CN112505747B - System and method for suppressing vibration distortion based on cooperation of multi-signal generator and controllable seismic source - Google Patents
System and method for suppressing vibration distortion based on cooperation of multi-signal generator and controllable seismic source Download PDFInfo
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Abstract
The invention relates to a system and a method for suppressing vibration distortion of a vibroseis based on cooperation of a multi-signal generator and the vibroseis, which comprises the steps that an upper computer establishes a vibroseis mathematical model by utilizing a sensor feedback signal through pre-vibration work, and updates vibroseis model parameters in real time; and analyzing the total harmonic distortion rate and the signal-to-noise ratio in the vibroseis feedback signal, and calculating the corresponding multiple harmonic component amplitude. The lower computer main control unit starts the corresponding fundamental frequency signal generator and the N auxiliary signal generators, and the N auxiliary signal generators output harmonic signals with reversed phases, so that higher harmonics contained in feedback signals when the fundamental frequency signal generators work are offset, and distortion of vibration signals in a fundamental frequency section is restrained. The problem that high-quality standard sinusoidal signals are difficult to output due to the fact that the vibroseis outputs vibration signals which are affected by structural nonlinearity such as mechanical, hydraulic and electromagnetic is solved. Harmonic distortion of the vibroseis vibration signal can be effectively inhibited.
Description
Technical Field
The invention belongs to the field of seismic exploration, and particularly relates to a cooperative controllable earthquake based on multiple signal generators
A source vibration distortion suppression system and method.
Background
The controllable seismic source is an active source widely applied to the fields of land oil-gas exploration and the like, and is also a device for generating exploration vibration signals. The basic theory of a vibroseis is: exciting a continuous sinusoidal vibration signal with low energy density radiated to the ground by using driving modes such as hydraulic pressure, electromagnetism and the like; the continuous sinusoidal vibration signals form reflection or refraction vibration signals at interfaces of different stratums; the reflected or refracted vibration signal is picked up by a high-sensitivity detector laid on a large ground surface to form a recording signal. And deducing the information of the underground medium by the cross-correlation processing of the detector recording signal and the seismic source excitation signal and the like.
Due to the structural nonlinearity of machinery, electricity, hydraulic pressure and the like, a certain distortion phenomenon exists in a sinusoidal vibration signal excited by a controllable seismic source. Distortion signals of the source end of the controllable seismic source are conducted to the detector end through the ground system, so that distortion interference signals are mixed into the recording signals, and further, related noise is introduced when the recording signals and the excitation signals are subjected to cross-correlation processing, and the exploration signal-to-noise ratio and the exploration resolution ratio are reduced. Therefore, the improvement of the waveform quality of the sinusoidal vibration signal excited by the controllable seismic source is of great significance. On one hand, the system response is more stable by improving the self structural characteristics of the seismic source such as mechanical, hydraulic and electrical characteristics, and the distortion of the excitation vibration signal is restrained to a certain degree. For example, the distortion condition of the controllable seismic source in a low frequency band is improved by aiming at the improvement of a servo valve structure and a vibration flat plate structure in the hydraulic seismic source. On the other hand, the system automatic adjustment is realized by constructing a control system with good robustness and a distortion suppression algorithm, and the waveform distortion of the vibration signal can be effectively suppressed. The wave form quality of the controllable seismic source is effectively improved by developing an early seismic source phase controller and a ground force-based adaptive control system to the conventional multi-sensor type-based digital controllable seismic source control system. The method is a mainstream of the current seismic source control system by constructing a mathematical model of the controllable seismic source in the digital controllable seismic source control system based on the multi-sensor type and integrating Kalman filtering and an optimal control technology. Although the control system and the control algorithm improve the quality of the vibroseis excitation vibration signal to a certain extent, the control system and the control algorithm are still limited to the single signal generator excitation control idea. And because a single signal generator can only excite a certain sinusoidal signal, the improvement effect is limited.
Disclosure of Invention
The invention aims to provide a system and a method for suppressing vibration distortion of a vibroseis based on cooperation of a multi-signal generator and the vibroseis, and the signal-to-noise ratio and the resolution of the vibroseis in seismic exploration are improved.
The present invention is achieved in such a way that,
a multi-signal generator-based coordinated vibroseis vibration distortion suppression system, the system comprising: an upper computer and a lower computer,
the lower computer takes a 32-bit single chip microcomputer as a main control unit, the main control unit comprises a communication protocol analysis module, a signal frequency, amplitude, phase and other command control word conversion module, a signal generator control parameter calculation module and N +1 signal generators, the N +1 signal generators are mounted in a bus multiplexing and chip selecting mode, each signal generator comprises 1 base frequency signal generator and N auxiliary signal generators, the output end of each signal generator module is connected with a power amplifier module, and each power amplifier module is directly connected with a controllable vibration exciter of a seismic source; a displacement sensor module and a speed sensor module are arranged at the top end of the vibration exciter;
the upper computer takes a PC (personal computer) as a core and is connected with an NI (nickel nitride) acquisition card in a DAQ (digital data acquisition) mode, and the NI acquisition card is connected with the displacement sensor module and the speed sensor module in a differential mode; the NI acquisition card acquires feedback signals of a displacement sensor module and a speed sensor module which are arranged at the top end of a vibroseis vibration exciter in real time, and transmits acquired data to an upper computer in a DAQ mode;
the upper computer processes the acquired feedback signal, calculates a fundamental frequency component and each harmonic component of the feedback signal, calculates a signal-to-noise ratio and a total harmonic distortion rate, and reversely solves corresponding auxiliary signal generator parameter information according to a vibroseis mathematical model and each harmonic component; the upper computer reconfigures parameter information of a signal generator, wherein the signal generator comprises a fundamental frequency signal generator and a signal generator which plays a role in assisting the suppression of each harmonic component; and the upper computer transmits the command to the lower computer to realize the cooperative work of the multiple signal generators.
Further, the PC comprises a feedback signal-to-noise ratio and total harmonic distortion rate calculation module, a seismic source system model solving and parameter variable module, a multiple harmonic amplitude extraction and input parameter reverse solving module, a serial port communication and communication protocol module and an input module, wherein the seismic source system model solving and parameter variable module utilizes a forgetting least square method to obtain a controllable seismic source mathematical model and parameters thereof; the feedback signal-to-noise ratio and total harmonic distortion rate calculation module is used for solving the fundamental frequency component and each harmonic component of the feedback signal and calculating the signal-to-noise ratio and the total harmonic distortion rate; the multiple harmonic amplitude extraction and input parameter reverse solving module reversely solves the parameter information of the corresponding auxiliary signal generator according to the vibroseis mathematical model and each harmonic component, and the input module inputs the parameter information of the auxiliary signal generator to the lower computer through the serial port communication and communication protocol module.
Further, the phase information is inverted in the obtained parameter information.
Further, the input module reconfigures the parameter information of the signal generator, wherein the configuration of the fundamental frequency signal generator is unchanged, the configuration information of the auxiliary signal generator is the parameter information of the signal generator corresponding to each harmonic component to be solved, and the phase information in the parameter information is inverted.
Further, the feedback signal-to-noise ratio and total harmonic distortion rate calculation module judges whether the total harmonic distortion rate of the feedback signal is smaller than a set threshold value, if so, the vibroseis pre-vibration stops, otherwise, the lower computer controls the fundamental frequency signal generator and the auxiliary signal generator according to the command of the upper computer to pre-vibrate the vibroseis according to the reference information, wherein the auxiliary signal generator parameter information is the signal generator parameter information which is stored after multiple iterations and is reversely solved and corresponds to each harmonic component.
A multi-signal generator cooperative vibroseis vibration distortion suppression method comprises the following steps:
a) the system initialization, the initialization process includes host computer and next machine two parts, wherein host computer initialization work includes: serial port information configuration, communication test with a lower computer main control unit, DAQ information configuration and NI acquisition card sampling test;
b) the method comprises the steps that the vibroseis pre-vibrates to work, the upper computer completes the configuration of working parameters of a fundamental frequency signal generator, including the frequency band range, the amplitude, the phase, the scanning signal type and the scanning signal duration of an output signal, sends out a pre-vibration command to be transmitted to the lower computer, and a main control unit of the lower computer receives data of the upper computer, extracts a command control word, configures parameter information of the fundamental frequency signal generator and drives the vibroseis exciter to work;
c) the NI acquisition card acquires feedback signals of a displacement sensor and a speed sensor which are arranged at the top end of a vibroseis vibration exciter in real time, and transmits acquired data to an upper computer in a DAQ mode;
d) the upper computer processes the acquired feedback signals, and comprises the steps of solving a vibroseis mathematical model and parameters thereof by using a forgetting least square method, solving fundamental frequency components and harmonic components of the feedback signals, calculating a signal-to-noise ratio and a total harmonic distortion rate, reversely solving corresponding auxiliary signal generation parameter information according to the vibroseis mathematical model and the harmonic components, and storing the parameter information;
e) reconfiguring parameter information of a signal generator by the upper computer, wherein the signal generator comprises a fundamental frequency signal generator and a signal generator which plays a role in assisting the suppression of each harmonic component; the configuration of the fundamental frequency signal generator is unchanged, the configuration information of the auxiliary signal generator is the parameter information of the signal generator corresponding to each harmonic component to be solved, and the phase information in the signal generator is inverted;
f) the upper computer transmits a command to the lower computer to realize the cooperative work of the multiple signal generators;
g) meanwhile, the NI acquisition card is started again to realize the acquisition of feedback signals of the displacement sensor module and the speed sensor module, and data are transmitted to an upper computer in a DAQ mode;
h) the upper computer processes the feedback signal again: updating parameter information of a mathematical model of a controllable seismic source, solving fundamental frequency components and harmonic components of a feedback signal, and calculating a signal-to-noise ratio and a total harmonic distortion rate;
i) reversely solving the signal generator parameter information corresponding to each harmonic component by using the updated vibroseis mathematical model and each harmonic component, and updating and storing the parameter information;
j) repeating the step e-i until the total harmonic distortion rate of the feedback signal is less than a set threshold;
k) and after the pre-vibration work of the controllable seismic source is finished, reconfiguring the parameter configuration of the fundamental frequency signal generator and the parameter configuration of the auxiliary signal generator by the upper computer, wherein the parameter information of the auxiliary signal generator is the parameter information of the signal generator corresponding to each harmonic component which is reversely solved and stored after multiple iterations, and the phase information is reversed.
Further, if distortion exists in the feedback vibration signal acquired in the step d), performing Fourier transform, extracting fundamental frequency signal components and harmonic components in a frequency domain, regarding each harmonic component as output according to the established vibroseis mathematical model, and solving parameter information of the input signal.
Compared with the prior art, the invention has the beneficial effects that:
aiming at the defect of a single signal generator, the auxiliary signal generator and the fundamental frequency signal generator are arranged to work cooperatively to construct non-sinusoidal signal input containing multiple harmonics, so that the vibroseis outputs high-quality sinusoidal vibration signals, and the difficult problem of waveform distortion caused by the nonlinearity of the vibroseis is suppressed. The problem that high-quality standard sinusoidal signals are difficult to output due to the fact that the vibroseis outputs vibration signals which are affected by structural nonlinearity such as mechanical, hydraulic and electromagnetic is solved. The method is suitable for exciting various vibroseiss of the sinusoidal vibration signal, can effectively inhibit harmonic distortion of the vibroseis vibration signal, and improves the signal-to-noise ratio and the resolution of the vibroseis in seismic exploration.
The vibroseis vibration distortion suppression system based on the cooperative work of the multiple signal generators has the advantages of low method complexity and simple structure, and provides a simple and efficient possibility for realizing the vibroseis distortion suppression system. The seismic exploration activity of the controllable seismic source is divided into a pre-vibration part and an actual exploration part. The pre-vibration part can realize high-quality sine vibration signal output after a plurality of iterations. The method provides possibility for realizing high signal-to-noise ratio and high resolution exploration of the controllable seismic source in the seismic exploration field.
Drawings
FIG. 1 is an overall block diagram of a system provided by the present invention;
FIG. 2 is a flow chart of a harmonic suppression method;
FIG. 3 is a graph of the transfer function of a mathematical model system for a vibroseis, where (a) is a graph of amplitude and (b) is a graph of phase angle;
FIG. 4 is a single frequency point harmonic diagram, and FIGS. 4a, 4b, 4c, and 4d are frequency domain diagrams corresponding to 5Hz, 10Hz, 20Hz, and 40Hz signals after fft transformation, respectively;
FIG. 5 is a communication protocol flow diagram;
FIG. 6 is a graph comparing the output waveforms of a single signal generator operating in conjunction with multiple signal generators, a) a fundamental 2Hz signal; b) adding a second harmonic time domain signal to the fundamental frequency; c) the fundamental frequency plus the second and third harmonic time domain signals.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention adopts a control form of combining an upper computer and a lower computer, and is characterized in that a fundamental frequency signal generator is cooperated with an auxiliary signal generator, namely a mathematical model is constructed and multi-harmonic reverse solution is carried out, solution information is used as an auxiliary signal generator parameter (reverse phase information) to counteract multiple harmonic components in a seismic source feedback signal during fundamental frequency work, and optimal working parameters of a signal generator set are obtained by a pre-vibration multiple iteration method. The upper computer takes a PC as a core, communicates with an NI acquisition card in a DAQ mode, acquires feedback signals of a displacement sensor and an acceleration sensor which are positioned at the top end of a vibroseis vibration exciter, completes building a vibroseis mathematical model, calculating the signal-to-noise ratio and the total harmonic distortion rate of the feedback signals and reversely inputting and solving each harmonic component according to the acquired feedback signals, and transmits commands to the lower computer in a serial port mode according to a communication protocol format. The lower computer takes the main control unit as a core, is mounted with a plurality of signal generator modules, controls the output of the multipath signal generator in a port multiplexing and chip selection mode, outputs the signal through the power amplification system and directly drives the vibroseis vibration exciter to vibrate. A harmonic suppression system of a controllable seismic source is shown in figure 1, and a control system is composed of an upper computer 1 and a lower computer 2. The lower computer 2 takes a 32-bit single chip microcomputer as a main control unit 20, the main control unit 20 comprises a communication protocol analysis module 201, a signal frequency, amplitude, phase and other command control word conversion module 202, a signal generator control parameter calculation module 203, N +1 signal generators 21 are mounted in a bus multiplexing and chip selecting mode, each signal generator 21 is divided into 1 base frequency signal generator and N auxiliary signal generators, the output end of each signal generator module 21 is connected with a power amplifier module 22, and each power amplifier module 22 is directly connected with a vibroseis exciter 23. A displacement sensor module 24 and a speed sensor module 25 are placed at the top end of the exciter. The host computer 1 takes a PC 10 as a core and is connected with an NI acquisition card module 11 in a DAQ mode, and the NI acquisition card 11 is connected with a displacement sensor module 24 and a speed sensor module 25 in a differential mode. The PC 10 comprises a feedback signal-to-noise ratio and total harmonic distortion rate calculation module 101, a seismic source system model solving and parameter variable module 102, a multiple harmonic amplitude extraction and input parameter reverse solving module 103, a serial port communication and communication protocol module 104, a visual display module 105 and an input module 106.
The upper computer takes a PC (personal computer) as a core and is connected with an NI (nickel nitride) acquisition card in a DAQ (digital data acquisition) mode, and the NI acquisition card is connected with the displacement sensor module and the speed sensor module in a differential mode; the NI acquisition card acquires feedback signals of a displacement sensor module and a speed sensor module which are arranged at the top end of a vibroseis vibration exciter in real time, and transmits acquired data to an upper computer in a DAQ mode;
the upper computer processes the acquired feedback signal, calculates a fundamental frequency component and each harmonic component of the feedback signal, calculates a signal-to-noise ratio and a total harmonic distortion rate, and reversely solves corresponding auxiliary signal generator parameter information according to a vibroseis mathematical model and each harmonic component; the upper computer reconfigures parameter information of a signal generator, wherein the signal generator comprises a fundamental frequency signal generator and a signal generator which plays a role in assisting the suppression of each harmonic component; and the upper computer transmits the command to the lower computer to realize the cooperative work of the multiple signal generators.
The PC comprises a feedback signal-to-noise ratio and total harmonic distortion rate calculation module, a seismic source system model solving and parameter variable module, a multiple harmonic amplitude extraction and input parameter reverse solving module, a serial port communication and communication protocol module and an input module, wherein the seismic source system model solving and parameter variable module utilizes a forgetting least square method to obtain a controllable seismic source mathematical model and parameters thereof; the feedback signal-to-noise ratio and total harmonic distortion rate calculation module is used for solving the fundamental frequency component and each harmonic component of the feedback signal and calculating the signal-to-noise ratio and the total harmonic distortion rate; the multiple harmonic amplitude extraction and input parameter reverse solving module reversely solves the parameter information of the corresponding auxiliary signal generator according to the vibroseis mathematical model and each harmonic component, and the input module inputs the parameter information of the auxiliary signal generator to the lower computer through the serial port communication and communication protocol module.
Of the obtained parameter information, the phase information is subjected to inversion processing.
The input module reconfigures the parameter information of the signal generator, wherein the configuration of the fundamental frequency signal generator is unchanged, the configuration information of the auxiliary signal generator is the parameter information of the signal generator corresponding to each harmonic component which is solved, and the phase information in the parameter information is inverted.
The feedback signal-to-noise ratio and total harmonic distortion rate calculation module judges whether the total harmonic distortion rate of the feedback signal is smaller than a set threshold value, if so, the vibroseis pre-vibration stops working, otherwise, the lower computer controls the base frequency signal generator and the auxiliary signal generator to pre-vibrate according to the reference information according to the command of the upper computer, wherein the auxiliary signal generator parameter information is stored after multiple iterations and is used for reversely solving the signal generator parameter information corresponding to each harmonic component.
In order to effectively suppress the difficult problem of distortion of the vibroseis output vibration signal, a method adopting a vibroseis vibration distortion suppression system based on the cooperative work of multiple signal generators is shown in a flow chart of fig. 2.
a) The system is initialized, and the initialization process comprises two parts, namely an upper computer and a lower computer. Wherein host computer initialization work includes: serial port information configuration, and communication test with a lower computer main control unit; DAQ information configuration and NI acquisition card sampling test. The lower computer initialization comprises the following steps: initializing a serial port, a system clock and the like, mounting a multi-path signal generator, and completing self-checking and fault diagnosis of each module.
b) The controllable seismic source pre-vibrates, the upper computer completes the configuration of the working parameters of the base frequency signal generator, including the frequency band range, amplitude, phase, scanning signal type, scanning signal duration and the like of the output signals, and sends out a pre-vibration command to be transmitted to the lower computer. The lower computer main control unit receives the upper computer data, extracts the command control words, configures parameter information of the fundamental frequency signal generator, and drives the vibroseis exciter to work, and the fundamental frequency signal generator generates an excitation signal which is used for driving the vibroseis exciter to work. Due to the nonlinearity of the vibroseis, the vibroseis vibration signal is distorted. The distortion includes a second harmonic, a third harmonic, and … n +1 th harmonic. The auxiliary signal generator is present for the purpose of eliminating or suppressing the above-mentioned harmonic components. It should be noted that: the working parameters of the base frequency signal generator and the auxiliary signal generator are input through the upper computer and are sent to the lower computer through the serial port, and parameter configuration of the signal generator is completed.
c) Meanwhile, the NI acquisition card acquires feedback signals of a displacement sensor and a speed sensor which are arranged at the top end of the vibroseis vibration exciter in real time, and transmits acquired data to the upper computer in a DAQ mode.
d) The upper computer processes the acquired feedback signals, and comprises the steps of solving a vibroseis mathematical model and parameters thereof by using a forgetting least square method, solving fundamental frequency components and harmonic components of the feedback signals, calculating a signal-to-noise ratio and a total harmonic distortion rate, reversely solving corresponding auxiliary signal generation parameter information according to the vibroseis mathematical model and the harmonic components, and storing the parameter information, wherein the auxiliary signal generator aims at inhibiting multiple harmonic components. The inhibition method comprises the following steps: firstly, a vibroseis theoretical model is established (the order of a theoretical model transfer function is determined, but specific parameter values in the theoretical model are unknown), and correction and parameter identification of the vibroseis theoretical model transfer function order are completed by using a forgetting least square method according to acquired vibroseis vibration signals (signals of a displacement sensor and a speed sensor). After a forgetting least square algorithm, determining the order and the parameters of the transfer function of the theoretical model of the controllable seismic source. Distortion exists in the acquired feedback vibration signal, and at the moment, Fourier transform is needed to be carried out to extract fundamental frequency signal components and harmonic components (including second harmonic and up to n-th harmonic) in a frequency domain. And according to the established vibroseis transfer function, taking each harmonic component as output, and solving the parameter information of the input signal of the vibroseis. To suppress harmonics, the input signal parameter information obtained is the parameter information (frequency, amplitude, phase) required by the auxiliary signal generator. It is worth noting that: the auxiliary signal generator is for suppressing or eliminating the harmonic component, and the phase information of the obtained parameter information needs to be inverted to suppress the harmonic component. The vibroseis mathematical model solution takes an electromagnetic drive type vibroseis mathematical model as an example:
the first step is as follows: the vibroseis mathematical model solving takes an electromagnetic drive type vibroseis mathematical model as an example, and firstly, a vibroseis theoretical model is established: (the theoretical model is a mathematical model established based on the principle of vibroseis circuit and the principle of vibration motion, and is a formula derivation; in the vibroseis theoretical model, the order of the system transfer function is known (still needs to be corrected), but the corresponding parameter information needs to be identified by a forgetting least square method.)
An electromagnetic model:
the kinematic model is:
theoretical transfer function of the vibroseis system:
since the mL value is relatively negligible, the theoretical mathematical model of the vibroseis is approximated as a second-order system as shown in fig. 3.
u is the input voltage of the vibroseis vibration exciter; i, inputting current of a vibroseis vibration exciter; l: a moving coil inductor inside the vibroseis vibration exciter; r: a moving coil resistor; phi: the internal magnetic flux of the vibroseis vibration exciter; and z is the vertical vibration direction of the vibration exciter.
F: controllable seismic source output force; s is a Laplace transform operator; k is the stiffness coefficient of a supporting spring in the vibration exciter; c, damping coefficient; m: the quality of the vibration exciter; a, vibration acceleration of a vibration exciter; b: and (4) magnetic induction intensity. l: length of the moving coil. Of the above parameters, the remaining parameters, except a and u, R, L, m, need to be identified.
The second step is that: feedback signals of the displacement sensor and the acceleration sensor acquired by the upper computer identify the parameters of the mathematical model of the controllable seismic source by using a forgetting least square algorithm; and simultaneously calculating the signal-to-noise ratio of the feedback signal and the total harmonic distortion, wherein the ratio of the fundamental frequency signal to each harmonic component is calculated, and the calculation method comprises the following steps: and carrying out Fourier change on the acquired feedback signal to obtain the distribution condition of the amplitude in the frequency, including the fundamental frequency amplitude, the corresponding multiple harmonic component amplitude and the rest noise amplitude. The velocity sensor feedback signal waveform is shown in fig. 4. Fig. 4a to 4d are frequency domain diagrams corresponding to 5Hz, 10Hz, 20Hz and 40Hz signals after fft transformation, respectively.
The third step: and outputting the real value of each harmonic component as a vibroseis mathematical model, and reversely solving the information of the input parameters. And carrying out Fourier transform on the feedback signal to obtain the amplitude condition of the harmonic component of the feedback signal in a frequency domain. And performing Fourier inversion to obtain the amplitude of each harmonic component in the time domain. And replacing all the real values of the harmonic components with the amplitudes of the harmonic components in the time domain. And (4) solving the input parameter information of the system function (solving the input by the output, namely solving the inverse) by taking the obtained amplitude of each harmonic component of the time domain as an output signal of the system transfer function. The input parameter information (frequency, amplitude, phase) is used to set the auxiliary signal generator parameter information. It should be noted that when the auxiliary signal generator phase information is set, the phase needs to be inverted by 180 ° so that distortion can be suppressed. If the phase is not inverted, the harmonic components are intensified. Currently, only a fundamental frequency signal generator is in a working state;
e) and reconfiguring parameter information of the signal generator at the input module of the upper computer, wherein the signal generator comprises a fundamental frequency signal generator and a signal generator which plays a role in assisting the suppression of each harmonic component. The configuration of the fundamental frequency signal generator is unchanged, the configuration information of the auxiliary signal generator is the parameter information of the signal generator corresponding to each harmonic component to be solved, and the phase information in the signal generator is inverted.
f) The upper computer transmits a command to the lower computer to realize the cooperative work of the multiple signal generators;
g) meanwhile, the NI acquisition card is started again to realize the acquisition of feedback signals of the displacement and speed sensor module, and data are transmitted to an upper computer in a DAQ mode;
h) the upper computer processes the feedback signal again: updating parameter information of a mathematical model of the controllable seismic source, solving fundamental frequency components and harmonic components of a feedback signal, and calculating a signal-to-noise ratio and a total harmonic distortion rate.
i) And reversely solving the signal generator parameter information corresponding to each harmonic component by using the updated vibroseis mathematical model and each harmonic component (amplitude, phase and other information), and updating the stored parameter information. The auxiliary signal generators 1 to n correspond to the above harmonic components. The auxiliary signal generator 1 is present, for example, to suppress the second harmonic component of the harmonics. The parameter information of the auxiliary signal generator 1 is obtained by solving the system transfer function input through the second harmonic component as the output of the system transfer function.
j) Repeating the step e-i until the total harmonic distortion rate of the feedback signal is less than a set threshold;
and e-i, all the controllable seismic source multi-signal generators work.
k) And finishing the pre-vibration work of the controllable seismic source. And reconfiguring the parameter configuration of the fundamental frequency signal generator and the parameter configuration of the auxiliary signal generator by the input module of the upper computer. The auxiliary signal generator parameter information is stored after multiple iterations, and the signal generator parameter information corresponding to each harmonic component is reversely solved, wherein the phase information still needs to be reversed.
In order to effectively solve the problem of the stability of the communication between the upper computer and the lower computer main control unit, the working process of the communication protocol is as shown in fig. 5, and the specific steps are as follows:
a) the upper computer completes serial port configuration and search, wherein the serial port configuration mainly comprises information such as baud rate, data bits, parity check bits, data stop bits and the like; and (5) serial port searching, identifying serial port numbers of the lower computers, and establishing serial port connection.
b) The upper computer tries to perform primary handshake with the serial port of the main control unit of the lower computer: the upper computer sends a random character and converts the random character into a receiving state.
c) The lower computer receives the specific character, adds 1 to the specific character and retransmits the specific character to the upper computer;
d) and the upper computer receives the serial port data and checks the serial port data. If the handshake is successful, a second handshake is attempted. If a certain random character is still sent, the state is converted into a receiving state; if the handshake fails, the count is increased by 1, and the handshake attempt is re-initiated;
e) the lower computer receives the characters and adds 1 to the characters and transmits the characters to the upper computer;
f) and the upper computer receives the serial port data and checks the serial port data. If the handshake is successful, establishing serial port connection; if the handshake fails, the count is increased by 1, and the handshake attempt is re-initiated;
g) counting the failure times, and if the failure times N is 3, determining that the serial port is difficult to establish reliable connection;
h) after the serial port connection is established, packaging the data according to a protocol format;
the communication protocol is shown in table 1: header file + data;
TABLE 1 communication protocol Format
Start character, end character: as start and end flags for the data packet;
data length: storing data segment length information;
data verification: performing CRC-32 verification on the data in the data section, and storing a verification result in a data verification position;
and (3) data segment:
and the signal generator selects: selecting to start a designated signal generator;
frequency sweeping mode: single frequency, linear frequency sweep, nonlinear frequency sweep;
frequency, amplitude, phase: sinusoidal signal basic information;
time is the vibration time of the vibroseis vibration exciter;
a) the upper computer sends data to the lower computer and turns into a waiting receiving state;
b) the lower computer receives the data and sends 'OK' characters to the upper computer;
c) and the upper computer verifies the received data. If the transmission fails, the retransmission is attempted; when the failure N is 3 times, displaying that the transmission fails;
the multiple signal generator has advantages over the single signal generator, as shown in fig. 6: FIG. 6a is a fundamental 2Hz signal; FIG. 6b is a fundamental plus second harmonic time domain signal; FIG. 6c is a time domain signal of fundamental frequency plus second and third harmonics; the single signal generator can only generate sine signals, so that the control effect is limited, and harmonic waves are difficult to suppress; the multi-signal generator can generate output non-sinusoidal signals, and therefore non-linear correction is achieved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A multi-signal generator-based system for suppressing vibration distortion of a vibroseis, the system comprising: an upper computer and a lower computer,
the lower computer takes a 32-bit single chip microcomputer as a main control unit, the main control unit comprises a communication protocol analysis module, a command control word conversion module of signal frequency, amplitude and phase, a module for calculating control parameters of a signal generator, and N +1 signal generators are mounted in a bus multiplexing and chip selecting mode, each signal generator comprises 1 base frequency signal generator and N auxiliary signal generators, the output end of each signal generator module is connected with a power amplifier module, and each power amplifier module is directly connected with a controllable vibration exciter of a seismic source; a displacement sensor module and a speed sensor module are arranged at the top end of the vibration exciter;
the upper computer takes a PC (personal computer) as a core and is connected with an NI (nickel nitride) acquisition card in a DAQ (digital data acquisition) mode, and the NI acquisition card is connected with the displacement sensor module and the speed sensor module in a differential mode; the NI acquisition card acquires feedback signals of a displacement sensor module and a speed sensor module which are arranged at the top end of a vibroseis vibration exciter in real time, and transmits acquired data to an upper computer in a DAQ mode;
the upper computer processes the acquired feedback signal, calculates a fundamental frequency component and each harmonic component of the feedback signal, calculates a signal-to-noise ratio and a total harmonic distortion rate, and reversely solves the parameter information of the corresponding auxiliary signal generator according to the vibroseis mathematical model and each harmonic component; the upper computer reconfigures parameter information of a signal generator, wherein the signal generator comprises a fundamental frequency signal generator and a signal generator which plays a role in assisting the suppression of each harmonic component; the upper computer transmits a command to the lower computer to realize the cooperative work of the multiple signal generators;
the PC comprises a feedback signal-to-noise ratio and total harmonic distortion rate calculation module, a seismic source system model solving and parameter variable module, a multiple harmonic amplitude extraction and input parameter reverse solving module, a serial port communication and communication protocol module and an input module, wherein the seismic source system model solving and parameter variable module utilizes a forgetting least square method to obtain a controllable seismic source mathematical model and parameters thereof; the feedback signal-to-noise ratio and total harmonic distortion rate calculation module is used for solving the fundamental frequency component and each harmonic component of the feedback signal and calculating the signal-to-noise ratio and the total harmonic distortion rate; the multiple harmonic amplitude extraction and input parameter reverse solving module reversely solves the parameter information of the corresponding auxiliary signal generator according to the vibroseis mathematical model and each harmonic component, and the input module inputs the parameter information of the auxiliary signal generator to the lower computer through the serial port communication and communication protocol module.
2. The system of claim 1, wherein the phase information is inverted in the obtained parameter information.
3. The system of claim 1, wherein the input module reconfigures the parametric information for the signal generator, wherein the fundamental signal generator configuration is unchanged and the auxiliary signal generator configuration is the parametric information for the signal generator for each harmonic component being solved for, and inverts the phase information in the parametric information.
4. The system according to claim 1, wherein the feedback signal-to-noise ratio and total harmonic distortion rate calculation module determines whether the total harmonic distortion rate of the feedback signal is smaller than a set threshold, if so, the vibroseis pre-vibration stops, otherwise, the lower computer controls the fundamental frequency signal generator and the auxiliary signal generator according to the command of the upper computer to pre-vibrate the vibroseis according to the reference information, wherein the auxiliary signal generator parameter information is signal generator parameter information stored after a plurality of iterations and corresponding to each harmonic component in a reverse solution.
5. A vibration distortion suppression method based on cooperation of multiple signal generators and a vibroseis is characterized by comprising the following steps:
a) the system initialization, the initialization process includes host computer and next machine two parts, wherein host computer initialization work includes: serial port information configuration, communication test with a lower computer main control unit, DAQ information configuration and NI acquisition card sampling test;
b) the method comprises the steps that the vibroseis pre-vibrates to work, the upper computer completes the configuration of working parameters of a fundamental frequency signal generator, including the frequency band range, the amplitude, the phase, the scanning signal type and the scanning signal duration of an output signal, sends out a pre-vibration command to be transmitted to the lower computer, and a main control unit of the lower computer receives data of the upper computer, extracts a command control word, configures parameter information of the fundamental frequency signal generator and drives the vibroseis exciter to work;
c) the NI acquisition card acquires feedback signals of a displacement sensor and a speed sensor which are arranged at the top end of a vibroseis vibration exciter in real time, and transmits acquired data to an upper computer in a DAQ mode;
d) the upper computer processes the acquired feedback signals, and comprises the steps of solving a vibroseis mathematical model and parameters thereof by using a forgetting least square method, solving fundamental frequency components and harmonic components of the feedback signals, calculating a signal-to-noise ratio and a total harmonic distortion rate, reversely solving corresponding auxiliary signal generation parameter information according to the vibroseis mathematical model and the harmonic components, and storing the parameter information;
e) reconfiguring parameter information of a signal generator by the upper computer, wherein the signal generator comprises a fundamental frequency signal generator and a signal generator which plays a role in assisting the suppression of each harmonic component; the configuration of the fundamental frequency signal generator is unchanged, the configuration information of the auxiliary signal generator is the parameter information of the signal generator corresponding to each harmonic component to be solved, and the phase information in the signal generator is inverted;
f) the upper computer transmits a command to the lower computer to realize the cooperative work of the multiple signal generators;
g) meanwhile, the NI acquisition card is started again to realize the acquisition of feedback signals of the displacement sensor module and the speed sensor module, and data are transmitted to an upper computer in a DAQ mode;
h) the upper computer processes the feedback signal again: updating parameter information of a mathematical model of a controllable seismic source, solving fundamental frequency components and harmonic components of a feedback signal, and calculating a signal-to-noise ratio and a total harmonic distortion rate;
i) reversely solving the signal generator parameter information corresponding to each harmonic component by using the updated vibroseis mathematical model and each harmonic component, and updating and storing the parameter information;
j) repeating the step e-i until the total harmonic distortion rate of the feedback signal is smaller than a set threshold;
k) and after the pre-vibration work of the controllable seismic source is finished, reconfiguring the parameter information of the fundamental frequency signal generator and the parameter information of the auxiliary signal generator on the upper computer, wherein the parameter information of the auxiliary signal generator is stored after multiple iterations, and reversely solving the parameter information of the signal generator corresponding to each harmonic component, and the phase information is reversed.
6. The method of claim 5, wherein if distortion exists in the feedback vibration signal collected in step d), performing Fourier transform to extract fundamental frequency signal components and harmonic components in the frequency domain, and using each harmonic component as an output to obtain the parameter information of the input signal according to the established mathematical model of the vibroseis.
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