A model predictive control method for directional borehole trajectories in underground coal mines
ObjectiveIt 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 traj...
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Editorial Office of Coal Geology & Exploration
2025-02-01
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| Series: | Meitian dizhi yu kantan |
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| Online Access: | http://www.mtdzykt.com/article/doi/10.12363/issn.1001-1986.24.07.0469 |
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| author | Hao LI Ningping YAO Chengda LU Jinbao ZHANG Hongchao WEI Jiajun WU Jinyu LI |
| author_facet | Hao LI Ningping YAO Chengda LU Jinbao ZHANG Hongchao WEI Jiajun WU Jinyu LI |
| author_sort | Hao LI |
| collection | DOAJ |
| description | ObjectiveIt 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). MethodsFocusing 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. Results and Conclusions 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. |
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| institution | OA Journals |
| issn | 1001-1986 |
| language | zho |
| publishDate | 2025-02-01 |
| publisher | Editorial Office of Coal Geology & Exploration |
| record_format | Article |
| series | Meitian dizhi yu kantan |
| spelling | doaj-art-3acdad55723b4767a7e8801bf1762bb62025-08-20T02:04:52ZzhoEditorial Office of Coal Geology & ExplorationMeitian dizhi yu kantan1001-19862025-02-0153220521210.12363/issn.1001-1986.24.07.046924-07-0469-li-haoA model predictive control method for directional borehole trajectories in underground coal minesHao LI0Ningping YAO1Chengda LU2Jinbao ZHANG3Hongchao WEI4Jiajun WU5Jinyu LI6CCTEG China Coal Research Institute, Beijing 100013, ChinaCCTEG China Coal Research Institute, Beijing 100013, ChinaSchool of Automation, China University of Geosciences, Wuhan 430074, ChinaCCTEG Xi’an Research Institute (Group) Co., Ltd., Xi’an 710077, ChinaCCTEG Xi’an Research Institute (Group) Co., Ltd., Xi’an 710077, ChinaSchool of Automation, China University of Geosciences, Wuhan 430074, ChinaSchool of Automation, China University of Geosciences, Wuhan 430074, ChinaObjectiveIt 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). MethodsFocusing 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. Results and Conclusions 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.http://www.mtdzykt.com/article/doi/10.12363/issn.1001-1986.24.07.0469underground coal minescrew drilldirectional drillingtrajectory modelmodel predictive controlcontrol of trajectory tracking |
| spellingShingle | Hao LI Ningping YAO Chengda LU Jinbao ZHANG Hongchao WEI Jiajun WU Jinyu LI A model predictive control method for directional borehole trajectories in underground coal mines Meitian dizhi yu kantan underground coal mine screw drill directional drilling trajectory model model predictive control control of trajectory tracking |
| title | A model predictive control method for directional borehole trajectories in underground coal mines |
| title_full | A model predictive control method for directional borehole trajectories in underground coal mines |
| title_fullStr | A model predictive control method for directional borehole trajectories in underground coal mines |
| title_full_unstemmed | A model predictive control method for directional borehole trajectories in underground coal mines |
| title_short | A model predictive control method for directional borehole trajectories in underground coal mines |
| title_sort | model predictive control method for directional borehole trajectories in underground coal mines |
| topic | underground coal mine screw drill directional drilling trajectory model model predictive control control of trajectory tracking |
| url | http://www.mtdzykt.com/article/doi/10.12363/issn.1001-1986.24.07.0469 |
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