A three-way diverter valve system for high-pressure drill pipe switching and method of use

Abstract

This invention discloses a three-way directional valve system and its usage method for switching drill pipes in high-pressure jet grouting rigs. The system includes at least one directional valve unit and a modular connection structure. Each directional valve unit comprises a valve body, a rotary valve core, a valve stem, and a drive assembly. The modular connection structure allows multiple directional valve units to be assembled side-by-side and achieve valve stem linkage. The control system executes an adaptive disturbance compensation control method, employing a model reference adaptive controller, a super-helical sliding mode observer, and a media rheological property compensator. Based on the media rheological properties and real-time load disturbances, the drive commands are dynamically adjusted to achieve precise synchronous switching of each rotary valve core against resistance torque. Furthermore, the system controls a stepper motor through an S-shaped acceleration / deceleration curve and includes an anomaly monitoring and prediction module. The usage method includes initialization self-check, adaptive disturbance compensation control, smooth drive, and anomaly monitoring. This invention achieves synchronous switching of three media between drill pipes, improving construction efficiency and safety.

Description

Technical Field

[0001] This invention belongs to the field of high-pressure jet grouting equipment technology, and in particular relates to a three-way reversing valve system for switching drill rods in high-pressure jet grouting drilling rigs and its usage method. Background Technology

[0002] In high-pressure jet grouting, multiple drill rods typically require sequential grouting, water injection, and air injection to reinforce different depths or strata. The construction process demands rapid and accurate switching of the three media (water, grout, and air) from one drill rod to another; the efficiency and reliability of this switching process directly determine the construction progress and project quality. However, current high-pressure jet grouting rigs primarily rely on manual operation for drill rod switching: workers must disassemble the water, air, and grout pipelines from one drill rod and reconnect them to the next. This process is not only time-consuming and labor-intensive but also highly susceptible to errors such as damaged seals, incorrect pipe connections, or media leaks. Furthermore, manual switching requires workers to operate at heights or in harsh environments with splashing mud, posing serious safety hazards. Therefore, this patent addresses the technical challenge of achieving fully automated, high-precision, and synchronous rapid switching of the three media (water, grout, and air) between drill rods in a high-pressure jet grouting rig, replacing traditional manual operation, eliminating safety hazards, and improving construction efficiency.

[0003] In existing technologies, some solutions attempt to address the aforementioned problems by using a single directional valve to switch between single media, for example, by manually or electrically rotating the valve core to change the flow direction. However, such solutions are only suitable for a single medium. For water, slurry, and gas, three separate directional valves need to be installed, each controlled independently by its own controller or operator. Another approach is to use a multi-way combination valve, integrating multiple directional valve cores into a single valve body, and simultaneously driving multiple valve cores through a single drive mechanism. However, these existing methods often have the following common problems: First, the valve cores of multi-way valves lack a rigid linkage mechanism, resulting in poor rotational synchronization of each valve core. This can easily lead to asynchronous switching due to mechanical clearances or load differences, causing media mixing or pressure fluctuations. Second, the drive methods mostly use ordinary motors or cylinders, which have low control precision and cannot accurately control the valve core rotation angle. Moreover, for media with different viscosities and pressures, such as cement slurry, water, and compressed air, the resistance torque experienced by the valve core varies significantly, and simple open-loop control cannot guarantee that all valve cores reach the target position simultaneously. Third, there is a lack of dynamic monitoring and compensation for the sealing status. After long-term use, wear of the sealing ring or media blockage can lead to leakage, affecting the reliability of switching. Fourth, existing systems usually do not have intelligent anomaly early warning capabilities, making it impossible to detect problems in time before they occur, leading to construction interruptions.

[0004] In summary, existing technologies have significant shortcomings in terms of switching synchronization, control precision, sealing reliability, and intelligent monitoring, making it difficult to meet the automation, high reliability, and high efficiency requirements of high-pressure jet drilling rigs. Therefore, it is necessary to develop a novel three-way directional valve system and its application method, introducing advanced control algorithms and mechanical linkage structures to fundamentally solve the aforementioned deficiencies and achieve high-precision synchronous switching and intelligent operation and maintenance of water, slurry, and gas media between the drill pipes. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a three-way reversing valve system and its usage method for switching drill rods in high-pressure jet rigs. It aims to overcome the shortcomings of existing high-pressure jet rig drill rod switching, which relies on manual operation, resulting in low efficiency and significant safety hazards, as well as the defects of existing automation solutions, such as asynchronous switching, easy leakage of seals, and lack of intelligent monitoring due to differences in media and mechanical gaps. The present invention features high-precision synchronous switching, dynamic seal compensation, and intelligent anomaly prediction through modular rigid linkage and multi-algorithm fusion adaptive control.

[0006] To achieve the above technical solution, the technical solution adopted by the present invention is as follows: A three-way directional valve system for switching drill rods in a high-pressure jet grouting drilling rig includes at least one directional valve unit. Each directional valve unit includes a valve body with an integrated inlet flow channel and at least two drill rod connection flow channels. A rotary valve core is rotatably disposed within the valve body, and has an internal flow channel for selectively connecting the inlet flow channel to one of the drill rod connection flow channels. A valve stem is connected to the rotary valve core to drive its rotation. A drive assembly is connected to the valve stem to provide rotational power. The system also includes a modular connection structure for assembling multiple directional valve units side-by-side and enabling the valve stems of multiple directional valve units to be interconnected, thereby achieving synchronous switching of multiple media delivery paths. Furthermore, a control system is configured to execute an adaptive disturbance compensation control method. This method dynamically adjusts the drive commands to the drive assembly based on the rheological characteristics of each medium and real-time load disturbance estimation results, so that the rotary valve cores of each directional valve unit overcome their respective resistance torques and rotate precisely and synchronously to the target position.

[0007] The control system includes a model reference adaptive controller, a superspiral sliding mode observer, and a medium rheological property compensator; wherein, the model reference adaptive controller receives a position error signal representing the difference between the target position and the current position of the rotary valve core, and outputs a preliminary control quantity based on a preset ideal reference model. The super-helical sliding mode observer is constructed based on the motion equation of a stepper motor and synchronously receives the drive current of the stepper motor. and the actual angular velocity of the rotary valve core The total disturbance estimate of the system is calculated in real time using the following complete formula. : The motion equation of the stepper motor can be simplified as follows: ; in, To calculate the equivalent moment of inertia of the motor shaft, It is the torque constant. The total disturbance includes friction and medium resistance. The coefficient of viscous friction is... Indicates angular acceleration; Total disturbance Expanding to state variables, a second-order superspiral sliding mode observer is constructed as follows: ; ; in, This is the error in angular velocity observation. This is an estimate of the angular velocity. express The first derivative with respect to time, express The first derivative with respect to time, and For observer gain, It is a symbolic function; The medium rheological property compensator is based on the Herschel-Bulkley model and utilizes the stored medium yield stress. Consistency coefficient and rheological index Based on the geometric parameters of the rotary valve core, the resistance torque generated by the viscosity of the medium is calculated. As the first feedforward compensation, the geometric parameters include at least the sealing gap between the rotary valve core and the valve body. and effective radius of sealing surface ; The model references the initial control input from the adaptive controller. The total disturbance estimate above is superimposed The converted compensation amount and the aforementioned resistance torque This generates the final control commands to drive the stepper motor.

[0008] Furthermore, the model reference adaptive controller receives a position error signal representing the difference between the target position and the current position of the rotary valve core, and outputs a preliminary control quantity based on a preset ideal reference model. The ideal reference model is a second-order system, and its transfer function is... for: ; in, It is the undamped natural frequency. For the damping ratio, take To ensure that the system response has no overshoot or has an acceptable small overshoot, The Laplace operator; the ideal reference model is based on the target position of the rotary valve core. As input, output the desired position response curve. The model reference adaptive controller is The actual position of the rotary valve core The deviation between them serves as the basis for control.

[0009] Preferably, the compensator for the rheological properties of the medium calculates the drag torque. The specific method is as follows: First, seal the gap The flow of the medium within the cavity is simplified to narrow slit flow, and the average shear rate is calculated. : ; in, It is the current angular velocity of the rotary valve core; Then, the Herschel-Bulkley model was used to calculate the shear stress of the medium at the mean shear rate. : ; Finally, the shear stress Integrating over the effective area of ​​the entire sealing surface yields the resistance torque caused by the viscosity of the medium. : ; in, It is the axial length of the sealing surface of the rotary valve core.

[0010] Preferably, the modular connection structure includes a connecting plate and multiple conversion modules; an external gear is fixedly connected to the top of the valve stem of each directional valve unit; an internal gear ring is rotatably provided inside the conversion module, and the internal teeth of the internal gear ring mesh with the coupling gear without backlash; the internal gear rings of two adjacent conversion modules are coaxially connected without relative rotation through a transmission shaft with a shrink sleeve, thereby coupling the valve stems of all linked directional valve units into a rigid synchronous rotating whole.

[0011] Preferably, the tooth profiles of the coupling gear and the internal gear ring adopt a double circular arc tooth profile to compensate for assembly errors and form an oil film for self-lubrication when transmitting torque.

[0012] Preferably, the control system further includes an anomaly monitoring and prediction module, which operates through the following steps: a. During the calibration phase after the initial installation or maintenance of the system, the drive current and rotary valve core position signal of the stepper motor completing one complete switching action under standard operating conditions are collected as reference data; b. During each actual switching process, the real-time current signal of the stepper motor is synchronously acquired. and the real-time position signal of the rotary valve core ; c. Regarding the real-time current signal Perform coarse-graining processing, that is, for time series... and scale factor ,Pick , Take integers from 5 to 10, and get the new coarse-grained sequence. Constructed from the following formula: ; For each scale factor The coarse-grained sequence is used to calculate its sample entropy as the multi-scale entropy at that scale. ; thereby constructing a 3D eigenvectors ; d. Transfer the feature vector Input a pre-trained Class I Support Vector Machine (SVM) model; the training process of the Class I SVM model is as follows: using data from multiple switching actions collected under standard operating conditions, extract multiple standard feature vectors according to step three, and solve the following quadratic programming problem to obtain the model parameters: ; ; in, To separate the normal vectors of the hyperplane, The nonlinear mapping introduced for the Gaussian radial basis kernel function, For regularization parameters, For the standard sample size, As slack variables, This is the offset; The decision function is obtained after training. During real-time monitoring, if If the current feature vector deviates from the standard distribution center, an anomaly is determined, and a warning signal is output. The warning signal indicates an abnormal state of valve core wear or flow channel blockage.

[0013] Preferably, when the control system generates drive commands to control the stepper motor rotation, it employs an S-shaped acceleration / deceleration curve algorithm. This algorithm divides a single switching action of the stepper motor into seven stages: acceleration, uniform acceleration, deceleration, constant speed, acceleration / deceleration, uniform deceleration, and deceleration / deceleration. The acceleration / deceleration... Acceleration is a constant or a piecewise constant. ,speed and rotation angle The calculation formula is as follows: ; ; ; in, It is time. It is a function of jerk over time; the control system rotates according to the preset target angle. and maximum permissible speed The entire S-curve is calculated in real time, and a pulse sequence is generated accordingly to drive the stepper motor, so that the rotary valve core rotates smoothly and without impact to the target position. jerk at each stage Defined in chronological order as follows: hour, ; hour, ; hour, ; hour, ; hour, ; hour, ; hour, ; in, The preset maximum jerk constant, to These are the switching points between each stage, and , , The control system rotates according to the preset target angle. Maximum permissible speed Maximum permissible acceleration and Solve the following system of equations to obtain , , : ; ; ; Based on this, a pulse sequence is generated to drive a stepper motor, so that the rotary valve core rotates smoothly and without impact to the target position.

[0014] Preferably, the rotary valve core is further provided with an axial preload adjustment mechanism, which includes an adjusting nut that is threaded to the valve cover, a disc spring assembly placed between the adjusting nut and the large end of the rotary valve core, and a piezoelectric ceramic actuator fixed to the adjusting nut. The control system outputs a control voltage to the piezoelectric ceramic actuator based on the leakage flow rate of different media in the switching gap estimated by the Herschel-Bulkley model, so as to finely adjust the axial preload applied to the rotary valve core by the disc spring assembly and dynamically compensate for the changes in sealing friction caused by fluctuations in medium viscosity and pressure.

[0015] Furthermore, the control system is based on the leakage flow rate of different media in the switching gap estimated by the Herschel-Bulkley model. Specifically, the estimation method involves considering the sealing gap as having a width of... ,in The average diameter of the sealing surface and the height of the gap are given. The length is the sealing length. The narrow slit, under pressure difference Under the action, the volumetric leakage rate of the medium Estimated based on the narrow-slit flow formula of the Herschel-Bulkley model: ; in, The wall shear stress; the control system will estimate the leakage flow rate in real time. With the maximum allowable leakage flow rate In comparison, a control voltage is output to the piezoelectric ceramic actuator to fine-tune the axial preload applied to the rotary valve core by the disc spring assembly, dynamically compensating for changes in sealing friction caused by fluctuations in medium viscosity and pressure.

[0016] Preferably, the valve body is a one-piece cast structure, and its internal integrated flow channels include an inlet flow channel, a first drill pipe flow channel, a second drill pipe flow channel, and a third drill pipe flow channel; the rotary valve core is used to selectively connect the inlet flow channel to any one of the first drill pipe flow channel, the second drill pipe flow channel, or the third drill pipe flow channel; the rotary valve core is a hollow conical structure, and its internal flow channel is an L-shaped through flow channel with an included angle of °-12° on the central axis of the L-shaped flow channel, and the inner wall of the flow channel is polished, and its diameter is equal to the diameter of the flow channel opening of the valve body; a wear-resistant sealing ring is provided between the contact surface of the rotary valve core and the valve body, and the wear-resistant sealing ring is made of silicon carbide reinforced polytetrafluoroethylene.

[0017] Preferably, a method of using a three-way reversing valve system for switching drill rods in a high-pressure jet rig includes the following steps: S1, System Initialization and Self-Test: After the control system is powered on, it first checks all sensors, including the current sensor for acquiring the stepper motor drive current and the position sensor for acquiring the rotary valve core position, and performs a reset action to ensure that all rotary valve cores are in a safe initial angle; at the same time, it loads the Herschel-Bulkley model parameters of the medium corresponding to each channel from memory, including the yield stress. Consistency coefficient and rheological index ; S2 assembles multiple directional valve units into a linkage system through a modular connection structure, and connects them to water, slurry and gas media respectively. S3, when it is necessary to switch drill pipes, the control system receives the selection command for the target drill pipe flow channel; S4, the control system initiates the adaptive disturbance compensation control process: the model reference adaptive controller generates a preliminary control command based on the difference between the target position and the current actual position; the super-helical sliding mode observer estimates the total disturbance in real time based on the stepper motor current and the rotary valve core speed; the medium rheological property compensator calculates the viscous drag torque based on the stored rheological parameters, and feeds the disturbance estimate and drag torque forward to the preliminary control command to generate the final drive command; S5, the drive component receives the final drive command and synchronously drives the valve stem movement of multiple directional valve units; S6, during the valve stem movement, an S-shaped acceleration and deceleration curve algorithm is used to smooth the drive pulse, ensuring smooth start and stop of the valve stem; S7. Meanwhile, the anomaly monitoring and prediction module collects the current of the stepper motor and the position signal of the rotary valve core, calculates the multi-scale entropy and uses a support vector machine model for analysis to monitor the abnormal state of the system in real time. S8, after the current actual position reaches the target position, the switching is completed, and all media are synchronously guided to the target drill pipe.

[0018] Furthermore, in step 7, if the abnormal monitoring and prediction module issues an early warning signal, the control system will selectively activate the dynamic sealing compensation process in the medium rheological characteristic compensator according to the type of early warning, and output adjustment voltage to the piezoelectric ceramic actuator of the axial preload adjustment mechanism to finely adjust the axial preload, suppress leakage or alleviate wear.

[0019] The beneficial effects of this invention are as follows: 1. This invention employs a modular connection structure to assemble multiple directional valve units side-by-side. Each valve stem engages with an internal gear ring via a coupling gear with no backlash, forming a rigid, synchronously rotating assembly through a drive shaft. This achieves synchronous switching between water, slurry, and gas media. Simultaneously, the control system uses a model reference adaptive controller and a super-spiral sliding mode observer to estimate load disturbances in real time. It also superimposes the feedforward of the viscous resistance torque output from the media rheological compensator, dynamically adjusting the stepper motor's drive commands. This ensures that the rotating valve cores of each directional valve unit can overcome the differential resistance torques caused by different media and rotate precisely and synchronously to the target position. Therefore, this invention solves the defects of asynchronous switching of multiple valve cores and valve core lag or overshoot caused by differences in media pressure and viscosity in existing technologies, significantly improving the synchronization accuracy and response speed of the switching.

[0020] 2. This invention incorporates an axial preload adjustment mechanism on the rotary valve core, including an adjusting nut, a disc spring assembly, and a piezoelectric ceramic actuator. The control system estimates the leakage flow rate of different media in the sealing gap based on the Herschel-Bulkley model and outputs a control voltage to the piezoelectric ceramic actuator accordingly to fine-tune the axial preload, dynamically compensating for changes in sealing friction caused by fluctuations in media viscosity and pressure. Simultaneously, an anomaly monitoring and prediction module collects current signals from the stepper motor and valve core position signals, calculates multi-scale entropy, and uses a support vector machine model to analyze early signs of valve core wear or flow channel blockage. Therefore, this invention overcomes the shortcomings of existing technologies where sealing rings are prone to wear and leakage after long-term use, and faults cannot be predicted online. It achieves dynamic compensation of the sealing state and early warning of abnormal states, improving the long-term reliability and maintenance convenience of the system.

[0021] 3. This invention employs an S-shaped acceleration / deceleration curve algorithm to control the stepper motor, dividing a single switching action into seven stages. By integrating and calculating jerk, acceleration, and velocity, a smooth drive pulse sequence is generated, enabling the rotary valve core to rotate smoothly and without impact to the target position. Simultaneously, self-checks and resets are performed during system initialization to ensure all valve cores are at safe angles. Therefore, this invention solves the defects of existing technologies, such as loss of steps or impact vibration due to sudden torque changes during motor start-up and shutdown, and the uncertainty of the system's state after power-on. It achieves a smooth, overshoot-free switching process, ensuring the service life of the mechanical structure and the stability of system operation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the external structure of the present invention; Figure 2 This is a side cross-sectional view of the present invention; In the diagram: Stepper motor 1, Connecting plate 2, Gearbox housing 3, Valve body 4, Conversion module 5, Rotary valve core 6, Sealing ring 7, Valve stem 8, Gear positioning bushing 9, Gear 10, Rotary valve core cover plate 11, Bearing 12. Detailed Implementation

[0023] Example 1: like Figure 1-2 As shown, a three-way directional valve system for switching drill rods in a high-pressure jet rig includes at least one directional valve unit. Each directional valve unit includes a valve body 4, which integrates an inlet flow channel and at least two drill rod connection flow channels. A rotary valve core 6 is rotatably disposed inside the valve body 4, and has an internal flow channel for selectively connecting the inlet flow channel to one of the drill rod connection flow channels. A valve stem 8 is connected to the rotary valve core 6 and drives it to rotate. A drive assembly is connected to the valve stem 8 to provide rotational power. The system also includes a modular connection structure for assembling multiple directional valve units side-by-side and enabling the valve stems 8 of multiple directional valve units to be interconnected, thereby achieving synchronous switching of multiple media delivery paths. Furthermore, a control system is included, configured to execute an adaptive disturbance compensation control method. This method dynamically adjusts the drive commands to the drive assembly based on the rheological characteristics of each medium and real-time load disturbance estimation results, so that the rotary valve cores 6 of each directional valve unit overcome their respective resistance torques and rotate precisely and synchronously to the target position.

[0024] The control system includes a model reference adaptive controller, a superspiral sliding mode observer, and a medium rheological property compensator; wherein, the model reference adaptive controller receives a position error signal representing the difference between the target position and the current position of the rotary valve core 6, and outputs a preliminary control quantity based on a preset ideal reference model. The super-helical sliding mode observer is constructed based on the motion equation of stepper motor 1 and synchronously receives the drive current of stepper motor 1. and the actual angular velocity of the rotary valve core 6 The total disturbance estimate of the system is calculated in real time using the following complete formula. : The motion equation of the stepper motor 1 can be simplified as follows: ; in, To calculate the equivalent moment of inertia of the motor shaft, It is the torque constant. The total disturbance includes friction and medium resistance. The coefficient of viscous friction is... Indicates angular acceleration; Total disturbance Expanding to state variables, a second-order superspiral sliding mode observer is constructed as follows: ; ; in, This is the error in angular velocity observation. This is an estimate of the angular velocity. express The first derivative with respect to time, express The first derivative with respect to time, and For observer gain, It is a symbolic function; The medium rheological property compensator is based on the Herschel-Bulkley model and utilizes the stored medium yield stress. Consistency coefficient and rheological index Based on the geometric parameters of the rotary valve core 6, the resistance torque generated by the viscosity of the medium is calculated. As the first feedforward compensation, the geometric parameters include at least the sealing gap between the rotary valve core 6 and the valve body 4. and effective radius of sealing surface ; The model references the initial control input from the adaptive controller. The total disturbance estimate above is superimposed The converted compensation amount and the aforementioned resistance torque This generates the final control commands to drive the stepper motor 1.

[0025] Furthermore, the model reference adaptive controller receives a position error signal representing the difference between the target position and the current position of the rotary valve core 6, and outputs a preliminary control quantity based on a preset ideal reference model. The ideal reference model is a second-order system, and its transfer function is... for: ; in, It is the undamped natural frequency. For the damping ratio, take To ensure that the system response has no overshoot or has an acceptable small overshoot, The Laplace operator; the ideal reference model is based on the target position of the rotary valve core 6. As input, output the desired position response curve. The model reference adaptive controller is The actual position of the rotary valve core 6 The deviation between them serves as the basis for control.

[0026] Preferably, the compensator for the rheological properties of the medium calculates the drag torque. The specific method is as follows: First, seal the gap The flow of the medium within the cavity is simplified to narrow slit flow, and the average shear rate is calculated. : ; in, It is the current angular velocity of the rotary valve core 6; Then, the Herschel-Bulkley model was used to calculate the shear stress of the medium at the mean shear rate. : ; Finally, the shear stress Integrating over the effective area of ​​the entire sealing surface yields the resistance torque caused by the viscosity of the medium. : ; in, It is the axial length of the sealing surface of the rotary valve core 6.

[0027] Preferably, the modular connection structure includes a connecting plate 2 and multiple conversion modules 5; an external gear 10 is fixedly connected to the top of the valve stem 8 of each reversing valve unit; an internal gear ring is rotatably provided inside the conversion module 5, and the internal teeth of the internal gear ring mesh with the coupling gear 10 without backlash; the internal gear rings of two adjacent conversion modules 5 are coaxially connected without relative rotation through a transmission shaft with a shrink sleeve, thereby coupling the valve stems 8 of all linked reversing valve units into a rigid synchronous rotating whole.

[0028] Preferably, the tooth profiles of the coupling gear 10 and the internal gear ring adopt a double circular arc tooth profile to compensate for assembly errors and form an oil film for self-lubrication when transmitting torque.

[0029] Preferably, the control system further includes an anomaly monitoring and prediction module, which operates through the following steps: a. During the calibration phase after the initial installation or maintenance of the system, the drive current of the stepper motor 1 and the position signal of the rotary valve core 6 are collected as reference data when the stepper motor 1 completes a full switching action under standard operating conditions. b. During each actual switching process, the real-time current signal of the stepper motor 1 is synchronously acquired. and the real-time position signal of the rotary valve core 6 ; c. Regarding the real-time current signal Perform coarse-graining processing, that is, for time series... and scale factor ,Pick , Take integers from 5 to 10, and get the new coarse-grained sequence. Constructed from the following formula: ; For each scale factor The coarse-grained sequence is used to calculate its sample entropy as the multi-scale entropy at that scale. ; thereby constructing a 3D eigenvectors ; d. Transfer the feature vector Input a pre-trained Class I Support Vector Machine (SVM) model; the training process of the Class I SVM model is as follows: using data from multiple switching actions collected under standard operating conditions, extract multiple standard feature vectors according to step three, and solve the following quadratic programming problem to obtain the model parameters: ; ; in, To separate the normal vectors of the hyperplane, The nonlinear mapping introduced for the Gaussian radial basis kernel function, For regularization parameters, For the standard sample size, As slack variables, This is the offset; The decision function is obtained after training. During real-time monitoring, if If the current feature vector deviates from the standard distribution center, an anomaly is determined, and a warning signal is output. The warning signal indicates an abnormal state of valve core wear or flow channel blockage.

[0030] Preferably, when the control system generates drive commands to control the rotation of stepper motor 1, it employs an S-shaped acceleration / deceleration curve algorithm. This algorithm divides a single switching action of stepper motor 1 into seven stages: acceleration, uniform acceleration, deceleration, constant speed, acceleration / deceleration, uniform deceleration, and deceleration / deceleration. The acceleration / deceleration... Acceleration is a constant or a piecewise constant. ,speed and rotation angle The calculation formula is as follows: ; ; ; in, It is time. It is a function of jerk over time; the control system rotates according to the preset target angle. and maximum permissible speed The entire S-curve is calculated in real time, and a pulse sequence is generated accordingly to drive the stepper motor 1, so that the rotary valve core 6 rotates smoothly and without impact to the target position. jerk at each stage Defined in chronological order as follows: hour, ; hour, ; hour, ; hour, ; hour, ; hour, ; hour, ; in, The preset maximum jerk constant, to These are the switching points between each stage, and , , The control system rotates according to the preset target angle. Maximum permissible speed Maximum permissible acceleration and Solve the following system of equations to obtain , , : ; ; ; Based on this, a pulse sequence is generated to drive the stepper motor 1, so that the rotary valve core 6 rotates smoothly and without impact to the target position.

[0031] Preferably, the rotary valve core 6 is further provided with an axial preload adjustment mechanism, which includes an adjusting nut that is threaded to the valve cover, a disc spring assembly placed between the adjusting nut and the large end of the rotary valve core 6, and a piezoelectric ceramic actuator fixed to the adjusting nut. The control system outputs a control voltage to the piezoelectric ceramic actuator based on the leakage flow rate of different media in the switching gap estimated by the Herschel-Bulkley model, so as to finely adjust the axial preload applied to the rotary valve core 6 by the disc spring assembly and dynamically compensate for the changes in sealing friction caused by fluctuations in medium viscosity and pressure.

[0032] Furthermore, the control system is based on the leakage flow rate of different media in the switching gap estimated by the Herschel-Bulkley model. Specifically, the estimation method involves considering the sealing gap as having a width of... ,in The average diameter of the sealing surface and the height of the gap are given. The length is the sealing length. The narrow slit, under pressure difference Under the action, the volumetric leakage rate of the medium Estimated based on the narrow-slit flow formula of the Herschel-Bulkley model: ; in, The wall shear stress; the control system will estimate the leakage flow rate in real time. With the maximum allowable leakage flow rate In comparison, a control voltage is output to the piezoelectric ceramic actuator to fine-tune the axial preload applied to the rotary valve core 6 by the disc spring assembly, dynamically compensating for changes in sealing friction caused by fluctuations in medium viscosity and pressure.

[0033] Preferably, the valve body 4 is an integrally cast structure, and its internal integrated flow channels include an inlet flow channel, a first drill pipe flow channel, a second drill pipe flow channel, and a third drill pipe flow channel; the rotary valve core 6 is used to selectively connect the inlet flow channel to any one of the first drill pipe flow channel, the second drill pipe flow channel, or the third drill pipe flow channel; the rotary valve core 6 is a hollow conical structure, and its internal flow channel is an L-shaped through flow channel with an included angle of °-12° on the central axis of the L-shaped flow channel, and the inner wall of the flow channel is polished, and its diameter is equal to the diameter of the flow channel opening of the valve body 4; a wear-resistant sealing ring 7 is provided between the contact surface of the rotary valve core 6 and the valve body 4, and the wear-resistant sealing ring 7 is made of silicon carbide reinforced polytetrafluoroethylene.

[0034] Example 2: A method for using a three-way directional valve system for switching drill rods in a high-pressure jet rig includes the following steps: S1, System Initialization and Self-Test: After the control system is powered on, it first checks each sensor, including the current sensor for acquiring the drive current of stepper motor 1 and the position sensor for acquiring the position of rotary valve core 6, and performs a reset action to ensure that all rotary valve cores 6 are in a safe initial angle; at the same time, it loads the Herschel-Bulkley model parameters of the medium corresponding to each channel from the memory, including the yield stress. Consistency coefficient and rheological index ; S2 assembles multiple directional valve units into a linkage system through a modular connection structure, and connects them to water, slurry and gas media respectively. S3, when it is necessary to switch drill pipes, the control system receives the selection command for the target drill pipe flow channel; S4, the control system initiates the adaptive disturbance compensation control process: the model reference adaptive controller generates a preliminary control command based on the difference between the target position and the current actual position; the super-helical sliding mode observer estimates the total disturbance in real time based on the current of the stepper motor 1 and the rotation speed of the rotary valve core 6; the medium rheological property compensator calculates the viscous drag torque based on the stored rheological parameters, and feeds the disturbance estimate and drag torque forward to the preliminary control command to generate the final drive command; S5, the drive component receives the final drive command and synchronously drives the valve stems 8 of multiple directional valve units to move; S6, During the movement of valve stem 8, an S-shaped acceleration and deceleration curve algorithm is used to smooth the drive pulse to ensure that valve stem 8 starts and stops smoothly; S7. At the same time, the anomaly monitoring and prediction module collects the current of the stepper motor 1 and the position signal of the rotary valve core 6, calculates the multi-scale entropy and uses a support vector machine model for analysis to monitor the abnormal state of the system in real time. S8, after the current actual position reaches the target position, the switching is completed, and all media are synchronously guided to the target drill pipe.

[0035] Furthermore, in step 7, if the abnormal monitoring and prediction module issues an early warning signal, the control system will selectively activate the dynamic sealing compensation process in the medium rheological characteristic compensator according to the type of early warning, and output adjustment voltage to the piezoelectric ceramic actuator of the axial preload adjustment mechanism to finely adjust the axial preload, suppress leakage or alleviate wear.

Claims

1. A three-way directional valve system for switching drill rods in high-pressure jet rigs, characterized in that, The system includes at least one directional valve unit, comprising a valve body integrating an inlet flow channel and at least two drill pipe connection flow channels; a rotary valve core rotatably disposed within the valve body, having an internal flow channel for selectively connecting the inlet flow channel to one of the drill pipe connection flow channels; a valve stem connected to the rotary valve core for driving its rotation; a drive assembly connected to the valve stem for providing rotational power; the system also includes a modular connection structure for assembling multiple directional valve units side-by-side and enabling the valve stems of multiple directional valve units to be interconnected to achieve synchronous switching of multiple media delivery paths; and a control system configured to execute an adaptive disturbance compensation control method, which dynamically adjusts the drive commands to the drive assembly based on the rheological characteristics of each medium and real-time load disturbance estimation results, so that the rotary valve cores of each directional valve unit overcome their respective resistance torques and precisely and synchronously rotate to the target position.

2. The three-way reversing valve system for switching drill rods in high-pressure jet rigs according to claim 1, characterized in that, The control system includes a model reference adaptive controller, a superspiral sliding mode observer, and a medium rheological property compensator; wherein, the model reference adaptive controller receives a position error signal representing the difference between the target position and the current position of the rotary valve core, and outputs a preliminary control quantity based on a preset ideal reference model. The super-helical sliding mode observer is constructed based on the motion equation of a stepper motor and synchronously receives the drive current of the stepper motor. and the actual angular velocity of the rotary valve core The total disturbance estimate of the system is calculated in real time using the following complete formula. : The motion equation of the stepper motor can be simplified as follows: ； in, To calculate the equivalent moment of inertia of the motor shaft, It is the torque constant. The total disturbance includes friction and medium resistance. The coefficient of viscous friction is... Indicates angular acceleration; Total disturbance Expanding to state variables, a second-order superspiral sliding mode observer is constructed as follows: ； ； in, This is the error in angular velocity observation. This is an estimate of the angular velocity. express The first derivative with respect to time, express The first derivative with respect to time, and For observer gain, It is a symbolic function; The medium rheological property compensator is based on the Herschel-Bulkley model and utilizes the stored medium yield stress. Consistency coefficient and rheological index Based on the geometric parameters of the rotary valve core, the resistance torque generated by the viscosity of the medium is calculated. As the first feedforward compensation, the geometric parameters include at least the sealing gap between the rotary valve core and the valve body. and effective radius of sealing surface ; The model references the initial control input from the adaptive controller. The total disturbance estimate above is superimposed The converted compensation amount and the aforementioned resistance torque This generates the final control commands to drive the stepper motor.

3. The three-way reversing valve system for switching drill rods in a high-pressure jet rig according to claim 2, characterized in that, The medium rheological property compensator calculates the resistance torque. The specific method is as follows: First, seal the gap The flow of the medium inside is simplified to narrow slit flow, and the average shear rate is calculated. : ； in, It is the current angular velocity of the rotary valve core; Then, the Herschel-Bulkley model was used to calculate the shear stress of the medium at the mean shear rate. : ； Finally, the shear stress Integrating over the effective area of ​​the entire sealing surface yields the resistance torque caused by the viscosity of the medium. : ； in, It is the axial length of the sealing surface of the rotary valve core.

4. The three-way reversing valve system for switching drill rods in high-pressure jet rigs according to claim 1, characterized in that, The modular connection structure includes a connecting plate and multiple conversion modules; an external toothed coupling gear is fixedly connected to the top of the valve stem of each reversing valve unit; an internal gear ring is rotatably arranged inside the conversion module, and the internal teeth of the internal gear ring mesh with the coupling gear without backlash; the internal gear rings of two adjacent conversion modules are coaxially connected without relative rotation through a transmission shaft with a shrink sleeve, thereby coupling the valve stems of all linked reversing valve units into a rigid synchronous rotating whole.

5. The three-way reversing valve system for switching drill rods in a high-pressure jet rig according to claim 4, characterized in that, The gear and internal gear ring of the coupling adopt a double circular arc tooth profile to compensate for assembly errors and form an oil film to achieve self-lubrication when transmitting torque.

6. The three-way reversing valve system for switching drill rods in high-pressure jet rigs according to claim 1, characterized in that, The control system also includes an anomaly monitoring and prediction module, which operates through the following steps: a. During the calibration phase after the initial installation or maintenance of the system, the drive current and rotary valve core position signal of the stepper motor completing one complete switching action under standard operating conditions are collected as reference data; b. During each actual switching process, the real-time current signal of the stepper motor is synchronously acquired. and the real-time position signal of the rotary valve core ; c. Regarding the real-time current signal Perform coarse-graining processing, that is, for time series... and scale factor New coarse-grained sequences Constructed from the following formula: ； For each scale factor The coarse-grained sequence is used to calculate its sample entropy as the multi-scale entropy at that scale. ; thereby constructing a 3D eigenvectors ; d. Transfer the feature vector Input a pre-trained Class I Support Vector Machine (SVM) model; the training process of the Class I SVM model is as follows: using data from multiple switching actions collected under standard operating conditions, extract multiple standard feature vectors according to step three, and solve the following quadratic programming problem to obtain the model parameters: ； ； in, To separate the normal vectors of the hyperplane, The nonlinear mapping introduced for the Gaussian radial basis kernel function, For regularization parameters, For the standard sample size, As slack variables, This is the offset; The decision function is obtained after training. During real-time monitoring, if If the current feature vector deviates from the standard distribution center, an anomaly is determined, and a warning signal is output. The warning signal indicates an abnormal state of valve core wear or flow channel blockage.

7. The three-way reversing valve system for switching drill rods in a high-pressure jet rig according to claim 1, characterized in that, When the control system generates drive commands to control the stepper motor's rotation, it employs an S-shaped acceleration / deceleration curve algorithm. This algorithm divides a single switching action of the stepper motor into seven stages: acceleration, uniform acceleration, deceleration, constant speed, acceleration / deceleration, uniform deceleration, and deceleration / deceleration. The acceleration / deceleration... Acceleration is a constant or a piecewise constant. ,speed and rotation angle The calculation formula is as follows: ； ； ； in, It is time. It is a function of jerk over time; the control system rotates according to the preset target angle. and maximum permissible speed The entire S-curve is calculated in real time, and a pulse sequence is generated accordingly to drive the stepper motor, so that the rotary valve core rotates smoothly and without impact to the target position. jerk at each stage Defined in chronological order as follows: hour, ; hour, ; hour, ; hour, ; hour, ; hour, ; hour, ; in, The preset maximum jerk constant, to These are the switching points between each stage, and , , The control system rotates according to the preset target angle. Maximum permissible speed Maximum permissible acceleration and Solve the following system of equations to obtain , , : ； ； ； Based on this, a pulse sequence is generated to drive a stepper motor, so that the rotary valve core rotates smoothly and without impact to the target position.

8. The three-way reversing valve system for switching drill rods in high-pressure jet rigs according to claim 1 or 2, characterized in that, The rotary valve core is also provided with an axial preload adjustment mechanism, which includes an adjusting nut that is threaded to the valve cover, a disc spring assembly placed between the adjusting nut and the large end of the rotary valve core, and a piezoelectric ceramic actuator fixed to the adjusting nut. The control system outputs a control voltage to the piezoelectric ceramic actuator based on the leakage flow rate of different media in the switching gap estimated by the Herschel-Bulkley model, so as to finely adjust the axial preload applied to the rotary valve core by the disc spring assembly and dynamically compensate for the changes in sealing friction caused by fluctuations in medium viscosity and pressure.

9. The three-way reversing valve system for switching drill rods in a high-pressure jet rig according to claim 1, characterized in that, The valve body is a one-piece cast structure, and its internal integrated flow channels include an inlet flow channel, a first drill pipe flow channel, a second drill pipe flow channel, and a third drill pipe flow channel. The rotary valve core is used to selectively connect the inlet flow channel to any one of the first, second, or third drill pipe flow channels. The rotary valve core has a hollow conical structure, and its internal flow channel is an L-shaped through flow channel with a central axis angle of 12°. The inner wall of the flow channel is polished, and its diameter is equal to the diameter of the flow channel opening of the valve body. A wear-resistant sealing ring is provided between the contact surface of the rotary valve core and the valve body. The wear-resistant sealing ring is made of silicon carbide reinforced polytetrafluoroethylene.

10. A method of using a three-way directional valve system for switching drill rods in a high-pressure jet rig according to any one of claims 1-9, characterized in that, Includes the following steps: S1, System Initialization and Self-Test: After the control system is powered on, it first checks all sensors, including the current sensor for acquiring the stepper motor drive current and the position sensor for acquiring the rotary valve core position, and performs a reset action to ensure that all rotary valve cores are in a safe initial angle; at the same time, it loads the Herschel-Bulkley model parameters of the medium corresponding to each channel from memory, including the yield stress. Consistency coefficient and rheological index ; S2 assembles multiple directional valve units into a linkage system through a modular connection structure, and connects them to water, slurry and gas media respectively. S3, when it is necessary to switch drill pipes, the control system receives the selection command for the target drill pipe flow channel; S4, the control system initiates the adaptive disturbance compensation control process: the model reference adaptive controller generates preliminary control commands based on the difference between the target position and the current actual position; the super-helical sliding mode observer estimates the total disturbance in real time based on the stepper motor current and the rotary valve core speed; The medium rheological property compensator calculates the viscous drag torque based on the stored rheological parameters, and feeds the disturbance estimate and drag torque forward to the preliminary control command to generate the final drive command; S5, the drive component receives the final drive command and synchronously drives the valve stem movement of multiple directional valve units; S6, during the valve stem movement, an S-shaped acceleration and deceleration curve algorithm is used to smooth the drive pulse, ensuring smooth start and stop of the valve stem; S7. Meanwhile, the anomaly monitoring and prediction module collects the current of the stepper motor and the position signal of the rotary valve core, calculates the multi-scale entropy and uses a support vector machine model for analysis to monitor the abnormal state of the system in real time. S8, after the current actual position reaches the target position, the switching is completed, and all media are synchronously guided to the target drill pipe.

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