CN118276452B - Push-back type rotary guiding vector control method and system - Google Patents
Push-back type rotary guiding vector control method and system Download PDFInfo
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Abstract
The application provides a pushing-leaning rotary steering vector control method and a pushing-leaning rotary steering vector control system, which relate to the technical field of drilling control, and comprise the following steps: receiving terminal control parameters of the rotary guiding pushing device; collecting historical operation record information of a preset time zone of the rotary guiding pushing device; obtaining a rotation pushing record vector; generating a rotation pushing expected record vector; obtaining a systematic error identification result; obtaining a first rotary leaning unit optimization vector, a second rotary leaning unit optimization vector and a third rotary leaning unit optimization vector; and controlling the rotary guiding pushing device. The application can solve the technical problems of low operation control refinement degree caused by lower accuracy error analysis accuracy rate between resultant force and target resultant force due to the fact that the accuracy dynamic change of the rotary guiding pushing device after service is not considered in the prior art, realizes the accurate analysis of the error of the rotary guiding pushing device, and achieves the technical effect of improving the operation control refinement degree.
Description
Technical Field
The application relates to the technical field of drilling control, in particular to a pushing-leaning type rotary guiding vector control method and system.
Background
In drilling operations, a rotary steering pushing device is a key drilling tool, and the direction of a drill bit and the track of a borehole are precisely controlled by controlling the contact of the downhole pushing device with a borehole wall to generate lateral force to change the direction of movement of the drill bit.
However, achieving high accuracy drilling control remains a challenge due to dynamic changes in equipment. At present, when the traditional rotary guiding pushing device is used for controlling, the dynamic change of the precision of the rotary guiding pushing device after service is not considered, the precision error analysis accuracy between the resultant force and the target resultant force is low, and the operation control refinement degree is low.
Disclosure of Invention
The application aims to provide a pushing type rotary guiding vector control method and a pushing type rotary guiding vector control system, which are used for solving the technical problems that in the prior art, the accuracy of precision error analysis between resultant force and target resultant force is low and the operation control refinement degree is low because the precision dynamic change of a rotary guiding pushing device after service is not considered.
In view of the above, the present application provides a push-against rotary steering vector control method and system.
In a first aspect, the present application provides a push-type rotary steerable vector control method, which is implemented by a push-type rotary steerable vector control system, wherein the method includes: receiving terminal control parameters of the rotary guiding pushing device; performing proximity analysis by taking the terminal control parameter as a reference, and collecting history operation record information of a preset time zone of the rotary guiding pushing device, wherein the history operation record information comprises a first rotary pushing unit record vector, a second rotary pushing unit record vector set, a third rotary pushing unit record vector and a pushing target motion record vector; according to the pushing target motion record vector, a combined vector analysis component is used for processing to obtain a rotating pushing record combined vector; fitting the first rotating pushing unit record vector, the second rotating pushing unit record vector set and the third rotating pushing unit record vector to generate a rotating pushing expected record combination vector; performing systematic error analysis on the rotating leaning record combination vector and the rotating leaning expected record combination vector to obtain a systematic error identification result; according to the system error identification result, optimizing the first rotary leaning unit record vector, the second rotary leaning unit record vector set and the third rotary leaning unit record vector to obtain a first rotary leaning unit optimization vector, a second rotary leaning unit optimization vector and a third rotary leaning unit optimization vector; and controlling the rotary guiding pushing device according to the first rotary pushing unit optimizing vector, the second rotary pushing unit optimizing vector and the third rotary pushing unit optimizing vector.
In a second aspect, the present application also provides a push-against rotary steerable vector control system for performing the push-against rotary steerable vector control method according to the first aspect, wherein the system comprises: the terminal control parameter receiving module is used for receiving terminal control parameters of the rotary guiding pushing device; the historical operation record information acquisition module is used for carrying out proximity analysis by taking the terminal control parameter as a reference and acquiring historical operation record information of a preset time zone of the rotary guiding pushing device, wherein the historical operation record information comprises a first rotary pushing unit record vector, a second rotary pushing unit record vector set, a third rotary pushing unit record vector and a pushing target motion record vector; the combined vector analysis module is used for obtaining a rotary pushing record combined vector through processing of the combined vector analysis component according to the pushing target motion record vector; the vector fitting module is used for fitting the first rotating leaning unit record vector, the second rotating leaning unit record vector set and the third rotating leaning unit record vector to generate a rotating leaning expected record combination vector; the system error analysis module is used for carrying out system error analysis on the rotating leaning record combination vector and the rotating leaning expected record combination vector to obtain a system error identification result; the vector optimizing module is used for optimizing the first rotary leaning unit record vector, the second rotary leaning unit record vector set and the third rotary leaning unit record vector according to the system error identification result to obtain a first rotary leaning unit optimizing vector, a second rotary leaning unit optimizing vector and a third rotary leaning unit optimizing vector; the vector control module is used for controlling the rotary guiding pushing device according to the first rotary pushing unit optimizing vector, the second rotary pushing unit optimizing vector and the third rotary pushing unit optimizing vector.
One or more technical schemes provided by the application have at least the following technical effects or advantages:
Receiving terminal control parameters of the rotary guiding pushing device; performing proximity analysis by taking the terminal control parameter as a reference, and collecting history operation record information of a preset time zone of the rotary guiding pushing device, wherein the history operation record information comprises a first rotary pushing unit record vector, a second rotary pushing unit record vector set, a third rotary pushing unit record vector and a pushing target motion record vector; according to the pushing target motion record vector, a combined vector analysis component is used for processing to obtain a rotating pushing record combined vector; fitting the first rotating pushing unit record vector, the second rotating pushing unit record vector set and the third rotating pushing unit record vector to generate a rotating pushing expected record combination vector; performing systematic error analysis on the rotating leaning record combination vector and the rotating leaning expected record combination vector to obtain a systematic error identification result; according to the system error identification result, optimizing the first rotary leaning unit record vector, the second rotary leaning unit record vector set and the third rotary leaning unit record vector to obtain a first rotary leaning unit optimization vector, a second rotary leaning unit optimization vector and a third rotary leaning unit optimization vector; and controlling the rotary guiding pushing device according to the first rotary pushing unit optimizing vector, the second rotary pushing unit optimizing vector and the third rotary pushing unit optimizing vector. Therefore, by carrying out systematic error analysis on the rotary guiding pushing device and further carrying out vector optimization, the accurate analysis of the error of the rotary guiding pushing device is realized, and the technical effect of improving the control refinement degree of the operation is achieved.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent. It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the application or the technical solutions of the prior art, the following brief description will be given of the drawings used in the description of the embodiments or the prior art, it being obvious that the drawings in the description below are only exemplary and that other drawings can be obtained from the drawings provided without the inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a push-against rotary steering vector control method of the present application;
fig. 2 is a schematic structural diagram of the push-against rotary steering vector control system of the present application.
Reference numerals illustrate: the system comprises a terminal control parameter receiving module 11, a historical operation record information collecting module 12, a vector combination analyzing module 13, a vector fitting module 14, a system error analyzing module 15, a vector optimizing module 16 and a vector control module 17.
Detailed Description
The application solves the technical problems of low accuracy error analysis accuracy between resultant force and target resultant force and low operation control refinement degree in the prior art due to the fact that the accuracy dynamic change of the rotary guiding pushing device after service is not considered. By means of systematic error analysis and vector optimization of the rotary guiding pushing device, accurate analysis of errors of the rotary guiding pushing device is achieved, and the technical effect of improving the control refinement degree of operation is achieved.
In the following, the technical solutions of the present application will be clearly and completely described with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments of the present application, and that the present application is not limited by the exemplary embodiments described herein. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present application are shown.
Example 1
Referring to fig. 1, the present application provides a push-type rotary steering vector control method, wherein the method is applied to a push-type rotary steering vector control system, and the method specifically includes the following steps:
step one: receiving terminal control parameters of the rotary guiding pushing device;
In particular, the rotary steerable push device is an existing advanced drilling tool that enables precise control of the borehole trajectory during drilling. Rotary steerable pushing devices typically include a plurality of rotary pushing units that work in concert to achieve precise control of the bit direction and borehole trajectory. The terminal control parameter refers to the thrust output by the control system of the rotary guiding and leaning device and used for controlling different rotary leaning units of the rotary guiding and leaning device.
Step two: performing proximity analysis by taking the terminal control parameter as a reference, and collecting history operation record information of a preset time zone of the rotary guiding pushing device, wherein the history operation record information comprises a first rotary pushing unit record vector, a second rotary pushing unit record vector set, a third rotary pushing unit record vector and a pushing target motion record vector;
Specifically, in order to ensure the control precision of the rotary guiding pushing device, the rotary guiding pushing device is often subjected to equipment maintenance, each equipment maintenance can be regarded as equipment initialization, namely, the rotary guiding pushing device is maintained, so that errors are in an allowable error range, therefore, the control record after each equipment maintenance has stronger referential property, namely, the time interval from the last equipment maintenance time to the current time is taken as the preset time zone, the historical operation record information of the preset time zone is collected, the referential property of the historical operation record information can be ensured, the accuracy of subsequent system error analysis is ensured, the error optimization effect is further improved, and the operation control precision is improved. The first rotary pushing unit record vector, the second rotary pushing unit record vector set and the third rotary pushing unit record vector refer to the thrust forces respectively corresponding to different rotary pushing units, and generally, at least 3 rotary pushing units exist, namely, the thrust forces of different rotary pushing units jointly realize the control of the drill bit.
The pushing target is a rotating pushing area of the first rotating pushing unit, the second rotating pushing unit and the third rotating pushing unit, the pushing target motion record vector comprises target motion speed time sequence information and target hardness information of the rotating pushing area of the first rotating pushing unit, the second rotating pushing unit and the third rotating pushing unit, the target hardness information is stratum hardness, namely the motion speed of the rotating pushing area of the rotating pushing unit and the stratum hardness jointly determine the thrust. In popular terms, the motion record vector of the leaning target refers to the motion information of the leaning target, that is, the actual control result after being controlled according to the terminal control parameters.
Step three: according to the pushing target motion record vector, a combined vector analysis component is used for processing to obtain a rotating pushing record combined vector;
Specifically, the resultant vector analysis component is constructed based on an existing machine learning model, and is configured to obtain, by analyzing the target motion record vector, resultant forces of the first rotary pushing unit, the second rotary pushing unit, and the third rotary pushing unit, that is, the rotary pushing record resultant vector, where the rotary pushing record resultant vector may be understood as resultant forces of the actual plurality of rotary pushing units obtained after control according to the terminal control parameters.
Step four: fitting the first rotating pushing unit record vector, the second rotating pushing unit record vector set and the third rotating pushing unit record vector to generate a rotating pushing expected record combination vector;
Specifically, the first rotating pushing unit record vector, the second rotating pushing unit record vector set and the third rotating pushing unit record vector can understand the expected control parameters, the first rotating pushing unit record vector, the second rotating pushing unit record vector set and the third rotating pushing unit record vector can be understood as component forces of different rotating pushing units, and a combination force, namely the rotating pushing expected combination vector, can be obtained by fitting a plurality of component forces. The rotary push desired registration vector is the result of the combined action of the first rotary push unit registration vector, the second rotary push unit registration vector set, and the third rotary push unit registration vector. The first rotating pushing unit record vector, the second rotating pushing unit record vector set and the third rotating pushing unit record vector are thrust with different magnitudes and different directions, can be synthesized by using the prior art, and can be subjected to resultant force fitting by using a parallelogram rule or a triangle rule, which is a common technical means for those skilled in the art, and is not developed here.
Step five: performing systematic error analysis on the rotating leaning record combination vector and the rotating leaning expected record combination vector to obtain a systematic error identification result;
Specifically, the rolling contact record resultant vector may be understood as a resultant force of the actual plurality of rolling contact units obtained after the control according to the terminal control parameter. The rotation pushing against the desired recorded resultant vector is then the resultant force desired when controlling based on the terminal control parameters. And comparing the deviation of the rotation pushing record vector relative to the rotation pushing expected record vector to obtain a system error identification result, wherein the system error identification result has a size and a direction.
Step six: according to the system error identification result, optimizing the first rotary leaning unit record vector, the second rotary leaning unit record vector set and the third rotary leaning unit record vector to obtain a first rotary leaning unit optimization vector, a second rotary leaning unit optimization vector and a third rotary leaning unit optimization vector;
Specifically, the system error identification result is a control error objectively existing in a control system of the rotary guiding pushing device, and can be eliminated only by adjusting control parameters, so that error correction is firstly carried out on a rotary pushing target resultant vector according to the system error identification result, and an actual rotary pushing resultant vector is obtained. And then, carrying out vector combination fitting after adjusting the first rotating pushing unit record vector, the second rotating pushing unit record vector set and the third rotating pushing unit record vector, and outputting a vector combination fitting result to meet the first rotating pushing unit optimization vector, the second rotating pushing unit optimization vector and the third rotating pushing unit optimization vector of the actual rotating pushing combined vector, so that error correction is realized, and the refinement degree of operation control is improved.
Step seven: and controlling the rotary guiding pushing device according to the first rotary pushing unit optimizing vector, the second rotary pushing unit optimizing vector and the third rotary pushing unit optimizing vector.
Specifically, the first rotary pushing unit optimization vector, the second rotary pushing unit optimization vector and the third rotary pushing unit optimization vector are used as control parameters to control the rotary guiding pushing device, so that the rotary guiding pushing device is controlled in a fine mode, and the operation precision is improved.
Further, the second step of the present application further comprises:
constructing a terminal control parameter proximity analysis expression:
；
Wherein, A j-th attribute characteristic value characterizing a first set of terminal control parameters,A j-th attribute feature value characterizing a second set of terminal control parameters, M characterizing an attribute dimension of the terminal control parameters,Representing the adjacent distance between any two groups of terminal control parameters;
According to the proximity distance threshold, combining the terminal control parameter proximity analysis expression, carrying out proximity analysis by taking the terminal control parameter as a reference, and collecting the history operation record information of the preset time zone of the rotary guiding pushing device; the terminal time of the preset time zone is the current time, and the starting time is the latest equipment maintenance time.
Specifically, proximity analysis is performed based on the terminal control parameter, and the process of collecting the history work record information of the preset time zone of the rotary guiding pushing device is as follows:
firstly, constructing a terminal control parameter proximity analysis expression:
；
Wherein, A j-th attribute characteristic value characterizing a first set of terminal control parameters,And characterizing a j-th attribute characteristic value of a second group of terminal control parameters, wherein any one group of terminal control parameters in the first group of terminal control parameters and the second group of terminal control parameters is the terminal control parameters, the other group of terminal control parameters are historical terminal control parameters corresponding to historical operation data of a preset time zone to be acquired, and conventionally, the difference between the historical terminal control parameters corresponding to the historical operation data and the terminal control parameters is required to be ensured to be small, namely, the adjacent distance meets an adjacent distance threshold. The proximity distance threshold is set by a person skilled in the art, and the general setting value is smaller, and because the system error analysis is performed by using the historical operation record information, the proximity distance of any two groups of terminal control parameters needs to be ensured to be smaller, so that the accuracy of the subsequent error analysis can be ensured. Any two sets of terminal control parameters include the terminal control parameters received in step one.
M characterizes the attribute dimension of the terminal control parameters, i.e. the type of parameters in the terminal control parameters, such as the thrust of the different rotary pushing units,The proximity distance of any two sets of terminal control parameters is characterized. And combining the terminal control parameter proximity analysis expression, carrying out proximity analysis by taking the terminal control parameter as a reference, collecting historical operation data, of which the proximity distance between the terminal control parameter and the terminal control parameter is smaller than a proximity distance threshold value, in a preset time zone as the historical operation record information, wherein the historical operation record information comprises a first rotating pushing unit record vector, a second rotating pushing unit record vector set and a third rotating pushing unit record vector and a pushing target motion record vector, the first rotating pushing unit record vector, the second rotating pushing unit record vector set and the third rotating pushing unit record vector are the thrust of different rotating pushing units in the historical record data, and the pushing target motion record vector refers to the actual motion speed and the target hardness of a pushing target after actual control. The end point time of the preset time zone is the current time, the starting point time is the latest equipment maintenance time, and after each equipment maintenance, the rotary guiding pushing device can be maintained until the system error is within the deviation range, so that the data after each maintenance has referential property, and the referential value of the historical operation record information is ensured.
Further, the third step of the present application further comprises:
The pushing target motion record vector comprises target motion speed time sequence information and target hardness information, wherein the pushing target refers to a first rotating pushing unit, a second rotating pushing unit and a third rotating pushing unit; preprocessing the target movement speed time sequence information to obtain linear acceleration time sequence characteristic information and angular acceleration time sequence characteristic information; and processing the linear acceleration time sequence characteristic information, the angular acceleration time sequence characteristic information and the target hardness information through the vector combination analysis component to obtain the rotating pushing record vector combination.
Further, the application also comprises the following steps:
Uploading a drilling operation record data set of the model rotary guiding pushing device through a plurality of drilling operators, wherein the drilling operation record data set comprises a target area hardness record data set, a target area movement speed time sequence record data set and a vector identification data set; preprocessing the target area movement speed time sequence record data set, comprising the following steps: splitting the target area movement speed time sequence record data set to obtain a linear acceleration time sequence record data set and an angular acceleration time sequence record data set; traversing the linear acceleration time sequence record data set and the angular acceleration time sequence record data set to perform adjacent time domain aggregation to obtain a linear acceleration time sequence record preprocessing data set and an angular acceleration time sequence record preprocessing data set; and training the vector analysis component by taking the vector identification data set as a supervision truth value, and taking the target area hardness record data set, the linear acceleration time sequence record preprocessing data set and the angular acceleration time sequence record preprocessing data set as input data.
Further, the application also comprises the following steps:
Obtaining first time domain linear acceleration record data and second time domain linear acceleration record data, wherein the first time domain and the second time domain are adjacent; calculating direction deviation features and magnitude deviation features of the first time domain linear acceleration record data and the second time domain linear acceleration record data; when the direction deviation characteristic is smaller than or equal to a direction deviation threshold value and the magnitude deviation characteristic is smaller than or equal to a magnitude deviation threshold value, merging the first time domain and the second time domain, and simultaneously updating the mean value of the first time domain linear acceleration record data and the second time domain linear acceleration record data into the acceleration record data of the merged time domain; repeating analysis, stopping aggregation when the direction deviation characteristic of any two time domains is larger than the direction deviation threshold value or the magnitude deviation characteristic is larger than the magnitude deviation threshold value, and outputting the linear acceleration time sequence record preprocessing data set.
Specifically, according to the push target motion record vector, the process of obtaining the rotation push record vector by processing through the vector combination analysis component is as follows:
The target movement speed time sequence information refers to movement speed information of the first rotary pushing unit, the second rotary pushing unit and the third rotary pushing unit in a continuous time, wherein the movement speed information comprises linear speed and angular speed, and the target hardness information refers to stratum hardness. In order to obtain the linear acceleration and the angular acceleration, mathematical differentiation operation is required to be performed on the target movement speed time sequence information. Linear acceleration is the first derivative of speed with respect to time, while angular acceleration is the first derivative of angular speed with respect to time. Therefore, the linear acceleration at each time point is calculated by performing numerical differentiation on the linear velocity in the target movement velocity time sequence information, and the linear acceleration time sequence characteristic information is obtained. And obtaining angular acceleration time sequence characteristic information by calculating the derivative of the angular speed in the target movement speed time sequence information.
And further, according to the linear acceleration time sequence characteristic information, the angular acceleration time sequence characteristic information and the target hardness information, the combined vector analysis component is used for processing to obtain the rotating pushing record combined vector, so that support is provided for subsequent system error analysis.
The vector synthesis analysis component construction steps comprise:
Firstly, uploading a drilling operation record data set of a model rotary guiding pushing device through a plurality of drilling operators, wherein the drilling operation record data set is historical drilling operation data, the drilling operation record data set comprises a target area hardness record data set, a target area moving speed time sequence record data set and a vector identification data set, and the target area moving speed time sequence record data set comprises linear speed data and angular speed data. Further preprocessing the target area movement speed time sequence record data set, comprising the following steps:
and splitting the target area movement speed time sequence record data set, splitting the line speed time sequence record data and the angular speed time sequence record data, and performing mathematical differential calculation to obtain the line acceleration time sequence record data set and the angular acceleration time sequence record data set.
Further traversing the linear acceleration time sequence record data set and the angular acceleration time sequence record data set to perform adjacent time domain aggregation to obtain a linear acceleration time sequence record preprocessing data set and an angular acceleration time sequence record preprocessing data set, wherein the method comprises the following steps of:
The linear acceleration data belonging to the first time domain and the second time domain are extracted from the linear acceleration time series record data set as the first time domain linear acceleration record data and the second time domain linear acceleration record data, and the time domains may be continuous time periods divided by time intervals, for example, data of every second or every minute is taken as one time domain. The linear acceleration is a vector having a direction and a magnitude, whereby a deviation in the direction and a deviation in the magnitude of the first time domain linear acceleration record data and the second time domain linear acceleration record data are calculated, resulting in a direction deviation feature and a magnitude deviation feature. The direction deviation threshold value and the magnitude deviation threshold value are obtained, the direction deviation threshold value and the magnitude deviation threshold value are the deviation value ranges which are determined that the two acceleration data are basically consistent and can be combined, and the deviation value ranges are set by the person skilled in the art.
And when the direction deviation characteristic is smaller than or equal to a direction deviation threshold value and the magnitude deviation characteristic is smaller than or equal to a magnitude deviation threshold value, merging the first time domain and the second time domain to obtain a merged time domain comprising the first time domain and the second time domain, carrying out mean value calculation on the first time domain linear acceleration record data and the second time domain linear acceleration record data, and updating the mean value into the acceleration record data of the merged time domain. Repeating the steps, continuing to analyze the combined time domain and the next adjacent time domain until the direction deviation characteristic of any two time domains is larger than the direction deviation threshold or the size deviation characteristic is larger than the size deviation threshold, stopping aggregation, and outputting the finally obtained combined time domain and corresponding acceleration record data as the linear acceleration time sequence record preprocessing data set.
Similarly, the same method is adopted to perform adjacent time domain aggregation on the angular acceleration time sequence record data set, and specifically, first time domain angular acceleration record data and second time domain angular acceleration record data under two adjacent time domains are obtained. Calculating the direction deviation characteristic and the magnitude deviation characteristic of the first time domain angular acceleration record data and the second time domain angular acceleration record data, setting the direction deviation threshold and the magnitude deviation threshold of the angular acceleration at the same time, when the direction deviation characteristic and the magnitude deviation characteristic of the first time domain angular acceleration record data and the second time domain angular acceleration record data are smaller than or equal to the direction deviation threshold and the magnitude deviation threshold of the angular acceleration, carrying out time zone merging, calculating the mean value of the first time domain angular acceleration record data and the second time domain angular acceleration record data as the angular acceleration record data, repeatedly analyzing until the direction deviation characteristic of any first time domain angular acceleration record data and the second time domain angular acceleration record data is larger than the angular velocity direction deviation threshold or the magnitude deviation characteristic or larger than the magnitude deviation threshold, stopping aggregation, and outputting the merged time domain and the corresponding angular acceleration record data as the angular acceleration time sequence record preprocessing data set. Therefore, adjacent time domain aggregation of the linear acceleration time sequence record data set and the angular acceleration time sequence record data set is realized, and accurate training data is provided for training of the vector analysis component.
And finally, taking the combined vector identification data set as a supervision truth value, taking the target area hardness record data set, the linear acceleration time sequence record preprocessing data set and the angular acceleration time sequence record preprocessing data set as input data, training the combined vector analysis component, simply constructing the combined vector analysis component based on the existing machine learning model such as a neural network model, inputting the data in the target area hardness record data set, the linear acceleration time sequence record preprocessing data set and the angular acceleration time sequence record preprocessing data set into the combined vector analysis component, and performing supervision adjustment on the output of the combined vector analysis component by the combined vector identification data set, so that the output result is continuously close to the supervision truth value, thereby training the combined vector analysis component to be converged and providing model support for subsequent combined vector analysis.
And then inputting the pushing target motion record vector into a vector analysis component for processing, and outputting to obtain a rotating pushing record vector.
Further, the fifth step of the present application further comprises:
Performing deviation vector analysis on the rotation pushing record vector and the rotation pushing expected record vector to obtain a deviation vector set; carrying out concentrated trend analysis on the deviation vector set to obtain a concentrated deviation vector set; extracting the maximum deviation vector and the minimum deviation vector of the concentrated deviation vector set; and solving the average value of the maximum deviation vector and the minimum deviation vector, and setting the average value as the systematic error identification result.
Specifically, the process of performing systematic error analysis on the rotation pushing record vector and the rotation pushing expected record vector to obtain a systematic error identification result is as follows:
firstly, comparing each record close vector with the expected close vector in the corresponding relation between the rotation close record close vector and the rotation close expected record close vector, and calculating the difference value of the record close vector and the expected close vector, wherein the difference value is a deviation vector, so as to form a deviation vector set. Next, a central trend analysis is performed on the deviation vector set, where the central trend analysis is to extract data in the distribution comparison set to form a central deviation vector set, and exemplary, a box diagram may be constructed by calculating quartiles of the deviation vector set, and deviation vectors represented by box parts in the box diagram form a central deviation vector set, which is a common technical means for those skilled in the art, and will not be described herein.
Based on the analysis of the central trend, the maximum deviation vector and the minimum deviation vector are extracted from the deviation vector set, and the maximum deviation vector and the minimum deviation vector respectively represent the upper bound and the lower bound of the deviation, so that the fluctuation range of the system performance is known. And solving the average value of the maximum deviation vector and the minimum deviation vector, and setting the average value as the systematic error identification result. Therefore, accurate analysis of system errors is realized, subsequent vector optimization is facilitated, errors are reduced, and the operation control refinement degree of the rotary guide pushing device is improved.
Further, the sixth step of the present application further comprises:
Receiving a rotating pushing target closing vector, and fitting based on the systematic error identification result to obtain an actual rotating pushing closing vector; obtaining a first rotating leaning vector section, a second rotating leaning vector section and a third rotating leaning vector section; and carrying out vector adjustment based on the first rotating leaning vector section, the second rotating leaning vector section and the third rotating leaning vector section, and outputting the first rotating leaning unit optimizing vector, the second rotating leaning unit optimizing vector and the third rotating leaning unit optimizing vector when the actual rotating leaning vector is satisfied.
Specifically, according to the system error identification result, the first rotating leaning unit record vector, the second rotating leaning unit record vector set and the third rotating leaning unit record vector are optimized, and the process of obtaining the first rotating leaning unit optimizing vector, the second rotating leaning unit optimizing vector and the third rotating leaning unit optimizing vector is as follows:
Receiving a rotating pushing target resultant vector, wherein the rotating pushing target resultant vector refers to the expected resultant force of the rotating guiding pushing device, and the expected resultant force needs to be determined according to actual requirements. And carrying out error fitting correction on the rotating leaning target combined vector based on the system error identification result, namely superposing the rotating leaning target combined vector and the system error identification result, and taking the superposition result as an actual rotating leaning combined vector to realize error correction. The first, second and third rotary pushing vector sections refer to thrust adjustable sections of the first, second and third rotary pushing units, which can be read by using a manual. Vector adjustment is carried out on the first rotary pushing unit record vector, the second rotary pushing unit record vector set and the third rotary pushing unit record vector based on the first rotary pushing vector interval, the second rotary pushing vector interval and the third rotary pushing vector interval, vector fitting is carried out on the adjusted first rotary pushing unit vector, the adjusted second rotary pushing unit vector until the third rotary pushing unit vector is carried out after each adjustment, whether the adjusted combined vector meets an actual rotary pushing combined vector is judged, and when the actual rotary pushing combined vector is met, the adjusted first rotary pushing unit vector, the adjusted second rotary pushing unit vector until the third rotary pushing unit vector are used as the first rotary pushing unit optimization vector, the second rotary pushing unit optimization vector and the third rotary pushing unit optimization vector; if the operation control of the rotary guide pushing device is not satisfied, continuing to adjust and optimize until the operation control of the rotary guide pushing device is satisfied, thereby realizing the optimized control of the rotary guide vector and improving the refinement degree of the operation control of the rotary guide pushing device.
Example two
Based on the same inventive concept as the push-to-rotate-guide vector control method in the foregoing embodiment, the present application further provides a push-to-rotate-guide vector control system, referring to fig. 2, the system includes:
a terminal control parameter receiving module 11, where the terminal control parameter receiving module 11 is configured to receive a terminal control parameter of the rotary guiding pushing device;
A historical operation record information collection module 12, where the historical operation record information collection module 12 is configured to perform proximity analysis based on the terminal control parameter, and collect historical operation record information of a preset time zone of the rotary guiding pushing device, where the historical operation record information includes a first record vector of the rotary pushing unit, a second record vector set of the rotary pushing unit, a third record vector of the rotary pushing unit, and a target motion record vector;
The combined vector analysis module 13 is used for obtaining a rotating pushing record combined vector according to the pushing target motion record vector through processing of a combined vector analysis component;
the vector fitting module 14 is configured to fit the first record vector of the rotating pushing unit, the second record vector set of the rotating pushing unit, and the third record vector set of the rotating pushing unit, so as to generate a desired record vector of the rotating pushing unit;
The system error analysis module 15 is used for carrying out system error analysis on the rotation pushing record resultant vector and the rotation pushing expected record resultant vector to obtain a system error identification result;
the vector optimizing module 16 is configured to optimize the first rotating leaning unit record vector, the second rotating leaning unit record vector set, and the third rotating leaning unit record vector according to the system error identification result, so as to obtain a first rotating leaning unit optimizing vector, a second rotating leaning unit optimizing vector, and a third rotating leaning unit optimizing vector;
the vector control module 17 is configured to control the rotary guiding pushing device according to the first rotary pushing unit optimization vector, the second rotary pushing unit optimization vector, and the third rotary pushing unit optimization vector.
Further, the historical job record information collection module 12 in the system is further configured to:
constructing a terminal control parameter proximity analysis expression:
；
Wherein, A j-th attribute characteristic value characterizing a first set of terminal control parameters,A j-th attribute feature value characterizing a second set of terminal control parameters, M characterizing an attribute dimension of the terminal control parameters,Representing the adjacent distance between any two groups of terminal control parameters;
According to the proximity distance threshold, combining the terminal control parameter proximity analysis expression, carrying out proximity analysis by taking the terminal control parameter as a reference, and collecting the history operation record information of the preset time zone of the rotary guiding pushing device;
The terminal time of the preset time zone is the current time, and the starting time is the latest equipment maintenance time.
Further, the complex vector analysis module 13 in the system is configured to:
The pushing target motion record vector comprises target motion speed time sequence information and target hardness information, wherein the pushing target refers to a first rotating pushing unit, a second rotating pushing unit and a third rotating pushing unit;
preprocessing the target movement speed time sequence information to obtain linear acceleration time sequence characteristic information and angular acceleration time sequence characteristic information;
And processing the linear acceleration time sequence characteristic information, the angular acceleration time sequence characteristic information and the target hardness information through the vector combination analysis component to obtain the rotating pushing record vector combination.
Further, the complex vector analysis module 13 in the system is configured to:
Uploading a drilling operation record data set of the model rotary guiding pushing device through a plurality of drilling operators, wherein the drilling operation record data set comprises a target area hardness record data set, a target area movement speed time sequence record data set and a vector identification data set;
preprocessing the target area movement speed time sequence record data set, comprising the following steps:
splitting the target area movement speed time sequence record data set to obtain a linear acceleration time sequence record data set and an angular acceleration time sequence record data set;
traversing the linear acceleration time sequence record data set and the angular acceleration time sequence record data set to perform adjacent time domain aggregation to obtain a linear acceleration time sequence record preprocessing data set and an angular acceleration time sequence record preprocessing data set;
And training the vector analysis component by taking the vector identification data set as a supervision truth value, and taking the target area hardness record data set, the linear acceleration time sequence record preprocessing data set and the angular acceleration time sequence record preprocessing data set as input data.
Further, the complex vector analysis module 13 in the system is configured to:
obtaining first time domain linear acceleration record data and second time domain linear acceleration record data, wherein the first time domain and the second time domain are adjacent;
Calculating direction deviation features and magnitude deviation features of the first time domain linear acceleration record data and the second time domain linear acceleration record data;
When the direction deviation characteristic is smaller than or equal to a direction deviation threshold value and the magnitude deviation characteristic is smaller than or equal to a magnitude deviation threshold value, merging the first time domain and the second time domain, and simultaneously updating the mean value of the first time domain linear acceleration record data and the second time domain linear acceleration record data into the acceleration record data of the merged time domain;
repeating analysis, stopping aggregation when the direction deviation characteristic of any two time domains is larger than the direction deviation threshold value or the magnitude deviation characteristic is larger than the magnitude deviation threshold value, and outputting the linear acceleration time sequence record preprocessing data set.
Further, the system error analysis module 15 in the system is further configured to:
Performing deviation vector analysis on the rotation pushing record vector and the rotation pushing expected record vector to obtain a deviation vector set;
Carrying out concentrated trend analysis on the deviation vector set to obtain a concentrated deviation vector set;
extracting the maximum deviation vector and the minimum deviation vector of the concentrated deviation vector set;
and solving the average value of the maximum deviation vector and the minimum deviation vector, and setting the average value as the systematic error identification result.
Further, the vector optimizing module 16 in the system is further configured to:
Receiving a rotating pushing target closing vector, and fitting based on the systematic error identification result to obtain an actual rotating pushing closing vector;
Obtaining a first rotating leaning vector section, a second rotating leaning vector section and a third rotating leaning vector section;
And carrying out vector adjustment based on the first rotating leaning vector section, the second rotating leaning vector section and the third rotating leaning vector section, and outputting the first rotating leaning unit optimizing vector, the second rotating leaning unit optimizing vector and the third rotating leaning unit optimizing vector when the actual rotating leaning vector is satisfied.
The embodiments of the present invention are described in a progressive manner, and each embodiment focuses on the difference from the other embodiments, and the foregoing pushing-type rotary-guiding vector control method and specific example in the first embodiment of fig. 1 are equally applicable to the pushing-type rotary-guiding vector control system of the present embodiment, and by the foregoing detailed description of the pushing-type rotary-guiding vector control method, those skilled in the art will clearly know that the pushing-type rotary-guiding vector control system of the present embodiment is not described in detail herein for brevity of the present invention. For the system disclosed in the embodiment, since the system corresponds to the method disclosed in the embodiment, the description is simpler, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the present application and the equivalent techniques thereof, the present application is also intended to include such modifications and variations.
Claims (3)
1. The pushing-leaning type rotary guide vector control method is characterized by comprising the following steps:
Receiving terminal control parameters of the rotary guiding pushing device;
Performing proximity analysis by taking the terminal control parameter as a reference, and collecting history operation record information of a preset time zone of the rotary guiding pushing device, wherein the history operation record information comprises a first rotary pushing part record vector, a second rotary pushing part record vector set, a first rotary pushing part record vector set, a second rotary pushing part record vector set, a target motion record vector set, wherein N is an integer, and N is more than or equal to 3;
According to the pushing target motion record vector, a combined vector analysis component is used for processing to obtain a rotating pushing record combined vector;
fitting the first rotating pushing part record vector and the second rotating pushing part record vector set to the Nth rotating pushing part record vector to generate a rotating pushing expected record combination vector;
Performing systematic error analysis on the rotating leaning record combination vector and the rotating leaning expected record combination vector to obtain a systematic error identification result;
according to the system error identification result, optimizing the first rotating leaning part record vector and the second rotating leaning part record vector set until the Nth rotating leaning part record vector to obtain a first rotating leaning part optimizing vector and a second rotating leaning part optimizing vector until the Nth rotating leaning part optimizing vector;
Controlling the rotary pilot biasing means according to the first rotary biasing portion optimizing vector, the second rotary biasing portion optimizing vector, and up to the nth rotary biasing portion optimizing vector;
the method for obtaining the rotation pushing record combined vector comprises the following steps of:
The pushing target motion record vector comprises target motion speed time sequence information and target hardness information, wherein the pushing target refers to a first rotating pushing part, a second rotating pushing part and a rotating pushing area from the Nth rotating pushing part to the Nth rotating pushing part;
preprocessing the target movement speed time sequence information to obtain linear acceleration time sequence characteristic information and angular acceleration time sequence characteristic information;
Processing by the combined vector analysis component according to the linear acceleration time sequence characteristic information, the angular acceleration time sequence characteristic information and the target hardness information to obtain the rotating pushing record combined vector;
The step of constructing the vector merging analysis component comprises the following steps:
Uploading a drilling operation record data set of the model rotary guiding pushing device through a plurality of drilling operators, wherein the drilling operation record data set comprises a target area hardness record data set, a target area movement speed time sequence record data set and a vector identification data set;
preprocessing the target area movement speed time sequence record data set, comprising the following steps:
splitting the target area movement speed time sequence record data set to obtain a linear acceleration time sequence record data set and an angular acceleration time sequence record data set;
traversing the linear acceleration time sequence record data set and the angular acceleration time sequence record data set to perform adjacent time domain aggregation to obtain a linear acceleration time sequence record preprocessing data set and an angular acceleration time sequence record preprocessing data set;
Training the vector analysis component by taking the vector identification data set as a supervision truth value, and taking the target region hardness record data set, the linear acceleration time sequence record preprocessing data set and the angular acceleration time sequence record preprocessing data set as input data;
traversing the linear acceleration time sequence record data set and the angular acceleration time sequence record data set to perform adjacent time domain aggregation, and obtaining a linear acceleration time sequence record preprocessing data set and an angular acceleration time sequence record preprocessing data set, wherein the method comprises the following steps:
obtaining first time domain linear acceleration record data and second time domain linear acceleration record data, wherein the first time domain and the second time domain are adjacent;
Calculating direction deviation features and magnitude deviation features of the first time domain linear acceleration record data and the second time domain linear acceleration record data;
When the direction deviation characteristic is smaller than or equal to a direction deviation threshold value and the magnitude deviation characteristic is smaller than or equal to a magnitude deviation threshold value, merging the first time domain and the second time domain, and simultaneously updating the mean value of the first time domain linear acceleration record data and the second time domain linear acceleration record data into the acceleration record data of the merged time domain;
repeating analysis, stopping aggregation when the direction deviation characteristic of any two time domains is larger than the direction deviation threshold value or the magnitude deviation characteristic is larger than the magnitude deviation threshold value, and outputting the linear acceleration time sequence record preprocessing data set;
The system error analysis is performed on the rotation pushing record combination vector and the rotation pushing expected record combination vector to obtain a system error identification result, and the system error identification result comprises:
Performing deviation vector analysis on the rotation pushing record vector and the rotation pushing expected record vector to obtain a deviation vector set;
Carrying out concentrated trend analysis on the deviation vector set to obtain a concentrated deviation vector set;
extracting the maximum deviation vector and the minimum deviation vector of the concentrated deviation vector set;
the average value of the maximum deviation vector and the minimum deviation vector is obtained and is set as the systematic error identification result;
And according to the system error identification result, optimizing the first rotating leaning part record vector and the second rotating leaning part record vector set until the Nth rotating leaning part record vector to obtain a first rotating leaning part optimizing vector and a second rotating leaning part optimizing vector until the Nth rotating leaning part optimizing vector, wherein the method comprises the following steps:
Receiving a rotating pushing target closing vector, and fitting based on the systematic error identification result to obtain an actual rotating pushing closing vector;
obtaining a first rotating leaning vector section, a second rotating leaning vector section and a nth rotating leaning vector section;
And carrying out vector adjustment based on the first rotating leaning vector section and the second rotating leaning vector section until an Nth rotating leaning vector section, and outputting the first rotating leaning part optimizing vector and the second rotating leaning part optimizing vector until the Nth rotating leaning part optimizing vector when the actual rotating leaning vector is satisfied.
2. The method of claim 1, wherein the performing the proximity analysis based on the terminal control parameter, collecting historical operating record information of the predetermined time zone of the rotary steerable pushing device, comprises:
constructing a terminal control parameter proximity analysis expression:
；
Wherein, A j-th attribute characteristic value characterizing a first set of terminal control parameters,A j-th attribute feature value characterizing a second set of terminal control parameters, M characterizing an attribute dimension of the terminal control parameters,Representing the adjacent distance between any two groups of terminal control parameters;
According to the proximity distance threshold, combining the terminal control parameter proximity analysis expression, carrying out proximity analysis by taking the terminal control parameter as a reference, and collecting the history operation record information of the preset time zone of the rotary guiding pushing device;
The terminal time of the preset time zone is the current time, and the starting time is the latest equipment maintenance time.
3. A push-on rotary steerable vector control system, characterized by the steps for implementing the method according to any of claims 1 to 2, said system comprising:
the terminal control parameter receiving module is used for receiving terminal control parameters of the rotary guiding pushing device;
The historical operation record information acquisition module is used for carrying out proximity analysis by taking the terminal control parameter as a reference and acquiring historical operation record information of a preset time zone of the rotary guiding pushing device, wherein the historical operation record information comprises a first rotary pushing part record vector, a second rotary pushing part record vector set, a first rotary pushing part record vector set, a second rotary pushing part record vector set and a target motion record vector set, wherein N is an integer, and N is more than or equal to 3;
The combined vector analysis module is used for obtaining a rotary pushing record combined vector through processing of the combined vector analysis component according to the pushing target motion record vector;
The vector fitting module is used for fitting the first rotating leaning part record vector and the second rotating leaning part record vector set until the Nth rotating leaning part record vector to generate a rotating leaning expected record combination vector;
The system error analysis module is used for carrying out system error analysis on the rotating leaning record combination vector and the rotating leaning expected record combination vector to obtain a system error identification result;
The vector optimizing module is used for optimizing the first rotating leaning part record vector and the second rotating leaning part record vector set until the Nth rotating leaning part record vector according to the system error identification result to obtain a first rotating leaning part optimizing vector and a second rotating leaning part optimizing vector until the Nth rotating leaning part optimizing vector;
And the vector control module is used for controlling the rotary guiding pushing device according to the first rotary pushing part optimizing vector and the second rotary pushing part optimizing vector until the Nth rotary pushing part optimizing vector.
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| CN107505844A (en) * | 2017-09-15 | 2017-12-22 | 江苏大学 | Synchronous coordination sliding-mode control of the series parallel type automobile electrophoretic coating conveyor structure based on composition error |
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