DE3207012C2 - Method for controlling the drilling process when drilling in rock and device for carrying out the method - Google Patents

Abstract

In the first cycle of the two-stage drilling test, a drilling speed is determined according to preset values of controlled parameters and factors of the adaptive model to be supplemented according to food sizes, which is compared with a value of the given speed measured in the same cycle, and the results of the comparison are corrected values of the corresponding to A supplementary factor of the adaptive model is formed, taking into account the values that come closest to the optimal values of the control signals are determined, which occur as setting values for an action on a drill bit in the subsequent cycle of the drilling test. In each subsequent cycle, the added factors of the previous cycle are used to determine the control signals. If the measured drilling speed and the drilling speed to be determined coincide in two successive cycles, a control signal formed in these cycles occurs as a signal that is used in the actual drilling operation.

Description

i% 20. Device according to one of claims 8 to 19, characterized in that it is in a circuit (92)

_; ^: to supplement the factor corresponding to the speed of the drill bit contains:

if _s - a first summator (170), one input of which connects to the output (23) of the first storage device

■ · :! 30 device (20) is connected,

f. '- a first logarithmic connected to an output (93) of the control device (24) for factor sizes

31 mization circuit (166),

| J - a second, to the output (18) of the unit (15) for a discrete averaging of the drilling speed

I connected log circuit (167),

k 35 - a third logarithmic circuit connected to the tachometer (7) for the drill bit

I (168) and

f ... - a fourth, to an output (91) of the circuit (90) to supplement the degree of flexibility of the

% Of the rock when drilling the corresponding factor connected logarithmizing circuit (169),

[I - a second summator (171), at whose inputs the outputs of the first and the second logarithmic

jfi 40 mation circuit (166 or 167) are connected,

gi - a circuit (185) to whose input the output of the second summator (171) is connected

[if and its one output directly and its other output via an inverter (189) with the

are connected to other inputs of the first summer (170),

- A divisor (192), at whose first input the third logarithmizing circuit (168) via a first 45 multiplication circuit (186) and at its second input the same third logarithmizing circuit (168) via a series circuit comprising a second multiplication circuit (187) and a third Summator (172) is connected, the output of the divisor (192) being connected to the second input of the Circuit (185) is connected, and

- A third multiplication circuit (188), the inputs of which with the output of the fourth logarithmic 50 approximately circuit (169) and its output connected to the second input of the third summator (172) are, the second input of the first multiplication circuit (186) to the output of the second summator (171) connected and the output of the first summator (170) as the output of the entire circuit (92) is provided to complement the factors.

55

The invention relates to a method for controlling the drilling process when drilling in rock, the a adaptive model is used for the drilling process and comprises two operating modes, of which the 60 one is a drilling attempt in the rock layer to be drilled and the other is the actual drilling operation, whereby

- In the usual multi-cycle drilling test for the rock layer, values for controlled at each cycle Drilling parameters are specified.

65 - a drilling speed corresponding to the default values of the controlled drilling parameters is measured will and

- After the end of the last cycle, arriving at the corresponding actuating mechanisms of the drilling tool Control signals are formed.

- according to the results of the drilling test

a) control signals used in the actual drilling operation and

b) a signal for a transition from drilling attempt

be formed into the actual drilling operation and

- if the monitored drilling parameters deviate from the setpoints of the actual drilling operation the drilling test is repeated,

jnd to a facility to carry out the procedure, the

- A control panel for the drilling process, which has a digital-to-analog converter for signals with adjusting mechanisms of the drilling tool interacts,

- a drilling speed sensor,

- a load transducer for the drill bit,

- a speed sensor for the drill bit,

- An electronic computing device into which the adaptive model of the drilling process is entered, which the Load sensor and the speed sensor for the drill bit as well as the drilling speed sensor and the Control panel is assigned and which has a formation unit for optimal control signals, the Output is connected to inputs of the digital-to-analog converter and their inputs to corresponding ones Connected outputs of a timer and the load and speed sensor for the drill bit are,

- A control device connected to the electronic computing device for the factors of the adaptive Model and

- a timer that interacts with the control panel and the electronic computing device

contains.

Mechanical rock destruction, for example in oil and gas drilling, is a necessity connected, control signals (loads on a tool that destroys the rock - a drill bit

- and its speed) depending on the lithological type of rock to be drilled (hardness, abrasiveness, Plasticity) and other specific conditions under which the workflow takes place. A Some of the factors influencing the drilling process can affect the duration of a chisel march (service life of a Drill bit) are set as constant, the others change in the course of the bit march, whereby, when the tendencies for bit bearing and cutting element wear over time became apparent are, the destruction of the rock becomes unpredictable. It is therefore practical to find control signals essential in connection with ongoing monitoring of the drilling process, whereby it depends on the running condition of the bit and the rock being drilled regardless of the type of rock used Drilling method (turbo, rotary, electric drilling) arrives. There are no direct control procedures for this bit wear and a change in the properties of the rock.

Various methods and devices are available for controlling the drilling process in a non-automated manner and automated basis.

In the non-automated systems, the control signals are selected on the basis of previous experience directly by a surgeon (drill worker). The drilling performance proves to be average with one such control as lying 25 to 30% below the optimal (see for example A. <|. Pogarskij "Automation of the drilling process for deep boreholes", "Nedra", 1972). Such non-automated systems are currently used much more frequently than the automatic ones. \ ~

In the automated systems, an adaptive model of the workflow is used to form the control signals used. The parameters of the bit and the information about the rest for a bit march constant factors are entered into the adaptive model from the control panel prior to the start of the chisel march. The parameters of the rock to be drilled which were unknown (or approximate are known), are determined in the I -aiife of the technological drilling process. This is the time of the chisel march in two periods, namely the time of testing the rock (addition of model parameters) with subsequent determination of optimal control signals and the drilling time under favorable conditions The duration of the trial determines the time of inefficient use of the tool, and in the case of a Deep drilling has a significant impact on performance because the longer the hole depth increases, the longer the drilling time using a drill bit (chisel march) decreases by leaps and bounds In addition, a is more common The lithographic properties of the rock can be changed if the system attempts to drill several times must return for a core march (when working with a core chisel). The rational use the service life of the drill bit by perfecting the control methods and devices is one of the prerequisites for increasing the performance of drilling rigs for deep and ultra deep drilling any drilling method.

In known automated control systems for a drilling tool, the surgeon is coupled with the drilling process using an electronic computer (see, for example, Kennedy J. L “Data monitoring on today's rig "," Oil and Gas Journal ", 1973, vol. 71, n. 39, p. 119 to 120, 125 to 126) provided this Systems do not work in real time and do not see any operational assessment of the technological situation before. In such a system, the information from the transducers located on the derrick is taken from the analog converted into digital form, punched in a punched tape and via a teleprinter into a

Data center transferred, where the computer to operate the relevant derrick periodically consulted and the info; ^ nation is analyzed for the purpose of correcting drilling programs. The calculation results are transmitted via the telex to the derrick and by the drill worker to a manual control of the drives of the most important actuating mechanisms used An active information search and an operative exploitation of its results are therefore impossible. In such an automated control system for a drilling tool, an optimization method for a drilling operation can be based on a criterion for the minimum cost of one meter of drilling progress (see, for example, »Well-site analysis handed for economy new capabilities «. "Oil and Gas Journal," 1973, vol. 71, n. 39, p. 132, 134, 136, 141) can be used. In the the systems mentioned, the active search for information and its operational exploitation are also impossible,

ίο which leads to an increase in the drilling time and therefore does not guarantee high performance of a drilling tool

A method for controlling the drilling process is known which utilizes an adaptive model for the drilling process is based, with the help of which control signals acting on the drilling tool are formed will. The method consists in using two control parameters, namely a drilling attempt for a rock layer to be drilled and parameters obtained from the actual drilling operation. in the Multi-cycle drilling test, values for a drill bit load and speed are specified for each cycle, a mechanical drilling speed corresponding to these specified values is measured and after completion of the clock to the corresponding setting mechanisms for the following clock incoming control signals Shaped After the results of the drilling test, control signals for the actual drilling operation are generated formed If in the last operation the values of the control parameters, as soft the drill bit load and speed occur, deviate from the setpoints, the actual drilling operation becomes a drilling attempt (see, for example, Young F. S. "Computerized drilling control", "Journal of petroleum technology", April 1969).

The known method is based on solving an equation for the cost of one meter of drilling progress for the purpose of finding control signals that have the effect of minimizing these Ko ten. This serves as the basis To maintain the above equation, the following expression for the drilling speed:

Ic (P-Po) η * _ω

1 + C ₁ H '

It denotes:

ν drilling speed

P bit load when drilling

P ₀ for a drilling speed 0 extrapolated drill bit load

C ₁ factor characterizing the quality of the drill bit

H specified value of the bit wear

k factor for the drillability of the rock

η drill bit speed

λ a factor determining an influence on the drilling speed by the drill bit speed.

40

A standard test program called the “five-point method” is used to determine the sizes of k and λ that change during the drilling process. The essence of this method is as follows. In the first cycle of testing it is arbitrary values P and η before and fixed by means of a memory device, a v them corresponding drilling, whereupon, by η, the values P and alternately changes (increases and decreases), realized four cycles of testing and in the drilling speed is fixed for each cycle. Then the sixth cycle of the test is implemented, in which the same values of P and η are specified as in the first cycle, so there are a total of five points for P and n. If the drilling speed ν in the sixth cycle proves to be the same as in the first Clock, the drilling attempt is thus deemed to have ended. Furthermore, by solving equation (I) taking into account the measurement results recorded in the storage device, the factors it and λ of the adaptive model are calculated and corrected, the corrected factors are inserted into the adaptive model and the optimum control signals are calculated for the given drilling conditions the actuating mechanisms of the drilling tool are fed, and the actual drilling operation is carried out. If, however, the drilling speed in the sixth cycle does not coincide with that which was taken in the first cycle, a new drilling attempt is carried out.

The drilling operation with the received control signals is continued until the measured drilling speed deviates only slightly from the calculated value. If the drilling speed deviates from the calculated value, a new attempt is made to drill.
The device using this method contains a control panel for the drilling process which interacts via a digital-to-analog converter for signals with the actuating mechanisms of the drilling tool which contains a formation unit for control signals during the drilling test and a formation unit for optimal control signals, the outputs of which are connected to the inputs of the digital-to-analog converter and their inputs to the corresponding outputs of the transmitter, memory device and timer

b5 den are.

An encoder for mechanical drilling speed, a load indicator, is attached to the electronic computing device connected for the drill bit and a speed sensor for the drill bit; besides, there is a control to it device for values of the factors of the adaptive model (see for example Young F. S. »Computerized drillinj

control ”,“ Journal of petroleum technology ”, April 1969).

From the control desk, initial values of the factors and initial values of the control signals are entered into the adaptive model entered and a command issued to start the drilling attempt

The commands to move from one to the other cycle of testing are given by a timer issued according to the program, while the control signals here by the formatting unit for control signals in the Drilling attempt can be generated. After the end of the drilling attempt, the corrected values of the factors used in the adaptive model, which generates optimal control signals to be fed to the actuating mechanisms will.

A main shortcoming of these methods and devices is that they are different at fixed time intervals Changes in a combination of specifications for bit load and speed in accordance realized with a predetermined a priori order for their execution and therefore usually with an optimal combination of the control signals cannot be achieved in any of the six test cycles. If in If the parameter combination happens to come close to the optimal one in one of the clocks, the known can be The system does not "feel" that either, and in continuation of the given program of testing it becomes that Direct behavior towards a suboptimal zone. Since each of the six bars of testing up to ten If takes minutes, the attempt at drilling is quite long on the whole, and in the course of this time it works Drill bit in adverse conditions. In connection with the long duration of the drilling attempt it is quite likely that towards the last bar a change in the properties of the one to be drilled Rock enters and that this forces a new drilling attempt consisting of six bars what the the negative impact of the deficiency mentioned is even more pronounced. 20 -

Another essential deficiency is that after the transition to drilling operation, the control signals for specifying P and η remain constant, while the difference between the actual value of these signals and their optimal value increases slowly because the properties of the rock to be drilled do not change change the optimum values even in proportion to the natural bit wear. From the mentioned deficiency it follows that the measured drilling speed deviates relatively quickly from the calculated value, which leads to a repetition of the drilling attempt with the disadvantages mentioned above.

As a result of the disadvantages mentioned, the known technical solution allows it to be used only in the case of a permanent bore one and the same rock layer to receive optimal control signals and does not ensure effective operation of the Drilling tool due to continuous drilling using unrational operating modes under conditions with one frequent change in the properties of the rocks to be drilled in the chisel march, which is particularly strong affects a deep well because of a limited life of the drill bit.

The invention is based on the object of a method and a device for controlling the drilling process to create in the rock that allow, by changing the control principle, the drilling time for To shorten drill holes with unfavorable values of the control signals and a high performance of the drilling tool to achieve, which is particularly important in deep drilling.

In a method of the type mentioned at the outset, this is achieved according to the invention by the im Claim 1 characterized features.

Advantageous further developments of this method are characterized in claims 2 to 6.

A device from the introduction is preferably used to carry out the method according to the invention mentioned type with the features characterized in claim 7.

Preferred configurations of this device are characterized in claims 8 to 20.

The invention will now be described in greater detail on the basis of exemplary embodiments with reference to the drawings explained. In the drawings shows

1 shows the time course of a product from controlled parameters in the drilling test; F i g. 2 time diagram of controlled parameters in drilling operation;

F i g. 3 basic circuit of a control device according to the invention for a drilling tool;

F i g. 4 formation unit for optimal control signals;

F i g. 5 control device for factor sizes of the adaptive model:

F i g. 6 unit for successive data entry from the control panel; F i g. 7 correction unit for factors of the adaptive model;

F i g. 8 Unit for determining additional factor sizes of the adaptive model;

F i g. 9 Circuit to supplement a degree of resilience of the rock in the drilling process Factor;

F i g. 10 circuit for supplementing a factor corresponding to the drill bit speed; 11 unit for a discrete averaging of the drilling speed;

12 formation unit for drilling operation;

Fi g. 13 data transmission unit;

F i g. 14 Computing unit for optimal setting values when processing the drill bit after wear its storage; ,

15 Unit for determining the type of processing of the drill bit.

The method of controlling the drilling process when drilling in rock comprises two modes: one Drilling test for a rock layer to be drilled and the actual drilling operation. It is a multi-stroke drilling attempt common. The number of cycles in the drilling test is not specified here. With every cycle of this drilling attempt Load values for a tool (hereinafter a drill bit) and speed values for this are specified as well as a drilling speed corresponding to the specified values of the drill bit load and speed measured.

After the end of the cycle, new control signals are formed, which are transmitted to the corresponding ones with the drill bit

interacting actuating mechanisms arrive. For this purpose an adaptive mathematical model is used used for the process that takes the following form:

ι. ι *

In ν (Λ) - Σ MAO In * / + Σ ^X J ^ln ^ W

l-l J-I

is shown, where

N measure number,

ίο v (N) drilling speed value in / V-th cycle,

ki, kj factors of the adaptive model to be supplemented corresponding to the controlled parameters,

x " Xj control parameter values and

/, j Numbers of the controlled parameters

describe.

In the first cycle, some approximate values are assumed for the factors to be supplemented in the adaptive model ki, kj, where, for example, kj means a factor for a drilling hardness of the "rock", it, a value for the drill bit speed. In this cycle, according to the specified default values for the drill bit load and speed, which in the formula corresponds to a choice of x, x, corresponding factors, and after

assumed approximate values for the factors to be supplemented, a predicted drilling speed value v (N) \ m running cycle of the drilling attempt is determined.

Then the current measured value ν and the predicted determined value v (N) of the speed are compared in one and the same cycle λ , where λ = In v (N) - In ν means. According to the results of the comparison, corrected values of the corresponding factors λ, and / c, dcs adaptive model according to the formulas:

- Ic ₁ (NI) + sign [In V (TV) -In v] ·,

■ exp Un Jj (Af-1) + sign [In ν (AO -in ν]

Σ Ο "*,) ² + Σ * / ²

(-1 JI J

shaped, where v means the measured value of the mechanical drilling speed in the current cycle. All factors to be added are corrected simultaneously in each cycle. Then, taking into account the mentioned supplemented factors, after any known Method determines values of the control signals that are close to the optimal values, the setting values for the effect represent on the drill bit in the following cycle of said operational test, with a Keeping the bit load and speed constant in time is guaranteed.

The above-mentioned work sequence is repeated in the cycle for each next cycle, with the Determination of the control signals the added factors of the adaptive model of the previous cycle utilized and the values of the control signals to be determined during a transition to each subsequent cycle can be approximated to optimal values for the relevant drilling conditions.

The cyclical change in the drilling speed is evaluated and when there is a coincidence of the measured and the drilling speed to be determined in two successive cycles of the drilling attempt Signal for a transition from the mentioned drilling attempt to the actual drilling operation, whereby the im Control signals formed in the last cycle act as control signals in the first cycle of the actual drilling operation. For the following cycles of the actual drilling operation, discreetly changing, calculated, fixed as well as step-by-step control signals, that is to say optimal control signals obtained according to an accepted quality criterion with constant values of their levels in time. The drilling speed is measured in each cycle. After the measured value of the drilling speed, the factor sizes and a predicted The value of the drilling speed is determined in a cycle. When adding the factors of the adaptive model the sizes of the factors of the previous measure are used. In the event of a deviation from the The parameters of the drilling process from the setpoints are changed from the actual drilling operation mentioned to the Drilling test for a rock layer passed over and with an addition of the factors of the model of the Factors of the last stroke of the drilling operation made use of.

The essence of the method according to the invention is that to find the values of the supplementary parameters a one-time drilling using the specified setting values of manipulated variables (Drill bit load and speed) is exploited.

The effectiveness of the method according to the invention is illustrated by a time diagram (Fig. I), where a complex value characterizing the drilling operation (a product of the drill bit load and speed, 0 ■ η) is plotted on the ordinate axis and the drilling time is plotted on the abscissa axis (es a clock corresponding to the beginning of the test is shown). With the known search method (curve 1; »five-point method«) the system makes a sudden change in the combination P ■ η at fixed time intervals in accordance with a predetermined a priori alternation of setting values and therefore approaches an optimal combination as a rule in none of the six bars of testing. In Fig. 1 there is a case

indicated suggestively where on one of the stages the operational test happened to be optimal operation has collapsed, but the well-known control system does not "feel" this and steers the behavior in continuation of the specified change program for setting values in a non-optimal zone. Due to the fact that each cycle of the test is quite long (about ten minutes long) to maintain reliable results must last, the entire operating time of the system is quite long under unfavorable conditions.

In the method according to the invention, the search time is essentially an almost optimal one Combination of parameters. The first few strokes are most effective (curve 2), so the drilling performance is on one Quite a long trial stage is much higher (it should be remembered that the trial is in the course of of the chisel march can be repeated several times). There is no need for any according to the method according to the invention Prediction of the storage limits of the rock to be drilled, and an identification of the parameters takes place while maintaining efficient drilling operations. This ensures an increase in the mean drilling and Propulsion performance per drill bit by approx. 1.75%. The inventive method is advantageous with the help a control device for the drilling process is carried out, the functional circuit of which is shown in FIG. 3 reproduced Here a drilling tool 3 is indicated, the corresponding adjusting mechanisms 4, for example an electric drive for rotary movement for the drill bit and an electric winch drive for Has generating a corresponding drill bit load in a known manner

The device has a drilling speed transmitter 5, a load transmitter 6 for the drill bit and a tachometer 7 for the drill bit, all of which interact with an electronic computing device that includes an adaptive model. The inputs of the adjusting mechanisms 4 are via a Digital-to-analog converter 8 for signals must be coupled to a control desk 9.

The electronic computing device contains a formation unit 10 for optimal control signals, whose Outputs 11 with inputs of the digital-to-analog converter 8 and their inputs with a timer 12 and with outputs 13 and 14 of the encoder 6 and 7 are connected. The control device according to the invention has furthermore a unit 15 for discrete averaging of the drilling speed, the inputs of which are connected to the encoder 5 and the timer 12 are coupled. The electronic computing device for its part has a unit 16 for successive data input from the control panel 9, a unit 17 for determining supplemented values of the adaptive model, the inputs of which with the output 18 of the unit 15 and with outputs 19 of the unit 16 are connected, and two storage devices 20 and 21, the first of which (20) via the inputs with Outputs 22 of the unit 17 and via the outputs 23 with inputs of the same unit 17 and with inputs a control device 24 for process parameter values and the second memory device 21 via the inputs is connected to the corresponding outputs 23 of the device 20 by means of a data transmission time 25.

The electronic computing device also has a formation unit 26 for the drilling operation, whose Inputs with outputs 27 of the control device 24 and its output 28 with an input of the data transmission unit 25 is connected, and a correction unit 29 for factors of the adaptive model, whose Inputs to the outputs 30 of the memory device 21 and to an output 31 of the unit 26 and its Outputs 32 connected to corresponding inputs of the formation unit 10 for optimal control signals are, the outputs 33, 34 and 35 each also with an input of the control device 24, with the timer 12 and are coupled to the control panel 9.

In Fig. 4 shows a circuit of the formation unit 10 for optimal control signals which a unit 36 for determining the type of processing of the drill bit, a computing unit 37 for optimal setting values the processing of the drill bit after the wear and tear of its storage, a computing unit 38 for optimal Setting values for the machining of the drill bit after the wear of its cutting elements and a Commutation circuit 39 contains. The unit 36 has a first group of inputs that start with a Output of the timer 12 and the outputs 13 and 14 of the load sensor 6 and the speed sensor 7 for the drill bit, and a second set of inputs connected to the control panel 9 (Fig. 3) is coupled.

The inputs of the unit 37 (FIG. 4) are connected to an output 41 of the unit 36 for determining the type of processing, connected to the timer 12 and to the control panel 9, while the inputs of the unit 38 with an output 42 of the unit 36 for determining the type of processing and with the control panel 9 (Fig. 3) are coupled. The units 37 and 38 (FIG. 4) have a group of inputs, which via a unit 40 electronic SchaHer with the outputs 32 (Fig. 3) of the correction unit 29 and with an output of the Control device 24 are connected.

The commutation circuit 39 (FIG. 4) contains two groups 43 and 44 of switching elements, each of which is connected to the outputs 45 b '<w. 46 of the units 37 and 38, respectively, AND circuits 47 and 48, whose Outputs min to the two groups 43 and 44 of switching elements and their inputs are connected to the outputs of the unit 36 and to the timer 12, and two summing elements 49 and 50, the inputs of which are each coupled to the outputs of the two groups 43 and 44. The outputs 51 and 52 of the summing elements 49 and 50 serve as outputs of the entire unit 10 to which control signals for controlling the Ste; llmechanismen Λ of the drilling tool 3 is generated (F i g. 3).

The control device 24 for factor quantities of the adaptive model includes a function circuit 53 (FIG. 5) for exponentiation, ^ three multiplication circuits 54, 55 and 56 for signals, a division circuit 57 for Signals, a comparator 58 and a summer 59. The inputs of the circuit 53 for exponentiation are with the output 14 (FIG. 3) of the speed sensor 7 for the drill bit and with the output 23 of the storage device 20 connected. The inputs of the multiplication circuit 54 (FIG. 5) are connected to the output 13 (FIG. 3) of the load transducer 6 and coupled to the corresponding output 23 of the storage device 20, while the Output 60 (FIG. 5) of circuit 54 with one input of a multiplication circuit 55, at the other Input is connected to the output 61 of the circuit 53 for exponentiation, is connected.

The inputs of the division circuit 57 for signals are connected to the output 62 of the multiplication circuit 55

and connected to the output 63 of the summer 59, the input resistors 64 and 65 and one Has resistor 66 in the feedback circuit and has an input via a variable resistor 67 a bias voltage source 68 and the other input to the output 69 of the multiplication circuit 56 is coupled. The inputs of the latter are connected to an output 33 (Fig. 3) of the formation unit 10 for 5 optimal control signals and connected to a voltage source 71 via a variable resistor 70 (FIG. 5).

The output 72 of the division circuit 57 is connected to a corresponding input of the unit 17 (FIG. 3) Determination of supplemented values of the factor sizes and connected to an input of the comparator 58 (FIG. 5), the other input to the output 18 (Fig. 3) of the unit 15 for discrete averaging of the

ίο drilling speed and its output 73 (Fig. 5) via a circuit 74 with a corresponding Input of the formation unit 26 (Fig. 3) is coupled for drilling operation.

The unit 16 for successive data input from the control panel 9 contains code converters 75, 76 (FIG. 6) for Preservation of an analog signal whose inputs are interconnected to the outputs to form two groups 77 and 78 electronic switch are connected. The input of every electronic switch is with a corresponding code switch 79 of the control panel 9 (FIG. 3) and the control input 80 (FIG. 6) each electronic switch with a corresponding off switch 8! coupled. To make things easier, in the drawing indicated the coupling of only one electronic switch, but it should be noted that each electronic switches of groups 77 and 78 is coupled to the control panel 9 in the same way.

The correction unit 29 (FIG. 3) for factors of the adaptive model contains a group 82 (FIG. 7) electronic switches which have a combined control input 83 and a former for a correction value, which has two channels 84 and 85, each of which has a storage and sequential circuit for a signal The outputs of channels 84 and 85 occur as outputs 32 of the entire correction unit 29, and their inputs are connected to the electronic switches.

Each of the channels 84 (85) contains a series connection of an operational amplifier 86 with a capacitor 87 in the feedback circuit and a capacitor 88 at the input and an amplifier 89 at the Exit.

The unit 17 (FIG. 3) for determining supplemented values of the factors of the adaptive model contains a Circuit 90 (FIG. 8) for adding one corresponding to the degree of resilience of the rock in the drilling process Factor and a circuit 92 connected to its output 91 for supplementing one of the drill bit speed corresponding factor. The inputs of the circuits 90 and 92 are connected to the outputs 19 (FIG. 3 and 6) the unit 16 for successive data input to the outputs 23 of the memory device 20 to the Output 18 of the unit 15 for discrete averaging, to the output 14 of the transmitter 7 and to an output 93 (Fig. 8) of the control device 24 for process parameter values.

The outputs of three circuits 90 and 92 represent outputs 22 of the entire unit 17.

In Fig. 9 is the circuit 90 for supplementing the degree of compliance of the rock in the drilling process corresponding factor. The circuit 90 contains four equal logarithmizing circuits 94,95, 96,97, of which the circuit 94 to the output 23 (Fig. 9,3) of the memory device 20, the circuit 95 to an output 93 of the control device 24, the circuit 96 to the output 18 of the unit 15 for a discrete Averaging and the circuit 97 is connected to the output 14 of the encoder 7.

The circuit 90 includes summators 98, 99, 100 and an inverter 101 each with input resistors 102,103 and 104,105 and 106,107 and 108 and 109 as well as resistors 110,111,112,113 in the feedback circuit of operational amplifiers from which the summators 98 to 101 are constructed.

In addition, there are identical multiplication circuits 114, 115, 116, 117, a divisor, in the circuit 90 118 and an electronic circuit 119.

The logarithmizing circuit 94 is connected to one input of the multiplication circuit 114, the is in turn connected to the input of the summator 98. The log circuits are 95 and% connected to the inputs of the summator 99, which via the electronic circuit 119 to the Invertei 101 is connected. The logarithmizing circuit 97 is connected to one via the multiplication circuit 116 Connected to the input of the summator 100, to the other input of which the multiplication circuit 117 is connected is closed, the input of which is connected to the output 120 of the circuit 94.

The output of the summer 100 is directly connected to the input of the divisor 118, and via the circuit 115 the output is dei Output i2ö of Logarihmierungsschaiiung 94 and the output of the summator 99 connected, "while the output 121 of the divisor 118 is connected to an input of the electronic circuit 119 the outputs of the circuit 119 directly and via the inverter 101 to the two inputs de; Summators 98 are coupled.

At the output of the summator 98 there is an antilogarithmizing circuit 122, the output of which is used as output Z. the unit 17 for determining supplemented factor sizes occurs

All circuits 94 to 97, 114 to 117, 122 and the divisor 118 are in a manner known per se. For example, in FIG. 9 shows the designs of these circuits as follows

Each of the circuits 94 to 97 contains an operational amplifier 123 with a capacitor at the output 124 and a resistor 125 in the feedback circuit and with resistors 126, 127 as well as with a Capacitor 128 in the corrective feedback loop. An input of the amplifier 123 is via a A positive supply voltage is applied to transistor 129 and a resistor 130. The emitter of the transistor: 129 is connected to the emitter of a transistor 131, the collector of which is connected directly to an input; Amplifier 132 and is coupled via a resistor 133 to the output 23 (FIG. 3) of the device 20 Operational amplifier 132 (Fig. 9) includes a resistor in the corrective feedback loops 134 and capacitors 135 and 136, the inputs of the amplifier 132 are via voltage divider 137,138,13! connected to a source 140 of negative voltage. The output of the operational amplifier 132 is via an i

Resistor 141 connected to the emitters of transistors 129 and 131. In circuit 94 are sources 142, 143 of negative voltage and a source 144 of positive voltage.

Each of the circuits 114 to 117 contains an operational amplifier 145 in its feedback circuit /? C element 146, 147 is connected, and transistors 148, 149, whose collectors are connected via a resistor 150 and 151, respectively a source 152 of positive voltage and connected directly to the inputs of the operational amplifier 145 are. The emitters of the transistors 148 and 149 are together and through a resistor 153 to one Supply source 154 and connected via a resistor 155 to the output 19 of the unit 16 (FIG. 3), while the base of transistor 149 (Fig. 9) is connected to ground through resistor 156 and through resistor 157 is coupled to an input of circuit 114. The base of transistor 148 is through resistor 158 grounded, while at an input of the operational amplifier 145 from a resistor 159 and a Capacitor 160 existing filter is located.

The divisor 118 contains a multiplication circuit 161, one input of which is the input of the divisor 118 acts, the other input of which via a resistor 162 to the input of an operational amplifier 163 and is connected to the second input of circuit 161 via a resistor 164. The outcome of the Operational amplifier 163, in whose feedback circuit there is a capacitor 165, is connected to the output of the Circuit 161 is coupled and represents the output of divisor 118.

Fig. 10 shows the circuit 92 for adding a factor corresponding to the bit speed. the Circuit contains four identical logarithmizing circuits 166, 167, 168, 169, in which the input of the Circuit 166 with an output 93 of the control device 24 (FIG. 3), the input of the circuit 167 (FIG. 10 and 3) to the output 18 of the unit 15, the input of the circuit 168 to the output 14 of the transmitter 7 and the input of circuit 169 is connected to an output 91 (FIG. 8) of circuit 90.

The circuit 92 has summators 170, 171 and 172, which consist of operational amplifiers, each with input resistors 173,174,175 and 176,177,178 and 179,180 and 181 and with resistors 182,183 and 184 are built in the feedback circuit of the operational amplifier. In addition, the circuit 92 has a electronic circuit 185, identical multiplication circuits 186,187,188, an inverter 189 on one Operational amplifier with an input resistor 190 and a resistor 191 in the feedback circuit and a divisor 192.

The logarithmizing circuits 166 and 167 are connected to the inputs of the summer 171, whose Output is connected to the electronic circuit 185. The log circuits 168 and 169 are both via the corresponding multiplication circuit 187 or 188 to two inputs of the summator 172 connected, the third input of which is supplied with a bias voltage via the resistor 181 and its Output is connected to an input of the divisor 192. At the other input of the divisor 192 is the Output of the multiplication circuit 186 connected, the inputs of which in turn are connected to the output of the Summator 171 or to the output of the logarithmizing circuit 168 are connected.

The output of the divisor 192 is connected to an input of the electronic circuit 185, an the other input of which is the output of the summator 171 and its output directly and via the Inverter 189 is coupled to two inputs of summer 170. The other two inputs of the summator 170 are connected to the output 19 of the unit 16 (FIGS. 10 and 3) for successive data input and to the Output 23 of the memory device 20 is connected, while the output of the summator 170 connects the output 22 of the unit 17 for determining supplemented values of the factors.

In Fig. 11 a unit 15 is shown for a discrete averaging of the drilling speed, the one Comparison and reading circuit 193 for an averaged signal corresponding to the drilling speed, which is shown under Use of the envelope curve has been obtained over the maxima and an electronic switching element 194 on has its output, the control input of which is coupled to the output 195 of the timer 12 (FIG. 3).

The circuit 193 (FIG. 11) contains an operational amplifier 196, in the feedback circuit of which there is a diode 197 and a resistor 198 are in series, the common connection point of which via a resistor 199 is connected to a bias voltage source. The input of operational amplifier 196 is a capacitor 200 connected, the other end of which via a diode 201 to the output of the drilling speed sensor 5, via a diode 202 to the output of the operational amplifier 196 and via a resistor 203 is connected to a supply source 204.

The formation unit 26 (FIG. 3) for drilling operation has an OR circuit 205 (FIG. 12) and two LÜMD-Schaltur.gen 205 and 207. The inputs of circuit 205 and 206 and one input of circuit 207 are connected to outputs 27 of the control device 24. The output of circuit 206 is to the second Input of circuit 207 connected, the outputs of which with inputs of units 29 and 25 (Fig. 3) are connected and each represent outputs 31 and 28 of the entire formation unit 26 for drilling operations.

In Fig. 13, a data transmission unit 25 is indicated, which has a set 208 electronic Represents switching elements which at the outputs 209 conditions for the occurrence of signals provide for a writing of supplemented values of the factors of the adaptive model in the storage device 21 (Fig. 3).

The arithmetic unit 37 shown in FIG. 14 (FIG. 4) for optimal setting values when processing the drill bit after its bearing has worn out contains an optimizer 210 and a forming circuit 211 connected to one of its inputs for the ongoing wear and tear of the bearing, its inputs with an output 212 (FIG. 3) of the intermediate timer 12 and an output 41 (FIG. 4) of the unit 36 for determining the type of processing of the drill bit. The inputs of the optimizer 210 (FIG. 14) are coupled to outputs 213 (FIG. 3) of the control desk 9, while outputs of the optimizer 210 (FIG. 14) representing outputs 45 (FIG. 4) of the unit 37 optimal setting values for a drill bit load P _op , and speed n _np , corresponding signals are formed.

The arithmetic unit 38 (FIG. 4) for optimal setting values when processing the drill bit after

Wear of the cutting elements is carried out in the same circuit with optimizer as the unit 37, therefore their implementation is not mentioned in more detail in the present description. As optimiser 210 (FIG. 14) any known optimizers are used in units 37 and 38, which is why their Execution is also not received.

The formation circuit 211 for the ongoing wear of the drill bit bearings (or cutting elements) contains an electronic switch 213, whose plug input is connected to an output 212 of the timer 12 and the other input via an RC-C \\ ed 215, 216 to an output 41 of the Unit 36 is connected. The output of the electrical switch 214 is connected to an inverter 217, in whose feedback circuit there is a capacitor 218 and whose output is also directly connected via a resistor 219 to the second input of the switch 214 and to an inverter 220 coupled to an input of the optimizer 210 is.

The unit 36 shown in FIG. 15 (FIG. 4) for determining the type of processing of the drill bit is designed with two channels and each channel connected to an input of its own circuit 221, 222, the other input of which is coupled to an output 212 (FIG. 3) of the timer 12.

The first channel contains one to the output 14 (Figs. 15 and 3) of the encoder 7 and to an output 213 of the Divisor 223 connected to the control panel 9, a non-linear element 224, the input of which is connected to the output 13 of the encoder 6 is connected, and a multiplication circuit 225, the inputs of which are connected to the output of the Divisors 223 and the nonlinear element 224 and the output of which is coupled to the circuit 221.

The second channel contains a divisor 226, which is made up of multiplication circuits 227 and 228 and whose input is connected to the output 14 of the encoder 7, a summator 229 at the output of the

Divisors 226 and a multiplication circuit 230, the inputs of which are connected to the output of the summator 229 and the outputs of which are connected to an input of a divisor 231, the output of which is in turn coupled to an input of the circuit 222. The second channel also contains a multiplication circuit

232, whose inputs are connected to output 13 (Figs. 15 and 3) of the encoder 6 and to an output 213 of the desk 9 '25 are connected. The output of the circuit 232 is via a summer 233 to an input of the multiplication circuit 234, the output of which is coupled to the second input of the divisor 231.

An input of a further multiplication circuit 235 is connected to the output 213 of the desk 9, the other input to the output 46 of the unit 38 and its output to an input of a Summator 236 is coupled, the other input via a resistor 237 a bias voltage of one Source 238 is supplied, while the output of this summer 236 is connected to the input of the multiplication circuit 234 is connected.

, [The circuits 221 and 222 are identical and each contain an electronic switch 239,

^r one output to an operational amplifier 240 with a capacitor 241 in the feedback circuit

ν and is connected to a resistor 242, which via the electronic switch 239 in the second

The feedback circuit of the amplifier 240, which contains a resistor 243 in the direct circuit, is switched on.

/ tet is The electronic switch 239 is across a resistor 244 and the operational amplifier 240 across

a resistor 245 is connected to an inverter 246, in the feedback circuit of which a resistor 247

ι> lies. The output of inverter 246 appears as the output of circuit 222 (221) . The outputs of the

J ¹ circuits 221 and 222 are connected to a comparator 248 having a circuit for an output signal.

| K, 40 closed.

ι The control device works as follows.

j Before starting the setup, the following preparations must be made. From the control panel 9

Via the unit 16 for successive data input into the unit 17, the approximate default values of the to signals corresponding to supplementary factors and into the formation unit 10 for optimal setting values of the , 45 control signals are fed in corresponding to the constant values used to optimize the drilling process

In the first initial cycle of the drilling attempt for a rock layer, the control desk 9 sends signals for setting values of a drill bit load and speed to the corresponding via the digital · ■ analog converter 8

Adjusting mechanisms 4 given that maintain the default values of the load on the tool and Ensure its speed in the drilling cycle, and the timer 12 is started.

<From the transmitter 5 a signal for a discrete averaging of the drilling speed arrives in the unit 15

s an instantaneous value of the path speed. The drilling speed is averaged in the unit 15.

keitswertet for a time interval determined by the timer 12. After the specified At the time interval, the timer 12 sends a release signal to the unit 15 via a circuit 195 supplied and at the output 18 of the unit 15 appears the level of the averaged drilling speed value in the first cycle of the drilling attempt corresponding signal that is sent to the unit 17 and to the control device is given. In the unit 17 to determine supplemented factors on a signal from the output 18 of the Unit 15 adds the factors of the adaptive model To add to the factors, signals from the Output 14 of the speed sensor 7 for the drill bit, signals from the outputs 19 of the unit 16 for a successive data input and used by an output 93 of the control device 24. The factors are added simultaneously via the two channels 90 and 92

After the supplementation, the signals corresponding to the supplemented signals of the factors of the first cycle are delivered from the outputs 22 to the memory device 20 and appear at its output 23. The signals from the output 23 are sent to the control device 24 for process parameter values and to the data transmission unit 25.

The control device 24 receives signals for the drilling speed from the output 14 of the transmitter 7, from the output 13 of the load transmitter 6 for the drill bit, from the output 18 of the unit 15 for averaging the drilling speed from the output 23 of the device 20 and from the output 33 of the forming unit 10 for

Control signals. In the control device 24 the arithmetic value of the drilling speed is determined, which is compared with the averaged speed value arriving from the output 18 of the unit 15. After the comparison result, signals are formed at the outputs 27 of the control device 24 (if the signals are the same, at one output, if they are not the same, at the other output), which then come into the formation unit 26 for drilling operation. (The signal is supplied by one of the outputs 27.) In this operating mode, the signal forms an enable signal level for the unit 29 from the output 27 connected to the OR circuit 205 and to the AND circuit 206 at the output of the OR circuit 205 at the output 31 and for the unit 25 at the output 28. At the same time, a signal appears at the output of the OR circuit 205, which is connected to the formation unit 10 for optimal control signals.

In response to a signal received at the release input of the electronic switch 208 from the output 28 of the formation unit 26 for drilling operation, the signals corresponding to the supplemented factors are written into the second memory device 21 and appear at its outputs 30.

In response to a signal arriving from the output 31 of the formation unit 26 for drilling operation in the correction unit 29 for factors of the adaptive model at the control input of the group 82 of electronic switches, the signals of supplemented factor variables pass from the output 30 of the device 21 into the two parallel channels 84 and 85 of the former for one Correction value. In each of the channels 84, 85, when the electronic switch is closed, an input signal is generated at the output of the amplifier 89 and, when the switch is opened at the output 32 of the circuit, an instantaneous value of the input signal is stored at this instant. The signals from the output 32 of the correction unit 29 for factors arrive in the formation unit 10 for optimal control signals at the inputs of the electronic switches 40, at whose control inputs a signal from the formation unit 26 for drilling operation is present. After passing through the circuit 40, the signals reach the units 37 and 38. At the same time, the unit 36 works to determine the type of processing of the drill bit, at whose inputs signals from the output 13 of the load transmitter 6 for the drill bit, from the output 14 of the speed transmitter, from the output of the timer 12, from the group of outputs 213 of the control desk 9, at which levels of process constants are set, and from the output of the arithmetic unit 38 for optimal setting values when processing the drill bit after its storage is worn. In the unit 36 a signal for the type of processing of the drill bit is formed, which appears at the output 41 and is applied to the AND circuit 47 if the signal determined in the unit 36 about the wear of the bearing before the signal about the wear of the cutting elements arrives, and otherwise appears at the output 42 and is given to the UN D circuit 48.

In the units 37 and 38 , signals corresponding to the levels of the time values of the wear of the bearing and cutting elements of the drill bit are formed for one cycle of the drilling process, which signals arrive at their own optimizers 210 in accordance with the wear of the drill bit bearings and cutting elements. Signals for optimum values n _opl and P _op occur at the outputs of optimizers 210 , which are obtained as a result of an optimization of the control signals taking into account the wear of the drill bit bearings and cutting elements and are sent to the corresponding groups 43 and 44 of the electronic switches. A release signal is sent from the corresponding outputs of the circuits 47 and 48 to the control inputs of the switches. A signal for the type of processing of the drill bit is sent to the inputs of the circuits 47 and 48, and in response to a signal from the output of the time switch 12, a signal appears in one of the circuits 47 or 48, the optimal control signals from one or the other channel 43 or 44 releases. The optimal values n _op and P _op are given via outputs 51 and 52 from output 11 via digital-to-analog converter 8 to setting mechanisms 4.

The transmission of the levels of the control signals from the unit 18 takes place on a signal from the timer 12th

The drilling process for a combination of control signals η and Pirn the first cycle of the drilling attempt is compared to their optimal combination in FIG. 1 indicated by a line P \ ■ n \ .

After the control signals have been fed to the actuating mechanisms 4, the second begins in FIG. 1 cycle of the drilling attempt indicated by a line P ' ₂ ■ n'2. The adjusting mechanisms 4 maintain the level of the control signals for the chisel speed n \ and load P'2 which are predetermined by the unit 10 in a cycle. The signal for the mechanical drilling speed arriving from the transmitter 5 is averaged and occurs in response to a signal from the timer 12 at the output 18 of the unit 15. Signals for the levels of the factors of the preceding cycle to be supplemented are input into the unit 17 via the outputs 23 from the device 20. At the same time, a signal for a calculated value of the drilling speed is formed in the control device 24 in response to signals from the outputs 14 and B of the transmitters 7 and 6, which signal is input into the unit 17 via the output 93. In the unit 17 the factor sizes are added, the order of the interaction of the elements is the same in the work of the unit as in the first cycle.

The signals from the unit 17 are written into the memory device 20 and input from its output 23 into the control device 24. In the control device 24, similar to the first cycle of operation, the values of the calculated and the current mechanical drilling speed are compared. In response to a signal from output 27 , the operating mode of the device is formed in control device 26

If the drilling speeds in two successive cycles are different, signals arriving at the outputs 31 and 28 of the control device 26 are formed at the outputs of the circuits 205 and 207 , and the operating test continues. By units 29 and 10 new levels of control signals are formed, the interaction of the devices in the units 29, 10 as well as the testing of the first clock realized on a signal from the output 212 of the timer 12, the shaped control signals via the digital-to-analog -Umsetzer 8 given to the adjusting mechanisms 4, and it begins in FIG. 1 by a combination P'3 · π 3 shown third clock of the Bohrversuches The device operates in the in Figure 1 by the combinations of PU · πUi P's * / 15. P'b · n ' _b shown

subsequent cycles of operation as well as in the second cycle of the drilling attempt. If the deviation in the mechanical drilling speed does not exceed the permissible value in the two subsequent cycles, then record 208 raises a release signal! for the AND circuit 207, the signals remain at the outputs 31 and 28, and d; e device is transferred to the immediate drilling In this clock P · π%, the signal is in this case by the unit 26 from the outputs 31 and 28 removed. In this operating mode, the signals at the outputs 32 of the unit 29 do not change, and the formation unit 10 for optimal control signals at the outputs 11 and 35, in response to a signal from the output 212 of the timer 12, ensures that they are changed in the immediate drilling operation (FIG. 2). In each cycle of the drilling operation, the drilling speed is averaged by the unit 15, via which a signal from the timer 12 from the output 18 to the unit 17 is signaled. The factors are supplemented in the unit 17 and their new values are written into the memory device 20 and at the same time entered into the control device 24. In the control device 24 a blocking signal for the output of the signals from the outputs 31, 28 of the unit 26 is formed.This is ensured by the fact that the levels of the written and input signals are compared in the circuit of a two-digit binary counter, and if they coincide, a prohibition signal is generated shaped for the output of a signal by the circuit 207 and the device continues to operate in the drilling mode. The signal is supplied from the output 212 of the timer 12 to the circuit for the setting values of the optimal control signals (discretely changing setting values during drilling operation), which are output by the formation unit 10 for optimal control signals.

If the value of the mechanical drilling speed derived from the time value of the drilling speed signal exceeds the permissible value, the prohibition signal is lifted and the supplemented values of the Factors from the storage device 21 to the correction unit 29 for factors and also to the formation unit 10 for optimal control signals. Then the facility goes into operation repeated testing over.

The unit 15 for discrete averaging of the drilling speed. works as follows From the output of the Encoder 5 for mechanical drilling speed, the signal is given to the input of the circuit 193, in which compares the signal with the signal averaged over the maxima using the envelope and is read, which is realized continuously on the operational amplifier 1%. The input signal is stored through the diode 201 by the capacitor 200, and at the same time the signal through the diode 202 compared by the amplifier 196 with the stored value. The signal change takes place at the time of Achievement of the secondary maxima through the variable input signal from the encoder 5. At the output of the unit 15 the signal of the averaged drilling speed appears on a control signal from output 195 of the timer 12th

The unit 17 operates simultaneously in two channels (circuits 90 and 92). In the circuit 90 is the dem Corresponding factor added to the degree of resilience of the rock in the drilling process. On the entrance of the Circuit 94 of the unit 17 is given a signal from the output 19 in the first cycle of the drilling attempt, which the from the control panel 9 approximately corresponds to the factor size. The signal of the factor to be added becomes to the same input of the circuit 94 of the unit 17 in the subsequent clocks from the output 23 of the Storage device 20 supplied. In circuit 94 practically representing a log amplifier is this from the two operational amplifiers 123 and 132 and from a bipolar npn complementary transistor 129,131 built. The transistors 129, 131 work with different collector currents. Here is the Base-emitter voltage to the logarithm of the ratio of the collector currents of transistors 131 and 129 proportional. The collector current of transistor 131 represents the input current of inverting amplifier 132, and therefore the collector current is proportional to the ratio of the input signal for the to be supplemented Factor size to the value of resistor 133. The collector current of transistor 129 is the ratio of the Voltage of source 144 sum value of resistor 130 proportional, because the potential of the non-inverting Input of the amplifier 123 is close to zero. Here the base-emitter voltage is direct to the input as a non-inverting amplifier with a ratio exceeding the values of resistors 127 and 126 by one Gain working amplifier 123 applied and the logarithm of the product of the Ratio of the input signal to the value of resistor 133 and that of resistor 130 to voltage so proportional to the supply source 144. The signal for the factor size to be supplemented therefore appears after the Passage through circuit 94 at the output in the form of a product of the gain factor of the operational amplifier 123 and the base-emitter voltage proportional signal.

The signal from the output of the circuit 94 passes into the circuit 114, in which this with one of the output 19 of the unit 16 is multiplied for a successive parameter input coming signal. In the circuit 114 changes to a signal corresponding to the factor size to be supplemented, the internal resistance de < Transistor 148 from bipolar transistor pair 148 and 149. The current from source 154 is redistributed and between the collectors of the pair there is a factor multiplied by the factor size to be added Gain factor proportional difference signal. The one arriving at the second input of circuit 114 Signal is given to the emitters of transistors 148 and 149, reducing the current level in the resistor 150 to 151 is changed. The gain of circuit 114 is proportional to one with the ratio multiply the signal arriving at the second input of circuit 114 to the value of resistor 155 th fixed value. The signal at the output of circuit 114 is a product of the with a Festwer multiplied input signals proportionally. The signal from the output of circuit 114 hits the sum tion amplifier 98, at the other inputs of a signal of the corresponding polarity from the circuit 11 < arrives. The required polarity of the input signal at amplifier 98 is determined by the one switch a coupling securing circuit 119 to be connected and formed by the inverter 101. The Signa at the control input of the circuit 119 is supplied from the output of the summing amplifier 99, to dcsscr Inputs a signal converted beforehand by the relevant Logarihmicrungskreis 96, 95 for one

averaged value of the drilling speed from the output 18 of the unit 15 or a signal for a calculated value of the drilling speed from the output 93 of the control device 24 arrives

A signal from the output of the divisor 118 is applied to the main input of the circuit 119 , in which a dividend is sent to the input of the operational amplifier 163 via the resistor 162 from the output of the multiplication circuit 1 If and as a divisor a to the input of the multiplication circuit 161 from the output of the summing device 100 supplied signal occurs, the signal at the output of summing device 100 to its input appear at an occupancy of a signal from the output 14 of the speed sensor 7 for the drill bit, which is pre-reacted in the circuits 97 and 116th In this case, a signal converted in the multiplication circuit 117 from the output of the circuit 94 is applied to the other input of the summator 100 .

The signal for a supplemented degree of compliance appears at the output 22 of the antilogarithmizing circuit 122 when a signal occurs at the output of the summer 98. This signal is an output signal of the circuit 90 for supplementing a factor corresponding to the degree of compliance of the rock.

In the circuit 92 for supplementing a factor corresponding to the drill bit speed, the signal for a factor value predetermined by the control panel 9 is given in analogy to the circuit 90 in the first cycle of the drilling attempt from the output 19 to the summator 170 . The signal for a factor variable to be supplemented is supplied in the subsequent cycles from the output 23 of the memory device 20 to the input of the summator 170 on the input resistor 174 . Simultaneously with the signal for a factor variable to be supplemented, a correction value is generated by the electronic circuit 185 . one input (input resistance 176) is given directly and to the other input (input resistance 175) via the inverter 189 .

A signal from the output of the summator 171 is sent to the control input of the electronic circuit 185 , at the input of which there is a signal proportional to an averaged value of the drilling speed from the output 18 of the unit 15 and a signal proportional to a calculated value of the drilling speed from the output 93 of the control device 24 are present.

A signal from the output of the divisor 192 is sent to the main input of the circuit 185. In this case, a signal for the dividend is formed at the output of the multiplication circuit 186 . A signal from the output of the amplifier 171 and a signal converted in the circuit 168 from the output 14 of the transmitter 7, which signal is proportional to a difference between the averaged value of the mechanical drilling speed and the calculated value of the speed, arrive at the inputs of the circuit 186. ., ... ...-

As a signal for the divisor, a signal from the output of the summator 172 is sent to the division circuit 192 , the inputs of which are a signal from the output 14 of the encoder 7 and from the output 31 , which is converted in the logarithmizing circuit 168 or 169 and in the multiplication circuit 187 or 188, respectively the circuit 90 for supplementing a factor corresponding to the degree of resilience of the rock in the drilling process and a bias voltage is supplied via the resistor 181.

The control device 24 for process parameter values works when the signals which come into the multiplication circuit 54 and the circuit 53 for exponentiation from the output 23 of the device 20 and are proportional to the supplemented factor arrive. A signal from the output t3 of the load transmitter 6 is present at the second input of the circuit 54 , while a signal from the output 14 of the speed transmitter 7 for the drill bit is given to the second input of the circuit 53. The signals from the outputs of the circuits 54 60.61 _t are converted to the multiplication circuit 55, a signal is supplied to the division circuit 57 of the output 62 and occurs as a dividend 53rd The value of the signal acting as a divisor comes from the output 63 of the summator 59, at one input of which a bias voltage from the source 68 and at the other input a signal from the multiplication circuit 56 for two signals - from the supply source 71 (where through the resistor 70 the size of a constant to be introduced is specified) and is supplied from the output 33 of the formation unit 10 for control signals. A signal proportional to the arithmetic value of the drilling speed is sent from the output 72 of the circuit 57 to the comparator 58 , the second input of which is fed a signal from the output 18 of the unit 15 for averaging the drilling speed. The signal from the comparator 58 is supplied to the input of the circuit 74 , which changes the signal level at the outputs 27 when the calculation and the mean value of the drilling speed are equal.

The two channels of the unit 36 for determining the type of processing of the drill bit - the channel to determine the type of processing of the drill bit after the wear of the bearing and channel to determine the type of processing of the drill bit after the wear of the cutting elements - work at the same time. In the channel for determining the type of processing of the drill bit after the bearing has worn, a signal is sent from output 213 of control desk 9 via a constant corresponding to a fixed value of the drill bit bearing and, at the same time, a signal for a drill bit speed from output 14 of the encoder is sent to divisor 223 as a dividend 7 submitted. 55 '"'

The converted signal of the divisor 223 is fed to the input of the multiplication circuit 225 , at the second input of which a signal from the output 13 of the load transmitter 6 is present which has been converted in the non-linear element 224.

The product of the two signals is passed to the circuit 221 from the output of the circuit 225. The circuit 221 represents an output circuit of the channel. A signal from the output 212 of the timer 12 is output to the control input of the circuit 221. When a signal is present at the output 212 in the circuit 221 (similar to that in the circuit 222), an input signal coming from the circuit 225 is integrated. The integration takes place on an integrator (for the channel for determining the type of processing of the drill bit on the amplifier 240). If the signal from the control input of the circuit 221 is interrupted, the signal at the output becomes equal to zero, whereupon the integration of the input signal is repeated in the circuit 221. In the second channel, a signal proportional to the drill bit speed is picked up at the output 14 of the transmitter 7, which, after conversion in the circuits 227 and 228 , reaches the summator 229. The summation takes place in the summer 229 with corresponding amplification factors

after the entrances. The signal from the output of the summator 229 is applied to the input of the multiplication circuit 230 with a signal arriving from the output 213 of the control desk 9. The one at the exit The signal value obtained by the circuit 230 is supplied to an input of the divisor 231 and represents the quantity of the dividend. At the second input of the divisor 231 there is a signal from the output of the multiplicator

tion circuit 234 for two signals, one from the output of the summer 233 and the other from the Output of summator 236 arrives The signal at the output of summator 233 appears on delivery a signal from the output of the multiplication circuit 232 for two signals - a signal from the output 13 of the Load sensor 6 and a signal from the output 213 of the control panel 9, which with a signal from the other output of the desk 9 is totaled. The signal for the second multiplier of circuit 234 appears at a

ίο summation of a signal via the constant from resistor 237 and a signal from output 213 as well a signal from output 33 and a signal about the ongoing wear of the cutting elements. The signal from the output of the divisor 231 comes through the circuit 222, which operates similarly to the circuit 221 to the input of the comparator 248 with a circuit whose other input is the value of the Processing of the drill bit after wear of the bearing proportional signal is supplied. To the

Outputs of the comparator 248 with the circuit changes the signal depending on the ratio of the at the entrance of the "Canal" circuit for determining the type of processing of the drill bit according to the Wear of the bearing and of the channel to determine the type of processing of the drill bit after Wear of the cutting elements incoming signals.

The computing unit 37 for optimal setting values when working off the drill bit after wear

its storage (as well as its cutting elements) works with an occupancy of the circle 211 a signal from the output 41 of the unit 36, which when a signal from the output 212 of the timer 12 incoming enable signal passes the switch 214 and on a built from the inverter 217 Integrator is saved. A signal about the current wear is saved for a working time determined by the switching duration of the circuit via the electronic switch 214 The signal reaches the optimizer 210 via the inverter 220, in which also from the outputs 213 of the control desk 9 the Fixed values used to find optimal control signals are inputted accordingly. At the same time, signals for supplemented factor quantities arrive at the optimizer 210 from the outputs of the unit 40. In the optimizer 210 optimal control signals are determined with consideration that the permissible Wear of the drill bit bearing in the drilling process earlier than the permissible wear of the drill bit cutting elements occurs. The optimizer 210 determines the output 35 when a new one arrives Value from the output of the arithmetic unit 37 for optimal setting values when processing the drill bit optimal control signals output after the wear of its bearing, taking into account the wear of the drill bit bearing. The optimal control signals are also generated in the same way, taking into account the Wear of the drill bit cutting elements shaped. Depending on the signal from the unit 36 for determining tion of the processing type of the drill bit, the optimal control signals are sent to the actuating mechanisms 4 of the outputs of the electronic switching elements 43 and 44 supplied.

The present invention makes it possible to improve the drilling performance, particularly in the case of a deep borehole, by utilizing the optimum drilling operation for each rock layer to be drilled, as well as through efficient utilization to increase the service life of the tool.

For this purpose 10 sheets of drawings

Claims (1)

Patent claims: 1. Method for controlling the drilling process when drilling in rock, which an adaptive model for the Drilling process is based and comprises two modes of operation, one of which is a drilling attempt in the rock layer to be drilled and the other the actual drilling operation, whereby - in the usual multi-cycle drilling test for dip rock layer, values for controlled at each cycle Drilling parameters are specified, - a drilling speed corresponding to the default values of the controlled drilling parameters is measured will and - After the end of the last cycle, arriving at the corresponding adjusting mechanisms of the drilling tool Control signals are formed, - according to the results of the drilling test a) control signals used in the actual drilling operation and
b) a signal for a transition from the drilling attempt to the actual drilling operation can be formed and - if the monitored drilling parameters deviate from the setpoints of the actual drilling operation the drilling test is repeated, characterized in that ^ - in the first cycle of the drilling attempt according to the default values of the controlled drilling parameters and after i _tj the assumed approximate quantities to be supplemented by factors of the adaptive model the drilling '· <Speed is determined, !> - this drilling speed with a value measured in the given cycle of the same speed ¹ ^ 25 speed is compared and - according to the results of the comparison, a corrected quantity of the corresponding>' ₍ factor of the adaptive model to be added) is formed, j '^ - whereupon the values of the control signals that come closest to the optimal values, which the setting values ? 'for the next cycle of the drilling attempt are determined and Iv, jo - in each subsequent cycle when determining the control signals, the added factors of the preceding I "of the clock passed, where - In the event of a transition to each subsequent cycle, the values of the control signals to be determined are sent to the Optimal values are approximated under the given drilling conditions and ι, - with a coincidence of the measured and the drilling speed to be determined in two successive of the following cycles a control signal formed during these cycles than in the actual drilling operation !> 'control signal used is provided. 2. The method according to claim 1, characterized in that in the adaptive model, the individual ι Drilling parameters are related to each other as follows: lnv (AQ -Σ 2 il JI in the N a measure number, v (N) is a calculated value for the drilling speed in the / V-th cycle, ki, kj corresponding drilling parameters to the controlled supplementary factors of the ^ada: ptiven model, so χ ,, Xj values of the controlled drilling parameters, and ;, j Numbers of the controlled drilling parameters denote, the corrected size of the corresponding factors to be added according to the relationship Iq (N) = k, (N- 1) + sign [In v (N) - In v] · - Σ On χ, Ϋ + Σ xj i-l J-I and ^: exp J-I bites, in the ν a measured value of the drilling speed and λ a factor, the size of which is dependent on a difference between the measured and calculated value of the drilling speed, s describe. 3. The method according to claim 1 or 2, characterized in that the control signals in the actual Drilling operation can be changed gradually with the drilling time, with their periodicity and degree of change with the aid of the adaptive model can be determined in such a way that they are close to the optimal values below Allowance for wear on the bit cutting elements and bearings in the drilling process remain. 4. The method according to any one of claims 1 to 3, characterized in that to complement the factors of the adaptive model in the actual drilling operation, these factors correspond to the specific drilling conditions obtained predetermined control signals and drilling speed values are determined. 5. The method according to any one of claims 1 to 4, characterized in that at a substantial Deviation of the drilling speed from its calculated value passed to a repeated drilling attempt the factors obtained at the moment of termination of the actual drilling operation of the adaptive model as output variables for the factors of the first cycle of the repeated drilling attempt be accepted. 6. The method according to any one of claims 1 to 5, characterized in that the controlled drilling parameters the bit load and speed can be selected. 7. Device for performing the method according to claim 1, the - A control panel (9) for the drilling process, which has a digital-to-analog converter (8) for signals with Adjusting mechanisms (4) of the drilling tool (3) interacts, - a drilling speed sensor ^), - a load transducer (6) for the drill bit, - a speed sensor (7) for the drill bit, - An electronic computing device into which the adaptive model of the drilling process is entered, which is assigned to the load sensor (6) and the speed sensor 17) for the drill bit as well as the drilling speed sensor (5) and the control panel (9) and which has a forming unit (10) for optimal control signals whose output (II) is connected to inputs of the digital-to-analog converter (8) and whose inputs are connected to corresponding outputs of a timer (12) and the load and speed sensor (6 and 7) for the drill bit are, J5 - A control device (24) connected to the electronic computing device for the factors of the adaptive model and - one which interacts with the control panel (9) and the electronic computing device Includes timer (12), characterized in that it has a unit (15) for discrete averaging of the drilling speed has, the inputs of which with the drilling speed sensor (5) and with an output of the timer (12) connected sir'd, being the electronic computing device - a unit ('6) for successive data input from the control panel (9), whose inputs are connected to the panel (9) are coupled, - A unit (17) for determining supplemented values of the factors of the adaptive model, their inputs with the output (18) of the unit (15) for discrete averaging and with the outputs (19) of the Unit (16) are connected for successive data entry, - A first memory device (20) whose inputs are connected to the outputs (22) of the unit (17) for determination of supplemented factor sizes and their outputs (23) with inputs of the latter and with inputs of the control device (24) are coupled for factor sizes of the adaptive model, - A second memory device (21), the inputs of which via a data transmission unit (25) with the corresponding outputs (23) of the first storage device (20) are connected, - A formation unit (26) for drilling operations, the inputs of which with outputs (27) of the control device (24) for factor variables and their output (28) with an input of the data transmission unit (25) connected, and - Contains a correction unit (29) for factors of the adaptive model, the inputs of which with the Outputs (30) of the second storage device (21) and with an output (31) of the formation unit (26) for drilling operation and its outputs (32) with corresponding inputs of the formation unit (10) are connected for optimal control signals. 8. Device according to claim 7, characterized in that in this the formation unit (10) for optimal control signals - a unit (36) for determining the obfuscation of the drill bit, one of which is a group of inputs with the outputs of the timer (12) and the load and speed sensor for the drill bit (6 or 7) and whose other group of inputs are connected to the control pull (9), - A computing unit (37) for optimal setting of the drill bit wear according to the Wear of its storage, the inputs of which with an output (41) of the unit (36) for determination the type of wear of the drill bit, with an output of the timer (12) and with the control panel (9) as well as with the outputs (32) of the correction unit (29) for factors and with an output of the Control device (24) for factor sizes are connected, - A computing unit (38) for optimal setting values of the drill bit wear according to the Wear of its cutting elements, whose inputs with an output (42) of the unit (36) for determination the type of wear of the drill bit, with an output of the control panel (9) and with the Outputs (32) of the correction unit (29) for factors and with an output of the control device ίο (24) are coupled for factor sizes, and - Has a commutation circuit (39), the two groups (43 and 44) of switching elements whose each with the outputs (45 or 46) of the processing units (37 or 38) for optimal setting values of the Bit wear according to the wear of its storage or the wear of its Cutting elements and a corresponding AND circuit (47, 48) with a respective output the unit (36) for determining the type of wear on the drill bit and with the timer (12) is coupled, and two Ummie.-ungselemente (49, 50) contains, which. Inputs each with. the exits of the two groups (43, 44) of switching elements are connected, the outputs (51, 52) of these Summing elements (49, 50) as outputs of the formation unit (10) for optimal control signals are provided on which control signals for controlling the adjusting mechanisms (4) of the drilling tool (3) can be generated. 9. Device according to claim 7 or 8, characterized in that in this the control device (24) for Factor sizes of the adaptive model - A functional circuit (53) for exponentiation, the inputs of which to the speed sensor (7) for the Drill bit and connected to a corresponding output (23) of the first storage device (20) are, - A first multiplication circuit (54) whose inputs are connected to the load transducer (6) for the drill bit and are connected to a corresponding output (23) of the first storage device (20), - A second multiplication circuit (55) for signals whose inputs are connected to the output (60) of the first Multiplication circuit (54) and with the output (61) of the function circuit (53) for exponentiation are coupled, - a division circuit (57). one input of which is connected to the output (62) of the second multi-coupling circuit (55) and its output with a corresponding input of the unit (17) for determination supplemented factor sizes are connected, - A summator (59) whose output (63) with the second input of the division circuit (57), whose an input via a variable resistor (67) with a bias voltage source (68) and its other input via a third multiplication circuit (56) with a corresponding output (33) the formation unit (10) are connected for optimal control signals, - a comparator (58). one input to the output (72) of the division circuit (57) and its other input to the output (18) of the unit (15) for discrete averaging of the drilling speed are coupled, and - Contains a circuit (74), the input of which connects to the output (73) of the comparator (58) and the latter Output connected to a corresponding input of the formation unit (26) for drilling operations are. 10. Device according to one of claims 7 to 9, characterized in that in this the unit (16) for successive data input from the control panel (9) a group (77, 78) of electronic switches, whose Inputs each with a corresponding code switch (79) on the control panel (9) and their control inputs so (80) are each connected to a corresponding switch (81), and code converter (75, 76) for maintenance an analog signal coupled to respective electronic switches i. Device according to one of Claims 7 to 10, characterized in that the correction unit (29) for factors of the adaptive model contains a group (82) of electronic switches which have a combined control input (83) and at the input of a shaper (84, 85) for a correction value lying, which has a memory circuit for a signal and a sequential circuit for a signal, their outputs as outputs of the entire correction unit (29) for factors of the adaptive model are trained. 12. Device according to one of claims 7 to 11, characterized in that in this the unit (17) a circuit (90) for adding a ω is the factor corresponding to the degree of resilience of the rock during drilling and a factor coupled with this Circuit (92) for supplementing a factor corresponding to the bit speed, the inputs of which each with the outputs of the unit (16) for successive data input and the first memory device (20), of which signals about factor sizes of the adaptive model arrive in the previous cycle, as well as with the outputs of the unit (15) for a discrete averaging of the drilling speed and the Control device (24) are connected for factor sizes. 13. Device according to one of claims 7 to 12, characterized in that in this the unit (15) contains a comparison and read circuit (193) for a discrete averaging of the drilling speed averaged signal corresponding to the drilling speed, at the output of which an electronic switching element Ment (194) is connected, whose control input is connected to an output (195) of the timer (12) and the output is a signal corresponding to an averaged value of the drilling speed forms. 14. Device according to one of claims 7 to 13, characterized in that the formation unit in this (26) an OR circuit (205) for drilling operation, the inputs of which are the inputs of the entire Unit (26) are and to corresponding outputs (27) of the control device (24) for factor sizes of the adaptive model are connected, a first AND circuit (206), whose inputs with corresponding Outputs (27) of the control device (24) for factor sizes are coupled, and a second AND circuit (207) whose one input is combined with one of the inputs of the OR circuit (205) and whose other input is connected to an output of the first AND circuit (206), the Outputs of the OR circuit (205) and the second AND circuit (207) as outputs of the entire Forming unit (26) are provided. 15. Device according to one of claims 7 to 14, characterized in that in this the data transmission unit (25) represents a set (208) of switching elements through which supplemented factor sizes of the adaptive model can be entered into the second storage device (21). is, ",. 16. Device according to claims 8 to 15, characterized in that in this the arithmetic unit ä | (37) for optimal setting values of the drill bit wear according to the wear on its bearing an optimizer (210) and a formation circuit (211) connected to one of its inputs for the contains ongoing wear and tear of the bearing, its inputs with the timer (12) and with a Output (41) of the unit (36) for determining the type of drill bit wear are connected, wherein signals can be shaped at the output of the optimizer (210) which represent the optimal setting values for the drill bit load and speed in accordance with the ongoing wear of the bit bearing correspond. 17. Device according to claims 8 to 16, characterized in that in this the computing unit * || (38) for optimal setting values of the drill bit wear according to the wear of its cutting 25 - * ' elements a formation circle (211) for the ongoing wear of the drill bit cutting elements, its Inputs to the timer (12) and to an output (41) of the unit (36) for determining the type of the bit wear are connected, and contains an optimizer (210) which is connected to the output of the ^ Formation circle (211) for the ongoing wear of the drill bit cutting elements is connected || and at the output (46) of which signals can be formed which determine the optimal setting values η for the drill bit load 30 '' ' performance and speed in accordance with the ongoing wear of the bit cutting elements correspond. 18. Device according to claims 9 to 17, characterized in that in this the unit (36) for Determination of the drill bit wear is carried out with two channels, each channel to an input of one own circuit (221, 222) and the other input of each of the channels with the Timer (12) is connected, where the first channel f? - A divider (223), the inputs of which with the speed sensor (7) for the drill bit and with the Control panel (9) are connected, - A non-linear element (224) coupled to the load transducer (6) for the drill bit, and - Contains a first multiplication circuit (225), the inputs of which are connected to the outputs of the divisor (223) and of the non-linear element (224) and its outputs to the input of the circuit (221) of this |. | Connected to the channel, || and the second channel - Contains a series connection of two multipliers (227, 228), the first of which (227) via the two inputs and the second (228) via an input with the speed sensor (7) for the drill bit are connected and the output of the second multiplier (228) via a first summator |; (229), the second input of which is coupled to the speed sensor (7), and via one to the output 50 '' of the first summer (229) connected second multiplication circuit (230) to a first The input of a second divisor (231) is connected to the other input via a third | Multiplication circuit (234) a second summator (233), one input of which is connected to the control panel (9) || and its second input connected to the output of a fourth multiplication circuit (232) are whose inputs are coupled to the load transducer (6) for the drill bit and to the control panel (9) are, and a third summator (236) are connected, one input of which is connected to a bias voltage and its other input is connected to the output of a fifth multiplication circuit (235) is whose inputs with the control panel (9) and with the arithmetic unit (38) for optimal Setting values of the drill bit wear coupled according to the wear of its cutting elements are, where the second input of the second multiplication circuit]? (230) with the control panel (9) is connected 19. Device according to claims 8 to 18, characterized in that a circuit (90) for Addition of the factor corresponding to the degree of resilience of the rock when drilling contains: - A first log circuit (94), the input of which is connected to the output (23) of the first memory device (20) is connected, - a second log circuit (96). whose input to the output (18) of the unit (15) for one discrete averaging of the drilling speed is connected, - A third logarithmizing circuit (95), the input of which is connected to an output (93) of the control device (24) is connected for values of the factors, - A fourth loganthmation circuit (97), the input of which is connected to the output (14) of the speed sensor (7) 5 is connected for the drill bit, - A first summator (98), at the first input via a first multiplication circuit (114) the first loganthmation circuit (94) is connected, - A second summator (99), at whose inputs the second and third logarithmizing circuits (96 or 95) are connected, : ίο - a circuit (119) whose input is connected to the output of the second summator (99) and one output via an inverter (103) and the other output directly to the '' Inputs of the first summator (98) is connected, ^- a third summator (100), at the first input of a second multiplier (116) the fourth log circuit (97) is connected, and 15 - a divisor (118), the first input of which is connected to the third summator (100), the second of which '; - Input via a third multi-application formwork (115) to the output (120) of the first logarithmic ! circuit (94) is connected and its output (121) to an input of the circuit (119) is connected, the second input of the third multiplication circuit (115) to the output (120) of the first logarithmizing circuit (94) is connected, the second input of the third summation i 20 tors (100) via a fourth multiplication circuit (117) to the output (120) of the first logarithmic ■ mation circuit (94) is connected, the output of the first summer (98) is connected to the input of an antilogarithmizing circuit (122) and the output of the antilogarithmizing circuit ¹ I; (122) is provided as the output of the entire supplementary circuit (90) of a factor corresponding to the degree of resilience of the rock% when drilling.