Direction adjustment control method and system for horizontal drilling machine

Abstract

The invention provides a direction adjustment control system for a horizontal drilling machine. The direction adjustment control system comprises a positioning measurement system, a fuzzy controller,a PID (Proportion Integration Differentiation) controller and direction adjustment oil cylinders which are arranged on the drilling machine. The invention also provides a direction adjustment controlmethod for the horizontal drilling machine. The actual posture of the drilling machine is compared with the expected posture to obtain the real-time vertical deviation distance L and the deviation angle theta; deviation parameters and the rate of change thereof are input into the fuzzy controller; parameters KP, KID and KD in the PID controller are obtained by selecting appropriate fuzzy control rules and calculating; the PID controller sends out an action signal to the direction adjustment oil cylinders according to the PID parameters; and the direction adjustment of the drilling machine in the vertical or horizontal direction is realized through the cooperation of the action strokes between the different direction adjustment oil cylinders to ensure that the drilling machine advances according to the predetermined route. According to the direction adjustment control system and method, the fuzzy controller is introduced, and different direction adjustment strategies are adopted according to the magnitude of the deviation, so that the fast and high precise direction adjustment of the drilling machine is realized.

Description

Technical field [0001] The present invention relates to the technical field of geological engineering, in particular, to a horizontal drilling rig steering control method, and a horizontal drilling rig steering control system used in conjunction with the method. Background technique [0002] Drilling rig is a kind of mechanical equipment used to drive drilling tools into the underground to obtain physical geological data. It is often used in the process of geological exploration or the development of mineral resources (including solid mines, liquid mines, gas mines, etc.). Internal cores, ore cores, cuttings, gas samples, liquid samples, etc., to prove underground geology and mineral resources. [0003] At present, most drilling rigs are mainly used for vertical downward drilling, while horizontal drilling is rare, and they are all short-distance horizontal drilling operations. For long-distance (kilometer level and above) horizontal drilling technology Development is basically at...

AI Technical Summary

Problems solved by technology

[0004] Due to the lack of actual demand and limited scope of application in the industry, the research on the steering control technology of horizontal drilling rigs is almost blank, mainly relying on manual adjustment, with a low level of automation, and the deviation correction effect of this operation method is affected by the operator's technical skills. The level has a great influence, and the operation effect is unstable; even if the traditional PID control method is used, due to the difficulty in parameter setting, it cannot quickly and stably track the set value, resulting in poor results, and the same adjustment strategy for different deviations will also cause leading to reduced steering accuracy

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