An active correction method and system for integrated static sounding

Abstract

The application discloses a kind of active deviation correction method and system for drilling touch integrated static sounding, method includes in the probe head of drilling touch integrated device during pressing in process, the attitude data and pressing in state data of probe head are collected in real time;Based on the attitude data and pressing in state data of probe head, construct deflection trajectory state vector;Based on probe axial pressure and pressing in depth, calculate stratum penetration resistance and its change rate and judge whether it is into soft and hard mutation interface according to change rate;If yes, then based on deflection trajectory state vector, state calculation is carried out through preset reference state transition matrix, generates predicted state vector;According to predicted state vector, determine deflection inclination, if deflection inclination exceeds preset safety threshold, then according to predicted state vector, calculate deviation correction control quantity, and according to deviation correction control quantity, generate executable deviation correction control instruction.The application can realize closed-loop control of deep static sounding perpendicularity by state prediction and active deviation correction.

Description

Technical Field

[0001] This application relates to the field of geotechnical engineering investigation technology, and in particular to an active deviation correction method and system for static cone penetration testing with integrated drilling and contact penetration testing. Background Technology

[0002] Static cone penetration testing (PCT) is an in-situ testing method that obtains formation mechanical parameters by uniformly pressing a cone probe into the soil layer and continuously testing the cone tip resistance and sidewall friction. It is widely used in the field of geotechnical engineering exploration. In recent years, drilling-cone penetration integrated technology has integrated drilling and static cone penetration testing functions into the same device. Through a telescopic double-cavity structure, it achieves seamless switching between outer tube drilling and inner tube penetration testing, which significantly improves exploration efficiency.

[0003] However, due to complex geological conditions such as alternating layers of soft and hard strata and inclined strata, the probe is subjected to asymmetric lateral forces when crossing the stratum interface, which easily leads to deviation. Even a small initial deviation angle can be amplified during continuous indentation, causing the test trajectory to deviate significantly from the design axis. Existing methods rely solely on post-hoc inclination data for deviation assessment and cannot intervene in real time during indentation. The reliability of the test data decreases significantly with increasing depth. Furthermore, existing methods mostly rely on manual experience or fixed parameters for deviation control and cannot perform closed-loop adjustment based on real-time probe attitude feedback, resulting in insufficient accuracy and adaptability of deviation correction. Summary of the Invention

[0004] The purpose of this application is to provide an active deviation correction method and system for static cone penetration testing (CPPT) with integrated drilling and penetration testing, which solves the technical problems of test data distortion and difficulty in deep exploration caused by the lack of real-time deviation prediction and active deviation correction capabilities in existing static cone penetration testing technology.

[0005] Firstly, this application provides an active deviation correction method for static cone penetration testing (CPPT), comprising: During the probe insertion process of the integrated drilling and contact device, the probe's attitude data and insertion status data are collected in real time. The attitude data includes acceleration vectors and angular velocity vectors along the probe's axial and radial directions, and the insertion status data includes the probe's axial pressure and insertion depth. Based on the probe's attitude data and indentation state data, a skew trajectory state vector is constructed. Based on the probe's axial pressure and penetration depth, the formation penetration resistance and its rate of change are calculated, and the rate of change is used to determine whether the soft-hard transition interface has been entered. If so, then based on the skew trajectory state vector, the state is calculated using a preset reference state transition matrix to generate a predicted state vector. Based on the predicted state vector, the skew angle is determined. If the skew angle exceeds the preset safety threshold, the corrective control quantity is calculated based on the predicted state vector, and an executable corrective control command is generated based on the corrective control quantity.

[0006] Through the above technical solution, by collecting probe attitude data and insertion state data in real time during the probe insertion process of the integrated drilling and contact probe device, a deflection trajectory state vector is constructed, and the change rate of formation penetration resistance is calculated to identify the soft-hard transition interface. When it is determined that the soft-hard transition interface has been entered, a state transition matrix is ​​used to calculate the state and generate a predicted state vector. When the predicted dip angle exceeds the threshold, the correction control quantity is calculated. This achieves early perception and proactive prediction of the probe deflection trend. By extrapolating the overall state, the traditional post-event passive correction is transformed into proactive predictive correction based on the system state model. This allows the correction force to intervene immediately when the deflection trend is formed, effectively suppressing the initial outbreak of deflection at the soft-hard transition interface. This fundamentally ensures the verticality and data reliability of deep static penetration testing and significantly improves the exploration depth and testing accuracy of the integrated drilling and contact probe equipment in complex formations.

[0007] Optionally, the construction of the skew trajectory state vector based on the probe's attitude data and indentation state data includes: Based on the acceleration and angular velocity vectors in the attitude data, calculate the probe's real-time tilt and azimuth angles and their rates of change. By combining the tilt angle, azimuth angle, and their rate of change with the indentation depth in the indentation state data, a skew trajectory state vector is constructed.

[0008] Optionally, the step of calculating the formation penetration resistance and its rate of change based on the probe axial pressure and penetration depth, and determining whether a transition between soft and hard surfaces has occurred based on the rate of change, includes: Based on the probe's axial pressure, the formation penetration resistance is calculated using preset probe specifications. Based on the formation penetration resistance and penetration depth, the rate of change of formation penetration resistance with depth is calculated according to the preset data sampling interval. Determine whether the rate of change of formation penetration resistance with depth is higher than a preset rate of change threshold. If so, determine that the formation has entered the soft-hard transition interface.

[0009] Optionally, the step of generating a predicted state vector by performing state deduction based on the skew trajectory state vector and using a preset reference state transition matrix includes: The prediction time domain is determined based on the rate of change of the formation penetration resistance; Based on the prediction time domain, a time-varying state transition matrix is ​​constructed by pre-setting a baseline state transition matrix; Based on the skew trajectory state vector and the time-varying state transition matrix, a predicted state vector is generated.

[0010] Optionally, calculating the correction control quantity based on the predicted state vector includes: Based on the predicted state vector, the predicted azimuth angle is extracted, and the correction direction is determined according to the predicted azimuth angle; Based on the predicted state vector, the state deviation vector is calculated by using the preset target state vector; Based on the correction direction and state deviation vector, the correction control quantity is calculated through a preset state feedback control function.

[0011] Optionally, after calculating the correction control quantity based on the predicted state vector, the method further includes: When it is determined that the formation has entered the interface between soft and hard transitions, the change characteristics of the formation penetration resistance rate are extracted. The change characteristics include the directional characteristics of the change rate, the drift characteristics of the azimuth angle, and the continuity characteristics of the change rate. Based on the directional characteristics of the formation penetration resistance rate and the drift characteristics of the azimuth angle, the dip direction of the formation interface is estimated, and a feedforward compensation force opposite to the dip direction is generated. The feedforward compensation force is superimposed on the correction control quantity to generate a composite correction control quantity.

[0012] Optionally, generating a feedforward compensation force opposite to the tendency direction includes: The direction of the feedforward compensation force is determined by the opposite direction of the tendency. The magnitude of the feedforward compensation force is calculated based on the current rate of change of formation penetration resistance and the drift characteristics of the azimuth angle. The feedforward compensation force is generated based on the magnitude and direction of the feedforward compensation force.

[0013] Optionally, after generating the correction control command based on the correction control quantity, the process includes: After the correction is performed, the predicted tilt angle after correction is obtained; If the predicted tilt angle after correction still exceeds the preset safety threshold, increase the correction control amount and repeat the correction action until the predicted tilt angle returns to within the preset safety threshold. If the predicted tilt angle still fails to recover to within the preset safety threshold after the correction control amount reaches the preset maximum limit, an early warning message will be output to indicate that the tilt exceeds the limit and the pressing will be suspended.

[0014] Secondly, this application provides an active deviation correction system for static cone penetration testing with integrated drilling and contact testing, comprising: The data acquisition module 101 is used to acquire the probe's attitude data and pressing state data in real time during the probe pressing process of the integrated drilling and contact device. The attitude data includes acceleration vectors and angular velocity vectors along the probe's axial and radial directions, and the pressing state data includes the probe's axial pressure and pressing depth. The state vector construction module 102 is used to construct the skew trajectory state vector based on the probe's attitude data and indentation state data. The real-time state prediction module 103 is used to calculate the formation penetration resistance and its rate of change based on the probe axial pressure and penetration depth, and to determine whether the soft-hard transition interface has been entered based on the rate of change. If so, the state is calculated based on the skew trajectory state vector and the preset reference state transition matrix to generate the predicted state vector. The correction control execution module 104 is used to determine the skew angle based on the predicted state vector. If the skew angle exceeds the preset safety threshold, the correction control quantity is calculated based on the predicted state vector, and an executable correction control command is generated based on the correction control quantity.

[0015] Thirdly, this application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as described above for an active deviation correction method for integrated drilling and contact static cone penetration testing.

[0016] In summary, this application firstly identifies the deflection risk triggering conditions the instant the probe enters the interface between soft and hard transitions by calculating the rate of change of formation penetration resistance with depth in real time. It then obtains the predicted dip angle for future moments through adaptive state extrapolation, upgrading post-correction to a pre-prediction mode, effectively solving the problem of uncontrollable deflection caused by response lag. Secondly, by constructing a five-dimensional state vector including dip angle, dip angle change rate, azimuth angle, azimuth angle change rate, and penetration depth, a complete state-space description of the probe deflection problem is established. Using the deviation between the predicted state vector and the target state vector as input, the optimal correction force is calculated through multi-dimensional optimal control, significantly improving correction accuracy and stability. Furthermore, the prediction time domain is dynamically adjusted according to the magnitude of the formation penetration resistance change rate, ensuring real-time matching of the predicted time domain parameters with formation characteristics, balancing timeliness and accuracy, and achieving optimal deflection prediction results under different formation conditions. Attached Figure Description

[0017] Figure 1 This is a flowchart of an active deviation correction method for static cone penetration testing with integrated drilling and contact penetration provided in an embodiment of this application; Figure 2 This is a flowchart illustrating the construction of a skew trajectory state vector based on probe attitude data and indentation state data, as provided in the embodiments of this application. Figure 3 This is a flowchart provided in this application embodiment, which describes how a predicted state vector is generated by performing state deduction through a preset reference state transition matrix based on a skew trajectory state vector. Figure 4 This is a flowchart of calculating the correction control quantity based on the predicted state vector provided in an embodiment of this application; Figure 5 This is a schematic diagram of an active deviation correction system for static cone penetration testing with integrated drilling and contact penetration provided in an embodiment of this application. Detailed Implementation

[0018] The following is in conjunction with the appendix Figure 1 -Appendix Figure 5 This application will be described in further detail below.

[0019] This application provides an active deviation correction method for static cone penetration testing with integrated drilling and contact testing, see [link to relevant documentation]. Figure 1 This includes the following steps: S100. During the probe insertion process of the integrated drilling and contact device, the probe's attitude data and insertion status data are collected in real time.

[0020] S200: Based on the probe's attitude data and indentation state data, construct the skew trajectory state vector.

[0021] S300: Based on the probe's axial pressure and penetration depth, calculate the formation penetration resistance and its rate of change, and determine whether the formation has entered a transitional interface between soft and hard based on the rate of change.

[0022] S400 If so, then based on the skew trajectory state vector, state deduction is performed through a preset reference state transition matrix to generate a predicted state vector.

[0023] S500. Determine the skew angle based on the predicted state vector. If the skew angle exceeds the preset safety threshold, calculate the correction control quantity based on the predicted state vector and generate an executable correction control command based on the correction control quantity.

[0024] This application provides an active correction method for static cone penetration testing (CPPT) with integrated drilling and contact testing. The method is applied to an integrated static cone penetration testing (CPPT) device, which includes a telescopic dual-cavity structure. The outer tube is responsible for drilling and borehole wall support, while the inner tube integrates a MEMS attitude sensor (including a triaxial accelerometer and a triaxial gyroscope), a tension / compression sensor, a displacement sensor, and an asymmetric flexible hinge correction mechanism driven by multiple micro-displacement actuators evenly distributed in the circumference.

[0025] The integrated drilling and penetration device has two working modes: drilling and penetration. In penetration mode (i.e., the probe is pressed into the formation at a constant rate, and the probe's attitude data and penetration status data are continuously collected throughout the entire process.

[0026] The attitude data includes acceleration vectors and angular velocity vectors along the probe's axial and radial directions. Specifically, during the probe insertion process, the MEMS inertial measurement unit installed in the sealed chamber at the front end of the inner tube outputs triaxial acceleration in real time in the probe carrier coordinate system. , , and triaxial angular velocity , , , forming an acceleration vector and angular velocity vector .

[0027] Indentation data includes probe axial pressure and indentation depth. Probe axial pressure The data is collected in real time by a tension and compression sensor installed in the middle section of the inner tube; the indentation depth L is recorded synchronously by a displacement sensor installed on the drilling rig's propulsion cylinder or the top of the inner tube.

[0028] To suppress the interference of strong vibrations in the drilling environment on sensor signals, after acquiring the probe's attitude data and indentation status data, preprocessing and data synchronization are performed. For example, the real-time acquired acceleration vector and angular velocity vector are preprocessed with low-pass filtering or Kalman filtering to filter out high-frequency vibration noise. The attitude data, axial pressure, and indentation depth are synchronously sampled using the same clock source, or resampled to the same time reference through interpolation algorithms to ensure the time consistency of each data.

[0029] After acquiring and preprocessing the probe's attitude and indentation data, a skew trajectory state vector can be constructed based on these data. This vector consists of five state variables: the probe's tilt angle, tilt angle change rate, azimuth angle, azimuth angle change rate, and indentation depth at the current moment. These variables comprehensively describe the probe's skew state at the current moment, including the severity of the skew (tilt angle), the trend of the skew (tilt angle change rate), the horizontal orientation of the skew (azimuth angle), the drift trend of the skew direction (azimuth angle change rate), and the depth at which the skew occurs (indentation depth). These five state variables are independent of each other and together constitute the minimum complete description of the probe's skew motion.

[0030] Because deviation does not occur suddenly but is a dynamic process that evolves over time, this application constructs a deviation trajectory state vector to describe this evolution process using a state-space model. Simply put, the deviation trajectory state vector can completely describe how much the probe has deviated, how fast it has deviated, which direction it has deviated to, and how deep it is. Based on this, the drilling deviation correction problem can be transformed into a standard linear state feedback control problem, enabling the deviation control quantity to make optimal decisions by simultaneously integrating information from four dimensions: dip angle deviation, deviation velocity, azimuth angle deviation, and azimuth angle drift rate.

[0031] Specifically, see Figure 2 Based on the probe's attitude data and indentation state data, a skew trajectory state vector is constructed, including the following steps: S210. Based on the acceleration vector and angular velocity vector in the attitude data, calculate the real-time tilt angle and azimuth angle of the probe and their rate of change.

[0032] S220. Combine the tilt angle, azimuth angle and their rate of change with the indentation depth in the indentation state data to construct the skew trajectory state vector.

[0033] During the drilling and pressing process, the probe experiences axial acceleration and lateral vibration. The accelerometer output is a superposition of gravitational acceleration and motion acceleration, which cannot be directly separated. Therefore, the extended Kalman filter (EKF) calculation method can be used. Quaternions are used as state variables, angular velocities are used to construct state transitions for prediction, and the gravitational direction component of the acceleration vector is used as the observation value for correction. The dip angle and azimuth angle are obtained by converting the filtered quaternions.

[0034] That is, using the acceleration vector in the attitude data and angular velocity vector Using an extended Kalman filter (EKF) as input, a fusion solution is performed to calculate the probe's real-time attitude quaternions. Attitude quaternions are a mathematical representation of the attitude of an object in three-dimensional space. Here, they can be understood as used to describe the attitude orientation of the probe carrier coordinate system relative to the geographic coordinate system.

[0035] The real-time tilt and azimuth angles can be obtained through attitude quaternions, where the real-time tilt angle is... The angle between the probe axis and the vertical line to the ground reflects the degree of probe tilt, determined by attitude quaternions. Calculated; Real-time azimuth angle The orientation angle is the projection of the probe axis onto the horizontal plane, reflecting the drift trend in the deflection direction. It can be calculated as follows: Calculated.

[0036] Simultaneously, the rate of change of tilt can be obtained synchronously by estimating the output using an extended Kalman filter, or by numerically differencing the tilt and azimuth angles of a continuous time series. and azimuth rate of change The tilt rate of change represents the rate at which the tilt angle changes over time, reflecting the speed at which the probe tilt develops; the azimuth rate of change represents the rate at which the azimuth angle changes over time, reflecting the drift trend of the probe tilt direction. Together with the tilt angle and azimuth angle, they constitute a complete description of the probe tilt motion state.

[0037] Then, by combining the real-time tilt angle, azimuth angle, and their rate of change with the indentation depth in the indentation state data, a skew trajectory state vector can be constructed, which can be expressed as: .

[0038] When a static cone penetration test probe is pressed into a uniform stratum, the lateral pressure exerted on the probe by the surrounding soil is basically uniform, and the resultant force is in the same direction as the probe axis, so the probe will not deflect. However, when the probe crosses the interface between soft and hard surfaces, the stress state will change fundamentally. Therefore, the deflection state can be predicted by identifying the interface between soft and hard surfaces.

[0039] Therefore, in the embodiments of this application, the formation penetration resistance and its rate of change are calculated based on the probe axial pressure and penetration depth, and the entry into the soft-hard transition interface is determined based on the rate of change.

[0040] Specifically, based on the probe's axial pressure and penetration depth, the formation penetration resistance and its rate of change are calculated, and the rate of change is used to determine whether the soft-hard transition interface has been reached. This includes the following steps: S300: Based on the probe's axial pressure, the formation penetration resistance is calculated using preset probe specifications.

[0041] S320. Based on the formation penetration resistance and penetration depth, calculate the rate of change of formation penetration resistance with depth according to the preset data sampling interval.

[0042] S330. Determine whether the rate of change of formation penetration resistance with depth is higher than the preset rate of change threshold. If so, determine that the formation has entered the soft-hard transition interface.

[0043] First, based on the probe axial pressure By presetting probe specifications, the formation penetration resistance is calculated. Here, the probe specifications mainly refer to the probe base area A. Let the formation penetration resistance be R. Then, the formation penetration resistance at the current moment can be expressed as... The formation penetration resistance reflects the ability of the formation where the probe is currently located to resist indentation; the larger the value, the harder the formation.

[0044] Then, based on the formation penetration resistance and penetration depth, and according to the preset data sampling interval, the rate of change of formation penetration resistance with depth is calculated. The rate of change of formation penetration resistance with depth can be expressed as: ,in, The data sampling interval is represented by this rate of change, which reflects the gradient of formation stiffness along the depth direction.

[0045] Finally, it is determined whether the rate of change of formation penetration resistance with depth is higher than a preset rate of change threshold. If the formation is homogeneous, maintain the current indentation state and continue data collection; if... If the rate of change of formation penetration resistance with depth is higher than a preset threshold, then it is determined that the formation has entered a transitional interface between soft and hard surfaces. The preset rate of change threshold can be understood as the limit value of the change in formation resistance per unit depth of indentation. It is used to distinguish between normal formation fluctuations and true soft-hard transition interfaces. The typical value range is 0.5-2.0 MPa / m. The specific value can be preset according to formation conditions and equipment response characteristics or flexibly adjusted by the operator.

[0046] When it is determined that the interface between soft and hard transitions has been entered, the state can be calculated based on the skew trajectory state vector and a preset reference state transition matrix to generate a predicted state vector.

[0047] Specifically, see Figure 3 Based on the skew trajectory state vector, the predicted state vector is generated by calculating the state using a preset reference state transition matrix, including the following steps: S410. Determine the prediction time domain based on the rate of change of formation penetration resistance.

[0048] S420. Based on the predicted time domain, a time-varying state transition matrix is ​​constructed by pre-setting a baseline state transition matrix.

[0049] S430. Based on the skew trajectory state vector and the time-varying state transition matrix, generate the predicted state vector.

[0050] First, the prediction time domain is determined based on the rate of change of formation penetration resistance. Here, the prediction time domain represents the length of time extrapolated from the current moment. It is negatively correlated with the rate of change of formation penetration resistance: the larger the rate of change (the steeper the interface), the smaller the prediction time domain (the faster the response); conversely, the smaller the rate of change (the gentler the interface), the larger the prediction time domain (the earlier the prediction). Let the prediction time domain at the current moment be denoted as... ,but It can be represented as:

[0051] in, For the minimum prediction time domain, For the maximum prediction time domain, β is a preset attenuation coefficient used to control the attenuation rate of the prediction time domain as the rate of change of formation penetration resistance increases.

[0052] Then, based on the prediction time domain, a time-varying state transition matrix is ​​constructed using a preset baseline state transition matrix. To predict in the baseline time domain Next, the current skew trajectory state vector will be... Mapped to future time state vectors The linear transformation matrix, i.e. .

[0053] The rate of change of probe tilt angle within the short prediction time domain and azimuth rate of change Keep the angle unchanged. Since the azimuth angle α and the indentation depth L are kinematically independent and do not cross-couple, the change in indentation depth L in the prediction time domain is negligible. Based on this, the above mapping relationship can actually be decomposed as follows: , , , , .

[0054] The baseline prediction time domain is the initial setting, but it still needs to be adjusted according to the development speed of probe deflection, that is, the baseline prediction time domain in the preset baseline state transition matrix. Replace with the prediction time domain at the current time. The resulting state transition matrix is ​​denoted as the time-varying state transition matrix.

[0055] Finally, based on the skew trajectory state vector, state deduction is performed using a time-varying state transition matrix to generate a predicted state vector. .

[0056] Once the predicted state vector is determined, the skew angle can be determined based on the predicted state vector. Extract the corresponding tilt component If the tilt angle exceeds the preset safety threshold, it indicates that the tilt may exceed the limit in the future. In this case, it is necessary to carry out correction control in advance, that is, calculate the correction control quantity based on the predicted state vector. The preset safety threshold here is the maximum angle between the probe axis and the vertical line of the ground that is allowed to ensure the validity of the static cone penetration test data and the safety of the equipment.

[0057] Specifically, see Figure 4 The calculation of the corrective control quantity based on the predicted state vector includes the following steps: S510. Based on the predicted state vector, extract the predicted azimuth angle and determine the correction direction according to the predicted azimuth angle.

[0058] S520. Based on the predicted state vector, calculate the state deviation vector using the preset target state vector.

[0059] S530: Based on the correction direction and state deviation vector, the correction control quantity is calculated through a preset state feedback control function.

[0060] First, from the predicted state vector Extract the corresponding azimuth component Because the probe is currently expected to... Since the direction is skewed, the direction of the corrective force should be opposite to this. Let the corrective direction be denoted as . ,but .

[0061] Then, based on the predicted state vector, the state deviation vector is calculated using the preset target state vector. Here, the preset target state vector represents the state value of the probe under a perfectly ideal vertical indentation state, and can be denoted as... ,in This indicates that the probe axis coincides with the vertical line of the ground; This indicates that the tilt angle remains stable; , The initial azimuth angle when the probe is first pressed in indicates that the probe does not drift horizontally. This indicates that the azimuth angle remains stable; target depth That is, the depth of the target state is consistent with the current depth, and the depth is not used as the object of correction control.

[0062] Calculate the predicted state vector With the target state vector The difference can be used to obtain the state deviation vector. .

[0063] Finally, based on the correction direction and the state deviation vector, the correction control quantity can be calculated using a preset state feedback control function. This preset state feedback control function is used to calculate the state deviation vector. Mapped to the magnitude of scalar correction force The mathematical mapping relationship is used to calculate how much corrective force is needed to pull the probe back to vertical based on the deviation between the predicted state and the ideal state.

[0064] The preset state feedback control function, which can be a linear state feedback control law, can be expressed as: ,in, The preset feedback gain matrix is ​​defined as follows: K1 is the proportional gain, which plays a dominant role in correction, meaning that the greater the tilt angle deviation, the greater the correction force required; K2 is the differential gain, which suppresses the deflection velocity and prevents oscillation and overshoot during the correction process; K3 and K4 are the direction correction and stabilization gains, used to ensure that the correction direction is correct and the azimuth angle does not drift; K5=0, meaning that the depth deviation is not included in the calculation of the correction control quantity.

[0065] The preset feedback gain matrix can be pre-designed using the Linear Quadratic Regulator (LQR) method. This involves automatically solving for the optimal feedback gain matrix by minimizing a quadratic objective function that includes state deviation costs and control energy costs. For example, this objective function can be expressed as:

[0066] Where Q is the state weight matrix (diagonal matrix), reflecting the weight coefficients of the deviations of each state variable, satisfying the following condition: That is, the tilt deviation has the highest weight, and the azimuth rate of change has the lowest weight. 55 =0; The weighting coefficient, which controls the degree of constraint on the magnitude of the correction force, ranges from 0.001 to 0.1. It is set according to the maximum output capacity of the correction actuator. The smaller the weighting coefficient, the faster the correction response.

[0067] Finally, the determined correction direction will be... And the magnitude of the corrective force By combining these, a complete corrective control quantity (vector) can be formed, which can be represented as: That is, the components of the corrective force along the X and Y axes in the horizontal plane.

[0068] Once the corrective control value is determined, an executable corrective control command can be generated based on the corrective control value. That is, the corrective control value is converted into the displacement command of each micro-displacement actuator. The displacement command drives the flexible hinge to produce asymmetric deformation, thereby applying the required corrective force on the probe.

[0069] Considering that when the stratum interface traversed by the probe has a dip angle (i.e. the boundary between soft and hard strata is not parallel to the horizontal plane), even if the probe is in a completely vertical state, its bottom will generate an asymmetric lateral force due to the difference in stiffness between the two strata. Therefore, when determining the correction control force, it is also necessary to identify the existence of the dip interface and estimate its dip direction, and apply a reverse compensation force in advance to counteract the initial lateral impact generated by the dip interface.

[0070] Therefore, in this embodiment of the application, after calculating the correction control quantity based on the predicted state vector, the following steps are also included: S610. When it is determined that the formation has entered a transitional interface between soft and hard, extract the change characteristics of the formation penetration resistance rate.

[0071] S620. Based on the directional characteristics of the formation penetration resistance rate and the drift characteristics of the azimuth angle, estimate the dip direction of the formation interface and generate a feedforward compensation force opposite to the dip direction.

[0072] S630: The feedforward compensation force is superimposed on the correction control quantity to generate a composite correction control quantity.

[0073] First, when it is determined that the formation has entered the interface between soft and hard transitions, the change characteristics of the formation penetration resistance rate will also be extracted. Among them, the change characteristics include the directional characteristics of the change rate and the drift characteristics of the azimuth angle.

[0074] The directional characteristic of the rate of change is the rate of change of formation penetration resistance. The positive and negative signs are used to distinguish between soft-to-hard and hard-to-soft interfaces. A positive change indicates that the probe is moving from a soft stratum to a hard stratum, while a negative change indicates that the probe is moving from a hard stratum to a soft stratum. The azimuth drift characteristic is that the probe azimuth angle changes during the interface entry process. Relative to the time of entering the interface The cumulative change, i.e. It is used to indicate the dip direction of the stratigraphic interface.

[0075] Then, based on the directional characteristics of the formation penetration resistance rate and the drift characteristics of the azimuth, the dip direction of the formation interface is estimated. If the directional characteristic changes positively (soft → hard) and the drift characteristic is positive, or the directional characteristic changes negatively (hard → soft) and the drift characteristic is negative, then the dip direction is the direction of increasing azimuth. If the directional characteristic changes positively and the drift characteristic is negative, or the directional characteristic changes negatively and the drift characteristic is positive, then the dip direction is the direction of decreasing azimuth. If the drift characteristic is not significant, then it is determined to be a horizontal interface or a symmetrical interface, and no feedforward compensation force is generated.

[0076] Once the dip direction is determined, a feedforward compensation force opposite to the dip direction can be generated. Here, the feedforward compensation force refers to a compensatory correction force that is calculated in advance and applied to the probe based on the current formation penetration resistance change rate and azimuth drift characteristics, and whose direction is opposite to the dip direction of the formation interface.

[0077] Specifically, generating a feedforward compensating force opposite to the tendency direction includes the following steps: S621. Determine the direction of the feedforward compensation force based on the opposite direction of the tendency.

[0078] S622. Calculate the magnitude of the feedforward compensation force based on the current rate of change of formation penetration resistance and the drift characteristics of the azimuth angle.

[0079] S623. Generate the feedforward compensation force based on the magnitude and direction of the feedforward compensation force.

[0080] First, determine the direction of the feedforward compensation force based on the opposite direction of the dip direction, and denote the dip direction as... The direction of the feedforward compensation force is , can be represented as .

[0081] Then, based on the rate of change of formation penetration resistance at the current moment... and azimuth drift characteristics Calculate the magnitude of the feedforward compensation force, and denote the magnitude of the feedforward compensation force as... , can be represented as: ,in, The preset feedforward gain coefficient is determined through calibration experiments, for example, with a value range of 0.1-0.5.

[0082] Finally, based on the magnitude and direction of the feedforward compensation force, the feedforward compensation force can be generated, which can be expressed as: ,in To compensate for the component of the force along the X-axis, This is to compensate for the component of the force along the Y-axis.

[0083] Once the feedforward compensation force is determined, it can be superimposed on the correction control quantity to generate a composite correction control quantity. The composite correction control quantity is then used to generate executable correction control commands. In this way, the feedback correction control is used to correct the skew deviation that has been generated, and the feedforward compensation force is used to suppress the initial skew tendency generated at the dipped stratum interface. Together, they constitute a composite control strategy of feedback and feedforward.

[0084] In addition, after the corrective action is executed, in order to ensure the effectiveness of the corrective action, corrective verification and closed-loop feedback will be carried out.

[0085] Therefore, in this embodiment of the application, after generating the correction control command based on the correction control quantity, the following steps are also included: S710. After the correction is performed, obtain the predicted tilt angle after correction.

[0086] S720. If the predicted tilt angle after correction still exceeds the preset safety threshold, increase the correction control amount and repeat the correction action until the predicted tilt angle returns to within the preset safety threshold.

[0087] S730 If the predicted tilt angle still fails to recover to within the preset safety threshold after the correction control amount reaches the preset maximum limit, an early warning message will be output to indicate that the tilt exceeds the limit and the pressing will be suspended.

[0088] After the correction is performed, the corrected predicted dip angle is obtained. That is, the attitude data is re-acquired according to the above steps, and a new predicted state vector is generated by constructing a state vector and judging the formation state in sequence. Then, the corrected predicted dip angle is extracted from the new predicted state vector, and it is determined whether the corrected predicted dip angle exceeds the preset safety threshold.

[0089] If the predicted tilt angle after correction does not exceed the preset safety threshold, the correction is considered successful, normal pressure is restored, and monitoring continues. If the predicted tilt angle after correction still exceeds the preset safety threshold, the correction control amount is gradually increased by a preset step size (e.g., increasing the current control amount by 10%-20% each time), and the correction action is repeated until the predicted tilt angle returns to within the preset safety threshold.

[0090] If the predicted dip angle still fails to recover to within the preset safety threshold after the correction control amount reaches the preset maximum limit (maximum output stroke of the actuator), it indicates that the current formation conditions have exceeded the compensation capability of the correction actuator (such as extreme working conditions such as extremely hard formations and extremely steep interfaces). At this time, an early warning message is output to notify the operator that the deviation has exceeded the limit and to suspend the pressing action, waiting for manual intervention or other auxiliary measures.

[0091] This application also provides an active deviation correction system for static cone penetration testing with integrated drilling and contact testing, see [link to relevant documentation]. Figure 5 The system includes: a data acquisition module 101, a state vector construction module 102, a real-time state prediction module 103, and a correction control execution module 104.

[0092] The data acquisition module 101 is used to acquire the probe's attitude data and pressing status data in real time during the probe pressing process of the integrated drilling and contact device.

[0093] The state vector construction module 102 is used to construct the skew trajectory state vector based on the probe's attitude data and indentation state data.

[0094] The real-time state prediction module 103 is used to calculate the formation penetration resistance and its rate of change based on the probe axial pressure and penetration depth, and to determine whether the soft-hard transition interface has been entered based on the rate of change. If so, the predicted state vector is generated by performing state deduction based on the skew trajectory state vector and through the preset reference state transition matrix.

[0095] The correction control execution module 104 is used to determine the skew angle based on the predicted state vector. If the skew angle exceeds the preset safety threshold, the correction control quantity is calculated based on the predicted state vector, and an executable correction control command is generated based on the correction control quantity.

[0096] In this embodiment of the application, the data acquisition module 101 is specifically used to acquire the probe's attitude data and pressing state data in real time during the probe pressing process of the integrated drilling and contact device. The attitude data includes acceleration vectors and angular velocity vectors along the probe's axial and radial directions, and the pressing state data includes the probe's axial pressure and pressing depth.

[0097] The state vector construction module 102 is specifically used to construct the skew trajectory state vector based on the probe's attitude data and indentation state data acquired by the data acquisition module 101.

[0098] The real-time state prediction module 103 is specifically used to calculate the formation penetration resistance and its rate of change based on the probe axial pressure and penetration depth obtained by the data acquisition module 101, and to determine whether the soft-hard transition interface has been entered based on the rate of change. If so, the predicted state vector is generated by performing state deduction through a preset reference state transition matrix based on the skew trajectory state vector constructed by the state vector construction module 102.

[0099] The correction control execution module 104 is specifically used to determine the skew angle based on the predicted state vector generated by the real-time state prediction module 103. If the skew angle exceeds the preset safety threshold, the correction control quantity is calculated based on the predicted state vector, and an executable correction control command is generated based on the correction control quantity.

[0100] This application also provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described active deviation correction methods for integrated drilling and contact static cone penetration testing.

[0101] The embodiments described in this application are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the principles of this application should be included within the scope of protection of this application.

Claims

1. An active deviation correction method for static cone penetration testing with integrated drilling and contact testing, characterized in that, include: During the probe insertion process of the integrated drilling and contact device, the probe's attitude data and insertion status data are collected in real time. The attitude data includes acceleration vectors and angular velocity vectors along the probe's axial and radial directions, and the insertion status data includes the probe's axial pressure and insertion depth. Based on the probe's attitude data and indentation state data, a skew trajectory state vector is constructed. Based on the probe's axial pressure and penetration depth, the formation penetration resistance and its rate of change are calculated, and the rate of change is used to determine whether the soft-hard transition interface has been entered. If so, then based on the skew trajectory state vector, the state is calculated using a preset reference state transition matrix to generate a predicted state vector. Based on the predicted state vector, the skew angle is determined. If the skew angle exceeds the preset safety threshold, the corrective control quantity is calculated based on the predicted state vector, and an executable corrective control command is generated based on the corrective control quantity.

2. The active deviation correction method for static cone penetration testing with integrated drilling and contact penetration according to claim 1, characterized in that, The construction of the skew trajectory state vector based on the probe's attitude data and indentation state data includes: Based on the acceleration and angular velocity vectors in the attitude data, calculate the probe's real-time tilt and azimuth angles and their rates of change. By combining the tilt angle, azimuth angle, and their rate of change with the indentation depth in the indentation state data, a skew trajectory state vector is constructed.

3. The active deviation correction method for static cone penetration testing with integrated drilling and contact penetration according to claim 1, characterized in that, The calculation of formation penetration resistance and its rate of change based on probe axial pressure and penetration depth, and the determination of whether a soft-hard transition interface has been entered based on the rate of change, includes: Based on the probe's axial pressure, the formation penetration resistance is calculated using preset probe specifications. Based on the formation penetration resistance and penetration depth, the rate of change of formation penetration resistance with depth is calculated according to the preset data sampling interval. Determine whether the rate of change of formation penetration resistance with depth is higher than a preset rate of change threshold. If so, determine that the formation has entered the soft-hard transition interface.

4. The active deviation correction method for static cone penetration testing with integrated drilling and contact penetration as described in claim 1, characterized in that, The process of generating a predicted state vector based on the skew trajectory state vector and using a preset reference state transition matrix for state deduction includes: The prediction time domain is determined based on the rate of change of the formation penetration resistance; Based on the prediction time domain, a time-varying state transition matrix is ​​constructed by pre-setting a baseline state transition matrix; Based on the skew trajectory state vector and the time-varying state transition matrix, a predicted state vector is generated.

5. The active deviation correction method for static cone penetration testing with integrated drilling and contact penetration according to claim 1, characterized in that, The step of calculating the correction control quantity based on the predicted state vector includes: Based on the predicted state vector, the predicted azimuth angle is extracted, and the correction direction is determined according to the predicted azimuth angle; Based on the predicted state vector, the state deviation vector is calculated by using the preset target state vector; Based on the correction direction and state deviation vector, the correction control quantity is calculated through a preset state feedback control function.

6. The active deviation correction method for static cone penetration testing with integrated drilling and contact penetration according to claim 5, characterized in that, After calculating the correction control quantity based on the predicted state vector, the method further includes: When it is determined that the formation has entered the interface between soft and hard transitions, the change characteristics of the formation penetration resistance rate are extracted. The change characteristics include the directional characteristics of the change rate, the drift characteristics of the azimuth angle, and the continuity characteristics of the change rate. Based on the directional characteristics of the formation penetration resistance rate and the drift characteristics of the azimuth angle, the dip direction of the formation interface is estimated, and a feedforward compensation force opposite to the dip direction is generated. The feedforward compensation force is superimposed on the correction control quantity to generate a composite correction control quantity.

7. The active deviation correction method for static cone penetration testing with integrated drilling and contact penetration according to claim 6, characterized in that, The generation of a feedforward compensation force opposite to the tendency direction includes: The direction of the feedforward compensation force is determined by the opposite direction of the tendency. The magnitude of the feedforward compensation force is calculated based on the current rate of change of formation penetration resistance and the drift characteristics of the azimuth angle. The feedforward compensation force is generated based on the magnitude and direction of the feedforward compensation force.

8. The active deviation correction method for static cone penetration testing with integrated drilling and contact penetration according to claim 1, characterized in that, After generating the correction control command based on the correction control quantity, the process includes: After the correction is performed, the predicted tilt angle after correction is obtained; If the predicted tilt angle after correction still exceeds the preset safety threshold, increase the correction control amount and repeat the correction action until the predicted tilt angle returns to within the preset safety threshold. If the predicted tilt angle still fails to recover to within the preset safety threshold after the correction control amount reaches the preset maximum limit, an early warning message will be output to indicate that the tilt exceeds the limit and the pressing will be suspended.

9. An active deviation correction system for static cone penetration testing (CPPT), characterized in that, include: The data acquisition module (101) is used to acquire the probe's attitude data and pressing state data in real time during the probe pressing process of the integrated drilling and contact device. The attitude data includes acceleration vectors and angular velocity vectors along the probe's axial and radial directions, and the pressing state data includes the probe's axial pressure and pressing depth. The state vector construction module (102) is used to construct the skew trajectory state vector based on the probe's attitude data and indentation state data; The real-time state prediction module (103) is used to calculate the formation penetration resistance and its rate of change based on the probe axial pressure and penetration depth, and to determine whether the soft-hard transition interface has been entered based on the rate of change. If so, the state is calculated based on the skew trajectory state vector and the preset benchmark state transition matrix to generate the predicted state vector. The correction control execution module (104) is used to determine the skew angle based on the predicted state vector. If the skew angle exceeds the preset safety threshold, the correction control quantity is calculated based on the predicted state vector, and an executable correction control command is generated based on the correction control quantity.

10. A computer-readable storage medium storing a computer program capable of being loaded by a processor and executing an active deviation correction method for integrated drilling and contact static cone penetration testing as described in any one of claims 1 to 8.

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