CN115163032B - Control system and method for deep drilling side wall coring intelligent drilling machine - Google Patents
Control system and method for deep drilling side wall coring intelligent drilling machine Download PDFInfo
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- CN115163032B CN115163032B CN202211086759.7A CN202211086759A CN115163032B CN 115163032 B CN115163032 B CN 115163032B CN 202211086759 A CN202211086759 A CN 202211086759A CN 115163032 B CN115163032 B CN 115163032B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B25/00—Apparatus for obtaining or removing undisturbed cores, e.g. core barrels, core extractors
Abstract
The invention discloses a control system and a method for a deep-drilling side-wall coring intelligent drilling machine, which are characterized in that a parameter database of undamaged drilling cores under different rock stratums is pre-established in a storage system, drilling is carried out according to the drilling parameters of the softest rock stratum, an identification system monitors the bending moment applied to a rotary trephine in the continuous drilling process, the bending moment value is compared with the database, the rotating speed and the propelling force which are applicable to the cores corresponding to the bending moment value are adjusted, the parameters of the coring drilling machine are adjusted until the bending moment and the rotating speed are close to the database, the possibility of core damage in the drilling process is reduced, a pressure sensor is adopted to detect the pulling force value of the pulled cores, the drilling is continuously carried out until the cores are taken out under the condition that the pulling force value is stable, the identification system judges that the cores are damaged when the pulling force value suddenly drops or is reduced to zero, the connection between a thin steel rod and the cores is removed, the drilling machine pushes the cores out from the cores, the damaged cores is abandoned, and the problem that the core damage condition cannot be detected in time in the drilling process is solved.
Description
Technical Field
The invention relates to the technical field of geotechnical measurement, in particular to a control system and method of an intelligent drilling machine for coring from a deep-drilling side wall.
Background
The local wall stress relieving method is a new stress relieving method, by relieving a sufficient number of rock cores at the well wall of the drilling well and recording the positive strain changes in different directions in the process, the far-field ground stress can be obtained by reverse calculation.
The prior art has the following disadvantages: (1) The existing equipment for deep operation by using a local wall surface stress relief method cannot adjust the rotating speed and the propelling force according to the actual surrounding rock pressure condition during drilling; (2) Whether the operated core is broken or not cannot be judged in the stress relieving process; (3) The core drill used for softer surrounding rock has overlarge power to cause the stress release rate of the core to be too fast, so that the core is damaged, and the faster rotating speed can cause the breakage of the softer core, thereby marking the failure of the stress relief test at the point.
Disclosure of Invention
The method comprises the steps of establishing a parameter database for drilling undamaged cores under different rock strata in a storage system, drilling at a low-power drilling speed of the softest rock stratum to prevent the cores from being damaged, monitoring the bending moment borne by a ring-cutting rotary drilling machine by using an identification system in the continuous drilling process, comparing the detected bending moment value with the database, adjusting the rotating speed and the propelling force applicable to the cores corresponding to the bending moment value, adjusting the parameters of a core drilling machine until the bending moment, the rotating speed and the propelling force are close to the database, effectively reducing the possibility of the cores being damaged in the drilling process, detecting the pulling force value for pulling out the cores by using a pressure sensor, continuously drilling until the cores are taken out under the condition that the pulling force value is stable, judging that the cores are damaged by using a general controller in the identification system when the pulling force value drops suddenly or is reduced to zero, connecting a thin steel rod for taking out the cores with the cores, releasing the core drilling machine, releasing the damage from the core drilling machine, and abandoning the problem of the core drilling efficiency and solving the problem that the core drilling efficiency is not damaged.
To achieve the above object, according to an aspect of the present invention, there is provided a deep hole sidewall coring intelligent drilling machine control method, including:
s100, simulating drilling of different rock stratums, collecting parameters of a core drilling machine when a rock core is complete, performing indoor drilling on samples with known lithology, selecting the parameters of the core drilling machine when the rock core is complete for storage, drilling on different samples with certain lithology, and manually regulating and controlling the power of the drilling machine to meet the condition that the maximum values of the power required by the drilling and the bending moment of a drill bit are respectively the maximum value
、
And the minimum value is respectively
、
Respectively pre-storing the parameters according to different types of the rock cores to establish a database;
s200, connecting a thin steel rod with the end part of the rock core, and monitoring the stress of the rock core;
s300, calling parameters of the softest rock stratum in the data register, namely the minimum rotating speed and the minimum propelling force in the database, and sending the parameters to a core drilling machine to drill a rock core;
s400, monitoring parameters in the drilling process and feeding back a core drilling machine for adjustment, wherein in the drilling process, a bending moment sensor monitors the bending moment applied to the circular cutting rotary drilling machine, a bending moment detection value is compared with a database, the rotating speed and the propelling force corresponding to the bending moment value are read, the rotating speed and the propelling force of the core drilling machine are respectively adjusted until the rotating speed and the propelling force are consistent with the database, in order to achieve the best efficiency and reduce energy consumption, during actual drilling, after lithology is judged, power adjustment is carried out, therefore, the efficiency is improved, power waste is avoided, and the power is adjusted according to the following formula:
wherein
In order to provide the torque experienced by the drill bit during initial drilling,
the power adjusted for actually drilling the core;
s500, identifying the core state, judging whether to abandon exploitation, detecting the pressure value of the thin steel rod pulling out the core in the process of drilling the core, if the pressure value is stable and normal, indicating that the core is not broken, and continuously drilling by a core drilling machine until the core is completely taken out;
s501, if the pressure value is identified to suddenly drop or reduce to zero, judging that the rock core has serious cracks or fractures, disconnecting the thin steel rod from the rock core, pushing the rock core out of the core-taking drilling machine by using the thin steel rod, and abandoning the exploitation of the damaged rock core;
further, the S400 includes a calculation method of determining the lithology: during the drilling process, the pressure sensor measures a first rotary pressure
And a second revolving pressure
Inputting the values of the two into a programmable controller to calculate the drilling specific energy e, determining the lithology of the rock according to the comparison relationship between the drilling specific energy e and the lithology, and finally determining the lithology of the rock by a core drilling machine according to different conditionsDrilling is carried out according to the drilling parameters of the lithology,
further, the method for calculating the drilling specific energy e and determining the lithology of the rock in S400 includes:
drilling specific energy:
wherein e is the drilling specific energy, n is the rotating speed, and the unit is r/min; m is motor output torque
Unit of
(ii) a F is the drilling pressure in N; s is the area of the drill bit in m 2 (ii) a v is the rate of penetration in units of
；
Motor output torque:
；
wherein
In which
The values are the rotary pressure values at different times; v is motor displacement with the unit of mL/r;
default value is 0.95 for the reduction rate;
drilling pressure:
；
the output torque of the speed reducer is as follows:
；
wherein j is a pressurization reduction ratio;
for efficiency, take a constant of 0.98; r is the radius (mm) of the chain wheel, and the lithology is determined according to the following range according to the calculated drilling specific energy e,
when the temperature is higher than the set temperature
According to another aspect of the invention, the control system of the intelligent drilling machine for coring the side wall of the deep drilling hole comprises a storage system, an identification system and a feedback and acquisition system, wherein the storage system is respectively in signal communication with the identification system and the feedback and acquisition system, the storage system stores parameters of the coring drilling machine for obtaining the complete rock core through known lithological drilling operation, the identification system comprises a pressure sensor, a bending moment sensor, a rotating speed sensor and a thin steel rod, the rotating speed sensor is fixed at the end part of the thin steel rod, the pressure sensor is fixed on the rotating speed sensor, a disc is fixedly arranged on one side of the bending moment sensor, the disc is attached to the rock core, and two sides of the bending moment sensor are respectively fixed with the pressure sensor and the rock core;
feedback and collection system include ring-cutting rotary drilling ware, ring-cutting feeding ware, thin steel pole transmission, hydraulic power unit, spout gluey probe and thin steel pole power unit, ring-cutting rotary drilling ware one end with hydraulic power unit transmission is connected, ring-cutting feeding ware is fixed in the ring-cutting rotary drilling ware other end, hydraulic power unit promotes ring-cutting rotary drilling ware with the ring-cutting feeding ware creeps into, thin steel pole transmission connect in on the thin steel pole power unit, thin steel pole transmission will thin steel pole power unit's thrust or pulling force transmit extremely thin steel pole, thin steel pole tip with thin steel pole transmission is fixed, it has viscose and dissolving glue to spout to store respectively in the gluey probe.
Further, the storage system comprises a programmable controller and a data register, the coring drilling machine parameters are stored in the data register, and the programmable controller is respectively in signal communication with the pressure sensor, the bending moment sensor and the rotating speed sensor.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. the invention provides a control method of an intelligent drilling machine for coring on the side wall of a deep drilling hole, which is characterized in that a parameter database for drilling undamaged cores under different rock stratums is pre-established in a storage system, then drilling is carried out at a low-power drilling speed of the softest rock stratum, the cores are prevented from being damaged, in the continuous drilling process, an identification system is adopted to monitor the bending moment borne by a ring cutting rotary drilling machine, the detected bending moment value is compared with the database, then the rotating speed and the propelling force which are applicable to the cores corresponding to the bending moment value are adjusted, and the parameters of the coring drilling machine are adjusted until the bending moment, the rotating speed and the propelling force are close to the database, so that the possibility of core damage in the drilling process is effectively reduced.
2. The invention provides a control method of an intelligent drilling machine for coring on the side wall of a deep drilling hole, which is characterized in that a pressure sensor is adopted to detect the pulling force value of a pulled core, drilling is continued until the core is taken out under the condition of stable pulling force value, when the pulling force value suddenly drops or is reduced to zero, a master controller in an identification system judges that the core is damaged, at the moment, a thin steel rod for taking out the core is disconnected with the core, the core is pushed out from a core taking drilling machine, and the drilling for damaging the core is abandoned, so that the drilling efficiency is improved, and the problem that the damage condition of the core cannot be detected in time in the drilling process is solved.
3. The invention provides a control system of an intelligent drilling machine for coring on the side wall of a deep drilling hole, which comprises a thin steel rod, a hydraulic power device, a pressure sensor and a disc, wherein the disc is fixed at the end part of the thin steel rod, the disc is fixedly adhered with a core by adopting viscose glue, the disc replaces the thin steel rod to enlarge the contact area with the core, so that the tensile force borne by the core is more uniform, the pressure sensor is directly arranged on the disc and the thin steel rod, and when the hydraulic power device provides the tensile force for the thin steel rod to take out the core, if sudden pressure drop occurs, the thin steel rod is reversely pushed, the core is pushed out from a circular cutting rotary drilling device, and the core drilling is abandoned.
4. The invention provides a control system of a deep-drilling side-wall coring intelligent drilling machine, which comprises a glue spraying probe, a master controller, a thin steel rod and a rock core, wherein the glue spraying probe is internally stored with a sol and a viscose respectively, the thin steel rod needs to provide tension for the rock core when the rock core is drilled, the master controller controls the glue spraying probe to spray the viscose to bond the thin steel rod and the rock core, and when the rock core is damaged and drilling needs to be abandoned, the master controller sprays the sol to dissolve the viscose, so that the connection between the thin steel rod and the rock core is released.
Drawings
FIG. 1 is a diagram of a control method of an intelligent deep-hole sidewall coring drilling machine according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a control system of a deep-drilling sidewall coring intelligent drilling machine according to an embodiment of the invention;
FIG. 3 is an enlarged view of a portion A of a deep hole sidewall coring intelligent drill control system in accordance with an embodiment of the present invention;
FIG. 4 is a graph showing the comparison between the work value and lithology.
In all the figures, the same reference numerals denote the same features, in particular: 1-programmable controller, 2-data register, 3-pressure sensor, 4-bending moment sensor, 5-rotation speed sensor, 6-circular cutting rotary drilling machine, 7-circular cutting feeder, 8-thin steel rod transmission device, 9-hydraulic power device, 10-glue spraying probe, 11-thin steel rod and 12-thin steel rod power device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1-3, the invention provides a control system of a deep-drilling sidewall coring intelligent drilling machine, which comprises a storage system, an identification system and a feedback and acquisition system, wherein the storage system is respectively in signal communication with the identification system and the feedback and acquisition system, the storage system is a system for storing data obtained by indoor drilling operation on known lithology before actual mining, and comprises a programmable controller 1 and a data register 2, the data obtained by drilling is stored in the data register 2, drilling simulation is respectively carried out on each type of rock stratum, during drilling, the rotating speed, bending moment and propelling force applied when the core drilling machine ensures the integrity of a rock core and the drilling speed is fastest are recorded, and simultaneously, drilling parameters are optimized through the data in the data register 2, so that a high-efficiency and high-integrity mining method is obtained.
Further, as shown in fig. 1-3, the identification system is used for identifying lithology during mining, and includes a pressure sensor 3, a bending moment sensor 4, a rotation speed sensor 5 and a thin steel rod 11, wherein the rotation speed sensor 5 is fixed at an end of the thin steel rod 11, the pressure sensor 3 is fixed on the rotation speed sensor 5, and the pressure sensor 3 and the rotation speed sensor 5 are respectively used for detecting drilling pressure and rotation speed, preferably, in order to increase a contact surface between the thin steel rod 11 and a core, a circular disc is fixed on one side of the bending moment sensor 4, the circular disc has a circular area three times as large as a cross-sectional area of the thin steel rod 11, the circular disc is attached to the core, and further, one side of the bending moment sensor 4 is fixedly connected to the pressure sensor 3, and the other side is fixed to the core for detecting bending moment during drilling. Further, firstly, the data in the data register 2 is utilized, the rotating speed and the propelling force parameter corresponding to the softest lithology are applied, then the rotating speed and the propelling force quantity value are sequentially increased, the identification system identifies the bending moment applied to the drilling machine at the moment, if the bending moment is close to a certain lithology in an indoor test at the moment, the lithology actually mined at the moment can be judged to be the lithology corresponding to the data register 2, and then the rotating speed and the propelling force matched with the lithology are used for mining.
Further, as shown in fig. 2 and fig. 3, the feedback and collection system comprises a circular cutting rotary drilling device 6, a circular cutting feeder 7, a thin steel rod transmission device 8, a hydraulic power device 9, a glue spraying probe 10 and a thin steel rod power device 12, wherein the circular cutting rotary drilling device 6 is transversely arranged, the tail end of the circular cutting rotary drilling device is in hydraulic transmission connection with the hydraulic power device 9, the circular cutting feeder 7 is fixed at the end part of the circular cutting rotary drilling device 6 and is in direct contact with the rock stratum, the circular cutting rotary drilling device 6 and the circular cutting feeder 7 perform lateral drilling under the pushing of the hydraulic power device 9, further, the thin steel rod transmission device 8 is in transmission connection with the thin steel rod power device 12, the transmission device is used for transmitting the pushing force or the pulling force of the thin steel rod power device 12 to the thin steel rod 11, the tail of the thin steel rod 11 is fixedly connected with the thin steel rod transmission device 8, in the drilling process, the core can be taken out of the circular cutting rotary drilling machine 6 under the tension action of the thin steel rod 11, the tension value is divided by twenty percent of the tensile strength of the core (known) rock, if the core is broken in the drilling process, the broken core is discharged from the circular cutting rotary drilling machine 6 under the thrust action of the thin steel rod 11, furthermore, viscose glue and dissolving glue are respectively stored in the glue spraying probe 10, and a glue spraying outlet of the glue spraying probe 10 is close to the connecting end of the thin steel rod 11 and the core and used for spraying the viscose glue to fix the thin steel rod 11 and the core or spraying the dissolving glue to melt the viscose glue.
As shown in fig. 1-3, according to another aspect of the present invention, the present invention provides a control method for a deep-drilling sidewall coring intelligent drilling machine, specifically comprising:
s100, simulating to drill different rock stratums, and collecting parameters of a core drilling machine when a core is complete;
specifically, indoor drilling is carried out on samples with known lithology, the optimal parameters with the highest drilling speed when the rock core is complete are selected for storage, the parameters comprise rotating speed, bending moment and propelling force, drilling is carried out on different samples with certain lithology, the power of the drilling machine is manually regulated and controlled, and the requirement for achieving drilling can be metThe maximum values of the power and the bending moment of the drill bit are respectively
、
And the minimum value is respectively
、
Optimizing parameters, respectively pre-storing the parameters in a data register 2 of a storage system according to different core types, and establishing a database;
s200, bonding the thin steel rod with the end part of the core, and starting an identification system to monitor the stress of the core;
specifically, spraying glue by using a glue spraying probe 10, adhering and fixing a disc at the end part of a thin steel rod 11 and the end part of the core, and opening a pressure sensor 3 to monitor the stress change of the core;
s300, calling parameters of the softest rock stratum of the database, and controlling a core drilling machine to start drilling;
specifically, the programmable controller 1 calls parameters of the softest rock stratum in the data register 2, namely the minimum rotating speed and the minimum propelling force in the database, and the programmable controller 1 sends the called parameters to the hydraulic power device 9 and the circular cutting feeder 7, and simultaneously drives the circular cutting rotary drill 6 to start lateral drilling;
s400, monitoring parameters in the drilling process and feeding back a core drilling machine for adjustment;
specifically, in the drilling process, the bending moment sensor 4 monitors the bending moment applied to the rotary trephine 6, the pressure sensor 3 monitors the stress change of the rock core, the bending moment detection value is sent to the programmable controller 1, the controller transmits the bending moment detection value to the data register 2, the bending moment detection value is compared with prestored data of the rock core type corresponding to the data base, the lithology type is determined, corresponding rotating speed and propelling force are called to be fed back to the programmable controller 1, then the rotating speed of the circular cutting feeder 7 and the propelling force of the hydraulic power device 9 are respectively adjusted to be close to the data base, in order to achieve the best efficiency, energy consumption is reduced, when the rock is actually drilled, power adjustment is carried out after the lithology is judged, and therefore the efficiency is improved, power waste is avoided, and the power is adjusted according to the following formula:
wherein
In order to provide the torque experienced by the drill bit during initial drilling,
adjusted power for actual drilling of the core;
s500, identifying the core state, and judging whether to abandon the exploitation;
specifically, the pressure sensor 3 bears the tensile force in the process of pulling out the core by the thin steel rod 11, and transmits the detected pressure value to the programmable controller 1 in real time, if the pressure shows stable and normal, the core is not broken, the programmable controller 1 controls continuous drilling until the core is completely taken out, if the pressure suddenly drops or is reduced to zero, the programmable controller 1 judges that the core is seriously cracked and broken, so that the stress value measured by the thin steel rod 11 changes or the core cannot bear the tensile force applied by the thin steel rod 11, and controls the glue spraying probe 10 to spray the dissolved glue on the bonding part of the disc and the core on the thin steel rod 11, after the dissolved glue is dissolved, the disc is separated from the core, namely the connection between the thin steel rod 11 and the core is disconnected, the thin steel rod power device 12 drives the thin steel rod 11 to push the core away from the circular cutting rotary drilling machine 6, and abandons the exploitation of the damaged core.
Further, the S400 includes a calculation method for determining lithology and a method for calling parameters:
specifically, the rotation speed, the bit torque, the drilling pressure, the bit area and the drilling speed of the core drilling machine have the following relations:
drilling specific energy:
wherein e is the drilling specific energy, n is the rotating speed, and the unit is r/min; m is motor output torque
Unit of
(ii) a F is the drilling pressure in N; s is the area of the drill bit and is given in m 2 (ii) a v is the rate of penetration in units of
；
Motor output torque:
；
wherein
Wherein
The rotary pressure values at different times are obtained; v is motor displacement with the unit of mL/r;
the default value is 0.95 for the reduction rate;
drilling pressure (N):
；
output torque (N) of speed reducer
m）：
；
Wherein j is a pressurization reduction ratio;
for efficiency, take a constant of 0.98; r is sprocket radius (mm);
determining the lithology according to the following range according to the calculated drilling specific energy e:
when the coring drilling machine stores data, the operator prestores the most suitable drilling parameter values corresponding to each lithology in the data register, the coring drilling machine controls the drilling speed through the storage system during actual drilling, and the pressure sensor 3 measures a first rotary pressure
And a second revolving pressure
The values of the two are input into a programmable controller 1, the controller obtains the drilling specific energy e through a specific work calculation formula, the drilling specific energy e is stored in a data register 2, then the programmable controller 1 determines the lithology of the rock according to the comparison relation between the drilling specific energy e range and the lithology, and finally a core drilling machine drills according to corresponding drilling parameters of different lithologies, so that the purpose of automatically calling the appropriate parameters for drilling can be realized.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A control method of an intelligent drilling machine for coring on the side wall of a deep drilling hole is characterized by comprising the following steps:
s100, simulating to drill different rock stratums, collecting parameters of a coring drilling machine when a rock core is complete, performing indoor drilling on a sample with known lithology, selecting the parameters of the coring drilling machine when the rock core is complete to store, drilling different samples of a certain lithology, and manually regulating and controlling the power of the drilling machine to meet the requirement that the maximum values of the power required by the drilling and the bending moment of a drill bit are respectively
、
And the minimum value is respectively
、
Respectively pre-storing the parameters according to different core types to establish a database;
s200, connecting a thin steel rod with the end part of the rock core, and monitoring the stress of the rock core;
s300, calling parameters of the softest rock stratum in the data register, namely the minimum rotating speed and the minimum propelling force in the database, and sending the parameters to a core drilling machine to drill a rock core;
s400, monitoring parameters in the drilling process and feeding back a core drilling machine for adjustment, wherein in the drilling process, a bending moment sensor monitors the bending moment applied to the circular cutting rotary drilling machine, a bending moment detection value is compared with a database, the rotating speed and the propelling force corresponding to the bending moment value are read, the rotating speed and the propelling force of the core drilling machine are respectively adjusted until the rotating speed and the propelling force are consistent with the database, in order to achieve the best efficiency and reduce energy consumption, during actual drilling, after lithology is judged, power adjustment is carried out, therefore, the efficiency is improved, power waste is avoided, and the power is adjusted according to the following formula:
wherein
In order to provide the torque experienced by the drill bit during initial drilling,
adjusted power for actual drilling of the core;
s500, identifying the core state, judging whether to abandon mining, detecting the pressure value of the thin steel rod pulling out the core in the process of drilling the core, if the pressure value is stable and normal, representing that the core is not broken, and continuously drilling by a core drilling machine until the core is completely taken out;
s501, if the pressure value is identified to suddenly drop or reduce to zero, the core is judged to have serious cracks or fractures, the thin steel rod is disconnected with the core, the core is pushed out from the core taking drilling machine by the thin steel rod, and the mining which damages the core is abandoned.
2. The control method of the intelligent drilling machine for deep-drilling sidewall coring as claimed in claim 1, wherein the S400 comprises a calculation method for determining lithology: during the drilling process, the pressure sensor measures a first rotary pressure
And a second revolving pressure
Inputting the values of the two into a programmable controller to calculate the drilling specific energy e, and calculating the drilling specific energy e and the rock according to the drilling specific energy eAnd finally, the coring drilling machine drills according to corresponding drilling parameters of different lithologies.
3. The control method of the intelligent drilling machine for deep-drilling sidewall coring as claimed in claim 2, wherein the method for calculating the drilling specific energy e and determining the lithology of the rock in S400 comprises:
drilling specific energy:
wherein e is the drilling specific energy, n is the rotating speed, and the unit is r/min; m is motor output torque
Unit of
(ii) a F is the drilling pressure in N; s is the area of the drill bit and is given in m 2 (ii) a v is the rate of penetration in units of
；
Motor output torque:
；
wherein
Wherein
The values are the rotary pressure values at different times; v is motor displacement with the unit of mL/r;
default value is 0.95 for the reduction rate;
drilling pressure:
；
wherein R is the sprocket radius;
the output torque of the speed reducer is as follows:
；
wherein j is a pressurization reduction ratio;
for efficiency, take a constant of 0.98; based on the calculated drilling specific energy e, lithology is determined according to the following ranges,
when in use
。
4. The method as set forth in any one of claims 1 to 3, wherein the parameters in S100 include rotation speed, bending moment and thrust.
5. The deep hole sidewall coring intelligent drilling machine control method according to any one of claims 1-3, wherein the S200 comprises: and spraying the adhesive by using the adhesive spraying probe, adhering and fixing the end part of the thin steel rod and the end part of the rock core, and monitoring the stress change of the rock core by using the pressure sensor.
6. The deep hole sidewall coring intelligent drilling machine control method as set forth in any one of claims 1-3, wherein the S501 comprises: and (3) spraying a dissolving glue to the bonding part of the thin steel rod and the core by using a glue spraying probe, and disconnecting the thin steel rod and the core after dissolving the glue.
7. A deep-drilling sidewall coring intelligent drilling machine control system is characterized by being realized by applying the deep-drilling sidewall coring intelligent drilling machine control method as claimed in any one of claims 1-6, and comprising a storage system, an identification system and a feedback and acquisition system, wherein the storage system is respectively in signal communication with the identification system and the feedback and acquisition system, the storage system is internally stored with coring drilling machine parameters of which the complete rock core is obtained through known lithological drilling operation, the identification system comprises a pressure sensor (3), a bending moment sensor (4), a rotating speed sensor (5) and a thin steel rod (11), the rotating speed sensor (5) is fixed at the end part of the thin steel rod (11), the pressure sensor (3) is fixed on the rotating speed sensor (5), a disc is fixed on one side of the bending moment sensor (4), the disc is attached to the rock core, and two sides of the bending moment sensor (4) are respectively fixed with the pressure sensor (3) and the rock core;
feedback and collection system include that ring-cutting rotary drilling ware (6), ring-cutting give income ware (7), thin steel pole transmission (8), hydraulic power device (9), spout gluey probe (10) and thin steel pole power device (12), ring-cutting rotary drilling ware (6) one end with hydraulic power device (9) transmission is connected, ring-cutting is given income ware (7) and is fixed in ring-cutting rotary drilling ware (6) other end, hydraulic power device (9) promote ring-cutting rotary drilling ware (6) with ring-cutting gives income ware (7) creeps into, thin steel pole transmission (8) transmission connect in on thin steel pole power device (12), thin steel pole transmission (8) will the thrust or the pulling force transmission of thin steel pole power device (12) reach thin steel pole (11), thin steel pole (11) tip with thin steel pole transmission (8) are fixed, the probe is spouted and is saved respectively in gluey (10) and is dissolved.
8. The deep-drilling sidewall coring intelligent drill control system as set forth in claim 7, wherein the storage system comprises a programmable controller (1), a data register (2), the coring drill parameters being stored in the data register (2), the programmable controller (1) being in signal communication with the pressure sensor (3), the bending moment sensor (4), and the rotation speed sensor (5), respectively.
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