devices cannot effectively separate impact loading from axial propulsion and rotary drilling at the structural level. Impact loads are often transmitted to the propulsion and rotary actuators along the same mechanical path, resulting in the coupling of different loading forms. It is difficult to realistically and independently simulate the synergistic relationship between impact, propulsion and rotation in the actual rock drilling process, thus affecting the authenticity and repeatability of the test results. Summary of the Invention

[0009] To address the aforementioned shortcomings of existing technologies, this invention provides an impact drilling test device and method with synchronized multi-parameter drilling and acoustic-vibration response. This solves the problem that existing test devices cannot realistically and independently simulate the synergistic relationship between impact, propulsion, and rotation in the actual drilling process.

[0010] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows: On the one hand, a drilling test device with synchronized multi-parameter drilling and acoustic-vibration response is provided, comprising: Filtering components are used to absorb and isolate axial impact loads and propulsion loads; A servo actuator is fixedly connected to the top of the filter assembly and is used to drive the filter assembly to move up and down. An impact servo loading unit is fixedly connected to the bottom of the filter assembly and is used to provide impact loads; The rotary loading unit includes a motor located at the bottom of the impact servo loading unit and a hollow rotary shaft connected to the motor. The hollow rotary shaft is connected to the drill rod via a sliding spline. The sliding spline is used to decouple the rotational motion transmission path of the drill rod from the transmission paths of the impact load and the propulsion load. The drill rod is equipped with a drill bit for breaking the rock sample located at its bottom. Rock sample holder, located at the bottom of the drill rod and used to secure the rock sample; The monitoring component includes a vibration sensor assembly for acquiring vibration signals generated by the drill pipe and a sound pressure sensor for acquiring sound pressure signals generated by the rock sample during impact crushing. The vibration sensor assembly, sound pressure sensor, propulsion servo actuator, impact servo loading unit, and rotary loading unit are all connected to a host computer for signal transmission. The host computer is used to control and receive drilling multi-parameters from the rotary loading unit.

[0011] Furthermore, the filtering component includes a propulsion loading mass block, a hydraulic buffer mechanism, and an elastic support component that are fixedly connected to each other from top to bottom, and the propulsion loading mass block is fixedly connected to the propulsion servo execution unit.

[0012] Furthermore, the impact rock drilling test device also includes a support structure. The main frame of the support structure is equipped with, from top to bottom, a propulsion servo actuator, a propulsion loading mass block, a hydraulic buffer mechanism, an elastic support component, a rotary loading unit, and a rock sample fixing component.

[0013] On the other hand, a control method for an impact drilling test device with synchronized multi-parameter drilling and acoustic / vibration response is provided, including the following steps: S100. Based on the preset decoupling capability evaluation index, design the structural parameters of the impact rock drilling test device, and complete the assembly of the impact rock drilling test device based on the structural parameters. S200: Initialize and set control parameters for the propulsion servo actuator, rotary loading unit and impact servo loading unit respectively; S300, start the propulsion servo execution unit and rotary loading unit to bring the drill bit and rock into the pre-load condition; S400, Start the impact servo loading unit to periodically apply axial impact load to the drill bit; The S500 identifies each impact event during the impact load loading process and uses the impact event as a time anchor point to synchronously collect a multi-source response dataset including sound pressure, vibration, and drilling parameters.

[0014] Furthermore, the design method for structural parameters is as follows: S110. Determine structural parameters; S120. Based on the proposed structural parameters, calculate the impact equivalent natural circular frequency of the impact servo loading unit. And the equivalent natural circular frequency of the propulsion rotary servo of the propulsion servo execution unit and the rotary loading unit. and calculate and equivalent frequency ratio ; S130, Judgment Is it greater than or equal to the preset frequency ratio threshold? If yes, proceed to S140; otherwise, return to step S110 to redefine the structural parameters. S140. Calculate the decoupling capability evaluation index of the impact rock drilling test device, and optimize the equivalent damping ratio of the propulsion loading mass block with the objective function of maximizing the decoupling capability evaluation index.

[0015] Furthermore, the equivalent natural circular frequency of the impact is calculated. , Promoting the equivalent natural circular frequency of rotary servo and equivalent frequency ratio The expressions are as follows: ; ; ; in, The equivalent stiffness of the elastic support; To improve the equivalent mass of the loaded mass block; The total mass of the structure in the impact drilling test device that participates in impact vibration together with the elastic support; To improve the equivalent stiffness of the servo execution unit and the rotary loading unit; To improve the equivalent mass of all moving parts in the servo actuator and rotary loading unit.

[0016] Furthermore, the expression for calculating the decoupling capability evaluation index is as follows: ; in, As an evaluation index for decoupling capability; This is the amplitude attenuation coefficient; The frequency of the impact load; To improve the equivalent damping ratio of the loaded mass block.

[0017] Furthermore, when the impact loading unit generates an impact event, it inputs the feedback signals from the propulsion servo unit and the rotation loading unit into the adaptive notch filter. The adaptive notch filter filters the impact disturbance signal generated by the impact event and inputs the filtered signal into the host computer, so that the host computer maintains the servo control of the propulsion servo unit and the rotation loading unit.

[0018] Furthermore, the filtering expression of the adaptive notch filter is as follows: ; in, This is the output signal of the adaptive notch filter; The transfer function of the adaptive notch filter; The feedback signal for the input adaptive notch filter; For complex frequency domain variables; and These are the optimized damping coefficients that determine the notch depth and the notch bandwidth, respectively.

[0019] Furthermore, the method for collecting multi-source response datasets is as follows: S510. Obtain the physical trigger signal generated by the impact servo loading unit when a single impact event occurs, and use it as the deterministic time anchor point of that impact event. S520. Perform time delay compensation on the physical trigger signal to compensate for the propagation delay of the shock wave in the drill pipe and the group delay of the electrical signal of the monitoring component. S530: Taking the time point after time delay compensation as the center, and extending forward and backward by a fixed length of synchronous acquisition time window, the host computer acquires multi-source response datasets within each synchronous acquisition time window.

[0020] Compared with the prior art, the present invention has the following significant advantages: 1. A multi-stage mechanical filtering and isolation chain was constructed from top to bottom in the structural design. From top to bottom, modules such as the propulsion servo execution unit, filtering components, impact servo loading unit, and rotary loading unit were sequentially set up, achieving physical decoupling of propulsion loading, impact loading, and rotary loading. By absorbing and isolating axial impact loads through the filtering components, the influence of high-frequency disturbances on the host computer servo control loop was reduced, ensuring continuous and stable operation of propulsion and rotary loading. This solved the problem of high coupling between impact, propulsion, and rotary parameters in existing technologies, and prevented the impact load from being directly transmitted to the propulsion and rotary servo systems, thus significantly improving the stability and repeatability of the experiment. The integration of monitoring components enables the acquisition of multi-source response datasets, including sound pressure, vibration, and drilling parameters, providing a highly consistent data foundation for the study of impact drilling mechanisms.

[0021] 2. The propulsion loading mass provides an inertial isolation barrier. When the impact load generates transient high acceleration input, the propulsion loading mass will produce a significant inertial reaction force, thus forming a natural barrier against high-frequency acceleration response, making it difficult for the impact load to be transmitted upward to the propulsion servo actuator. In contrast, during low-frequency propulsion loading, the inertial effect of the propulsion loading mass can be ignored, and its displacement response is consistent with the propulsion servo command, so it will not affect the stable control of propulsion displacement or propulsion speed. By introducing the propulsion loading mass, a clear separation is formed between the impact load and the propulsion servo in the frequency domain. A large number of high-frequency impact loads are suppressed by the inertial isolation unit, and only the low-frequency averaging effect is reflected in the propulsion servo system, thereby preventing high-frequency impact disturbances from directly entering the propulsion servo control loop. The hydraulic buffer mechanism dissipates the high-frequency vibration and residual energy generated in the impact event, suppressing impact reflection and multiple rebounds, thereby avoiding the formation of high-frequency resonance inside the structure. The elastic support realizes the short-term storage and release of impact energy in the impact event, thus transforming the impact load from a peak-type input into a repeatable and controllable constrained waveform.

[0022] 3. The filtering components form a multi-stage mechanical filtering chain of "impact source - elastic energy storage - damping dissipation - inertial isolation - low-frequency servo," effectively confining high-frequency impact energy within the drill pipe and rock sample area. This prevents impact disturbances from being transmitted to the propulsion servo system along a rigid path, thus achieving effective decoupling of impact loading and propulsion loading at the structural level. Simultaneously, the rotary loading unit achieves physical decoupling from axial impact and propulsion loads through an independent hollow rotary shaft structure. The hollow rotary shaft is connected to the drill pipe via a sliding spline and is used only to transmit torque without bearing axial impact loads. The drill pipe is allowed to slide freely axially within the hollow rotary shaft. Axial impact loads and propulsion loads act on the drill pipe and rock sample through independent axial force transmission paths, without being transmitted via the rotary transmission system. Therefore, the rotary loading system maintains a stable rotational state throughout the impact loading process, unaffected by axial impact disturbances, thus achieving complete decoupling between rotational motion and impact / propulsion loading at the structural level. Impact loading, propulsion loading, and rotation loading are separated and coordinated based on mechanical paths and frequency characteristics during the same test, providing the necessary structural and dynamic foundation for subsequent impact event identification, event-level synchronous acquisition, and stable and repeatable testing. Compared with the problems in existing technologies where impact loads are coupled into the propulsion or rotation system through rigid paths, leading to amplified parameter fluctuations and control instability, this invention can maintain continuous and stable operation of propulsion and rotation loading under the presence of impact loading, significantly improving the system stability and test repeatability of indoor impact rock drilling tests.

[0023] 4. By introducing a quantitative design process using equivalent frequency ratio and decoupling capability evaluation indicators, the structural parameters of the device (such as the mass of the propulsion loading mass block, the damping of the hydraulic buffer mechanism, and the stiffness of the elastic support components) are no longer selected based on experience, but are designed based on a clear dynamic model and optimization objectives. This ensures that the device has optimal impact isolation performance before being put into testing, guaranteeing the decoupling effect from the source. Then, through standardized testing procedures, this structural advantage is transformed into a stable and controllable testing process, ultimately achieving the goal of high-precision synchronous acquisition of multi-source response data at the scale of a single impact event.

[0024] 5. This invention employs a time-scale separation principle at the control level to decouple the impact, propulsion, and rotation servo systems. During an impact event, high-frequency impact interference in the propulsion and rotation servo loops is shielded or filtered out, retaining only the low-frequency average component to maintain stable system operation. This prevents impact parameters from being used as continuous control variables in servo feedback calculations. Compared to existing control methods where impact, propulsion, and rotation parameters are highly coupled and mutually influential, this invention enables independent setting and adjustment of parameters such as impact frequency, impact driving pressure, propulsion speed (or displacement), and rotation speed. This provides reliable and controllable experimental conditions for analyzing the impact of single parameter changes on the rock drilling process.

[0025] 6. This invention proposes using a single impact event as the basic unit for multi-source data synchronization, constructing an impact event-level synchronous acquisition mechanism for acoustic-vibration-drilling parameters. By acquiring the physical trigger signal generated by the impact servo loading unit at each actual impact, this trigger signal is used as a deterministic time anchor point, with fixed time windows set before and after it. Sensor components are used to acquire acoustic pressure and vibration signals, and the host computer receives drilling parameters such as the advancing displacement, advancing speed, rotational speed, torque, and impact driving pressure of the rotating loading unit. This comprehensively records the loading state before impact, the transient impact process, and the evolution of the structure and drilling response after impact, ensuring that the acquired data not only reflects the transient characteristics of the impact but also reveals the continuous impact of the impact on the drilling process. This event-based experimental organization and data acquisition method is beneficial for in-depth analysis of impact energy transfer, rock mass failure mechanisms, and dynamic response evolution during impact drilling. Compared with the existing technology that generally uses a unified sampling clock for continuous recording and makes it difficult to correspond acoustic and vibration signals one-to-one with specific impact processes, the present invention can achieve precise alignment of multi-source signals on a single impact scale, thereby obtaining multi-parameter correlation data with greater physical significance and engineering value.

[0026] 7. Because this invention adopts modular and event-driven technical concepts in its structural design, control architecture, and data synchronization mechanism, its overall technical solution has good scalability and versatility. Without changing the core control logic and data synchronization method, different forms of impact loading, propulsion, rotation, or sensor types can be flexibly introduced, making it suitable for various rock conditions, drilling modes, and testing needs, and possessing strong engineering adaptability. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the impact drilling test device that synchronizes multiple parameters and acoustic and vibration responses during drilling.

[0028] Figure 2 This is a flowchart of the sample preparation method applied to an impact rock drilling test apparatus.

[0029] The components include: 1. Support structure; 2. Propulsion servo actuator; 3. Propulsion loading mass block; 4. Hydraulic buffer mechanism; 5. Elastic support component; 6. Impact servo loading unit; 7. Rotary loading unit; 8. Drill rod; 9. Rock sample fixing component; 10. Monitoring component. Detailed Implementation

[0030] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0031] To address the problems in existing indoor impact drilling tests, such as the high coupling between impact loading, propulsion loading, and rotational motion, where high-frequency impact disturbances directly enter the propulsion or rotational servo control loops, leading to amplified control parameter fluctuations, decreased system stability, poor test repeatability, and difficulty in establishing a clear correspondence between drilling parameters and acoustic and vibration signals at the single impact scale, this embodiment proposes an indoor impact drilling test technology based on multi-channel servo decoupling control of impact-propulsion-rotation and a multi-parameter synchronization mechanism at the impact event level. This embodiment does not improve test results by simply adding buffer structures or increasing the number of sensors. Instead, it starts from the fundamental fact that different physical processes in impact drilling differ inherently in time scale, energy form, and mechanical transmission path. It systematically reconstructs the device structure, mechanical transmission links, and control and data acquisition logic to achieve stable simulation of the entire impact drilling process under indoor conditions and to obtain repeatable and interpretable information from multiple physical responses.

[0032] The impact drilling process can be decomposed into three types of physical processes with significantly different time scales and mechanical characteristics: the first is a high-frequency axial impact loading process on the order of milliseconds, characterized by large load amplitudes and extremely short durations, with the system response mainly consisting of inertia and local contact deformation; the second is an axial propulsion and drilling process on the order of seconds and even lower frequencies, which is essentially a quasi-static or low-frequency dynamic process, mainly manifested as continuous loading of displacement or velocity; and the third is an approximately continuous and stable rotary cutting process, characterized by constant or slowly varying rotational speed inputs and torque responses that vary with working conditions. If these three types of processes are not effectively distinguished in the structural and control paths, the high-frequency impact load will be directly coupled into the propulsion and rotary servo systems through rigid connections, causing uncontrollable high-frequency disturbance terms in the control loop, resulting in servo system oscillations, parameter instability, and severe aliasing of multi-source signals in both time and physical senses.

[0033] Based on the above understanding, this embodiment constructs a top-down multi-stage mechanical filtering and isolation chain in its structural design, and uses this as the physical basis for the design of control and data synchronization strategies. It provides an impact drilling test device with synchronized multi-parameter and acoustic / vibration response during drilling. (Refer to...) Figure 1 The impact rock drilling test device includes a support structure 1 and a monitoring component 10. The support structure 1 has a frame body containing, from top to bottom, a propulsion servo execution unit 2, a filtering component, an impact servo loading unit 6, a rotation loading unit 7, and a rock sample fixing component 9.

[0034] Specifically, support structure 1 is an integral metal frame that grounds and surrounds the entire device. Its equivalent stiffness and mass are significantly higher than the equivalent excitation requirements within the system's operating frequency range, and it can be approximated as a fixed boundary condition within the dynamic frequency band of interest. In dynamic modeling, the displacement response of this part is negligible compared to impact and propulsion deformation, thus providing a stable mechanical reference benchmark for the propulsion servo system. This avoids the support flexibility from participating in the system's low-frequency or mid-frequency vibrations, thereby ensuring the effectiveness and stability of the decoupled control of propulsion loading and impact loading.

[0035] Specifically, the propulsion servo actuator 2 is positioned below the rigid support structure 1. Its function is limited to closed-loop control of low-frequency axial propulsion displacement or propulsion speed, and it does not directly undertake the task of responding to impact loads. The control quantity output by the propulsion servo actuator 2 is circumferential displacement. or propulsion speed Its equivalent dynamic behavior expression in the axial low-frequency operating range is: ; ; in, To promote the axial displacement of the output end of servo actuator 2, and They represent The first and second time derivatives, i.e., propulsion velocity and propulsion acceleration; , and These are the equivalent mass, equivalent damping, and equivalent stiffness of the propulsion servo actuator 2 in the axial direction, respectively. To improve the equivalent displacement response of the servo axis in servo execution unit 2, For complex frequency domain variables; To increase the equivalent driving force output by the controller in servo execution unit 2; To limit the equivalent control bandwidth or dominant natural frequency of the propulsion servo actuator 2 in the axial direction, this model is constrained to be valid only within the low-frequency propulsion operating range. The aforementioned dynamic model describes the equivalent dynamic behavior of the propulsion servo actuator 2 within the low-frequency operating range. By limiting the control bandwidth of the propulsion servo system to a significantly lower range than the dominant frequency of the impact loading, high-frequency responses within the impact timescale can be avoided from participating in servo feedback calculations, retaining only the low-frequency propulsion trend, thus providing a basis for achieving timescale separation. The propulsion servo actuator 2 can be an electric servo cylinder, integrating a servo motor, a high-precision ball screw, or a planetary ball screw mechanism.

[0036] Specifically, the filtering component is located below the propulsion servo actuator 2, and it is used to absorb and isolate axial impact loads and propulsion loads. The filtering component includes, from top to bottom, a propulsion loading mass block 3, a hydraulic buffer mechanism 4, and an elastic support 5, which are fixedly connected to each other. The propulsion loading mass block 3 serves as an independent inertial isolation unit, and its mass is... It is rigidly connected to the output end of the propulsion servo actuator 2, and below it is connected to the impact servo loading unit 6 via the hydraulic buffer mechanism 4 and the elastic support 5. Under high-frequency transient conditions where the impact duration is extremely short and the displacement and velocity responses are not yet fully developed, the acceleration response dominates, and the dynamic response of the mass block is dominated by the inertial term. According to Newton's second law, the force on the propulsion loading mass block 3 can be approximately expressed as: in, To ensure that the loaded mass block 3 is subjected to force; To propel the displacement of the loaded mass block 3; for The acceleration term, under high-frequency impact conditions, is mainly dominated by the inertial response of the propulsion loading mass block 3. When the impact load generates transient high acceleration input, the propulsion loading mass block 3 will generate a significant inertial reaction force, thus forming a natural barrier to the high-frequency acceleration response, making it difficult for the impact load to be transmitted upward to the propulsion servo actuator unit 2. In contrast, during low-frequency propulsion loading, the inertial effect of the propulsion loading mass block 3 can be ignored, and its displacement response is consistent with the command of the propulsion servo actuator unit 2, so it will not affect the stable control of propulsion displacement or propulsion speed. By introducing the propulsion loading mass block 3, a clear separation is formed between the impact loading and the propulsion servo in the frequency domain. A large number of high-frequency impact loads are suppressed by the inertial isolation unit, and only the low-frequency averaging effect is reflected in the propulsion servo system, thereby preventing high-frequency impact disturbances from directly entering the propulsion servo control loop.

[0037] A hydraulic buffer mechanism 4 is installed below the mass block. The hydraulic buffer mechanism 4 forms a confined flow system through a sealed oil chamber and an adjustable flow orifice. When the downstream impact load generates an axial transient load and transmits it upward, the oil pressure of the hydraulic buffer mechanism 4 produces a significant damping effect under compression and throttling. The main function of the hydraulic buffer mechanism 4 is to dissipate the high-frequency vibration and residual energy generated during the impact, suppress impact reflection and multiple rebounds, thereby avoiding the formation of high-frequency resonance inside the structure.

[0038] An axial elastic support 5 is installed below the hydraulic buffer unit. The elastic support 5 can be composed of a disc spring assembly or a high-stiffness helical spring, and its equivalent axial stiffness is [missing information]. Under impact, the impact load is first converted into elastic deformation in the elastic support 5, and its force-displacement relationship satisfies: in, This represents the equivalent axial deformation of the elastic support 5. The impact input energy is temporarily stored in the elastic element and released in a very short time, thereby transforming the impact load from a spike-type input into a repeatable and controllable constrained waveform.

[0039] Below the axial elastic support is the impact servo loading unit 6, which serves as the only high-frequency excitation source in the system, generating periodic axial impact loads. The controllable parameters of the impact servo loading unit 6 include the impact frequency and impact driving pressure, both of which can be set independently. Each impact corresponds to a defined mechanical or hydraulic triggering process, which is highly deterministic in time, providing a physical basis for subsequent data synchronization. The impact load is significantly weakened as it is transmitted upwards through the elastic support unit and hydraulic buffer unit, thus preventing it from directly acting on the propulsion servo system.

[0040] The rotary loading unit 7 is located below the impact loading unit and consists of a rotary servo motor, a reduction mechanism, and a hollow rotary shaft. The hollow rotary shaft is connected to the drill pipe 8 via a sliding spline, and the axial impact load is not effectively transmitted through the rotary servo system. The drill pipe 8 is allowed to slide freely axially within the hollow rotary shaft. The axial impact and propulsion loads are transmitted through independent structural paths, thereby structurally decoupling the rotary motion from the axial impact load and propulsion load, ensuring the continuity and stability of the rotary motion.

[0041] Specifically, the rock sample holder 9 is located below the rotating loading unit 7, and its lower end is fixed and supported by a base and clamp to achieve stable constraint. As the final object subjected to impact, propulsion, and rotational loads, the stability of its boundary conditions directly affects the repeatability of the test results.

[0042] Specifically, the monitoring component 10 includes a vibration sensor assembly for acquiring vibration signals from the drill pipe 8 and a sound pressure sensor for acquiring sound pressure signals from the rock sample. The vibration sensor assembly, sound pressure sensor, propulsion servo actuator 2, impact servo loading unit 6, and rotation loading unit 7 are all connected to the host computer. The sound pressure sensor is positioned in the air near the rock sample to acquire the sound pressure signals generated during the impact crushing process. The vibration sensor assembly includes multiple vibration sensors arranged in layers along the impact energy transmission path to distinguish impact input characteristics, structural response, and the coupling effect between impact and rotation. All data is organized and stored according to impact event numbers, thus achieving a one-to-one correspondence at the single impact scale at the data level and avoiding signal aliasing between different impact events.

[0043] Example 2 This embodiment is a further limitation based on Embodiment 1, and its purpose is to provide a method for an impact drilling test device applied to multi-parameter and acoustic-vibration response synchronization during drilling, including the following steps: S100. Based on the preset decoupling capability evaluation index, design the structural parameters of the impact rock drilling test device, and complete the assembly of the impact rock drilling test device based on the structural parameters.

[0044] After completing the device structure and rock sample installation, the drilling mode and corresponding drill bit are selected according to the experimental requirements. For the impact-propulsion mode, a down-the-hole drill bit with a diameter range of 35mm-110mm is used; for the rotary cutting-propulsion mode, a PDC drill bit or a core drill bit is used; for the impact-rotary cutting-propulsion composite mode, a ball-tooth drill bit, preferably with a 7-tooth or 9-tooth structure, also with a diameter range of 35mm-110mm, is used. The selected drill bit is installed at the lower end of the drill rod 8, and mechanical fixation and alignment checks are completed. The relevant sensors in the monitoring component 10 are installed in the impact transmission path, the drill rod 8 structure, the rock sample support structure 1, and the external air medium. The host computer of the monitoring component 10 is located on the side of the device or in an external control cabinet, and does not participate in mechanical load-bearing; it only monitors impact, vibration, sound pressure, and drilling parameters through signal connections.

[0045] S200: Initialize and set control parameters for the propulsion servo actuator 2, rotation loading unit 7, and impact servo loading unit 6 respectively.

[0046] Before the experiment began, the propulsion servo actuator 2, rotary loading unit 7, and impact servo loading unit 6 were initialized using a programmable logic controller (PLC) or industrial controller, and communication, status detection, and parameter distribution for each subsystem were completed. The propulsion servo actuator 2 was set to a closed-loop control mode for propulsion speed or displacement, with its control output being only displacement or speed commands, not directly responding to axial impact loads. The rotary loading unit 7 was set to a closed-loop control mode for target speed, achieving continuous and stable rotation of the drill rod 8 through a servo motor and reduction mechanism. The impact servo loading unit 6 was configured with impact frequency and impact drive pressure parameters to independently control the energy level and repetition frequency of a single impact. During this initialization phase, the propulsion force (drilling pressure) and rotation torque were not introduced into the control loop as direct servo control quantities. Instead, corresponding force and torque sensors were used for real-time monitoring and data acquisition to avoid the feedback oscillations caused by high-frequency impacts affecting the stability of the servo system. The propulsion speed (or propulsion displacement), rotation speed, impact frequency, and impact drive pressure were set independently in the control system as directly servoable control parameters, and their control loops did not form a direct coupling relationship. The above initialization and parameter configuration methods lay the foundation for the time-scale separation and decoupling of the three loading processes of impact, propulsion and rotation at the control level.

[0047] S300 starts the propulsion servo execution unit 2 and the rotary loading unit 7, so that the drill bit and the rock enter the pre-loaded working condition.

[0048] The propulsion servo actuator 2 is activated, causing the drill rod 8 to move towards the rock sample at a pre-set propulsion speed. Simultaneously, the rotary loading unit 7 is activated, ensuring the drill rod 8 maintains stable rotation under impact-free conditions. This stage is only used to establish a low-frequency, continuous propulsion and rotary loading state; the impact servo loading unit 6 is not activated. As the propulsion load is applied, the propulsion loading mass block 3, the hydraulic buffer mechanism 4, and the axial elastic support 5 gradually enter the initial loading state under axial force, achieving pre-loading of each structural unit within the device and eliminating assembly gaps, providing stable and consistent initial mechanical conditions for subsequent impact loading.

[0049] In this stage, the propulsion servo actuator 2 only responds to low-frequency displacement or speed control commands, and its control bandwidth is limited to a range significantly lower than the impact frequency. This keeps the propulsion servo insensitive to potential high-frequency disturbances and avoids prematurely introducing unnecessary dynamic coupling. The rotary loading unit 7 maintains the set speed through an independent servo motor and only undertakes the torque transmission function. It does not participate in the bearing and transmission of axial loads, thereby further strengthening the decoupling relationship between rotary motion and axial loading at the structural and control levels.

[0050] S400, start the impact servo loading unit 6 to periodically apply axial impact load to the drill bit.

[0051] After the propulsion and rotation loading have stabilized, the impact servo loading unit 6 is activated, periodically outputting axial impact loads according to a preset impact frequency. The impact load is directly applied to the loading end of the drill pipe 8 by the impact servo loading unit 6 and transmitted upward along the axial direction. The impact energy first enters the axial elastic support 5, where it is stored and released briefly through elastic deformation, giving the single impact waveform stable and repeatable mechanical characteristics and preventing the impact force from acting directly on the downstream structure in the form of a spike. Subsequently, the impact load enters the hydraulic buffer mechanism 4. Under the high-frequency impact, the oil in the hydraulic buffer mechanism 4 flows in a restricted manner through the throttling channel, and the high-frequency energy is effectively dissipated under the action of viscous damping, thereby suppressing impact reflection and multiple rebound phenomena. The remaining impact energy after damping and dissipation continues to be transmitted to the propulsion loading mass block 3. Since the propulsion loading mass block 3 has a significant inertial effect under high-frequency excitation, its response to high-frequency acceleration is obvious, while its response to low-frequency displacement is limited, thus forming an inertial isolation barrier in front of the propulsion servo execution unit 2, so that the high-frequency impact load is significantly attenuated before entering the low-frequency servo system.

[0052] Through the multi-stage mechanical filtering chain of "impact source - elastic energy storage - damping dissipation - inertial isolation - low-frequency servo" mentioned above, the high-frequency impact energy is effectively limited to the area between drill pipe 8 and rock sample, avoiding the impact disturbance from being transmitted to the propulsion servo system along the rigid path, thereby achieving effective decoupling of impact loading and propulsion loading at the structural level.

[0053] Meanwhile, the rotary loading unit 7 achieves physical decoupling from the axial impact and propulsion loads through an independent hollow rotary shaft structure. The hollow rotary shaft is connected to the drill pipe 8 via a sliding spline and is used only to transmit torque without bearing the axial impact load. The drill pipe 8 is allowed to slide freely axially within the hollow rotary shaft. The axial impact load and propulsion load act on the drill pipe 8 and the rock sample through independent axial force transmission paths, without being transmitted via the rotary transmission system. Therefore, the rotary loading unit 7 maintains a stable rotational state during impact loading, unaffected by axial impact disturbances, thus achieving complete decoupling between rotational motion and impact / propulsion loading at the structural level.

[0054] Through this step, impact loading, propulsion loading, and rotation loading are separated and coordinated based on mechanical path and frequency characteristics in the same test process, providing the necessary structural and dynamic foundation for subsequent impact event identification, event-level synchronous acquisition, and stable and repeatable tests.

[0055] S500 identifies each impact event during the impact load application process and uses the impact event as a time anchor point to synchronously acquire a multi-source response dataset including sound pressure, vibration, and drilling parameters. Figure 2 .

[0056] The method for identifying impact events is as follows: impact force sensors or high-frequency acceleration sensors are placed along the impact load transmission path to monitor the impact process in real time. When the amplitude of the sensor signal exceeds a preset impact discrimination threshold, the system determines that a valid impact event has actually occurred and immediately generates a corresponding impact event identifier, while recording the precise time of occurrence of the impact event. This impact event identifier serves as a unique index for this impact and is used for subsequent synchronization, storage, and correlation analysis of multi-source data. The host computer of the monitoring component 10 only undertakes the functions of state observation, event identification, and data acquisition. The acquired high-frequency signals do not directly participate in the control calculation of the propulsion servo or rotation servo, thereby avoiding the introduction of high-frequency impact disturbances into the control loop and ensuring the stability and decoupling of the impact-propulsion-rotation servo system at the control level.

[0057] After the test, the control system automatically aggregates, aligns, and correlates the multi-source response datasets collected during the test based on the impact event identifiers, forming a data sample set with a single impact event as the basic unit. Each data sample contains the acoustic pressure signal, vibration signal, and drilling parameters such as thrust displacement, thrust speed, rotation speed, torque, thrust force, and impact driving pressure corresponding to the impact event, and corresponds one-to-one with a unique impact event number, realizing complete correlation of multi-physical quantity data at the event scale.

[0058] During data calibration and processing, low-frequency drilling parameters such as thrust and torque are subjected to low-pass filtering and statistical analysis to extract the average load level during drilling and its evolution over time. Sound pressure and vibration signals are analyzed in the time domain, frequency domain, or as characteristic parameters on a per-impact-event basis to characterize the rock mass fracturing behavior and dynamic response characteristics of the structure under a single impact. Through these data organization and analysis methods, effective separation and collaborative characterization of high-frequency impact information and low-frequency drilling status information are achieved at the data level.

[0059] Depending on the experimental requirements, the propulsion speed or rotational speed can be adjusted while keeping the impact parameters constant, or the impact frequency and impact driving pressure can be adjusted while keeping the propulsion and rotational parameters constant. The above experimental procedures can be repeated to complete comparative experimental analysis under different working conditions. The resulting event-level multi-source dataset can provide a stable and repeatable experimental data foundation for the study of impact drilling mechanisms, key parameter inversion, and the construction of related models.

[0060] Specifically, the design method for structural parameters is as follows: S110. Determine the structural parameters. The structural parameters include the dynamic characteristics (mass, stiffness, damping) of the propulsion loading mass block 3, the hydraulic buffer mechanism 4, and the elastic support 5, as well as the equivalent stiffness and mass of the impact servo loading unit 6 and the rotary loading unit 7.

[0061] S120. Based on the proposed structural parameters, calculate the impact equivalent natural circular frequency of the impact servo loading unit 6. And the equivalent natural circular frequency of the propulsion rotation servo of the propulsion servo execution unit 2 and the rotation loading unit 7. and calculate and equivalent frequency ratio .

[0062] Calculate the equivalent natural circular frequency of the impact. , Promoting the equivalent natural circular frequency of rotary servo and equivalent frequency ratio The expressions are as follows: ; ; ; in, The equivalent stiffness of the elastic support 5; To advance the equivalent mass of loaded mass block 3; The total mass of the structure in the impact rock drilling test device that participates in the impact vibration together with the elastic support 5 includes the equivalent mass of moving parts related to impact vibration such as the impact servo loading unit 6 and the rotary loading unit 7. Together with the propulsion loading mass block 3, it constitutes the total inertia of the impact vibration system. To improve the equivalent stiffness of the servo execution unit 2 and the rotary loading unit 7; To improve the equivalent mass of all moving parts in the servo execution unit 2 and the rotary loading unit 7.

[0063] S130, Judgment Is it greater than or equal to the preset frequency ratio threshold? If yes, proceed to step S140; otherwise, return to step S110 to redefine the structural parameters.

[0064] S140. Calculate the decoupling capability evaluation index of the impact rock drilling test device, and optimize the equivalent damping ratio of the propulsion loading mass block 3 with the objective function of maximizing the decoupling capability evaluation index.

[0065] The expression for calculating the decoupling capability evaluation index is as follows: ; in, As an evaluation index for decoupling capability; This is the amplitude attenuation coefficient; The frequency of the impact load; To improve the equivalent damping ratio of the loaded mass block 3.

[0066] The decoupling capability evaluation index is based on the following: First, one of the core technical key points of this embodiment lies in clearly distinguishing the time scale differences of different loading forms during impact drilling, and thereby achieving essential decoupling of impact loading, propulsion loading, and rotational loading at the structural level. This embodiment defines impact loading as high-frequency (10... 2 -10 3 This embodiment defines propulsion and rotational loading as a low-frequency (less than 10Hz), continuous servo loading process, considering discrete impact events (Hz) and transients. Unlike existing technologies that reduce impact amplitude using only a single elastic or buffer element, this embodiment constructs a multi-stage mechanical filtering and isolation structure consisting of "impact source - elastic energy storage - damping dissipation - inertial isolation - low-frequency servo loading". The core of the decoupling capability evaluation index lies in establishing the dynamic transfer function of this multi-stage chain. This achieves physical isolation of high-frequency impact loads, allowing the high-frequency impact energy to be significantly attenuated before reaching the propulsion and rotation servo system.

[0067] In the impact direction, the impact servo loading unit 6 is equivalent to a mass-elastic-damped system, and its dynamic model is expressed as: in, The equivalent generalized displacement of the impact servo loading unit 6 in the axial direction is used to uniformly characterize the comprehensive response of the mass block, elastic support and hydraulic buffer structure under impact. and They are respectively The first and second derivatives; To ensure the equivalent mass of the loading mass block 3 is adequately selected, the mass of the loading mass block 3 must be chosen such that, within the control bandwidth of the propulsion servo system, any changes in the introduced equivalent mass do not affect the propulsion control accuracy requirements. is the equivalent damping coefficient of the hydraulic buffer mechanism 4. This represents the equivalent stiffness of the elastic support element. This represents the transient impact load corresponding to a single impact event. This model is used to describe the absorption, dissipation, and isolation processes of impact energy in a decoupled structure.

[0068] The propulsion servo actuator 2 and the rotary loading unit 7 are connected to the impact servo loading unit 6 through the aforementioned mass-elastic-damped system. Their equivalent input response is the impact response after structural filtering. Based on this relationship, this embodiment constructs a dynamic transfer model for the impact load to be transmitted to the servo system in the propulsion servo actuator 2 and the rotary loading unit 7. Its Laplace domain form is as follows: ; in, The composite transfer function from the impact load to the equivalent input displacement of the servo system is composed of the structural compliance term and the equivalent low-pass characteristic of the servo system. To improve the equivalent displacement response of the servo axis in servo execution unit 2; This is a dimensionless low-pass filter. The above relationship indicates that this decoupling structure, in its dynamic essence, constitutes a low-pass mechanical filter with the device structural parameters as its core, used to suppress the transmission of high-frequency impact loads to the low-frequency servo system. Based on this, in this embodiment, under the assumption of equivalent linearity, to characterize the amplitude suppression capability of the impact servo loading unit 6 on the input response of the low-frequency servo system near the impact master frequency, a dimensionless amplitude attenuation coefficient (equivalent amplitude attenuation upper bound coefficient) is introduced. , for The derivative of .

[0069] As a further embodiment, when the impact loading unit generates an impact event, the feedback signals of the propulsion servo unit and the rotation loading unit 7 are input to the adaptive notch filter. The adaptive notch filter filters the impact disturbance signal generated by the impact event and inputs the filtered signal to the host computer, so that the host computer maintains the servo control of the propulsion servo unit and the rotation loading unit 7.

[0070] The adaptive notch filter is expressed as follows: ; in, This is the output signal of the adaptive notch filter; The transfer function of the adaptive notch filter; The feedback signal for the input adaptive notch filter; For complex frequency domain variables; and These are the optimized damping coefficients that determine the notch depth and the notch bandwidth, respectively.

[0071] As a further embodiment, the method for collecting multi-source response datasets is as follows: S510. Obtain the physical trigger signal generated by the impact servo loading unit 6 when a single impact event occurs, and use it as the deterministic time anchor point of that impact event. S520. Perform time delay compensation on the physical trigger signal to compensate for the propagation delay of the shock wave in drill pipe 8. and the group delay of the electrical signal of monitoring component 10 ; S530, using the time point after time delay compensation A fixed-length synchronous acquisition time window is set, centered on the target location and extending forward and backward. The host computer collects multi-source response datasets within each synchronous acquisition time window.

[0072] In summary, this solution not only effectively solves the problems of severe coupling of impact-propulsion-rotation parameters, unstable servo control, and difficulty in correlating multi-source data at the impact scale in existing impact drilling laboratory tests, but also proposes a new technical approach at the level of test control logic and data synchronization paradigm, which has significant technical progress significance and practical application value.

Claims

1. A drilling test device with synchronized multi-parameter and acoustic / vibration response during drilling, characterized in that, include: Filtering components are used to absorb and isolate axial impact loads and propulsion loads; A servo actuator is fixedly connected to the top of the filter assembly and is used to push the filter assembly to move up and down; An impact servo loading unit is fixedly connected to the bottom of the filter assembly and is used to provide impact loads; A rotary loading unit includes a motor located at the bottom of the impact servo loading unit and a hollow rotary shaft that is drivenly connected to the motor. The hollow rotary shaft is drivenly connected to the drill rod via a sliding spline. The drill rod is equipped with a drill bit for breaking rock samples located at its bottom. A rock sample holder is located at the bottom of the drill rod and is used to secure the rock sample. The monitoring component includes a vibration sensor assembly for acquiring vibration signals generated by the drill pipe and a sound pressure sensor for acquiring sound pressure signals generated by the rock sample during impact crushing. The vibration sensor assembly, the sound pressure sensor, the propulsion servo execution unit, the impact servo loading unit, and the rotary loading unit are all connected to a host computer. The host computer is used to control and receive drilling multi-parameters from the rotary loading unit.

2. The impact drilling test device with synchronized multi-parameter drilling and acoustic / vibration response as described in claim 1, characterized in that, The filtering component includes a propulsion loading mass block, a hydraulic buffer mechanism, and an elastic support component that are fixedly connected to each other from top to bottom. The propulsion loading mass block is fixedly connected to the propulsion servo execution unit.

3. The impact drilling test device with synchronized multi-parameter drilling and acoustic / vibration response as described in claim 2, characterized in that, It also includes a support structure, in which the propulsion servo execution unit, the propulsion loading mass block, the hydraulic buffer mechanism, the elastic support member, the rotary loading unit and the rock sample fixing member are arranged sequentially from top to bottom within the frame body of the support structure.

4. A control method for an impact drilling test apparatus with synchronized multi-parameter drilling and acoustic / vibration response as described in any one of claims 1 to 3, characterized in that, Including the following steps: S100. Based on the preset decoupling capability evaluation index, design the structural parameters of the impact rock drilling test device, and complete the assembly of the impact rock drilling test device based on the structural parameters. S200: Initialize and set control parameters for the propulsion servo actuator, rotary loading unit and impact servo loading unit respectively; S300, start the propulsion servo execution unit and rotary loading unit to bring the drill bit and rock into the pre-load condition; S400, Start the impact servo loading unit to periodically apply axial impact load to the drill bit; The S500 identifies each impact event during the impact load loading process and uses the impact event as a time anchor point to synchronously collect a multi-source response dataset including sound pressure, vibration, and drilling parameters.

5. The control method according to claim 4, characterized in that, The design method for the structural parameters is as follows: S110. Determine structural parameters; S120. Based on the proposed structural parameters, calculate the impact equivalent natural circular frequency of the impact servo loading unit. And the equivalent natural circular frequency of the propulsion rotary servo of the propulsion servo execution unit and the rotary loading unit. and calculate and equivalent frequency ratio ; S130, Judgment Is it greater than or equal to the preset frequency ratio threshold? If yes, proceed to S140; otherwise, return to step S110 to redefine the structural parameters. S140. Calculate the decoupling capability evaluation index of the impact rock drilling test device, and optimize the equivalent damping ratio of the propulsion loading mass block with the objective function of maximizing the decoupling capability evaluation index.

6. The control method according to claim 5, characterized in that, Calculate the equivalent natural circular frequency of the impact. , Promoting the equivalent natural circular frequency of rotary servo and equivalent frequency ratio The expressions are as follows: ； ； ； in, The equivalent stiffness of the elastic support; To improve the equivalent mass of the loaded mass block; The total mass of the structure in the impact drilling test device that participates in impact vibration together with the elastic support; To improve the equivalent stiffness of the servo execution unit and the rotary loading unit; To improve the equivalent mass of all moving parts in the servo actuator and rotary loading unit.

7. The control method according to claim 6, characterized in that, The expression for calculating the decoupling capability evaluation index is as follows: ； in, As an evaluation index for decoupling capability; This is the amplitude attenuation coefficient; The frequency of the impact load; To improve the equivalent damping ratio of the loaded mass block.

8. The method of the impact drilling test device with synchronized multi-parameter drilling and acoustic / vibration response according to claim 4, characterized in that, When an impact event occurs in the impact loading unit, the feedback signals from the propulsion servo unit and the rotation loading unit are input to the adaptive notch filter. The adaptive notch filter filters the impact disturbance signal generated by the impact event and inputs the filtered signal to the host computer, so that the host computer maintains the servo control of the propulsion servo unit and the rotation loading unit.

9. The control method for the impact drilling test device with synchronized multi-parameter drilling and acoustic / vibration response as described in claim 6, characterized in that, The filtering expression of an adaptive notch filter is as follows: ； in, This is the output signal of the adaptive notch filter; The transfer function of the adaptive notch filter; The feedback signal for the input adaptive notch filter; For complex frequency domain variables; and These are the optimized damping coefficients that determine the notch depth and the notch bandwidth, respectively.

10. The control method according to claim 4, characterized in that, The method for collecting multi-source response datasets is as follows: S510. Obtain the physical trigger signal generated by the impact servo loading unit when a single impact event occurs, and use it as the deterministic time anchor point of that impact event. S520. Perform time delay compensation on the physical trigger signal to compensate for the propagation delay of the shock wave in the drill pipe and the group delay of the electrical signal of the monitoring component. S530: Taking the time point after time delay compensation as the center, and extending forward and backward by a fixed length of synchronous acquisition time window, the host computer acquires multi-source response datasets within each synchronous acquisition time window.

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