CN112987103A - Seismic source device, marine exploration system and control method of controllable seismic source - Google Patents
Seismic source device, marine exploration system and control method of controllable seismic source Download PDFInfo
- Publication number
- CN112987103A CN112987103A CN202110170395.XA CN202110170395A CN112987103A CN 112987103 A CN112987103 A CN 112987103A CN 202110170395 A CN202110170395 A CN 202110170395A CN 112987103 A CN112987103 A CN 112987103A
- Authority
- CN
- China
- Prior art keywords
- compensation
- seismic source
- attitude
- motor
- sensing data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000009471 action Effects 0.000 claims abstract description 12
- 230000001133 acceleration Effects 0.000 claims description 38
- 238000004891 communication Methods 0.000 claims description 9
- 230000003068 static effect Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 230000010354 integration Effects 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 9
- 238000012545 processing Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000001953 sensory effect Effects 0.000 description 4
- 241001125929 Trisopterus luscus Species 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 239000004215 Carbon black (E152) Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 229930195733 hydrocarbon Natural products 0.000 description 1
- 150000002430 hydrocarbons Chemical class 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
- G01V1/3861—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas control of source arrays, e.g. for far field control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
- G01V1/3817—Positioning of seismic devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Oceanography (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Remote Sensing (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Feedback Control In General (AREA)
Abstract
The application discloses a seismic source device, a controllable seismic source control method and a marine exploration system. The seismic source device comprises: a vibroseis providing a vibration signal; the sensor is fixedly connected with the controllable seismic source, and sensing data obtained by the sensor represents the attitude dip angle of the controllable seismic source; and the at least one compensation motor is respectively and fixedly connected with the controllable seismic source and provides compensation force for the controllable seismic source under the action of a motor driving signal so as to adjust the attitude dip angle of the controllable seismic source, wherein the motor driving signal is generated by the PID control model based on sensing data. The seismic source device, the control method of the controllable seismic source and the marine exploration system realize the attitude closed-loop control of the controllable seismic source by adopting the PID model and the sensing data provided by the seismic source end, so that the attitude dip angle of the controllable seismic source can be compensated in real time in the tidal wave disturbance environment, and the accuracy of marine exploration is improved.
Description
Technical Field
The invention relates to the technical field of marine exploration, in particular to a seismic source device, a marine exploration system and a control method of a controllable seismic source.
Background
Marine geophysical exploration, which may be referred to simply as marine geophysical prospecting, is one of the methods for studying the oceans and marine geology through geophysical exploration methods. Marine geophysical prospecting is currently available for the exploration of subsea hydrocarbon resources, conditions of subsea sedimentary deposits, subsea topography, marine seismic data, and the like.
Marine exploration systems may perform marine geophysical prospecting by marine seismic surveying, such as using a vibroseis to excite a vibration signal that is reflected underwater to produce a corresponding reflected signal, so that the marine exploration system may obtain exploration information from the received reflected signal. Because the vibration signal generated by the controllable seismic source can be controlled manually (for example, the signal frequency spectrum and/or other characteristics of the vibration signal can be set manually), parameters such as the depth of penetration of the stratum, the resolution and the energy of the reflected signal can be ensured to meet the exploration requirement.
At present, a marine exploration system can hang a controllable seismic source on a ship body through a cable, so that the ship body can move the controllable seismic source in seawater in a dragging mode. However, since the work site of a marine exploration system is located at sea, special requirements are placed on both the equipment and the working method. For example, as the ship body moves, the controllable seismic source is difficult to maintain a preset attitude under the tidal wave disturbance of the sea, so that the angle of the vibration signal output by the controllable seismic source is deviated, and the marine exploration system cannot obtain accurate information.
Therefore, it is desirable to provide a new marine exploration system that can still obtain accurate exploration information in the presence of unavoidable marine disturbances.
Disclosure of Invention
In view of the above, the present invention provides a seismic source device, a marine exploration system, and a method for controlling a controllable seismic source, which can maintain the attitude of the controllable seismic source in water under the interference of tidal wave disturbance, and avoid the influence of the attitude dip angle of the controllable seismic source on the accuracy of exploration information.
According to an aspect of the present disclosure, there is provided a seismic source apparatus for operation underwater, comprising: a vibroseis providing a vibration signal; the sensor is fixedly connected with the controllable seismic source, and sensing data obtained by the sensor represents the attitude dip angle of the controllable seismic source; and the at least one compensation motor is respectively and fixedly connected with the controllable seismic source and provides compensation force for the controllable seismic source under the action of the motor driving signal so as to adjust the attitude dip angle of the controllable seismic source, wherein the motor driving signal is generated by the PID control model based on the sensing data.
In some optional embodiments, the PID control model performs at least one of a proportional operation, an integral operation, and a derivative operation according to the sensing data, so that the motor driving signal adjusts at least one of an instantaneous deviation, a system static error, and a change rate of the attitude tilt angle.
In some optional embodiments, the at least one compensation motor comprises a compensation motor disposed on a first side of the vibroseis and a compensation motor disposed on a second side of the vibroseis, the compensation motors of the first side and the compensation motors of the second side being configured to apply compensation forces in opposite phases to each other on left and right sides of the vibroseis so as to reduce the deviation of the attitude dip in the horizontal direction.
In some optional embodiments, the at least one compensation motor further comprises a compensation motor disposed on a third side of the vibroseis and a compensation motor disposed on a fourth side of the vibroseis, the compensation motor on the third side and the compensation motor on the fourth side are configured to apply opposite-phase compensation forces on front and rear sides of the vibroseis so as to reduce the deviation of the attitude dip angle in the vertical direction.
In some optional embodiments, the sensor comprises an angle sensor for providing angle sensing data, and the sensing data comprises the angle sensing data for determining a polarity of the attitude dip in the horizontal direction, so that the motor driving signal activates the compensation motor adapted to the polarity and disposed at the corresponding position, thereby compensating the attitude dip of the controllable seismic source in the horizontal direction.
In some optional embodiments, the sensor includes an acceleration sensor for providing acceleration sensing data, and the sensing data includes the acceleration sensing data, and is used for judging the polarity of the attitude dip in the vertical direction, so that the motor driving model activates the compensation motor which is adapted to the polarity and is arranged at the corresponding position, thereby compensating the attitude dip of the controllable seismic source in the vertical direction.
According to a second aspect of the embodiments of the present disclosure, there is provided a control method of a vibroseis, including: acquiring sensing data, wherein the sensing data represents the attitude dip angle of the controllable seismic source; generating a motor driving signal according to the sensing data based on a PID control model; driving a corresponding compensation motor according to the motor driving signal so that the compensation motor provides compensation force for the controllable seismic source under the action of the motor driving signal; and circularly executing the steps to adjust the attitude dip angle of the controllable seismic source by using the compensation force.
In some optional embodiments, the step of generating a motor driving signal according to the sensing data based on the PID control model comprises: under the condition that the attitude inclination angle is not 0, calculating a deviation signal according to the sensing data; judging the polarity of the attitude inclination angle according to the sensing data, and selecting the compensation motor with the position adaptive to the polarity; resolving the deviation signal by adopting the PID control model to obtain a corresponding compensation parameter, wherein the compensation parameter represents at least one of instant deviation, system static error and change rate of the attitude dip angle; and generating the motor driving signal according to the compensation parameter, so that the selected compensation motor provides corresponding compensation force under the action of the motor driving signal.
In some optional embodiments, before the step of calculating a deviation signal from the sensing data, the control method further comprises: and judging whether the vibroseis generates an attitude dip angle which is not 0 under the disturbance according to the angle sensing data in the sensing data.
In some optional embodiments, the step of determining the polarity of the attitude tilt angle from the sensing data, and selecting the compensation motor having a position adapted to the polarity, includes: judging the polarity of the attitude dip angle in the horizontal direction according to angle sensing data in the sensing data, if the polarity is positive phase, selecting the compensation motor positioned on the first side of the controllable seismic source, and if the polarity is negative phase, selecting the compensation motor positioned on the second side of the controllable seismic source, so as to reduce the deviation of the attitude dip angle in the horizontal direction; and/or judging the polarity of the attitude dip angle in the vertical direction according to acceleration sensing data in the sensing data, selecting the compensation motor positioned on the third side of the vibroseis if the polarity is positive, selecting the compensation motor positioned on the fourth side of the vibroseis if the polarity is negative so as to reduce the deviation of the attitude dip angle in the vertical direction, wherein the compensation motor on the first side and the compensation motor on the second side are used for applying opposite-phase compensation forces on the left side and the right side of the vibroseis, and the compensation motor on the third side and the compensation motor on the fourth side are used for applying opposite-phase compensation forces on the front side and the rear side of the vibroseis.
In some optional embodiments, the step of generating the motor drive signal according to the compensation parameter comprises: and generating the motor driving signals corresponding to the compensation motors according to the compensation parameters, wherein the motor driving signals corresponding to the selected compensation motors are effective, the duty ratios of the motor driving signals are controlled by the compensation parameters, and the motor driving signals corresponding to the unselected compensation motors are ineffective.
There is also provided, in accordance with a third aspect of an embodiment of the present disclosure, a marine survey system, including: the seismic source device comprises a vibroseis for providing a vibration signal, a sensor for providing sensing data and at least one compensation motor, wherein the sensor, the at least one compensation motor and the vibroseis are fixedly connected, and the sensing data represent the attitude dip angle of the vibroseis; and an attitude controller in communication with the source device for performing the control method of any embodiment of the disclosure.
Based on the seismic source devices, the marine exploration system and the control method of the controllable seismic source, provided by the embodiment of the disclosure, the sensing data of the seismic source devices can be obtained, and one or more corresponding compensation motors are driven with appropriate strength based on the sensing data monitored in real time, so that the posture of the controllable seismic source is dynamically adjusted to a preset posture (for example, the posture dip angle is 0) at the seismic source end, the situation that the posture dip angle of the controllable seismic source influences the emission, the reception and/or the processing of vibration signals is avoided, and the accuracy of exploration information is improved.
In some preferred embodiments, a PID control model is used to operate on the sensed data to obtain corresponding compensation parameters, and to output/adjust the motor drive signals based on the compensation parameters. Because the software and hardware of the PID control model are simple and efficient to implement, the robustness and the adaptability are strong, and the dependence degree on the system model is low, compared with the prior art, the embodiments of the disclosure can provide good response speed, robustness and applicability, and can be implemented without a complex structure.
In some preferred embodiments, the attitude dip angle of the controllable seismic source in the horizontal direction can be compensated based on the angle sensing data, the attitude dip angle of the controllable seismic source in the vertical direction can be compensated based on the acceleration sensing data, and the compensation motor at the corresponding position is driven according to the polarity of the horizontal attitude dip angle and the vertical attitude dip angle, so that the attitude compensation of the controllable seismic source is realized at the seismic source end in an all-around manner, the problem of controllable seismic source inclination and the problem of inconsistent exploration information caused by controllable seismic source inclination can be solved more effectively, and the exploration accuracy and resolution are further improved.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings.
FIG. 1 shows a schematic diagram of an application scenario of a marine exploration system of an embodiment of the disclosure;
FIG. 2 shows a schematic block diagram of a marine survey system of an embodiment of the disclosure;
FIG. 3 illustrates a schematic top view of an exemplary configuration of a seismic source apparatus according to an embodiment of the disclosure;
FIG. 4 shows a flow chart of a control method of the attitude controller of an embodiment of the present disclosure;
FIG. 5 shows a schematic structural diagram of a gesture controller of an embodiment of the present disclosure;
FIG. 6 illustrates a schematic top view of yet another exemplary configuration of a seismic source apparatus according to an embodiment of the disclosure;
fig. 7 shows a flowchart of a control method of the attitude controller according to the embodiment of the present disclosure.
Detailed Description
Various embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by the same or similar reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale.
The present invention may be embodied in various forms, some examples of which are described below.
The following are some explanations of terms.
A controllable seismic source: the excitation generates a continuous frequency sweep signal, which serves as an excitation source in geological exploration, and the frequency and other parameters of the output vibration signal can be artificially controlled. The controllable seismic source is an important component of a marine exploration system and basically determines the stratum penetration depth and resolution of marine seismic exploration.
Marine exploration system
The marine survey system of the embodiments of the present disclosure may include: a source device, a receiving device and a control device. Therein, as an example, the source device may comprise a vibroseis for exciting a vibration signal, the receiving device may comprise one or more receivers for obtaining a received signal (e.g. a reflected signal comprising the vibration signal), and the control device is mainly for providing the source device and the receiving device with electrical energy and a required control signal. In some examples, the control device may also further process the received signals fed back by the receiver to obtain desired survey information, the control device including, for example, at least one or more of a digital signal processor, a general purpose/special purpose processor. In addition, the marine exploration system can further comprise auxiliary devices, such as but not limited to, devices for performing navigation positioning and other functions.
Fig. 1 shows a schematic view of an application scenario of a marine exploration system according to an embodiment of the disclosure. FIG. 2 shows a schematic block diagram of a marine survey system of an embodiment of the disclosure.
As shown in fig. 1 and 2, a seismic source device 1000 (fig. 1 shows only a vibroseis 110 included in the seismic source device 1000) located in water may be suspended from a hull 300 via a streamer 200, so that the vibroseis 110 in the seismic source device 1000 may move with the hull 300 under the towing action of the streamer 200 when the hull 300 moves. As an example, when the hull 300 moves in the driving direction shown in fig. 1, the vibroseis 110 ideally moves in the corresponding towing direction.
The marine exploration system is provided with a control device 500. The control device 500 is, for example, provided on the hull 300, and may communicate with the source device 1000 and the receiver 400 via the streamer 200 having a signal/power transmission function, or may supply power to the source device 1000 and the receiver 400 via the streamer 200. However, the embodiments of the present disclosure are not limited thereto, and in some examples, the control device 500 may also communicate with the source device 1000 and the receiver 400 by wireless communication, and the receiver 400, the source device 1000, and/or the controllable source 110 may also obtain power by a power supply device such as a battery.
As shown in fig. 1 and 2, when the marine exploration system is operating, the receiver 400 and the source device 1000 are located underwater, and the control device 500 may provide a corresponding control signal to the source device 1000, where the control signal may set a vibration signal excited by the controllable source 110, such as a parameter of frequency and/or power of the vibration signal. At least a part of the reflected signals of the vibration signals under the water are received by the receiver 400, and the receiver 400 transmits the obtained received signals to the control device 500, so that the control device 500 can further process the received signals to obtain corresponding exploration information. In some examples, the receiver 400 may also perform preliminary processing on the received signal and transmit the received signal after the preliminary processing to the control device 500, so that the data processing load of the control device 500 may be reduced, and the efficiency of data transmission on underwater and on water may also be improved through the preliminary processing.
Since the vibroseis 110 is located underwater, in the towing mode, the vibroseis 110 inevitably suffers from seawater disturbance in the water, so that the vibroseis 110 deviates from the preset attitude, an undesirable attitude dip angle (for example, the dip angle θ shown in fig. 1, which may refer to a dip angle between a horizontal plane where the towing direction is located and a transverse section of the vibroseis itself) will affect the emission angle of the vibration signal excited by the vibroseis 110, which may result in that the receiver 400 cannot receive the reflection signal of the vibration signal, and/or that the control device 500 cannot obtain sufficiently accurate exploration information based on the received signal processing provided by the receiver 400.
It should be noted that the side view of the vibroseis 110 shown in fig. 1 is drawn as a rectangle. In the preset attitude, the lateral section of the controllable seismic source 110 itself is arranged parallel to the horizontal plane in which the towing direction is located, i.e., each edge of the rectangle extends in the horizontal or vertical direction, so that the attitude tilt angle θ that the controllable seismic source 110 may appear with respect to the horizontal direction is conveniently shown in fig. 1. However, the overall form of the vibroseis is not limited by the present disclosure, and the vibroseis 110 may be provided in any shape.
In addition, for convenience of illustration, fig. 1 shows the hull 300 and the control device 500 located on the hull 300 separately, however, the disclosed embodiment is not limited thereto, and the control device 500 may be located anywhere on the hull 300, may be a part of the hull 300, may be located in an onshore facility communicating with the hull, and a part of the control device 500 may be located in the source device 1000 as a controller.
In order to maintain a preset attitude of the vibroseis 110, the seismic source apparatus 1000 of the embodiment of the present disclosure includes not only the vibroseis 110, but also at least one compensation motor 120 and one or more sensors 130. Where each compensation motor 120 is used to provide a compensation force to the vibroseis 110, the sensors 130 may be used to detect the state of the vibroseis 110 to acquire corresponding sensing data. Furthermore, the control apparatus 500 may comprise an attitude controller for driving each compensation motor, at least for performing closed-loop control on the seismic source apparatus 1000 (e.g. providing motor driving signals to each compensation motor 120 within the seismic source apparatus 1000 according to sensing data provided by the sensors 130) to maintain/restore the preset attitude of the controllable seismic source 110. As an example, the attitude controller may be fixedly connected and in communication with the seismic source device 1000 underwater, may be located on the water and in communication with the seismic source device 1000 via the tow 200/wireless communication module, may also be partially located on the water and partially located underwater, and the present disclosure does not limit the location of this attitude controller.
2 embodiments of the compensation motor 120
FIG. 3 illustrates a schematic top view of an exemplary configuration of a seismic source apparatus according to an embodiment of the disclosure.
As an alternative embodiment, the seismic source apparatus 1000 may include a vibroseis 110, sensors 130, and one or more compensation motors 120, as shown in fig. 3. The sensor 130 and each compensation motor 120 are in communication with an attitude controller 510 disposed in the control apparatus, wherein the sensor 130 provides sensing data (representing the state of the vibroseis 110) to the attitude controller 510, and the attitude controller 510 provides a corresponding motor driving signal to each compensation motor 120 based on the sensing data, so that each compensation motor 120 provides a compensation force to the vibroseis 110 under the control of the corresponding motor driving signal, so as to compensate the attitude tilt angle of the vibroseis 110, which is a closed-loop control mechanism in the embodiment of the present disclosure. The closed-loop control mechanism is performed in a cyclic manner, so that the attitude dip of the vibroseis 110 can be compensated in real time and/or step by step under the closed-loop control mechanism, which is beneficial to maintaining the vibroseis 110 in the preset attitude under the wave disturbance.
The sensors 130 are fixedly connected to the vibroseis 110 to collect sensory data indicative of the state of the vibroseis 110. In the disclosed embodiment, the sensors 130 include at least an angle sensor for collecting angle sensing data representing an attitude dip of the vibroseis 110, so that the attitude controller 510 can determine whether the vibroseis 110 generates an attitude dip deviating from a preset attitude under wave disturbance according to the angle sensing data provided by the sensors 130.
In some alternative examples, if the attitude controller 510 determines that the vibroseis 110 has an attitude dip deviating from the preset attitude, the attitude controller 510 may further determine the polarity of the attitude dip according to the angle sensing data provided by the angle sensor, select the compensation motor 120 for compensating the attitude dip, and provide a corresponding motor driving signal to the selected compensation motor 120 to drive the selected compensation motor 120 to apply an appropriate compensation force to the vibroseis 110, which is beneficial to reduce the offset of the current attitude dip of the vibroseis 110 relative to the preset attitude to some extent. Attitude controller 510 continuously acquires the sensing data provided by sensor 130, so that the attitude tilt angle can be continuously compensated in real time according to the currently acquired sensing data.
In some optional examples, the sensors 130 may further include an acceleration sensor for collecting acceleration sensing data, which characterizes the acceleration of the vibroseis 110, so that the attitude controller 510 may more accurately determine the attitude dip and the polarity of the vibroseis 110 according to the acceleration sensing data provided by the sensors 130, i.e., the acceleration sensing data may be used to compensate for the detection error of the attitude dip by the angle sensing data.
For example, in a case where the attitude controller 510 determines that the current attitude of the vibroseis 110 has an attitude dip angle that is a positive deviation with respect to the preset attitude according to the sensed data, the attitude controller 510 may select to start the compensation motor 120 disposed on the first side of the vibroseis 110, calculate a compensation parameter based on the sensed data, and provide a corresponding motor driving signal to the selected compensation motor 120 according to the compensation parameter; in the case that the attitude controller 510 determines that the current attitude of the vibroseis 110 has an attitude dip angle with an opposite phase deviation with respect to the preset attitude according to the sensed data, the attitude controller 510 may select to start the compensation motor 120 disposed on the second side of the vibroseis 110, calculate a compensation parameter based on the sensed data, and provide a corresponding motor driving signal to the selected compensation motor 120 according to the compensation parameter, where the compensation parameter is, for example, a configuration parameter for setting a duty ratio of the motor driving signal, a motor rotation direction, a driving duration, a number of the selected compensation motor to start, and the like.
It is noted that, as shown in fig. 3, the compensation motors 120 on the first side and the second side of the controllable seismic source 110 are, for example, compensation motors disposed on the left side and the right side of the controllable seismic source 110 in the horizontal direction perpendicular to the towing direction, and may be configured to apply opposite compensation forces on the left side and the right side of the controllable seismic source 110 for opposing the disturbance from the horizontal direction, so as to reduce the deviation of the attitude tilt angle in the horizontal direction. The left side herein may refer to (but is not limited to) one of the left wing side, the left upper side, the left lower side, the left rear side, the left front side, and the right side may refer to (but is not limited to) one of the right wing side, the right upper side, the right lower side, the right rear side, the right front side.
Fig. 4 shows a flowchart of a control method of the attitude controller according to the embodiment of the present disclosure. The control method is implemented based on hardware provided in any of the above embodiments, for example.
As an example, as shown in fig. 4, the control method of the attitude controller includes steps S501 to S507 and S508a, S508b, S509a, S509b, for example.
In step S501, initialization setting of the attitude controller is performed. The initialization settings are used, for example, to configure a gesture controller (e.g., hardware with arithmetic capabilities such as a digital processor, a general/customized processor, etc.) based on pre-stored initialization configuration information (e.g., one or more of arithmetic coefficients, data reception rates, communication handshake information, etc.) in preparation for the gesture controller to enter a normal operating state.
In step S502, initialization setting of the sensor is performed. The initialization setting is implemented, for example, by an attitude controller for configuring various parameters of the sensor 130 and/or for implementing calibration of the sensor 130 in preparation for the sensor 130 to enter a normal operating state.
In step S503, the current angle sensing data is collected.
In step S504, it is detected whether the attitude of the movable seismic source is affected by the disturbance based on the angle sensing data. If yes, continue to execute step S505; if not (i.e. the angle sensing data represents that the attitude dip of the movable seismic source relative to the preset attitude is 0), the step S503 is returned to.
In step S505, the current acceleration sensing data is acquired.
In step S506, a deviation signal is calculated based on the angle sensor and the acceleration sensing data.
In step S507, the polarity of the attitude dip of the vibroseis is determined based on the deviation signal. If the current attitude represented by the deviation signal has an attitude dip angle with positive deviation with respect to the preset attitude, continuing to execute step S508a and step S509a so as to drive the compensation motor located on the first side of the controllable seismic source; if the current attitude represented by the deviation signal has an attitude dip with an opposite phase deviation with respect to the preset attitude, the steps S508b and S509b are continuously performed so as to drive the compensation motor located at the second side of the vibroseis.
In step S508a, calculating corresponding compensation parameters according to the angle sensing data and the acceleration sensing data; in step S509a, a corresponding motor driving signal is output to the compensation motor of the first side based on the compensation parameter obtained in step S508a, so as to activate the compensation motor of the first side and drive the compensation motor to apply a compensation force for compensating the normal phase attitude tilt angle to the vibroseis source.
In step S508b, calculating corresponding compensation parameters according to the angle sensing data and the acceleration sensing data; in step S509b, a corresponding motor driving signal is output to the compensation motor of the second side based on the compensation parameter obtained in step S508b, so as to activate the compensation motor of the second side and drive the compensation motor to apply a compensation force for compensating the opposite-phase attitude tilt angle to the vibroseis source.
After the execution of step S509 a/step S509b is completed, the process returns to step S503 to perform real-time detection and compensation of the attitude tilt angle based on the closed-loop control mechanism.
It should be noted that fig. 4 only shows an exemplary attitude control method of the embodiment of the present disclosure, and the attitude control method may have many alternative embodiments. For example, but not limited to, steps S503 and S504 may be implemented synchronously/stepwise based on the angle sensor and the acceleration sensor, respectively, without being limited to the execution sequence shown in fig. 4; for another example, step S508a and step S508b may not depend on the polarity determination result of the attitude tilt angle, and thus may be performed between step S506 and step S507, and so on.
Fig. 5 shows a schematic structural diagram of an attitude controller according to an embodiment of the present disclosure. The attitude controller 510 is applied, for example, in a source apparatus according to any of the embodiments of the present disclosure.
As an example, the attitude controller 510 may employ a Proportional-Integral-Derivative (PID) control model to obtain the corresponding compensation parameters, so that the corresponding compensation parameters may be obtained through simple and instant operation according to the sensing data, so as to provide the corresponding motor driving signals to the compensation motors. The PID control model has the advantages of simple algorithm, good robustness, high reliability and high accuracy, and can provide relatively accurate compensation parameters from three dimensions of proportional regulation, integral regulation and differential regulation.
As shown in fig. 5, the attitude controller 510 includes, for example, an input port Pin, an output port Pout, an input unit 511, a PID control unit 512, and a motor drive unit 513. Among them, the input unit 511, the PID control unit 512, and the motor drive unit 513 may be sequentially cascaded between the input port Pin and the output port Pout. The output port Pout provides a corresponding motor drive signal to one or more of the compensation motors 120.
The input unit 511 receives the sensing data provided by the sensor 130 via an input port Pin and provides an offset signal e based on the sensing data, which is a variable over time t and is therefore also denoted as e (t). Furthermore, in some embodiments, the input unit 511 may also receive a sensing signal (e.g., an analog signal) provided by the sensor 130, and has the capability of converting the sensing signal into sensing data.
As an alternative example, in the case where the sensing data includes angle sensing data and acceleration sensing data, the input unit 511 may be implemented by a weighting operator shown in fig. 5, which may obtain a result of weighting the angle sensing data and the acceleration sensing data based on a weighting coefficient, the result of weighting may be used as the current deviation signal e, and the result of weighting may be continuously updated over time and provided to the subsequent PID control unit 512. The weighted calculation result may be set as an algebraic calculation result of the angle sensing data and the acceleration sensing data according to actual requirements, for example, a sum of a product of the angle sensing data and the coefficient a1 and a product of the acceleration sensing data and the coefficient a 2.
The PID control unit 512 receives the deviation signal e provided by the input unit 511 in real time, and calculates and obtains a corresponding compensation parameter u based on the variation of the deviation signal e with time t. Since the compensation parameter u is also a variable with time t, the compensation parameter is also denoted as u (t), and can be used as a parameter for realizing real-time compensation of the attitude tilt angle.
As an example, the PID control unit 512 may further include one or more of a proportional regulation module 512a, an integral regulation module 512b, and a derivative regulation module 512c to implement a PID control model.
The proportional adjustment module 512a is configured to obtain a proportional operation result Kp × e (t) of the deviation signal e (t) according to the proportional coefficient Kp, and the proportional operation result may immediately and proportionally represent the deviation signal e (t), so that the proportional adjustment module may be configured to implement offset adjustment (or referred to as differential adjustment) of the deviation signal e (t), and may be configured to achieve a relatively fast adjustment effect, that is: once the deviation signal e is not 0, the PID control unit 512 will immediately provide the corresponding compensation parameter u to reduce the attitude error of the vibroseis; when the deviation signal e is 0, the control action provided by the PID control unit 512 may also be 0.
The integral adjustment module 512b is used for obtaining an integral operation result of the deviation signal to the time t based on the integral coefficient Ki
The integration result reflects the error integration amount of each deviation signal e obtained over time, and can be used to adjust the static difference (or residual difference, which is difficult to recover only by the adjustment with difference) of the deviation signal. The strength of the integration function of the integration adjusting module 512b may depend on an integration time constant Ti, and the larger the integration time constant Ti is, the weaker the integration function is, and the lower the static difference adjusting capability is; and the smaller the integration time constant Ti is, the stronger the integration effect is and the stronger the static difference adjusting capability is. The integration coefficient Ki is, for example, a ratio of the proportional coefficient Kp to the integration time constant Ti.
The differential adjustment module 512c is used for obtaining the differential operation result of the deviation signal e to the time t based on the differential coefficient Kd
The differential operation result reflects the variation trend and/or the variation rate of the deviation signal e, so that the differential adjustment module 512c can introduce an effective early correction value (corresponding to the differential operation result) into the compensation parameter u before the value of the deviation signal becomes too large, which is beneficial to increasing the error response time of the PID control unit 512 to the deviation signal e and reducing the adjustment time. The derivative coefficient Kd is, for example, the product of the proportional coefficient Kp and the derivative time constant Td.
The compensation parameter generating module 512d of the PID control unit 512 may synthesize the corresponding compensation parameter u (t) according to one or more linear operations of the proportional operation result, the differential operation result, and the differential operation result, for example,
since the integral coefficient Ki may be a ratio of the proportional coefficient Kp to the integral time constant Ti (i.e., Ki ═ Kp/Ti), and the derivative coefficient Kd may be a product of the proportional coefficient Kp and the derivative time constant Td (i.e., Kd ═ Kp × Td), the function value of the compensation parameter u (t) may be further simplified as:
based on the adjustment mechanism of the PID control unit 512, as the attitude dip and/or the acceleration increases, the driving force of the motor driving signal generated based on the corresponding compensation parameter u to the selected compensation motor 120 is larger (for example, the duty ratio of the motor driving signal is higher), and then the selected compensation motor 120 provides larger compensation force to the vibroseis 110 at the position thereof, so as to reduce the deviation of the attitude of the vibroseis 110 from the preset attitude (for example, reduce the attitude dip).
The driving unit 513 receives the compensation parameter u (t) provided by the PID control unit 512, and generates a motor driving signal according to the compensation parameter u (t) in real time. For example, the driving unit 513 may obtain one or more configuration parameters, such as duty ratio of the motor driving signal, motor rotation direction, driving duration, number of the compensation motor selected to be activated, and the like, according to the compensation parameter u (t), and generate a corresponding motor driving signal based on each configuration parameter, so as to implement the attitude compensation of the compensation motor on the controllable seismic source under the indication of the compensation parameter u (t).
As an example, if a plurality of compensation motors 120 are included in the seismic source apparatus 1000, the driving unit 513 may have a plurality of outputs, each of which in turn provides a respective motor drive signal to each of the compensation motors 120. For example, if the compensation parameter u (t) indicates that the compensation motor on the first side needs to be driven without driving the compensation motor on the second side, the driving unit 513 may provide an effective motor driving signal (whose configuration parameters such as duty ratio and/or rotation speed are controlled by the compensation parameter) to the compensation motor 120 on the first side, and provide an ineffective motor driving signal to the compensation motor 120 on the second side, so as to drive the compensation motor on the first side and turn off the compensation motor on the second side based on the compensation parameter.
As another example, if multiple compensation motors 120 are included in the seismic source apparatus 1000, the drive unit 513 may have only a single output that provides a motor drive signal with an addressing function to each compensation motor 120. For example, if the compensation parameter u (t) characterizes that the compensation motor of the first side needs to be driven without driving the compensation motor of the second side, the driving unit 513 may append the number information of the compensation motor that needs to be driven in the motor driving signal. If the number information provided by the motor driving signal received by the compensation motor 120 of the first side is identical to the number of the compensation motor 120 of the first side, the compensation motor 120 of the first side can be effectively driven by the motor driving signal; however, since the number of the compensation motor 120 on the second side is not consistent with the number information provided by the motor driving signal, the compensation motor 120 on the second side cannot be started.
In summary, as shown in the example of fig. 5, an attitude control closed loop of the controllable seismic source is formed between the attitude controller 510 and the seismic source apparatus 1000, and the corresponding compensation motor may be driven with appropriate strength based on the real-time monitored sensing data, so as to dynamically adjust the attitude of the controllable seismic source 110, so as to avoid the influence of the attitude dip of the controllable seismic source 110 on the transmission, reception and/or processing of the vibration signal, and improve the accuracy of the exploration information.
The disclosed embodiments are not limited to the above description, for example, a compensation motor may be disposed in the seismic source apparatus 1000, and the compensation motor may be fixedly connected to the controllable seismic source 110, and may provide a plurality of compensation forces in selectable directions to the controllable seismic source 110, which provide a corresponding compensation force in one direction to the controllable seismic source 110 based on a motor driving signal. For another example, more than 2 compensation motors may be provided in the seismic source apparatus 1000, and the following is an exemplary supplementary description of 4 compensation motors.
FIG. 6 illustrates a schematic top view of yet another example structure of a seismic source apparatus of an embodiment of the disclosure.
As an alternative embodiment, as shown in fig. 6, the seismic source apparatus 1000 may include a vibroseis 110, sensors 130, and 4 compensation motors 120. The sensor 130 and each compensation motor 120 are in communication with an attitude controller 510 disposed in the control apparatus, wherein the sensor 130 provides sensing data (indicative of a state of the vibroseis 110) to the attitude controller 510, and the attitude controller 510 provides a corresponding motor driving signal to each compensation motor 120 based on the sensing data, so that each compensation motor 120 provides a compensation force to the vibroseis 110 under the control of the corresponding motor driving signal, so as to compensate the attitude tilt angle of the vibroseis 110 based on a closed-loop control mechanism. The closed-loop control mechanism is performed in a cyclic manner, so that the attitude dip of the vibroseis 110 can be compensated in real time and/or step by step under the closed-loop control mechanism, which is beneficial to maintaining the vibroseis 110 in the preset attitude under the wave disturbance.
The sensors 130 are fixedly connected to the vibroseis 110 to collect sensory data indicative of the state of the vibroseis 110, which may include angular velocity sensory data and acceleration sensory data. In the embodiment of the present disclosure, the sensors 130 may include an angle sensor for acquiring angle sensing data and an acceleration sensor for acquiring acceleration sensing data, the angle sensing data represents an attitude dip of the vibroseis 110, and the acceleration sensing data represents an acceleration of the vibroseis 110, so that the attitude controller 510 may determine the attitude dip deviating from the preset attitude and the polarity of the attitude dip generated by the vibroseis 110 under the wave and tide disturbance according to the sensing data. The angle sensing data is mainly used for determining a horizontal attitude inclination angle and polarity in the horizontal direction, and the acceleration sensing data can be used for determining a vertical horizontal inclination angle and polarity in the vertical direction.
In some alternative examples, if the attitude controller 510 determines that the vibroseis 110 has an attitude dip deviating from the preset attitude, the attitude controller 510 may select the compensation motor 120 for compensating the attitude dip according to the polarity of the attitude dip, and provide a corresponding motor driving signal to the selected compensation motor 120 to drive the selected compensation motor 120 to apply an appropriate compensation force to the vibroseis 110, which is beneficial to reduce the offset of the current attitude dip of the vibroseis 110 from the preset attitude to some extent. Attitude controller 510 continuously acquires the sensing data provided by sensor 130, so that the attitude tilt angle can be continuously compensated in real time according to the currently acquired sensing data.
For example, in a case where the attitude controller 510 determines that the current attitude of the vibroseis 110 has a horizontal attitude dip that is a positive deviation in the horizontal direction with respect to the preset attitude based on the sensed data, the attitude controller 510 may select to activate the compensation motor 120 disposed on the first side of the vibroseis 110, calculate a compensation parameter based on the sensed data, and provide a corresponding motor driving signal to the selected compensation motor 120 according to the compensation parameter; in the case that the attitude controller 510 determines that the current attitude of the vibroseis 110 has a horizontal attitude dip angle with a phase reversal deviation in the horizontal direction with respect to the preset attitude according to the sensing data, the attitude controller 510 may select to start the compensation motor 120 disposed on the second side of the vibroseis 110, calculate a compensation parameter based on the sensing data, and provide a corresponding motor driving signal to the selected compensation motor 120 according to the compensation parameter; in the case that the attitude controller 510 determines that the current attitude of the vibroseis 110 has a vertical attitude dip angle that is normal phase deviated in the vertical direction with respect to the preset attitude according to the sensing data, the attitude controller 510 may select to start the compensation motor 120 disposed on the third side of the vibroseis 110, calculate a compensation parameter based on the sensing data, and provide a corresponding motor driving signal to the selected compensation motor 120 according to the compensation parameter; in the case where the attitude controller 510 determines that the current attitude of the vibroseis 110 has a vertical attitude dip angle with a phase inversion deviation in the vertical direction with respect to the preset attitude based on the sensed data, the attitude controller 510 may select to start the compensation motor 120 disposed on the fourth side of the vibroseis 110, calculate a compensation parameter based on the sensed data, and provide a corresponding motor driving signal to the selected compensation motor 120 according to the compensation parameter. The compensation parameters are used for setting configuration parameters such as duty ratio of motor driving signals, motor rotating direction, driving duration, number of compensation motors selected to be started and the like.
It should be noted that, as shown in fig. 6, the compensation motors 120 on the first side and the second side of the controllable seismic source 110 are, for example, compensation motors arranged on the left side and the right side of the controllable seismic source 110 in the horizontal direction perpendicular to the towing direction, and may be configured to apply opposite compensation forces on the left side and the right side of the controllable seismic source 110, so as to counteract the disturbance from the horizontal direction, so as to reduce the deviation of the attitude tilt angle in the horizontal direction, where the left side may refer to (but is not limited to) one of the left wing side, the upper left side, the lower left side, the rear left side, and the front left side, and the right side may refer to (but is not limited to) one of the right wing side, the upper right side, the lower right; the compensation motors 120 on the third and fourth sides of the vibroseis 110 are, for example, compensation motors disposed on the front and rear sides of the vibroseis 110 along the towing direction, and may be configured to apply opposite compensation forces on the front and rear sides of the vibroseis 110, such as to oppose the disturbance from the vertical direction, so as to reduce the deviation of the attitude tilt angle in the vertical direction, where the front side may refer to (but is not limited to) one of the front left side, the front right side, the front upper side, and the front lower side, and the rear side may refer to (but is not limited to) one of the rear left side, the rear right side, the rear upper side, and the rear lower side.
Fig. 7 shows a flowchart of a control method of the attitude controller according to the embodiment of the present disclosure. The control method is implemented based on hardware provided in any of the above embodiments, for example.
As an example, as shown in fig. 7, the control method of the attitude controller includes steps S601 to S607, and S608a, S608b, S608c, S608d, S609a, S609b, S609c, S609d, for example.
Step S601 and step S602 are similar to steps S501 and S502 described above, respectively, and are used for implementing initialization settings of the attitude controller and the sensor, which are not described herein again.
In step S603, the current angle sensing data is collected.
In step S604, it is detected whether the attitude of the movable seismic source is affected by the disturbance according to the angle sensing data. If yes, continue to execute step S605; if not (i.e. the angle sensing data represents that the attitude dip of the movable seismic source relative to the preset attitude is 0), the step S603 is returned to.
In step S605, the current acceleration sensing data is acquired.
In step S606, the polarity of the horizontal attitude dip of the vibroseis is determined based on the sensing data. If the current attitude represented by the sensing data has a positive deviation horizontal attitude dip angle with respect to the preset attitude, continuing to execute steps S608a and S609a so as to drive the compensation motor located on the first side of the controllable seismic source; if the current attitude represented by the sensing data has a horizontal attitude dip with a reverse phase deviation with respect to the preset attitude, the steps S608b and S609b are continuously performed so as to drive the compensation motor located at the second side of the controllable seismic source.
In step S607, the polarity of the vertical attitude dip of the vibroseis is determined based on the sensing data. If the current attitude represented by the sensing data has a positive deviation vertical attitude dip angle relative to the preset attitude, continuing to execute the steps S608c and S609c so as to drive the compensation motor positioned on the third side of the vibroseis; if the current attitude represented by the sensing data has a vertical attitude dip angle with a reverse phase deviation with respect to the preset attitude, the steps S608d and S609d are continuously performed so as to drive the compensation motor located on the fourth side of the controllable seismic source.
In step S608a, calculating corresponding compensation parameters according to the angle sensing data and the acceleration sensing data; in step S609a, a corresponding motor driving signal is output to the compensation motor of the first side based on the compensation parameter obtained in step S608a, so as to activate the compensation motor of the first side and drive the compensation motor to apply a compensation force for compensating the positive-phase horizontal attitude tilt angle to the vibroseis source.
In step S608b, calculating corresponding compensation parameters according to the angle sensing data and the acceleration sensing data; in step S609b, a corresponding motor driving signal is output to the compensation motor of the second side based on the compensation parameter obtained in step S608b, so as to activate the compensation motor of the second side and drive the compensation motor to apply a compensation force for compensating the inverted horizontal attitude tilt angle to the vibroseis.
In step S608c, calculating corresponding compensation parameters according to the angle sensing data and the acceleration sensing data; in step S609c, a corresponding motor driving signal is output to the compensation motor of the third side based on the compensation parameter obtained in step S608c, so as to activate the compensation motor of the third side and drive the compensation motor to apply a compensation force for compensating the normal-phase vertical attitude tilt angle to the vibroseis source.
In step S608d, calculating corresponding compensation parameters according to the angle sensing data and the acceleration sensing data; in step S609d, a corresponding motor driving signal is output to the compensation motor on the fourth side based on the compensation parameter obtained in step S608d, so as to activate the compensation motor on the fourth side and drive the compensation motor to apply a compensation force for compensating the opposite-phase vertical attitude tilt angle to the vibroseis source.
As an example, steps S608a to S608d may obtain a deviation signal based on the above-described weighted operation result of the angle sensing data and the acceleration sensing data, and further calculate a corresponding compensation parameter based on the PID control model according to the deviation signal. This process is described above and will not be described further.
After the steps S609a to S609d meeting the execution conditions are completed, the method returns to step S603, so as to perform real-time and omnidirectional detection and compensation on the attitude tilt angles in the horizontal direction and the vertical direction based on the closed-loop control mechanism.
It should be noted that fig. 6 only shows an exemplary attitude control method of the disclosed embodiment, and the attitude control method may have many alternative embodiments. For example, but not limited to, steps S603 and S604 may be implemented synchronously/stepwise based on the angle sensor and the acceleration sensor, respectively, without being limited to the execution sequence shown in fig. 6; for another example, step S608a and step S608b may not depend on the polarity determination result of the attitude tilt angle, and thus may be executed between step S606 and step S607, and so on.
The attitude controller for implementing the attitude control method may have various implementations, for example, the structure described in fig. 5, and is not described herein again.
Based on the seismic source devices, the marine exploration system and the control method of the controllable seismic source, provided by the embodiment of the disclosure, the sensing data of the seismic source devices can be obtained, and one or more corresponding compensation motors are driven with appropriate strength based on the sensing data monitored in real time, so that the posture of the controllable seismic source is dynamically adjusted to a preset posture (for example, the posture dip angle is 0) at the seismic source end, the situation that the posture dip angle of the controllable seismic source influences the emission, the reception and/or the processing of vibration signals is avoided, and the accuracy of exploration information is improved.
In some preferred embodiments, a PID control model is used to operate on the sensed data to obtain corresponding compensation parameters, and to output/adjust the motor drive signals based on the compensation parameters. Because the software and hardware of the PID control model are simple and efficient to implement, the robustness and the adaptability are strong, and the dependence degree on the system model is low, compared with the prior art, the embodiments of the disclosure can provide good response speed, robustness and applicability, and can be implemented without a complex structure.
In some preferred embodiments, the attitude dip angle of the controllable seismic source in the horizontal direction can be compensated based on the angle sensing data, the attitude dip angle of the controllable seismic source in the vertical direction can be compensated based on the acceleration sensing data, and the compensation motor at the corresponding position is driven according to the polarity of the horizontal attitude dip angle and the vertical attitude dip angle, so that the attitude compensation of the controllable seismic source is realized at the seismic source end in an all-around manner, the problem of controllable seismic source inclination and the problem of inconsistent exploration information caused by controllable seismic source inclination can be solved more effectively, and the exploration accuracy and resolution are further improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (12)
1. A seismic source apparatus for operating underwater, comprising:
a vibroseis providing a vibration signal;
the sensor is fixedly connected with the controllable seismic source, and sensing data obtained by the sensor represents the attitude dip angle of the controllable seismic source; and
at least one compensation motor which is respectively and fixedly connected with the controllable seismic source and provides compensation force for the controllable seismic source under the action of the motor driving signal so as to adjust the attitude dip angle of the controllable seismic source,
wherein the motor drive signal is generated based on the sensing data by a PID control model.
2. The seismic source apparatus of claim 1, wherein the PID control model performs at least one of a proportional operation, an integral operation, and a derivative operation based on the sensed data to cause the motor drive signal to adjust at least one of an instantaneous offset, a system static error, and a rate of change of the attitude dip.
3. The seismic source apparatus of claim 1, wherein the at least one compensation motor comprises a compensation motor disposed on a first side of the vibroseis and a compensation motor disposed on a second side of the vibroseis, the compensation motors of the first and second sides being configured to apply compensation forces in opposite phase to each other on the left and right sides of the vibroseis in order to reduce the deviation of the attitude dip in the horizontal direction.
4. The seismic source apparatus of claim 3, wherein the at least one compensation motor further comprises a compensation motor disposed on a third side of the vibroseis and a compensation motor disposed on a fourth side of the vibroseis, the compensation motors of the third and fourth sides being configured to apply compensation forces in opposite phases on front and rear sides of the vibroseis in order to reduce the deviation of the attitude dip in the vertical direction.
5. The seismic source apparatus of claim 1, wherein the sensors comprise angle sensors for providing angle sensing data, the sensing data comprising the angle sensing data for determining a polarity of the attitude dip in the horizontal direction, so that the motor driving signal activates the compensation motors adapted to the polarity and disposed at corresponding positions to compensate the attitude dip of the controllable seismic source in the horizontal direction.
6. The seismic source apparatus of claim 5, wherein the sensors comprise acceleration sensors for providing acceleration sensing data, the sensing data comprising the acceleration sensing data for determining a polarity of the attitude dip in the vertical direction, so that the motor drive model activates the compensation motor adapted to the polarity and disposed at the corresponding position to compensate the attitude dip of the vibroseis in the vertical direction.
7. A method of controlling a vibroseis, comprising:
acquiring sensing data, wherein the sensing data represents the attitude dip angle of the controllable seismic source;
generating a motor driving signal according to the sensing data based on a PID control model;
driving a corresponding compensation motor according to the motor driving signal so that the compensation motor provides compensation force for the controllable seismic source under the action of the motor driving signal; and
and circularly executing the steps to adjust the attitude dip angle of the controllable seismic source by using the compensation force.
8. The control method according to claim 7, wherein the step of generating a motor drive signal from the sensing data based on a PID control model includes:
under the condition that the attitude inclination angle is not 0, calculating a deviation signal according to the sensing data;
judging the polarity of the attitude inclination angle according to the sensing data, and selecting the compensation motor with the position adaptive to the polarity;
resolving the deviation signal by adopting the PID control model to obtain a corresponding compensation parameter, wherein the compensation parameter represents at least one of instant deviation, system static error and change rate of the attitude dip angle; and
and generating the motor driving signal according to the compensation parameter so that the selected compensation motor provides corresponding compensation force under the action of the motor driving signal.
9. The control method of claim 8, wherein prior to the step of calculating a deviation signal from the sensed data, the control method further comprises:
and judging whether the vibroseis generates an attitude dip angle which is not 0 under the disturbance according to the angle sensing data in the sensing data.
10. The control method according to claim 8, wherein the step of judging the polarity of the attitude tilt angle from the sensing data and selecting the compensation motor whose position is adapted to the polarity comprises:
judging the polarity of the attitude dip angle in the horizontal direction according to angle sensing data in the sensing data, if the polarity is positive phase, selecting the compensation motor positioned on the first side of the controllable seismic source, and if the polarity is negative phase, selecting the compensation motor positioned on the second side of the controllable seismic source, so as to reduce the deviation of the attitude dip angle in the horizontal direction; and/or
Judging the polarity of the attitude dip angle in the vertical direction according to the acceleration sensing data in the sensing data, selecting the compensation motor positioned on the third side of the vibroseis if the polarity is positive phase, and selecting the compensation motor positioned on the fourth side of the vibroseis if the polarity is negative phase so as to reduce the deviation of the attitude dip angle in the vertical direction,
the compensation motor on the first side and the compensation motor on the second side are used for applying opposite-phase compensation forces on the left side and the right side of the vibroseis, and the compensation motor on the third side and the compensation motor on the fourth side are used for applying opposite-phase compensation forces on the front side and the rear side of the vibroseis.
11. The control method of claim 8, wherein the step of generating the motor drive signal in accordance with the compensation parameter comprises:
and generating the motor driving signals corresponding to the compensation motors according to the compensation parameters, wherein the motor driving signals corresponding to the selected compensation motors are effective, the duty ratios of the motor driving signals are controlled by the compensation parameters, and the motor driving signals corresponding to the unselected compensation motors are ineffective.
12. A marine exploration system, comprising:
the seismic source device comprises a vibroseis for providing a vibration signal, a sensor for providing sensing data and at least one compensation motor, wherein the sensor, the at least one compensation motor and the vibroseis are fixedly connected, and the sensing data represent the attitude dip angle of the vibroseis; and
an attitude controller in communication with the source device for performing the control method of any of claims 7 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110170395.XA CN112987103A (en) | 2021-02-08 | 2021-02-08 | Seismic source device, marine exploration system and control method of controllable seismic source |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110170395.XA CN112987103A (en) | 2021-02-08 | 2021-02-08 | Seismic source device, marine exploration system and control method of controllable seismic source |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112987103A true CN112987103A (en) | 2021-06-18 |
Family
ID=76349099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110170395.XA Pending CN112987103A (en) | 2021-02-08 | 2021-02-08 | Seismic source device, marine exploration system and control method of controllable seismic source |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112987103A (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1183791A (en) * | 1967-01-05 | 1970-03-11 | Continental Oil Co | Improvements in Marine Vibrator Device. |
| CA1089972A (en) * | 1976-07-28 | 1980-11-18 | Mobil Oil Corporation | Marine adaptive source system |
| CN1321250A (en) * | 1998-10-01 | 2001-11-07 | 施鲁博格控股有限公司 | Control system for positioning of marine seismic streamers |
| US20060191338A1 (en) * | 2004-12-22 | 2006-08-31 | Rainer Willig | Micromechanical rotation rate sensor having error suppression |
| US20080316859A1 (en) * | 2007-06-22 | 2008-12-25 | Welker Kenneth E | Methods for Controlling Marine Seismic Equipment Orientation During Acquisition of Marine Seismic Data |
| CN103344991A (en) * | 2013-05-03 | 2013-10-09 | 中国海洋石油总公司 | Dual-source earthquake collection method and collection system for offshore seismic exploration |
| CN106405630A (en) * | 2016-10-10 | 2017-02-15 | 中国电建集团华东勘测设计研究院有限公司 | Actuating shock device and method for neritic region seismic exploration |
| CN106959466A (en) * | 2017-03-16 | 2017-07-18 | 中国石油天然气集团公司 | Marine seismic acquisition system and method |
| CN106990431A (en) * | 2017-05-18 | 2017-07-28 | 国家海洋局第海洋研究所 | A kind of near Sea Bottom hydrate detection system |
| CN108367798A (en) * | 2015-10-15 | 2018-08-03 | 离子地球物理学公司 | Dynamic control type paillon system and method |
| CN109116426A (en) * | 2018-07-24 | 2019-01-01 | 国家海洋局第海洋研究所 | A kind of offshore earthquake detection system of unmanned boat traction focus |
| CN109765619A (en) * | 2019-01-30 | 2019-05-17 | 自然资源部第二海洋研究所 | A kind of marine seismic acquisition system and its method based on mobile platform carrying |
| CN209433022U (en) * | 2019-01-30 | 2019-09-24 | 自然资源部第二海洋研究所 | A kind of marine seismic acquisition system carried based on mobile platform |
| CN111323810A (en) * | 2020-03-16 | 2020-06-23 | 自然资源部第二海洋研究所 | Marine seismic detection system with seismic source below towing cable and method thereof |
| CN111412900A (en) * | 2020-03-16 | 2020-07-14 | 中国科学院南海海洋研究所 | Digital attitude compensation and wave measurement system and control method |
| CN111551986A (en) * | 2020-06-08 | 2020-08-18 | 青岛海洋科学与技术国家实验室发展中心 | Seismic source system and operation method thereof |
-
2021
- 2021-02-08 CN CN202110170395.XA patent/CN112987103A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1183791A (en) * | 1967-01-05 | 1970-03-11 | Continental Oil Co | Improvements in Marine Vibrator Device. |
| CA1089972A (en) * | 1976-07-28 | 1980-11-18 | Mobil Oil Corporation | Marine adaptive source system |
| CN1321250A (en) * | 1998-10-01 | 2001-11-07 | 施鲁博格控股有限公司 | Control system for positioning of marine seismic streamers |
| US20060191338A1 (en) * | 2004-12-22 | 2006-08-31 | Rainer Willig | Micromechanical rotation rate sensor having error suppression |
| US20080316859A1 (en) * | 2007-06-22 | 2008-12-25 | Welker Kenneth E | Methods for Controlling Marine Seismic Equipment Orientation During Acquisition of Marine Seismic Data |
| CN103344991A (en) * | 2013-05-03 | 2013-10-09 | 中国海洋石油总公司 | Dual-source earthquake collection method and collection system for offshore seismic exploration |
| CN108367798A (en) * | 2015-10-15 | 2018-08-03 | 离子地球物理学公司 | Dynamic control type paillon system and method |
| CN106405630A (en) * | 2016-10-10 | 2017-02-15 | 中国电建集团华东勘测设计研究院有限公司 | Actuating shock device and method for neritic region seismic exploration |
| CN106959466A (en) * | 2017-03-16 | 2017-07-18 | 中国石油天然气集团公司 | Marine seismic acquisition system and method |
| CN106990431A (en) * | 2017-05-18 | 2017-07-28 | 国家海洋局第海洋研究所 | A kind of near Sea Bottom hydrate detection system |
| CN109116426A (en) * | 2018-07-24 | 2019-01-01 | 国家海洋局第海洋研究所 | A kind of offshore earthquake detection system of unmanned boat traction focus |
| CN109765619A (en) * | 2019-01-30 | 2019-05-17 | 自然资源部第二海洋研究所 | A kind of marine seismic acquisition system and its method based on mobile platform carrying |
| CN209433022U (en) * | 2019-01-30 | 2019-09-24 | 自然资源部第二海洋研究所 | A kind of marine seismic acquisition system carried based on mobile platform |
| CN111323810A (en) * | 2020-03-16 | 2020-06-23 | 自然资源部第二海洋研究所 | Marine seismic detection system with seismic source below towing cable and method thereof |
| CN111412900A (en) * | 2020-03-16 | 2020-07-14 | 中国科学院南海海洋研究所 | Digital attitude compensation and wave measurement system and control method |
| CN111551986A (en) * | 2020-06-08 | 2020-08-18 | 青岛海洋科学与技术国家实验室发展中心 | Seismic source system and operation method thereof |
Non-Patent Citations (4)
| Title |
|---|
| 周银祥: "《嵌入式系统原理与实践-基于Cortex-M3(STM32)下》", 华中科技大学出版社, pages: 578 - 579 * |
| 常润发: "一种轻型水下机器人控制系统的设计和实现", 《合肥工业大学学报》, vol. 42, no. 4, 30 July 2019 (2019-07-30), pages 936 - 939 * |
| 魏峥嵘: "深拖式多道高分辨率地震探测系统在南海首次应用", 《石油地球物理勘探》 * |
| 魏峥嵘: "深拖式多道高分辨率地震探测系统在南海首次应用", 《石油地球物理勘探》, vol. 55, no. 5, 15 October 2020 (2020-10-15), pages 966 - 967 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2007269339B2 (en) | Method and system of underwater acoustic positioning of seismic streamers based on modulated acoustic signals | |
| CN110275169B (en) | Near-field detection sensing system of underwater robot | |
| US7778109B2 (en) | Current prediction in seismic surveys | |
| EP2474840B1 (en) | Control system for positioning of marine seismic streamers | |
| US6314371B1 (en) | Dual sensor signal processing method for on-bottom cable seismic wave detection | |
| US9151858B2 (en) | Method and system for sensor geometry | |
| WO2000079303A1 (en) | Method and apparatus for doppler smear correction in marine seismology measurements | |
| NO781696L (en) | PROCEDURE AND SYSTEM FOR POSITION DETERMINATION AND DYNAMIC POSITIONING OF LIQUID DRILLING PLATFORMS AND THE LIKE | |
| US11360184B2 (en) | Sensor receiver nulls and null steering | |
| NO20130038A1 (en) | PROCEDURE FOR DEPLOYMENT, PROCEDURE AND DEVICE FOR SEISMIC EXPLORATION IN AN AQUATIC MEDIUM | |
| US20210270607A1 (en) | Calibration of a Magnetometer in a Towed Object Telemetry Unit Based on Turn Data | |
| CN112987103A (en) | Seismic source device, marine exploration system and control method of controllable seismic source | |
| EP2960682A2 (en) | Heading sensor for deflector angle of attack estimation | |
| US11988791B2 (en) | Sparse seismic data acquisition | |
| MX2014003056A (en) | Automated lateral control of seismic streamers. | |
| AU2017346322A1 (en) | Positioning of seismic equipment in a towed marine array | |
| AU2018205733B2 (en) | Determining a notional source signature of a bubble | |
| WO2019031969A1 (en) | Method and vessel steering module for seismic data acquiring and for routing a vessel | |
| GB1586425A (en) | Position determining and dynamic positioning method and system for floating marine well drilling platforms and the like | |
| Caiti et al. | Underwater archaeology: available techniques and open problems in fully automated search and inspection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210618 |