CN113534269A - Three-component in-well magnetometer based on high-temperature digital fluxgate - Google Patents
Three-component in-well magnetometer based on high-temperature digital fluxgate Download PDFInfo
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Abstract
The invention discloses a three-component in-well magnetometer based on a high-temperature digital fluxgate, which comprises: sealing the pressure-bearing cabin shell; the three-axis fluxgate sensor is used for measuring the magnetic field intensity of a magnetic substance outside the magnetometer in the high-temperature digital fluxgate-based three-component well; the three-component quartz accelerometer is used for acquiring acceleration data; the fluxgate signal processing circuit is used for carrying out digital processing on the signals sensed by the triaxial fluxgate sensor, carrying out temperature correction processing on the signals subjected to the digital processing, and carrying out error correction processing on data subjected to the temperature correction processing and acceleration data acquired by the three-component quartz accelerometer; a power supply circuit; a buffer; a support framework; the triaxial fluxgate sensor, the fluxgate signal processing circuit, the three-component quartz accelerometer and the power circuit are all arranged in the closed pressure-bearing cabin shell. The magnetometer of the invention can be operated in a high-temperature mine environment.
Description
Technical Field
The invention relates to the field of mineral resource exploration, in particular to a three-component in-well magnetometer based on a high-temperature digital fluxgate.
Background
With the rapid development of the national modernization construction, the national demand for mineral resources is more and more. At present, the exploration technical equipment of deep mineral resources in China has high external dependence, the detection depth of the equipment is shallow, the precision is low, and the positioning is inaccurate, so that the effective detection of the deep mineral resources in China is severely restricted.
The logging instrument used for the exploration and development of deep mineral resources works in an environment of 155 ℃ for a long time. The working temperature of a fluxgate sensor used in the domestic existing underground three-component magnetometer is basically normal temperature, so that the fluxgate sensor is not suitable for the high-temperature working environment under a mine; in addition, most of the fluxgate sensors used therein are analog, and have a large steering difference, so that the accuracy thereof is low.
Therefore, it is necessary to provide a new technique to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a three-component in-well magnetometer based on a high-temperature digital fluxgate, which can operate in a high-temperature mine environment.
In order to solve the problems, the technical scheme of the invention is as follows:
a high temperature digital fluxgate based three-component in-well magnetometer comprising: the closed pressure-bearing cabin shell is provided with an accommodating chamber; a connector assembly; the three-axis fluxgate sensor is used for measuring the magnetic field intensity of a magnetic substance outside the magnetometer in the high-temperature digital fluxgate-based three-component well; the three-component quartz accelerometer is used for acquiring acceleration data; the fluxgate signal processing circuit is used for carrying out digital processing on the signals sensed by the triaxial fluxgate sensor, carrying out temperature correction processing on the signals subjected to the digital processing, and carrying out error correction processing on data subjected to the temperature correction processing and acceleration data acquired by the three-component quartz accelerometer; a power supply circuit; a buffer; and a support skeleton; the triaxial fluxgate sensor, the fluxgate signal processing circuit, the three-component quartz accelerometer and the power supply circuit are all arranged in the closed pressure-bearing cabin shell, at least one part of the connector is arranged in the accommodating cavity of the closed pressure-bearing cabin shell, and the triaxial fluxgate sensor, the fluxgate signal processing circuit, the three-component quartz accelerometer, the power supply circuit and the buffer are all fixed on the supporting framework.
In the three-component well magnetometer based on the high-temperature digital fluxgate, a heat insulation shell is further arranged in the closed pressure-bearing cabin shell, and at least one of the triaxial fluxgate sensor, the fluxgate signal processing circuit, the three-component quartz accelerometer and the power circuit is arranged in the heat insulation shell.
In the three-component well magnetometer based on the high-temperature digital fluxgate, a gap is formed between the outer surface of the heat insulation shell and the inner surface of the closed pressure bearing cabin shell.
In the three-component well magnetometer based on the high-temperature digital fluxgate, the closed pressure-bearing cabin shell is in a long strip shape, and the two ends of the closed pressure-bearing cabin shell are provided with the annular buckles.
In the three-component in-well magnetometer based on the high-temperature digital fluxgate, the fluxgate signal processing circuit comprises: the analog-to-digital conversion circuit is used for converting the induction signal generated by the triaxial fluxgate sensor into a digital signal; and the control circuit is used for carrying out digital processing and temperature correction processing on the digital signals and carrying out error correction processing on the data subjected to the temperature correction processing and the acceleration data acquired by the three-component quartz accelerometer.
In the three-component in-well magnetometer based on the high-temperature digital fluxgate, the control circuit comprises: the temperature correction module is used for correcting the measurement error of the triaxial fluxgate sensor caused by the temperature change; and the error correction module is used for correcting the converted error of the coordinate system of the three-axis fluxgate sensor and/or the coordinate system of the three-component quartz accelerometer based on the correction result of the temperature correction module.
In the three-component in-well magnetometer based on the high-temperature digital fluxgate, the control circuit further comprises: the phase-sensitive rectification module is used for carrying out phase-sensitive rectification processing on the signals which are provided by the analog-to-digital conversion circuit and are subjected to digital processing; and the digital filtering module is used for performing low-pass filtering processing on the signal subjected to the phase-sensitive rectification processing.
In the three-component in-well magnetometer based on the high-temperature digital fluxgate, the control circuit further comprises: the proportional-integral-differential control module is used for carrying out feedback control on the deviation of the signal which is output by the digital filtering module and subjected to low-pass filtering so as to reduce the error of the signal subjected to low-pass filtering and achieve higher measurement precision; and the pulse width modulation module is used for carrying out delta-sigma modulation processing on the signal output by the proportional-integral-derivative control module and carrying out digital PWM modulation to generate a pulse width modulation square wave signal.
In the three-component in-well magnetometer based on the high-temperature digital fluxgate, the temperature correction module is configured to correct a measurement error of the triaxial fluxgate sensor caused by a temperature change according to a signal output by the digital filter module and subjected to low-pass filtering.
In the three-component in-well magnetometer based on the high-temperature digital fluxgate, the temperature correction module is configured to correct a measurement error of the tri-axial fluxgate sensor based on the following formula:
H＝P-1(H′-B)；
wherein H ═ X Y Z]T，H′＝[X′ Y′ Z′]TX, Y, Z represents the component of the measured magnetic field strength value in each coordinate axis of the ideal orthogonal triaxial fluxgate sensor coordinate system, X ', Y ', Z ' represent the component of the measured magnetic field strength value in each coordinate axis of the actual triaxial fluxgate sensor coordinate system, and B ═ bx by bz]，
P is a transformation matrix, P-1And the matrix is an inverse matrix of P, Kx, Ky and Kz represent scale factors of each coordinate axis, alpha, beta and gamma represent the non-positive angle degree among the coordinate axes, and bx, by and bz are zero point errors of each coordinate axis of the three-axis fluxgate sensor.
Because the triaxial fluxgate sensor, the fluxgate signal processing circuit, the three-component quartz accelerometer, the power supply circuit, the support framework and the buffer are all arranged in the closed pressure-bearing cabin shell, the three-component in-well magnetometer based on the high-temperature digital fluxgate can operate in a high-temperature mine environment.
Because the control circuit comprises the temperature correction module and the error correction module, the temperature correction module is used for realizing temperature correction, and the error correction module is used for realizing coordinate system conversion error correction, the magnetometer in the three-component well based on the high-temperature digital fluxgate can directly correct the measured value in real time, and is convenient for rear-end data processing and application.
Because the induction signal generated by the triaxial fluxgate sensor is processed digitally, the influence of temperature, electromagnetism and the like on each circuit in the magnetometer in the three-component well based on the high-temperature digital fluxgate on the accuracy of the measurement result expressed as an analog signal can be prevented, and the sensing precision of the triaxial fluxgate sensor can be effectively improved.
Drawings
Fig. 1 is a schematic diagram of a magnetometer in a three-component well based on a high-temperature digital fluxgate provided by an embodiment of the present invention.
Fig. 2 is a cross-sectional view of the magnetometer in the three-component well based on the high temperature digital fluxgate shown in fig. 1.
Fig. 3 is a schematic diagram of the positional relationship of the tri-axis fluxgate sensor, the fluxgate signal processing circuit, the three-component quartz accelerometer, the power supply circuit, the connector, the support frame and the buffer in the high temperature digital fluxgate based three-component borehole magnetometer according to the embodiment of the present invention.
FIG. 4 is a block diagram of a high temperature digital fluxgate based three component borehole magnetometer in accordance with an embodiment of the present invention.
Fig. 5 is a schematic diagram of a connection relationship between a three-axis fluxgate sensor and a fluxgate signal processing circuit in a three-component well magnetometer based on a high temperature digital fluxgate according to an embodiment of the present invention and internal modules thereof.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1 to 5, an embodiment of the present invention provides a high temperature digital fluxgate-based three-component in-well magnetometer, which is suitable for deep exploration of mines, and in particular, the high temperature digital fluxgate-based three-component in-well magnetometer can be used for mineral exploration of mines with an aperture of 20mm or more, a detection depth of about 3000 meters, and an ambient temperature of about 155 ℃. The three-component well magnetometer based on the high-temperature digital fluxgate is long, has the diameter of 20mm to 500mm (for example, 50mm), has the total length of 800mm to 10000mm (for example, 1546mm), and is suitable for a space under a mine. The three-component in-well magnetometer based on the high-temperature digital fluxgate comprises a three-axis fluxgate sensor 105, a fluxgate signal processing circuit 106, a three-component quartz accelerometer 107, a power supply circuit 108, a connector 109, a closed pressure-bearing cabin shell 101, a support framework 103 and a buffer 104.
Because the diameter of the magnetometer in the three-component well based on the high-temperature digital fluxgate is small (in the range of 20mm to 500 mm), the magnetometer in the three-component well based on the high-temperature digital fluxgate can adapt to most mines and go deep into the mines for magnetic field measurement, so that the effect of magnetic field measurement in the well can be better than that of ground magnetic field measurement (the reason is that the magnetic field measurement in the well can reach the space measurement closer to the geologic body, and the abnormal place can be better reflected).
The closed pressure-bearing cabin shell 101 is an outermost layer part of the magnetometer in the three-component well based on the high-temperature digital fluxgate, and a containing chamber is arranged in the closed pressure-bearing cabin shell 101. The triaxial fluxgate sensor 105, the fluxgate signal processing circuit 106, the three-component quartz accelerometer 107, the power circuit 108, the support frame 103 and the buffer 104 are all disposed in the airtight pressure-bearing compartment housing 101, and at least a portion of the connector 109 is disposed in the accommodation chamber of the airtight pressure-bearing compartment housing 101.
The enclosed pressure-bearing cabin shell 101 is used for protecting and supporting components (for example, the tri-axial fluxgate sensor 105, the fluxgate signal processing circuit 106, the tri-axial quartz accelerometer 107, the power circuit 108, and the connector 109) in the magnetometer in the three-component high-temperature digital fluxgate based well, so that the components in the magnetometer in the three-component high-temperature digital fluxgate based well are not physically impacted, and the components in the magnetometer in the three-component high-temperature digital fluxgate based well are prevented from being affected by external environments such as moisture, high temperature, high pressure, and the like and thus cannot normally operate.
By verification, as the three-axis fluxgate sensor 105, the fluxgate signal processing circuit 106, the three-component quartz accelerometer 107, the power supply circuit 108, the support frame 103 and the buffer 104 are all disposed in the closed pressure-bearing cabin shell 101, under the condition that the magnetometer in the three-component well based on the high-temperature digital fluxgate operates for about 20000 hours in a high-temperature environment with a working temperature of about 155 ℃ in a mine, all components in the magnetometer in the three-component well based on the high-temperature digital fluxgate can still operate normally, that is, the magnetometer in the three-component well based on the high-temperature digital fluxgate can operate in the high-temperature mine environment.
The closed pressure-bearing cabin shell 101 is made of non-magnetic materials and high-temperature and high-pressure resistant materials, so that on one hand, the influence of the magnetic force of the shell on the operation of the magnetometer in the three-component well based on the high-temperature digital fluxgate can be prevented, and on the other hand, the influence of the high temperature of the external environment on the operation of each part in the closed pressure-bearing cabin shell 101 can be avoided.
The sealed pressure-bearing cabin shell 101 is long, two ends of the sealed pressure-bearing cabin shell 101 are provided with annular buckles 102, and the annular buckles 102 are used for being physically connected with other equipment.
The tri-axial fluxgate sensor 105, the fluxgate signal processing circuit 106, the three-component quartz accelerometer 107, the power circuit 108 and the buffer 104 are all disposed on (fixed to) the support frame 103. The buffer 104 is disposed at a first end of the supporting frame 103. The connector 109 is disposed at a second end of the support frame 103. The power circuit 108, the three-component quartz accelerometer 107, the tri-axial fluxgate sensor 105 and the fluxgate signal processing circuit 106 are disposed between the first end and the second end of the support frame 103, the power circuit 108 is disposed at a position of the support frame 103 close to the connector 109, the tri-axial fluxgate sensor 105 is disposed at a position of the support frame 103 between the buffer 104 and the second end of the support frame 103 and close to the buffer 104, that is, the tri-axial fluxgate sensor 105 is spaced from the bottom end (the first end) of the high temperature digital fluxgate based three-component borehole magnetometer by the buffer 104, the buffer 104 plays a buffering role during the high temperature digital fluxgate based three-component borehole magnetometer is in the borehole operation, and can withstand pressure, The three-component in-well magnetometer based on the high-temperature digital fluxgate is protected during mine measurement under the magnetometer based on the high-temperature digital fluxgate. Specifically, the buffer 104 is used to avoid damage to the three-axis fluxgate sensor 105, the fluxgate signal processing circuit 106, the three-component quartz accelerometer 107 and the power circuit 108 caused by physical impact, and in addition, the buffer 104 also has a function of isolating magnetic interference.
The fluxgate signal processing circuit 106 is disposed in the support frame 103 at a position between the three-axis fluxgate sensor 105 and the second end of the support frame 103, and the three-component quartz accelerometer 107 is disposed in the support frame 103 at a position between the fluxgate signal processing circuit 106 and the second end of the support frame 103.
The triaxial fluxgate sensor 105 is electrically connected with the power circuit 108 and the fluxgate signal processing circuit 106, the three-component quartz accelerometer 107 is electrically connected with the power circuit 108 and the fluxgate signal processing circuit 106, the power circuit 108 is electrically connected with the fluxgate signal processing circuit 106, and the connector 109 is electrically connected with the power circuit 108 and the fluxgate signal processing circuit 106.
The tri-axis fluxgate sensor 105 is a device developed according to the faraday electromagnetic induction principle to measure a magnetic field. The tri-axial fluxgate sensor 105 may convert a space magnetic vector that cannot be directly measured into an electrical signal that can be measured, and may reversely derive a magnetic field strength corresponding to the magnetic signal by measuring a magnitude of the voltage signal.
In an embodiment of the present invention, the X, Y, Z three-axis coordinate system of the tri-axis fluxgate sensor 105 coincides with the X, Y, Z three-axis coordinate system of the three-component quartz accelerometer 107, which minimizes the error.
The tri-axial fluxgate sensor 105 is configured to measure a magnetic field strength of a magnetic substance outside the magnetometer in the high-temperature digital fluxgate-based three-component well, and output a magnetic field measurement result expressed as an analog signal. The analog signal output by the tri-axis fluxgate sensor 105 and the analog signal output by the three-component quartz accelerometer 107 are input into a 24-bit eight-channel high-speed analog-to-digital converter ADC of the fluxgate signal processing circuit 106 to be converted into digital signals.
The three-axis fluxgate sensor 105 of the high-temperature digital fluxgate-based three-component in-well magnetometer includes 3 orthogonal magnetic measurement elements, and measures the magnetic abnormal spatial distribution law of an ore body from 3 directions, so that the longitudinal depth of the ore body can be obtained, and the ore body in a certain section is located in the direction of drilling, and therefore, the ore body can be positioned only by means of data of a single well. The tri-axial fluxgate sensor 105 can measure three orthogonal components of the magnetic field at the same time: Δ Z, Δ X, and Δ Y, the tri-axial fluxgate sensor 105 can measure the magnitude of the magnetic field and also determine the direction of the magnetic field.
The measuring mode of the tri-axial fluxgate sensor 105 includes continuous measurement and point measurement (maximum frequency 1 time/1 second), the continuous measurement can identify the magnetic substance with the thickness of not less than 0.5m, and the point measurement can identify the magnetic substance with the thickness of not less than 5 m. The triaxial fluxgate sensor 105 performs magnetic field intensity measurement in the well in a lifting measurement mode in a continuous measurement mode and a point measurement mode, wherein the continuous measurement speed generally does not exceed 15m/min, and generally does not exceed 10m/min in an abnormal section.
The three-axis fluxgate sensor 105 is of a three-axis fluxgate orthogonal structure, the fluxgate of each axis is of a double-magnetic-core parallel differential structure, the magnetic core is made of thin permalloy strips with high magnetic permeability, low coercive force and low magnetic loss, the fluxgate of each axis further comprises an excitation coil, the excitation coil is wound on the parallel magnetic core, the excitation coil is inserted into a wheel-shaped magnetic core framework (the material of the magnetic core framework can be ceramic or glass material, for example) with low temperature coefficient, the magnetic core framework is solidified and encapsulated, and an induction coil (detection coil) is wound, the induction coil can be shared with a feedback coil, and certainly, the feedback coil and the detection coil can also not be shared.
By removing the redundant structure and selecting the polyester material with low temperature coefficient to finely process the micro fluxgate probe framework, the processing error of the orthogonal mounting hole is particularly reduced, and the triaxial fluxgate is beneficial to obtaining the optimal orthogonality.
The three-axis fluxgate sensor 105 reduces the use of analog devices, optimizes the circuit design, has low cost and can provide higher precision.
The fluxgate signal processing circuit 106 is configured to receive the received signalThe digital signal is subjected to phase-sensitive detection, integration, and other processing (specifically, the phase-sensitive detection module in the fluxgate signal processing circuit 106 performs phase-sensitive detection on the received digital signal, and the integration module in the fluxgate signal processing circuit 106 performs integration processing on the digital signal subjected to phase-sensitive detection), so as to obtain a voltage digital signal corresponding to the magnetic field value, which is used as closed-loop control, and buffer the digital signal. After the digital signal storage is finished, the signal is passed through I2The C interface reads the data of the onboard temperature sensor, and after the data are corrected, the data are uploaded to a user side on the ground in real time through the CAN bus. And the onboard temperature sensor is used for acquiring the ambient temperature information in real time.
During debugging, data can also be acquired through a serial port reserved by the fluxgate signal processing circuit 106.
The three-component quartz accelerometer 107 is used to collect acceleration data to orient the tri-axial fluxgate sensor 105 and to obtain angular information. The three-component quartz accelerometer 107 comprises a KT-JB6 series quartz flexible accelerometer. The KT-JB6 series quartz flexible accelerometer is an existing accelerometer on the market, and is a miniaturized, high-temperature-resistant and shock-resistant accelerometer. The product has the characteristics of excellent repeatability, starting performance, high temperature resistance, high reliability and the like, and meets the design requirements.
The power circuit 108 is configured to convert an alternating voltage input through a connector 109 into a direct voltage, the power circuit 108 provides a required power for the tri-axial fluxgate sensor 105, the fluxgate signal processing circuit 106, and the three-component quartz accelerometer 107 of the magnetometer in the three-component well based on the high temperature digital fluxgate, and specifically, the power circuit 108 is an AC-DC power circuit, the power circuit 108 is connected to an external 220V power through the connector 109 at an end of the magnetometer in the three-component well based on the high temperature digital fluxgate, and the power circuit 108 is configured to convert the external 220V power into a voltage of ± 15V, +7V, +5V, so as to supply power to the fluxgate signal processing circuit 106, the three-component quartz accelerometer 107, and the like. The power circuit 108 uses FH18 series multi-path isolation to output high temperature AC-DC power circuit 108, the specific model is MH18-150D 15-S7-S5. The power circuit 108 is configured to have high temperature, shock, and moisture resistance characteristics. The working temperature of the power supply circuit 108 is-55 ℃ to +175 ℃, and the temperature which can be resisted by the shell reaches +185 ℃, so that the design requirement is met.
The connector 109 is connected to the power circuit 108 and a communication cable (CAN bus) outside the magnetometer in the high-temperature digital fluxgate-based three-component well, and is configured to transmit measurement information to an upper computer (a user side on the ground) and receive a control signal from the upper computer.
The fluxgate signal processing circuit 106 is configured to amplify the signal sensed by the three-axis fluxgate sensor 105, perform digital processing on the amplified signal to obtain a digital signal of a voltage analog signal corresponding to the magnetic field value, perform phase-sensitive rectification and temperature correction processing on the signal subjected to the digital processing, and perform error correction processing on the data subjected to the temperature correction processing and the acceleration data acquired by the three-component quartz accelerometer 107.
The fluxgate signal processing circuit 106 includes a control circuit, an excitation circuit, a feedback circuit, and an analog-to-digital conversion circuit. The control circuit is electrically connected with the excitation circuit, the feedback circuit and the analog-to-digital conversion circuit. The excitation circuit is electrically connected to the excitation coil of the tri-axial fluxgate sensor 105. The feedback circuit is electrically connected to the feedback coil of the tri-axis fluxgate sensor 105. The analog-to-digital conversion circuit is electrically connected with the induction coil of the tri-axial fluxgate sensor 105.
The control circuit can be any one of FPGA and DSP, or the control circuit is the combination of FPGA and ARM chip. The following description will be given taking the control circuit as an FPGA as an example. The FPGA adopts ZYNQ7000 series industrial grade chip XC7Z020CLG400I of Xilinx company, which comprises a programmable logic gate array (PL for short) owned by a conventional FPGA chip and a programmable logic gate array (PL)
CortexTM-A9 application level Processor (PS) component, of said FPGAThe PL end can be used for realizing the parallel operation, programmable hardware circuit and hardware acceleration functions of the conventional FPGA, and the FPGA can flexibly realize the functions of matrix operation, serial port communication and the like by utilizing the PS end of the FPGA. All data preprocessing (such as phase sensitive detection, digital filtering and the like) and digital closed loop feedback links (such as PID, delta-sigma modulation, PWM modulation and the like) are realized at the PL end of the FPGA, and operations such as data correction and CAN and serial port communication are realized at the PS end of the FPGA. Further, the PS end of the FPGA is also used for processing the environmental temperature information acquired by the onboard temperature sensor in real time.
Data acquired by the analog-to-digital conversion circuit ADC enters a PL end of the FPGA through an EMIO interface for pretreatment, part of the pretreated data is directly accessed to a digital closed loop feedback link and used as closed loop control, and part of the pretreated data is cached to a PS end through an AXI interface of the FPGA and is transmitted to a user side on the ground after being corrected.
The excitation circuit comprises an excitation signal square wave generation module and a power amplification module. The excitation circuit is configured to generate a stable excitation frequency source (excitation signal) to provide the excitation signal to the tri-axial fluxgate sensor 105, and specifically, after the excitation circuit provides the excitation signal to the excitation coil of the tri-axial fluxgate sensor 105, the excitation coil of the tri-axial fluxgate sensor 105 generates a periodically changing magnetic field to periodically alternate the magnetic core of the tri-axial fluxgate sensor 105 between a saturated state and a non-saturated state. The FPGA comprises an excitation signal generating module, the excitation signal generating module is used for generating bipolar square wave signals, the excitation circuit drives the excitation coil according to the bipolar square wave signals, in order to improve the driving capability of the excitation signals, the excitation signal generating module or the excitation circuit comprises a MOS tube power amplifier with a one-stage push-pull structure, and a power amplification chip adopted by the power amplifier is SI4532 DY.
Since the sensing signal generated by the tri-axis fluxgate sensor 105 is weak, after the sensing signal is received by the analog-to-digital conversion circuit of the fluxgate signal processing circuit 106, the analog-to-digital conversion circuit conditions the sensing signal, and then performs digital processing (the sensing signal represented as an analog signal is converted into a digital signal). After the detection module of the analog-to-digital conversion circuit detects an induction signal (the induction signal of the three-axis fluxgate sensor 105x, y, z), the induction signal passes through the front-end low-pass filtering module, passes through the rear-end first-order inverse phase input low-pass filtering module, is amplified, filtered and rectified to reduce aliasing of the induction signal, so that the processed induction signal meets a range of a target sampling rate and an input range of an analog-to-digital converter (ADC) of the analog-to-digital conversion circuit, and the processed induction signal is input into the ADC for processing. The amplifier for amplifying the induction signal is a high-temperature amplification chip OPA211 of Texas Instruments (TI) company, and the working temperature of the amplifier is-55-210 ℃.
The feedback circuit mainly comprises a filtering module and a voltage-current conversion module. The feedback circuit mainly converts a PWM square wave signal generated by the FPGA for feedback compensation into a direct current signal, and outputs the direct current signal to a feedback coil of the tri-axis fluxgate sensor 105, thereby driving the feedback coil. The filtering module is a first-order RC filter and is used for low-pass filtering the PWM signal output by the FPGA and converting the PWM signal into a corresponding direct-current voltage signal. The voltage and current conversion module comprises an operational amplifier, a capacitor and a resistor, the capacitor and the operational amplifier form an integrating circuit, the integrating circuit can enable a filtered signal to be more stable, meanwhile, when the inductance of the feedback coil changes, the current of the feedback coil cannot be transient, and the voltage at two ends of the capacitor cannot be transient, so that the feedback current can be stable.
The FPGA and the PWM module are used for carrying out digital PWM according to signals which are output by the digital filtering module and processed by the proportional-integral-derivative control module and the delta-sigma modulation module so as to express pulse wave signals with different duty ratios as the amplitude of corresponding direct current signals (namely, pulse width modulation square wave signals are generated), and the signals are equivalent to a digital-to-analog converter DAC, so that the feedback effect can be achieved, the digital-to-analog converter can be saved, and the purposes of saving devices and miniaturizing circuits can be achieved.
Considering that the single-channel sampling bit number required by the magnetometer in the high-temperature digital fluxgate-based three-component well is at least 18 bits, and 6-channel data synchronous acquisition (three-channel fluxgate data and three-channel accelerometer data) is required, the analog-to-digital conversion circuit adopts a high-precision 8-channel 24-bit synchronous sampling AD chip AD7768 of Adenon (ADI for short). The maximum ADC output data rate of each channel of the chip is 256kSPS, each channel is independent, and different sampling rates can be set for different channels.
The three-component in-well magnetometer based on the high-temperature digital fluxgate further comprises a heat insulation shell, the heat insulation shell is further arranged in the closed pressure-bearing cabin shell 101, at least one of the three-axis fluxgate sensor 105, the fluxgate signal processing circuit 106, the three-component quartz accelerometer 107 and the power supply circuit 108 is arranged in the heat insulation shell, and particularly, all devices, modules and the like in the fluxgate signal processing circuit 106 are arranged in the heat insulation shell, so that main chips in the fluxgate signal processing circuit 106 can be protected from being influenced by a high-temperature environment. The heat insulation shell is fixed on/in the support framework 103, and a gap is formed between the outer surface of the heat insulation shell and the inner surface of the closed pressure-bearing cabin shell 101, that is, the outer surface of the heat insulation shell is not connected with the closed pressure-bearing cabin shell 101, so that under the double heat insulation action of the heat insulation shell and the closed pressure-bearing cabin shell 101, the fluxgate signal processing circuit 106 can be free from the interference and influence of high temperature in a mine, and the normal work of each device and module in the fluxgate signal processing circuit 106 can be ensured. Proved by verification, under the condition that the magnetometer is in a high-temperature environment of about 200 ℃ for about 3 hours in the three-component well based on the high-temperature digital fluxgate, the temperature inside the heat insulation shell can be kept at about 50 ℃, which is far lower than the maximum working temperature of 100 ℃ of ZYNQ7000 series FPGA provided by Seign corporation, so that the normal operation of the FPGA can be effectively ensured.
The FPGA further comprises a phase-sensitive rectifying module, a digital filtering module, a temperature correction module, an error correction module, a proportional-integral-differential control module, a pulse width modulation module and the like. The phase-sensitive rectifying module is used for performing phase-sensitive rectifying processing on the signal which is provided by the analog-to-digital conversion circuit and is preprocessed by the PL end of the FPGA, and the digital filtering module is used for performing low-pass filtering processing on the signal which is subjected to the phase-sensitive rectifying processing.
The working environment of the magnetometer in the three-component well based on the high-temperature digital fluxgate is a high-temperature environment, and three parameters of the proportionality coefficient, the zero offset and the orthogonality of the three-axis fluxgate sensor 105 are in nonlinear change with temperature at different temperatures, so that correction values of the three parameters in a full-temperature range need to be fitted through test calibration and regression analysis, and measurement errors caused by the change of the parameters are effectively reduced. Considering that matrix verilog codes are complex to perform matrix operation, codes of a correction algorithm are run by the PS end of the FPGA.
The temperature correction module is configured to correct a measurement error of the tri-axis fluxgate sensor 105 caused by a temperature change, and the specific correction manner is as follows:
it is assumed that the component of the magnetic field strength measurement value in each coordinate axis in the coordinate system of the ideal orthogonal triaxial fluxgate sensor is X, Y, Z, and the component in each coordinate axis in the coordinate system of the non-orthogonal triaxial fluxgate sensor (actual triaxial fluxgate sensor) is X ', Y ', Z '. With the Z axis of the tri-axis fluxgate sensor 105 as the coincidence axis, the transformation relationship can be expressed as:
H′＝PH+B (1)
wherein H ═ X Y Z]T，H′＝[X′ Y′ Z′]T，B＝[bx by bz]，
P is a transformation matrix, Kx, Ky and Kz represent scale factors of each coordinate axis, α, β and γ represent non-positive angle degrees between each coordinate axis, and bx, by and bz represent zero point errors of each coordinate axis of the tri-axial fluxgate sensor 105.
When in use
In the process, for an ideal fluxgate, the error values of Kx, Ky, Kz, α, β, γ, bx, by, and bz are modified to obtain the measurement errors of the fluxgate under different error conditions.
The proportional coefficient and the zero offset of the fluxgate can change along with the change of the temperature and show nonlinear change along with the temperature, and according to the measurement value formula of the fluxgate: h' ═ PH + B, the corrected magnetic field truth value should be found as:
H＝P-1(H′-B) (2)
wherein P is-1An inverse matrix of P, which can be expressed as:
the attitude steering correction of the fluxgate is to solve the P-1The values of the parameters in the B matrix. Parameters such as a proportionality coefficient, non-orthogonality and zero offset can be solved by rotating the fluxgate in a constant magnetic field and by a fitting mode of an ellipsoid.
P measured at a certain temperature-1The correction matrix can be expressed as: p-1 iThe zero offset correction matrix can be expressed as: b isiThe correction matrix measured by the plurality of temperature points is as follows:
the zero offset correction matrix is similar.
Obtaining a proportionality coefficient Sx at different temperatures according to the X axis of the fluxgate1、Sx2、Sx3… … A curve of X-axis proportionality coefficient varying with temperature can be fitted by a fourth-order polynomial fitting method:
Sx(T)＝K4*T4+K3*T3+K2*T2+K1*T1+K0。
the same method can obtain the proportionality coefficient of Y, Z axis and the zero-offset curve of X, Y, Z axis with temperature change:
Sy(T)、Sz(T)、θ(T)、ε(T)、η(T)、Bx(T)、By(T)、Bz(T)。
substituting the measured temperature value during correction:
Sx(T)＝K4*T4+K3*T3+K2*T2+K1*T1+K0。
that is, the X-axis scaling coefficients K0, K1, K2, K3, and K4 at the current temperature can be obtained, and at the same time, the temperature values are substituted into other correction curves:
Sy(T)、Sz(T)、θ(T)、ε(T)、η(T)、Bx(T)、By(T)、Bz(T)，
acquiring the correction value of other parameters at the temperature, and then according to a correction formula:
H＝P-1(H′-B)，
the actual value of the measured magnetic field strength at the current temperature can be calculated.
This function can be developed and implemented using Vivado software, the temperature correction module within the FPGA chip. A corresponding temperature correction program (file) is stored in the temperature correction module.
When the magnetometer in the high-temperature digital fluxgate-based three-component well is in an operating state, the temperature correction module is configured to receive a temperature value sensed by the magnetometer in the high-temperature digital fluxgate-based three-component well, and correct a measurement error of the tri-axial fluxgate sensor 105 based on the above formula and coefficient.
The FPGA further includes an error correction module, which is configured to correct (correct) an error converted by the coordinate system of the tri-axial fluxgate sensor 105 and/or the coordinate system of the three-component quartz accelerometer 107 based on a correction result of the temperature correction module, and the specific correction manner is as follows:
the ideal triaxial fluxgate sensor is a triaxial orthogonal vector measurement, the total field value output by the ideal triaxial fluxgate sensor is irrelevant to the attitude of the measurement direction, each measurement axis of the actual triaxial fluxgate sensor cannot be completely orthogonal, and the scale factor and the zero point error of each axis are not completely consistent, so that the triaxial fluxgate sensor 105 generates a steering error in the rotation process.
Similarly, the three axes of an ideal three-component quartz accelerometer are also orthogonal to each other, but in practice, due to the limitations of the machining and mounting processes, complete orthogonality between the three axes is not possible.
Ideally, the coordinate systems of the tri-axial fluxgate sensor 105 and the tri-axial quartz accelerometer 107 in the high temperature digital fluxgate based three-component borehole magnetometer are completely overlapped, and the magnetic field measurement data is directly converted into a vertical component and a horizontal component through the acceleration and the magnetic field measurement value.
However, in actual measurement, two coordinate systems of the magnetometer in the three-component well based on the high-temperature digital fluxgate cannot be completely overlapped, and thus a coordinate system conversion error occurs. Therefore, error correction (compensation) is required for the coordinate system conversion.
After error compensation is carried out, gravity values and magnetic field values can be accurately measured, wherein the gravity values and the magnetic field values are Gx, Gy, Gz, Bx, By and Bz respectively. The mathematical model of the misalignment of the tri-axis fluxgate sensor 105 and the three-component quartz accelerometer 107 is shown in equation (3):
wherein Ggx, Ggy and Ggz are magnetic field values after error correction, Bx, By and Bz are three-component magnetic field values after error correction and temperature correction of the magnetometer in the three-component well based on the high-temperature digital fluxgate, and K1-K9 are coordinate system correction coefficients.
Acquiring a series of gravity measurements by rotation
And magnetic field measurements
And substituting the correction coefficient into correction software to obtain a coordinate system correction coefficient.
The coordinate system correction matrix coefficient can be fitted through a least square method, namely, an unknown coefficient can be solved through the least square method, and the purpose of correcting the coordinate system conversion error is achieved.
A corresponding coordinate transformation error correction program (file) is stored in the error correction module.
When the magnetometer is in an operating state in the three-component well based on the high-temperature digital fluxgate, the error correction module is configured to perform coordinate system conversion error correction on the acceleration data acquired by the three-component quartz accelerometer 107 and the magnetic field sensing value corrected by the temperature correction module according to a coordinate system correction coefficient.
The FPGA further comprises a voltage stabilizing module which is a linear voltage stabilizing chip, such as a chip with the model numbers LT3042, LT3045 and LT 3090. The linear voltage stabilization chip can realize voltage conversion and avoid the defect of large ripple of the switching power supply.
The linear voltage stabilization chip is used for converting voltages of +/-15V, +7V and +5V of the power supply circuit 108 into voltages of +/-12V, +5V and +3.3V required in the probe and the circuit.
In the voltage stabilizing circuit, after the analog power supply and the digital power supply are isolated, the common ends are connected by magnetic beads, so that the purpose of reducing noise is achieved.
Because the control circuit comprises the temperature correction module and the error correction module, the temperature correction module is used for realizing temperature correction, and the error correction module is used for realizing coordinate system conversion error correction, the magnetometer in the three-component well based on the high-temperature digital fluxgate can directly correct the measured value in real time, and is convenient for rear-end data processing and application.
Since the induction signal generated by the tri-axial fluxgate sensor 105 is digitized, it is possible to prevent each circuit in the magnetometer in the high temperature digital fluxgate based three-component well from being affected by interference of temperature, electromagnetism, etc. to show the accuracy of the measurement result of the analog signal, thereby effectively improving the sensing accuracy of the tri-axial fluxgate sensor 105.
In summary, although the present application has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present application, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, so that the scope of the present application shall be determined by the appended claims.
Claims (10)
1. A high-temperature digital fluxgate-based three-component in-well magnetometer is characterized by comprising:
the pressure-bearing cabin comprises a closed pressure-bearing cabin shell, wherein an accommodating chamber is arranged on the closed pressure-bearing cabin shell;
a connector assembly;
the three-axis fluxgate sensor is used for measuring the magnetic field intensity of a magnetic substance outside the magnetometer in the high-temperature digital fluxgate-based three-component well;
the three-component quartz accelerometer is used for acquiring acceleration data;
the fluxgate signal processing circuit is used for carrying out digital processing on the signals sensed by the triaxial fluxgate sensor, carrying out temperature correction processing on the signals subjected to the digital processing, and carrying out error correction processing on data subjected to the temperature correction processing and acceleration data acquired by the three-component quartz accelerometer;
a power supply circuit;
a buffer; and
a support framework;
the triaxial fluxgate sensor, the fluxgate signal processing circuit, the three-component quartz accelerometer and the power supply circuit are all arranged in the closed pressure-bearing cabin shell, at least one part of the connector is arranged in the accommodating cavity of the closed pressure-bearing cabin shell, and the triaxial fluxgate sensor, the fluxgate signal processing circuit, the three-component quartz accelerometer, the power supply circuit and the buffer are all fixed on the supporting framework.
2. The high temperature digital fluxgate based three-component in-well magnetometer of claim 1 wherein a thermally insulated housing is further disposed within the closed bearing capsule housing, at least one of the tri-axial fluxgate sensor, the fluxgate signal processing circuit, the three-component quartz accelerometer, the power circuit being disposed within the thermally insulated housing.
3. The high temperature digital fluxgate-based three-component in-well magnetometer of claim 2 wherein the outer surface of the thermal insulation housing and the inner surface of the hermetic bearing capsule housing have a gap therebetween
4. The high-temperature digital fluxgate-based three-component in-well magnetometer of claim 1 wherein the hermetic pressure-bearing capsule shell is long-strip-shaped, and both ends of the hermetic pressure-bearing capsule shell are provided with annular buckles.
5. The high temperature digital fluxgate-based three-component in-well magnetometer of claim 1 wherein the fluxgate signal processing circuitry comprises:
the analog-to-digital conversion circuit is used for converting the induction signal generated by the triaxial fluxgate sensor into a digital signal;
and the control circuit is used for carrying out digital processing and temperature correction processing on the digital signals and carrying out error correction processing on the data subjected to the temperature correction processing and the acceleration data acquired by the three-component quartz accelerometer.
6. The high temperature digital fluxgate-based three-component in-well magnetometer of claim 5 wherein the control circuit comprises:
the temperature correction module is used for correcting the measurement error of the triaxial fluxgate sensor caused by the temperature change;
and the error correction module is used for correcting the converted error of the coordinate system of the three-axis fluxgate sensor and/or the coordinate system of the three-component quartz accelerometer based on the correction result of the temperature correction module.
7. The high temperature digital fluxgate-based three-component in-well magnetometer of claim 6 wherein the control circuit further comprises:
the phase-sensitive rectification module is used for carrying out phase-sensitive rectification processing on the signals which are provided by the analog-to-digital conversion circuit and are subjected to digital processing;
and the digital filtering module is used for performing low-pass filtering processing on the signal subjected to the phase-sensitive rectification processing.
8. The high temperature digital fluxgate-based three-component in-well magnetometer of claim 7 wherein the control circuit further comprises:
the proportional-integral-differential control module is used for carrying out feedback control on the deviation of the signal which is output by the digital filtering module and subjected to low-pass filtering so as to reduce the error of the signal subjected to low-pass filtering and achieve higher measurement precision;
and the pulse width modulation module is used for carrying out delta-sigma modulation processing on the signal output by the proportional-integral-derivative control module and carrying out digital PWM modulation to generate a pulse width modulation square wave signal.
9. The high-temperature digital fluxgate-based three-component in-well magnetometer of claim 7 wherein the temperature correction module is configured to correct a measurement error of the tri-axis fluxgate sensor due to a temperature change according to the low-pass filtered signal outputted by the digital filtering module.
10. The high temperature digital fluxgate-based three-component in-well magnetometer of claim 9 wherein the temperature correction module is configured to correct the measurement error of the tri-axial fluxgate sensor based on the following formula:
H＝P-1(H′-B)；
wherein H ═ X Y Z]T，H′＝[X′ Y′ Z′]TX, Y, Z are the components of the magnetic field strength measurement in each coordinate axis of the coordinate system of an ideal orthogonal tri-axis fluxgate sensor, X ', Y ', Z ' are the components of the magnetic field strength measurement in each coordinate axis of the coordinate system of an actual tri-axis fluxgate sensor,
p is a transformation matrix, P-1And the matrix is an inverse matrix of P, Kx, Ky and Kz represent scale factors of each coordinate axis, alpha, beta and gamma represent the non-positive angle degree among the coordinate axes, and bx, by and bz are zero point errors of each coordinate axis of the three-axis fluxgate sensor.
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