CN105445783B - A kind of electromagnetic type controlled source generalized forecast control method suitable for complex near surface conditionss - Google Patents
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Abstract
The present invention relates to a kind of electromagnetic type controlled source generalized forecast control method for being suitable for complex near surface conditionss, by the way that generalized forecast control method is combined with phase precompensation, zero-phase filtering method, a kind of controlled source generalized forecast control method for being suitable for complicated earth surface environment is designed.Realized by digital form to signal peak, the detection of phase, compared with simulation Zero-cross comparator, peakvalue's checking, efficiently solve high-precision control problem of the electromagnetic type controlled source under complex near surface conditionss.Electromagnetic type controlled source excitation signal amplitude is independently controlled with phase, phase precompensation link is added, reduces control difficulty, reduce operand, enhance the real-time of control.Real-time control is easy to implement, and generalized forecast control method realizes the high-precision control of electromagnetic type controlled source under complicated earth surface independent of fixed model, improves the precision of electromagnetic type Seismic Exploration with Vibrator.
Description
Technical field：
The present invention relates to a kind of electromagnetic type vibroseis control method, more particularly to one kind is suitable for complex near surface conditionss
Electromagnetic type controlled source generalized forecast control method.
Background technology：
Electromagnetic type controlled source is for instrument important in shallow seismic exploration.It can for a long time excite small by over the ground
Energy seismic wave realizes the effect of impact origin momentary high power seismic wave by associated compression.But under complex near surface conditionss,
Substrate is bad with the ground coupling, and the seismic signal that controlled source is excited is more abnormal than more serious with being constantly present in amplitude in phase
Become, cause seismic prospecting position error big, cause accuracy of seismic exploration to decline.External controlled source feedback control is typically used
Simple lock phase control system；Sercel companies in 1988 develop the linear Quadratic Gaussian optimal control system of hydraulic pressure focus.
The former control accuracy is not high, and the larger electromagnetic type controlled source being not suitable for using high-frequency controling signal of the latter's operand.
CN104570053A discloses one kind《Controlled source locks phase control system》.CN104570053A discloses one kind《Controlled source
Generalized predictable control system》, it disclosure satisfy that the Self Adaptive Control to electromagnetic type focus, but because this method is to system hardware
It is required that higher, operand is big, realizes that difficulty is big and poor real in high frequency controlled source.
The content of the invention：
The purpose of the present invention is that is suitable to all kinds of complicated earth surfaces and ground for above-mentioned the deficiencies in the prior art there is provided one kind
The vibroseis control method based on GPC algorithm of lower environment.
Main idea is that：By comparison object signal and epicenter excitation signal phase and amplitude, phase is obtained
Deviation and range error, obtain the controlled quentity controlled variable of phase and amplitude by Generalized Predictive Algorithm respectively, by being carried out to echo signal
Phase shift is adjusted rear signal with amplitude adjustment, and the signal is used to control controlled source earthquake-wave-exciting over the ground.Due to target letter
Number larger with excitation signal phase difference, carrying out phase precompensation to echo signal before feedback control can largely reduce
Phase deviation.Mix in the controlled source excitation signal collected by stronger high-frequency noise, pass through zero phase low pass filter
Signal phase can not be caused to offset while noise is eliminated, it is ensured that the precision of control.
The purpose of the present invention is achieved through the following technical solutions：
Implementation suitable for the electromagnetic type controlled source generalized forecast control method of complex near surface conditionss is as follows：
A, in laboratory environments, passes through the sensor being placed on controlled source and tests controllable shake with signal acquiring system
Swept-frequency signal s is excited in the course of work of source over the ground1(t) Zero-cross comparator method detection contrast s, is passed through1(t) with controlled source target
Signal r (t) phase differenceIt is used as controlled source excitation signal during field work and the experience number of echo signal phase difference
According to；
In formulaA is r (t) amplitudes, and t represents time variable, when T is that r (t) continues
Between, f0For r (t) initial frequencies, f1Frequency is terminated for r (t)；
B, by controlled source be positioned over survey area, the position of grading is chosen in focus operating point as far as possible, routinely controllable
Focus construction method sets controlled source running parameter, and control focus excites sine sweep seismic wave over the ground, and by being placed on
Sensor on controlled source gathers controlled source excitation signal s (t) over the ground in real time with signal acquiring system；
The zero phase low pass filter that c, design cut-off frequency are 500Hz, is filtered, then using the wave filter to s (t)
Signal after zero phase LPFWherein h (t) is zero phase low pass filter impulse response sequence used
Row, * represents related operation herein；
D, basisPhase precompensation is carried out to r (t) and obtains c (t), specific formula is as follows：
E, to set i, v, k and n initial value be 0, wherein, i, v represent currently detected respectivelyZero point, peak point number,
K, n represent currently detected r (t) zero points, peak point number respectively；
F, read r (t),Current time data, whether be zero point, if so, then making r (t) zero if judging the moment r (t)
Point count value k adds 1, flag1=1, and the moment is recorded for trzk；
G, judge the momentWhether it is zero point, if so, then makingZero point count value i adds 1, and records the moment and be
tszi；
If h, i=k, and flag1=1, then calculateIt is poor with the current zero crossing times of r (t), make q (k)=trzk-tszk,
flag1=0, q (k) represents the time difference, and otherwise return to step f re-starts zero point judgement；
i、trzkMoment echo signal frequency representation isThen trzkMomentWith r (t) phases
Difference is θ (k)=frk·q(k)·2π；
J, setIt is the phase controlling amount to c (t) during generalized predictive control, as d≤0, takesθ
(d)=0, wherein d is integer；
K, by least square method of recursion identification obtain model parameter, be specifically represented by
A (z in formula-1)、B(z-1) it is na、nbRank multinomial, na、nbTake positive integer,Make C
(z-1)=1, ξ (k) is random noise, z-1For backward shift operator, Δ=1-z-1For difference operator；
L, solution focus predicted phase are poorSet up Diophantine equations
In formula, Ej、FjIt is by A (z-1) and the multinomials that uniquely determine of prediction length j, it is expressed asJ=1,2..., N, N are more than nbPositive integer, try to achieve Gj、Ej、Fj, then
Focus predicted phase is poor
M, calculating reference locus：For ensure system output signal it is smooth, in control process set one from it is current when
Carve phase difference θ (k) to set out, to null value smooth transition curve, i.e. reference locus θr(k+j), it is defined as follows：
α is softening coefficient, 0 ＜ α ＜ 1；
N, the solution current phase controlling amount of controlled source：Set up performance index function minJ=E { [Y-Yr]T[Y-Yr]+Δ
ΨTΓΔΨ}
In formula, NuIt is control time domain, NuValue is no more than N positive integer, and Γ is control weighting matrix, for limiting control
The amplitude of amount processed, γ is control weight coefficient, and I is unit matrix, solves optimum angle controlled quentity controlled variable increment for Δ Ψ, then controllable shake
The current phase controlling amount in source is：
O, by c (t) phase shiftsObtain signal m (t)；
P, read r (t),Current time data, whether be peak value, if so, then making r (t) peak values if judging the moment r (t)
Count value v adds 1, flag2=1, and the moment is recorded for trpv；
Q, judge the momentWhether it is peak value, if so, then makingPeak counter values n adds 1, and records the moment and be
tspn；
If r, v=n, and flag2=1, then makeflag2=0, Ap(v) it is range error；
Otherwise, return to step p re-starts peak value judgement；
S, set dp(v) it is amplitude controlled quentity controlled variable in control process to c (t), as d≤0, takes dp(d)=0, Ap(d)=0；
T, by least square method of recursion identification obtain focus amplitude model parameter, be specifically represented byWherein, A in formula1(z-1)、B1(z-1) it is na1、nb1Rank multinomial, na1、
nb1Take positive integer,Make C1(z-1)=1；
U, solution focus prediction margin are poorSet up Diophantine equationsWherein,It is by A1(z-1) and amplitude control forecasting length u uniquely determine
Multinomial, be represented byU=1,2..., N*, N*For more than nb1Positive integer, ask
Then focus prediction margin is poor
V, calculating reference locus：For ensure system output signal it is smooth, in control process set one from it is current when
Carve amplitude difference Ap(v) set out, to null value smooth transition curve, i.e. reference locus Apr(v+u), it is defined as follows：
α1For softening coefficient, 0 ＜ α1＜ 1；
W, solution controlled source current amplitude controlled quentity controlled variable：Set up performance index function minJ1=E { [Y1-Y1r]T[Y1-Y1r]
+ΔDTΓΔD}
In formula,The control time domain of expression amplitude GPC algorithm,Take no more than N*Positive integer, Γ1For
Amplitude generalized predictive control weighting matrix, the amplitude for limiting controlled quentity controlled variable, γ1For control weight coefficient, I is unit matrix,
Optimal amplitude controlled quentity controlled variable increment is solved for Δ D, then controlled source current amplitude controlled quentity controlled variable is dp(v)=dp(v-1)+Δdp(v)=
dp(v-1)+[10…0]·ΔD；
X, to m (t) Amplitude Compensations, obtain p (t)=m (t) * (1+dp(v)), p (t) is used to control controlled source over the ground to swash
Send out seismic wave；
Y, repeat step f to step x, until T moment epicenter excitation signal terminatings, just complete complex near surface conditionss
Electromagnetic type controlled source generalized predictive control.
Beneficial effect：Tests prove that, the electromagnetic type controlled source broad sense disclosed by the invention suitable for complex near surface conditionss
Forecast Control Algorithm, can effectively realize high-precision control problem of the electromagnetic type controlled source under complex near surface conditionss.We
Method realizes to signal peak, the detection of phase that compared with simulation Zero-cross comparator, peakvalue's checking, this method is led to by digital form
Cross the reliability that increase constraints improves detection.Relative to conventional control methods, improved by generalized forecast control method
The precision of control, and generalized forecast control method is independent of fixed model, be particularly suitable for complex near surface conditionss.This method
Controlled source excitation signal peak value and phase are respectively controlled, and add phase precompensation link, relative to directly right
Signal is controlled, and is reduced control difficulty, is reduced operand, enhances the real-time of control.
Brief description of the drawings：
Electromagnetic type controlled source generalized predictive control procedure chart under Fig. 1 complex near surface conditionss
Fig. 2 controlled source phase Generalized Predictive Algorithm procedure charts
Fig. 3 zero-phase filtering design sketch
Fig. 4 opened loop controls are contrasted with generalized predictive control excitation signal with echo signal
1 acquisition system, 2 zero phase LPFs, 3 echo signals, 4 phase precompensations, 5 phase-detections, 6 Generalized Predictions
Algorithm, 7 phase shifts, 8 peakvalue's checkings, 9 Generalized Predictive Algorithms, 10 amplitudes adjustment, 11 controlled sources, 12 reference locus are calculated, and 13 are not
Carry out moment phase differential, 14 controlled quentity controlled variables are asked for, the correction of 15 models.
Embodiment：
It is described in further detail with reference to the accompanying drawings and examples：
When electromagnetic type controlled source works, signal acquiring system is gathered in real time by the sensor on controlled source
Its excitation signal, controlled source excitation signal is obtained by signal transacting, and the signal first passes through zero phase low pass filter, in warp
Zero passage detection, peakvalue's checking is crossed respectively to be controlled controlled source phase and amplitude by generalized forecast control method.
Electromagnetic type controlled source generalized forecast control method based on complex near surface conditionss, comprises the following steps：
A, in laboratory environments, passes through the sensor being placed on controlled source and tests controllable shake with signal acquiring system
Swept-frequency signal s is excited in the course of work of source over the ground1(t) Zero-cross comparator method detection contrast s, is passed through1(t) with controlled source target
Signal r (t) phase differenceIn this example, controlled source working band is 20~300Hz, and signal amplitude is 300, during work
Between be 10s, acquisition system sample rate be 8000, echo signal r (t)=300sin (2 π (20+14t) t), 0≤t≤10, with Ji
Exemplified by woods university PHVS500 electromagnetic type controlled sources, take
B, by controlled source be positioned over survey area, the position of grading is chosen in focus operating point as far as possible, routinely controllable
Focus construction method sets controlled source running parameter, and control focus excites sine sweep seismic wave over the ground, and by being placed on
Sensor on controlled source gathers controlled source excitation signal s (t) over the ground in real time with signal acquiring system；
The zero phase low pass filter that c, design cut-off frequency are 500Hz, is filtered, then using the wave filter to s (t)
Signal after zero phase LPFWherein h (t) is zero phase low pass filter impulse response sequence used
Row, result such as Fig. 3 before and after filtering；
D, basisPhase precompensation is carried out to r (t) and obtains c (t), after compensation
C (t)=300sin (2 π (20+14 (t+0.000375)) ((t+0.000375)))；
E, setting i, v, k, n initial value are 0, wherein, i, v are respectively currently detectedZero point, peak point number,
K, n are respectively currently detected r (t) zero points, peak point number；
F, read r (t),Current time data, whether be zero point, if so, then making r (t) zero if judging the moment r (t)
Point count value k adds 1, flag1=1 and the moment is recorded for trzk；
G, judge the momentWhether it is zero point, if so, then makingZero point count value i adds 1, and records the moment and be
tszi；
If h, i=k, and flag1=1, then calculateIt is poor with the current zero crossing times of r (t), make q (k)=trzk-tszk,
flag1=0, q (k) represents the time difference, and otherwise return to step f re-starts zero point judgement；
i、trzkMoment echo signal frequency is represented by:Then trzkMomentWith r (t)
Phase difference θ (k)=frk·q(k)·2π。
Take phase GPC algorithm parameter identical with amplitude GPC algorithm parameter in j, this example, optimize
Time domain N=N*=5, control time domainSoftening factor alpha=α1=0.6, γ=γ1=1, control weighting matrix Γ=
Γ1=I2×2, na=na1=3, nb=nb1=2,It is the phase controlling amount to c (t) during generalized predictive control, works as d
When≤0, takeθ (d)=0；
K, utilization [θ (k) θ (k-1) θ (k-2) θ (k-3)] withBy recursion most
Small square law identification obtains model parameter, is specifically represented by
A (z in formula-1)、B(z-1) it is n in na, nb rank multinomial, this examplea=3, nb=2,
Make C (z-1)=1, ξ (k) is random noise, and z-1 is backward shift operator, Δ=1-z-1For difference operator；
L, solution focus predicted phase are poorSet up Diophantine equations
In formula, Ej、FjBy A (z-1) and the multinomial that is uniquely determined with prediction length j, it is represented byJ=1,2..., 5, try to achieve Gj、Ej、Fj, then focus predicted phase is poor
M, calculating reference locus：For ensure system output signal it is smooth, in control process set one from work as
Preceding moment phase difference θ (k) is set out, to null value smooth transition curve, i.e. reference locus θr(k+j), it is defined as follows,
N, the solution current phase controlling amount of controlled source：Set up performance index function minJ=E { [Y-Yr]T[Y-Yr]+Δ
ΨTΓΔΨ}
Wherein,
Optimum angle controlled quentity controlled variable increment is solved for Δ Ψ, then the current phase controlling amount of controlled source is
O, by c (t) phase shiftsObtain signal m (t)；
P, read r (t),Current time data, whether be peak value, if so, then making r (t) peak values if judging the moment r (t)
Count value v adds 1, flag2=1 and the moment is recorded for trpv, following determination methods can be used：Each peak point amplitude should be with
There is the signaling point less than the point both sides in the maximum of signal in a certain section centered on the point, and the section,
|r(trpv) |=max (r (trpv-2)…r(trpv)…r(trpv+ 2)), and
r(trpv- 2) ＜ r (trpv) ＞ r (trpv+2)；
Each peak point signal amplitude is not less than the 1/3 of echo signal peak value, i.e., | r (trpv) | ＞ 100；
Q, judge the momentWhether it is peak value, if so, thenPeak counter values n adds 1, and records the moment and be
tspn；
If r, v=n, and flag2=1, then makeflag2=0；Otherwise, return to step p weights
It is new to carry out peak value judgement；
S, set dp(v) it is amplitude controlled quentity controlled variable in control process to c (t), as d≤0, takes dp(d)=0, Ap(d)=0；
T, utilization [Ap (v) Ap (v-1) Ap (v-2) Ap (v-3)] and [dp (v-1) dp (v-2) dp (v-
3) focus amplitude model parameter], is obtained by least square method of recursion identification, is specifically represented by
Make C1(z-1)=1
A in formula1(z-1) it is 3 ranks, B1(z-1) it is 2 rank multinomials；
U, solution focus prediction margin are poorSet up Diophantine equationsWherein,It is by A1(z-1) and amplitude control forecasting length u uniquely determine
Multinomial, is represented byU=1,2..., 5, are tried to achieve Then focus
Prediction margin is poor
V, calculating reference locus：For ensure system output signal it is smooth, in control process set one from work as
Preceding moment amplitude difference Ap(v) set out, to null value smooth transition curve, i.e. reference locus Apr(v+u), formula is as follows,
W, solution controlled source current amplitude controlled quentity controlled variable：Set up performance index function minJ1=E { [Y1-Y1r]T[Y1-Y1r]+
ΔDTΓΔD}
Wherein,
Optimal amplitude controlled quentity controlled variable increment is solved for Δ D, then controlled source current amplitude controlled quentity controlled variable is dp(v)=dp(v-1)+
Δdp(v)=dp(v-1)+[1 0 … 0]·ΔD；
X, to m (t) Amplitude Compensations, obtain p (t)=m (t) * (1+dp(v)), p (t) is used to control controlled source over the ground to swash
Send out seismic wave；
Y, repeat step f to step x, until T moment epicenter excitation signal terminatings, just complete complex near surface conditionss
Electromagnetic type controlled source generalized predictive control control result such as Fig. 4.
Claims (1)
1. a kind of electromagnetic type controlled source generalized forecast control method suitable for complex near surface conditionss, it is characterised in that including with
Lower step：
A, in laboratory environments, passes through the sensor being placed on controlled source and tests controlled source work with signal acquiring system
Swept-frequency signal s is excited during work over the ground1(t) Zero-cross comparator method detection contrast s, is passed through1(t) with controlled source echo signal r
(t) phase differenceIt is used as the empirical data of controlled source excitation signal during field work and echo signal phase difference；
In formulaA is r (t) amplitudes, and t represents time variable, and T is r (t) duration, f0For
R (t) initial frequencies, f1Frequency is terminated for r (t)；
B, controlled source is positioned over to survey area, focus operating point chooses the position of grading as far as possible, routinely controlled source
Construction method sets controlled source running parameter, and control focus excites sine sweep seismic wave over the ground, and controllable by being placed on
Sensor on focus gathers controlled source excitation signal s (t) over the ground in real time with signal acquiring system；
The zero phase low pass filter that c, design cut-off frequency are 500Hz, is filtered, then zero phase using the wave filter to s (t)
Signal after the LPF of positionWherein h (t) is zero phase low pass filter impulse response sequence used, this
Place * represents related operation；
D, basisPhase precompensation is carried out to r (t) and obtains c (t), specific formula is as follows：
E, to set i, v, k and n initial value be 0, wherein, i, v represent currently detected respectivelyZero point, peak point number, k, n
Currently detected r (t) zero points, peak point number are represented respectively；
F, read r (t),Current time data, whether be zero point, if so, then making r (t) zero points count if judging the moment r (t)
Value k adds 1, flag1=1, and the moment is recorded for trzk；
G, judge the momentWhether it is zero point, if so, then makingZero point count value i adds 1, and records the moment for tszi；
If h, i=k, and flag1=1, then calculateIt is poor with the current zero crossing times of r (t), make q (k)=trzk-tszk, flag1
=0, q (k) represents the time difference, and otherwise return to step f re-starts zero point judgement；
i、trzkMoment echo signal frequency representation isThen trzkMomentIt is θ with r (t) phase differences
(k)=frk·q(k)·2π；
J, setIt is the phase controlling amount to c (t) during generalized predictive control, as k=d and when taking d≤0, order
θ (d)=0, wherein d are integer；
K, by least square method of recursion identification obtain model parameter, be specifically represented by
A (z in formula-1)、B(z-1) it is na、nbRank multinomial, na、nbTake positive integer,Make C (z-1)=1, ξ (k) is random noise, z-1For backward shift operator, Δ=1-z-1For difference operator；
L, solution focus predicted phase are poorSet up Diophantine equations
In formula, Ej、FjIt is by A (z-1) and the multinomials that uniquely determine of prediction length j, it is expressed asJ=1,2..., N, N are more than nbPositive integer, try to achieve Gj、Ej、Fj, then shake
Source predicted phase is poor
M, calculating reference locus：To ensure the smooth of system output signal, one is set in control process from current time phase
Potential difference θ (k) sets out, to null value smooth transition curve, i.e. reference locus θr(k+j), it is defined as follows：
α is softening coefficient, 0 ＜ α ＜ 1；
N, the solution current phase controlling amount of controlled source：Set up performance index function minJ=E { [Y-Yr]T[Y-Yr]+ΔΨTΓ
ΔΨ}
In formula, NuIt is control time domain, NuValue is no more than N positive integer, and Γ is control weighting matrix, for limiting controlled quentity controlled variable
Amplitude, γ is control weight coefficient, and I is unit matrix, solves optimum angle controlled quentity controlled variable increment for Δ Ψ, then controlled source is worked as
Preceding phase controlling amount is：
O, by c (t) phase shiftsObtain signal m (t)；
P, read r (t),Current time data, whether be peak value, if so, then making r (t) peak countings if judging the moment r (t)
Value v adds 1, flag2=1, and the moment is recorded for trpv；
Q, judge the momentWhether it is peak value, if so, then makingPeak counter values n adds 1, and records the moment for tspn；
If r, v=n, and flag2=1, then makeflag2=0, Ap(v) it is range error；Otherwise,
Return to step p re-starts peak value judgement；
S, set dp(v) when being amplitude controlled quentity controlled variable in control process to c (t), work as v=d, and taking d≤0, d is madep(d)=0, Ap(d)
=0；
T, by least square method of recursion identification obtain focus amplitude model parameter, be specifically represented by
Make C1(z-1)=1
A in formula1(z-1)、B1(z-1) it is na1、nb1Rank multinomial, na1、nb1Take positive integer；
U, solution focus prediction margin are poorSet up Diophantine equations
Wherein,It is by A1(z-1) and the multinomials that uniquely determine of amplitude control forecasting length u, it is expressed asU=1,2..., N*, N*For more than nb1Positive integer, try to achieveThen focus prediction margin is poor
V, calculating reference locus：To ensure the smooth of system output signal, one is set in control process from current time width
Spend difference Ap(v) set out, to null value smooth transition curve, i.e. reference locus Apr(v+u), it is defined as follows,
α1For softening coefficient, 0 ＜ α1＜ 1；
W, solution controlled source current amplitude controlled quentity controlled variable：Set up performance index function minJ1=E { [Y1-Y1r]T[Y1-Y1r]+ΔDT
ΓΔD}
In formula,The control time domain of expression amplitude GPC algorithm,Take no more than N*Positive integer, Γ1It is wide for amplitude
Adopted PREDICTIVE CONTROL weighting matrix, the amplitude for limiting controlled quentity controlled variable, γ1For control weight coefficient, I is unit matrix, is solved most
Excellent amplitude controlled quentity controlled variable increment is Δ D, then controlled source current amplitude controlled quentity controlled variable is dp(v)=dp(v-1)+Δdp(v)=dp(v-
1)+[1 0 … 0]·ΔD；
X, to m (t) Amplitude Compensations, obtain p (t)=m (t) * (1+dp(v)), p (t) is used to control controlled source to excite earthquake over the ground
Ripple；
Y, repeat step f to step x, until T moment epicenter excitation signal terminatings, just complete the electricity of complex near surface conditionss
Magnetic-type controlled source generalized predictive control.
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| CN103472723A (en) * | 2013-08-19 | 2013-12-25 | 上海交通大学 | Predictive control method and system based on multi-model generalized predictive controller |
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