| Citation: |
LI Hao，YAO Ningping，LU Chengda，et al. A model predictive control method for directional borehole trajectories in underground coal mines[J]. Coal Geology & Exploration，2025，53(2)：205−212. DOI: 10.12363/issn.1001-1986.24.07.0469
|
It is challenging to control the borehole trajectories during directional drilling in complex strata in underground coal mines, resulting in significant deviations from the designed trajectories. Given this, this study proposed a method for tracking and controlling directional borehole trajectories based on model predictive control (MPC).
Focusing on the directional drilling process conducted using a screw drill, this study investigated the movement patterns of the directional screw drill by analyzing the characteristics of directional drilling in complex strata in underground coal mines. Based on the kinematic theory, this study developed a borehole trajectory extension model for sliding directional drilling. Then, the model linearization was processed using Taylor series expansion, aiming to eliminate the coupling relationships between state variables such as dip angle and azimuth. Accordingly, this study constructed a borehole trajectory prediction model and an objective function with the minimum trajectory deviation as the control target. The steady-state errors of the prediction model were reduced using feedback correction. Furthermore, this study designed a model predictive controller with functions of predictive modeling, rolling optimization, and feedback correction. As a result, the optimal control variable for the borehole trajectory—toolface angle—was recommended. Accordingly, the optimized control for tracking directional borehole trajectories was achieved. Finally, the control algorithm was validated using the drilling data from a coal mine in Hancheng City, Shaanxi Province.
The results indicate that the linearized borehole trajectory extension model simplifies the design process of the controller while effectively preserving the characteristics of the original model. The improved MPC method with the feedback correction mechanism for predicting directional borehole trajectories removes the impacts of model adaptation and steady-state errors. Compared to the human experience-controlled decision-making method based on the deflection rules of a screw drill, the improved MPC method reduces the average absolute errors of the dip angle and azimuth by 79.5% and 70.5%, respectively, providing a novel control algorithm for directional borehole trajectories in complex strata.
| [1] |
姚宁平,姚亚峰,方鹏,等. 我国煤矿坑道钻探装备技术进展与展望[J]. 钻探工程,2021,48(1):81−87.
YAO Ningping,YAO Yafeng,FANG Peng,et al. Advances and outlook of coal mine tunnel drilling equipment and technology[J]. Drilling Engineering,2021,48(1):81−87.
|
| [2] |
李泉新. 碎软煤层复合定向钻进技术研究与应用[J]. 煤炭科学技术,2018,46(11):101−106.
LI Quanxin. Research and application of drilling technology combined rotary with direction in soft–fragmentized coal seam[J]. Coal Science and Technology,2018,46(11):101−106.
|
| [3] |
INYANG I. J, WHIDBORNE J. F. Bilinear modelling, control and stability of directional drilling[J]. Control Engineering Practice,2019,82:161−172.
|
| [4] |
姚宁平,魏宏超,张金宝,等. 基于钻柱状态估计的坑道回转钻进智能优化方法[J]. 煤田地质与勘探,2023,51(11):141−148. DOI: 10.12363/issn.1001-1986.23.06.0329
YAO Ningping,WEI Hongchao,ZHANG Jinbao,et al. Intelligent optimization method for tunnel rotary drilling based on drill string status estimation[J]. Coal Geology & Exploration,2023,51(11):141−148. DOI: 10.12363/issn.1001-1986.23.06.0329
|
| [5] |
方俊,刘飞,李泉新,等. 煤矿井下碎软煤层空气复合定向钻进技术与装备[J]. 煤炭科学技术,2019,47(2):224−229.
FANG Jun,LIU Fei,LI Quanxin,et al. Air compound directional drilling technology and equipment for soft–fragmentized seam underground coal mine[J]. Coal Science and Technology,2019,47(2):224−229.
|
| [6] |
LESNIAK G,BRUNNER D J,TOPOR T,et al. Application of long–reach directional drilling boreholes for gas drainage of adjacent seams in coal mines with severe geological conditions[J]. International Journal of Coal Science & Technology,2022,9(1):88.
|
| [7] |
XU Yanpeng,WANG Liguo,CHEN Xiangjun,et al. Improvement of drilling quality using precision directional drilling technology[J]. Journal of Petroleum Exploration and Production Technology,2022,12(11):3149−3164. DOI: 10.1007/s13202-022-01510-4
|
| [8] |
田宏亮,陈建,张杰,等. 淮南矿区软煤气动定向钻进技术与装备研究及应用[J]. 煤田地质与勘探,2022,50(10):151−158. DOI: 10.12363/issn.1001-1986.22.01.0014
TIAN Hongliang,CHEN Jian,ZHANG Jie,et al. Air–driven directional drilling technology and equipment in soft coal seam of Huainan mining area[J]. Coal Geology & Exploration,2022,50(10):151−158. DOI: 10.12363/issn.1001-1986.22.01.0014
|
| [9] |
聂超,王毅,姚亚峰,等. 碎软煤层气动双管定向钻进排粉特性分析及应用[J]. 煤田地质与勘探,2022,50(5):159−166. DOI: 10.12363/issn.1001-1986.21.12.0789
NIE Chao,WANG Yi,YAO Yafeng,et al. Powder discharge characteristics of pneumatic double pipe directional drilling in broken soft coal seams and its application[J]. Coal Geology & Exploration,2022,50(5):159−166. DOI: 10.12363/issn.1001-1986.21.12.0789
|
| [10] |
BINA S M,FUJII H,TSUYA S,et al. Evaluation of utilizing horizontal directional drilling technology for ground source heat pumps[J]. Geothermics,2020,85:101769.
|
| [11] |
祖雨彤,王璐,巩达,等. 基于磁信标的水平定向钻进导向技术研究[J]. 煤田地质与勘探,2023,51(9):100−108. DOI: 10.12363/issn.1001-1986.23.05.0155
ZU Yutong,WANG Lu,GONG Da,et al. Magnetic beacon–based horizontal directional drilling guidance technology[J]. Coal Geology & Exploration,2023,51(9):100−108. DOI: 10.12363/issn.1001-1986.23.05.0155
|
| [12] |
ZAFARIAN H,AMERI M,VAGHASLOO Y A,et al. Error reduction of tracking planned trajectory in a thin oil layer drilling using smart rotary steerable system[J]. Journal of Petroleum Science and Engineering,2021,196:107668. DOI: 10.1016/j.petrol.2020.107668
|
| [13] |
VILLARREAL MAGANA O A,MONSIEURS F H A,DETOURNAY E,et al. Robust output–feedback control of 3D directional drilling systems[J]. International Journal of Robust and Nonlinear Control,2018,28(18):5915−5942. DOI: 10.1002/rnc.4362
|
| [14] |
KE Chong,SONG Xingyong. Control design for directional down–hole drilling using dual–heuristic programming with a high–order dynamic model[J]. IEEE Transactions on Control Systems Technology,2022,30(3):1009−1020. DOI: 10.1109/TCST.2021.3094537
|
| [15] |
WEI Hongchao,YAO Ningping,TIAN Hongliang,et al. A predicting model for near–horizontal directional drilling path based on BP neural network in underground coal mine[J]. Journal of Advanced Computational Intelligence and Intelligent Informatics,2022,26(3):279−288. DOI: 10.20965/jaciii.2022.p0279
|
| [16] |
ZHANG Chi,ZOU Wei,CHENG Ningbo,et al. Trajectory tracking control for rotary steerable systems using interval type–2 fuzzy logic and reinforcement learning[J]. Journal of the Franklin Institute,2018,355(2):803−826. DOI: 10.1016/j.jfranklin.2017.12.001
|
| [17] |
ZHANG Chi,ZOU Wei,CHENG Ningbo,et al. Adaptive fault–tolerant control for trajectory tracking and rectification of directional drilling[J]. International Journal of Control,Automation and Systems,2022,20(1):334−348.
|
| [18] |
ZHANG Dian,WU Min,LU Chengda,et al. A deviation correction strategy based on particle filtering and improved model predictive control for vertical drilling[J]. ISA Transactions,2021,111:265−274. DOI: 10.1016/j.isatra.2020.11.023
|
| [19] |
ZHANG Dian,WU Min,LU Chengda,et al. Tube–based adaptive model predictive control for deviation correction in vertical drilling process[J]. IEEE Transactions on Industrial Electronics,2022,69(9):9419−9428. DOI: 10.1109/TIE.2021.3113020
|
Copyright of website design © Editorial Office of Coal Geology & Exploration 陕ICP备05001372号-6
陕公网安备 61019002002193号
Address: Editorial Office of Coal Geology & Exploration, No.82 Jinye 1st Rd, High-Tech Zone, Xi'an City, Shaanxi, China
Tel: 029-81778075 E-mail: ccrimtdzykt@vip.163.com
Supported by: Beijing Renhe Information Technology Co., Ltd. 
DownLoad: