煤矿井下定向钻孔轨迹跟踪算法研究

Research on Tracking Algorithm of Directional Drilling in Coal Mine

针对近水平定向钻孔实钻轨迹跟踪设计轨迹,较为依赖工人操控经验的问题,通过研究单弯螺杆钻具的钻进过程,搭建类似圆锥底面边缘的钻孔轨迹预测模型,分析钻杆受到重力影响,引入挠度计算,提出一种钻孔轨迹预测算法。用预测轨迹代替实钻轨迹,以设计坐标与预测坐标距离为目标函数,通过对目标函数求导推得最佳工具面角的计算公式。通过MATLAB软件仿真验证该算法满足实际施工要求,具有应用价值,并使用LabVIEW软件依据上述算法搭建上位机系统,指导实际钻进过程中工具面角的调整。

Real drilling trajectory tracking for nearly horizontal directional drilling trajectory design,more rely on the experience of workers handling,through the study of drilling process single curved screw drilling tools,set up similar to the edge of the cone bottom drilling track prediction model,the analysis of drill pipe affected by gravity,the introduction of the deflection calculation,put forward a kind of borehole trajectory prediction algorithm was presented.The optimal tool-face angle is derived by taking the distance between the designed coordinate and the predicted coordinate as the objective function and taking the derivative of the objective function.MATLAB software simulation verifies that the algorithm meets the actual construction requirements and has application value.LabVIEW software is used to build an upper computer system based on the algorithm to guide the adjustment of tool face angle in the actual drilling process.