Classifications

• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B7/00—Special methods or apparatus for drilling
  • E21B7/04—Directional drilling
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B2200/00—Special features related to earth drilling for obtaining oil, gas or water
  • E21B2200/22—Fuzzy logic, artificial intelligence, neural networks or the like
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10S706/00—Data processing: artificial intelligence
  • Y10S706/90—Fuzzy logic
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10S706/00—Data processing: artificial intelligence
  • Y10S706/902—Application using ai with detail of the ai system
  • Y10S706/903—Control
  • Y10S706/904—Manufacturing or machine, e.g. agricultural machinery, machine tool
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10S706/00—Data processing: artificial intelligence
  • Y10S706/902—Application using ai with detail of the ai system
  • Y10S706/911—Nonmedical diagnostics
  • Y10S706/912—Manufacturing or machine, e.g. agricultural machinery, machine tool
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10S706/00—Data processing: artificial intelligence
  • Y10S706/902—Application using ai with detail of the ai system
  • Y10S706/928—Earth science

Definitions

• the present invention relates to a controller for a horizontal drilling machine according to the preamble of claim 1 and a method for controlling such a horizontal drilling machine.
• the present invention relates here to horizontal drilling methods such as those described, for example, by H. J. Bayer, "Principles of Controllable Horizontal
• Rinsing drilling method 3R international, Vol. 30 (1991), No. 9, pp. 511-517, are known.
• a cylindrical hollow drilling head is used, from which a flushing liquid such as bentonite is pumped via nozzles Help one by one screwed drill pipe pressed obliquely into the ground.
• a flushing liquid such as bentonite
• the drill head By chamfering the drill head, it can be controlled not only with regard to the feed speed or the pushing force, but also with regard to its direction of movement. With even rotation, the drill head moves approximately straight. If the drill head is not rotated during the feed movement, it moves on a curved path, the orientation of which is determined by the position of the bevel. This configuration ensures that the drill head can be controlled in any direction. The further the drill head moves away from the hydraulic control unit of the drilling rig, the more play and elasticity of the drill pipe have a negative effect on the system behavior with regard to accuracy and stability.
• the drilling head or the drilling lance is controlled by one person, the drilling operator, via the speed of advance and the rotation of the drill pipe.
• the drill guide receives his information about the current position and location of the drill head from corresponding measuring sensors on the drill head.
• horizontal drilling rigs have a robust, high-resolution sensor system that constantly measures the orientation of the drill head with respect to a fixed coordinate system by measuring the roll angle, azimuth and inclination of the drill head.
• the current Cartesian position of the drill head can also be determined from the current length of the drill string in conjunction with the previous changes in the angle of the drill head.
• the load torque of the drill pipe and the pressure of a flushed drilling fluid can be detected by sensors.
• the movement behavior of the drill head is very complex and strongly depends on the current environment of the drill head, in particular the consistency, the structure and the degree of compaction of the soil material. Because of this complexity, a good drill quality requires a high degree of skill from the drill operator.
• drilling quality is to be understood as the most exact adherence to the specified drilling course while avoiding collisions.
• the drill operator must derive a correction of the feed rate, the rotation or the angle of rotation from the current orientation and position values transmitted by the sensors, and must take into account the current behavior of the drill head when making corrections.
• the correct operation of such a horizontal drilling machine therefore requires long training and a lot of experience with regard to the different underground behavior of the drilling machine.
• the quality of the bore is therefore largely dependent on the person who is used as the drill operator and is also subject to fatigue
• the object of the present invention is to provide a controller for a horizontal drilling machine and a method for controlling the horizontal drilling machine that automatically keeps the drill head as precisely as possible on a preprogrammed course without the intervention of an experienced drill operator and reaches the target point as precisely as possible regardless of fluctuations in the soil consistency .
• the drilling process should continue to take as little time as possible.
• control according to claim 1 or with the method according to claim 10.
• Advantageous refinements of the control and the method are the subject of the subclaims.
• control according to the invention for the horizontal drilling machine initially has an input interface for receiving actual values of controlled variables of the horizontal drilling machine.
• control variables can, for example, roll angle, inclination and azimuth of
• Drilling head and the current position of the drilling head determined from these quantities and the advance. Furthermore, an output unit is provided which outputs the control signals for controlling the horizontal drilling machine.
• the output unit contains a fuzzy controller that uses fuzzy logic to determine the control signals from the actual values and the target values for the controlled variables, taking heuristic process values into account.
• the heuristic process values are based, for example, on the experience of a long-standing drill operator and contain an engineering description of the movement behavior of the drill head through fuzzy "if - then" relations to link the actual and target values with the corresponding control signals. This makes it possible to convert know-how gained over many years in the manual control of boring heads into an automatic control. This is precisely the case here
• the control of horizontal drilling rigs is an advantage, because the behavior of the drilling head largely eludes a physical - analytical description by dynamic models due to the various influence options.
• the actual values of the controlled variables are measured by sensors that are attached to the drill head or the drill lance. Additional sensors can be provided, for example, on the drill pipe for determining the propulsion and the angle of rotation or the rotational speed of the pipe.
• control signals for controlling the horizontal drilling machine are determined from the actual values and target values for the controlled variables, taking into account heuristic process values, using fuzzy logic, and the horizontal drilling machine is controlled with the control signals.
• the control according to the invention for a horizontal drilling machine and the method for controlling the horizontal drilling machine enable the drilling process to be carried out automatically with a high degree of accuracy.
• the drill head can be kept on a pre-programmed course by the control very closely and regardless of fluctuations in the soil properties become.
• the control thus enables the drilling process to be carried out independently of the use of an experienced drill guide. This eliminates fatigue-related fluctuations in the drilling speed and drilling accuracy, so that the drilling process can be completed in a shorter time.
• the actual value itself is not subjected to the fuzzy control, as in other fuzzy control concepts, but rather the difference between the actual value and the target value.
• an optimization tool is used which is based on a neural network (NN).
• the optimizing fuzzy controller is provided with an NN learning component. This consists of an adaptable NN model of the fuzzy controller and an NN model of the controlled system.
• the NN controller model is now trained with representative training trajectories, for example with the target trajectory, until the model-actual trajectory can no longer be improved with respect to a selectable quality index.
• the optimized fuzzy parameters are now loaded into the controller hardware. Then the
• Automatic mode i.e. automatic control of the horizontal drilling machine
• the control for the horizontal drilling machine is preferably implemented by a digital signal processor (DSP) in which the fuzzy controller is implemented.
• DSP digital signal processor
• This DSP is preferably coupled to a PC, via which any parameters can be entered.
• Figure 1 is a schematic representation for course control of a horizontal drilling machine with the associated control and state variables;
• Figure 2 shows the spatial representation of the control room of a drilling lance depending on the roll angle
• Figure 3 is a schematic representation of an example of the components of a controller
• the horizontal drilling system consists of a drilling lance 1 with a navigation sensor and a drill pipe 2 to which the drilling lance is attached.
• the drill pipe is driven by a so-called Rig 3.
• Reference number 4 indicates the floor area in which the drilling is to be carried out.
• the horizontal drilling system is using the fuzzy course control 7 Support of an additional servo control 6 controlled.
• the horizontal drilling machine used in this example is equipped with a rig that exerts a tensile force of 120 kN on the driving axis 5.
• the drill pipe 2 is controlled with the drilling lance 1 at the tip using the rig.
• the drill pipe 2 can be rotated about its longitudinal axis and, on the other hand, can be advanced in a translatory manner. These two degrees of freedom can be controlled independently of each other and allow targeted control of the drilling operation along a specified target route.
• the drilling lance 1 has an asymmetrically shaped drilling tip, which is constructed like an asymmetrical wedge. This allows the drilling process to be influenced in a targeted manner.
• the outlet nozzles for the drilling fluid for example bentonite, can be arranged asymmetrically on the drilling lance, so that an asymmetrical solution of the soil directly in front of the drilling lance is made possible.
• the horizontal drilling rig with this equipment has two control modes if there are no other serious disturbing influences from the floor.
• the drilling operation runs approximately in a straight line when the drill pipe is advanced in rotation. If the drill pipe is only driven without rotating, the drill will run approximately circular.
• the current circular path of the drilling process depends only on the set rolling angle of the drilling lance 1, which represents a very important process variable.
• the control room of the drilling lance is shown spatially in FIG. 2 for all possible roll angles. Mathematically, this results in a torus with an inner radius of approximately 0 and an outer radius that is on the order of 10 to 160 m. This outer radius depends on the soil physical parameters, the material of the drill pipe, the mechanical shape of the drilling lance and the drilling process parameters set on the horizontal drilling machine.
• the drill string 2 is rotated and driven forward with the aid of hydraulic cylinders for the propulsion and a hydraulic motor for the rotation.
• the oil flow for the hydraulics is generated with a central pressure pump.
• the oil flow for the individual hydraulic circuits is remotely controlled electrically via proportional valves with electrical control electronics using mechanical levers.
• the proportional valves have the property that they impress the oil flow irrespective of attacking disturbing forces and thus set the speed proportional to the valve position for the corresponding hydraulic circuit.
• the same applies to the flow of the drilling fluid which is set by means of a hydraulic motor and a pump motor.
• the drilling fluid is made available via a supply truck.
• the actuators of the system are three hydraulic proportional valves that can be set independently of one another and can be set both manually and electrically (via electromagnetic components). In the present example, the valves are controlled via an analog interface card in the Control.
• the hydraulic valves can also be operated manually.
• a navigation sensor with a length of approx. 3 m and a weight of approx. 50 - 100 kg is mounted on the drilling lance, which has the three angle values ⁇ xL (roll angle of the lance), ⁇ y (azimuth angle of the lance) and ⁇ xL ( Inclination angle of the lance) in a fixed world coordinate system (x L / y L , z). From these three angle values, the three-dimensional course of the drilling lance can be calculated in x, y, z world coordinates using the propulsion also measured.
• two angle encoders are provided for detecting the position of the propulsion (xi) and the roll angle ( ⁇ x ⁇ ) on the rig.
• the hydraulic pressures for propulsion and rotation as well as the bentonite pressure for drilling fluid are recorded.
• a tachometer frequency measurement is used to measure the speed of rotation of the bentonite hydraulic motor.
• control variables are the translational path of the push cylinder (xl), the angular position of the rotary motor for the drill pipe ( ⁇ x ⁇ ) and the volume flow of the bentonite / water suspension (Q B ).
• FIG. 3 An example of the structure of the control of the presented horizontal drilling machine for automatic course control of the drilling process is shown in FIG. 3.
• the fuzzy control concept is implemented on a PC 8 in connection with a fast signal processor 10, which is coupled to the horizontal drilling machine on the sensor and control side.
• a hardware and software interface adaptation is created for coupling.
• the controller thus comprises a standard PC 8 with the appropriate software for operating and monitoring the drilling process.
• the core of the control is a digital signal processor system (DSP) 10, which is connected to the PC 8 by a PC bus 9.
• DSP 10 takes over the control of the drilling process.
• a hardware interface 11 with connection cable and distribution box between the PC 8 and the horizontal drilling system 12 is used for the bidirectional data exchange between the digital control and the horizontal drilling system.
• the control comprises a D / A converter 13, an A / D converter 14 and a counter card 15.
• the actuators shown at the outset that is to say the hydraulic proportional valves for controlling the lance feed speed, of the lance -Roll angle and the bentonite flow controlled.
• a servo control is also provided here.

Landscapes

• Geology (AREA)
• Life Sciences & Earth Sciences (AREA)
• Engineering & Computer Science (AREA)
• Mining & Mineral Resources (AREA)
• Environmental & Geological Engineering (AREA)
• Fluid Mechanics (AREA)
• Physics & Mathematics (AREA)
• General Life Sciences & Earth Sciences (AREA)
• Geochemistry & Mineralogy (AREA)
• Earth Drilling (AREA)
• Feedback Control In General (AREA)
• Excavating Of Shafts Or Tunnels (AREA)
• Drilling And Boring (AREA)

Applications Claiming Priority (3)

Publications (2)

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• 1999
  • 1999-08-30 DE DE19941197A patent/DE19941197C2/de not_active Withdrawn - After Issue
  • 1999-08-31 WO PCT/DE1999/002797 patent/WO2000017487A1/fr active IP Right Grant
  • 1999-08-31 US US09/787,732 patent/US6772134B1/en not_active Expired - Fee Related
  • 1999-08-31 DE DE59907960T patent/DE59907960D1/de not_active Expired - Lifetime
  • 1999-08-31 AT AT99953710T patent/ATE255676T1/de not_active IP Right Cessation
  • 1999-08-31 EP EP99953710A patent/EP1117901B1/fr not_active Expired - Lifetime

Non-Patent Citations (1)

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