TWO METHODS FOR CONTINUOUS MONITORING OF HARMONIC DISTORTION IN VIBROSEIS SIGNALS1

The quality of Vibroseis survey data can be improved by continuously monitoring the vibrator's baseplate and reaction mass accelerations. Equipment failures can be detected as they occur, rather than relying on similarity trials at the beginning and end of the day's production. Equipment faults can then be corrected as they happen and thus would not have a detrimental effect on the quality of the survey data. Source efficiency can be optimized by monitoring the amount of harmonic distortion generated by the vibrator at different drive levels on the different surfaces which may be encountered during a survey. Phase problems introduced by poor coupling of the baseplate to the ground can also be identified and addressed in the field. Rapid analysis of vibrator signals is required if continuous monitoring is to be useful. Frequency-time (f-t) analyses of vibrator signals are often used in processing centres, but are slow and require a large storage capacity which makes the technique unsuitable for a field analysis system. The two methods proposed to analyse vibrator signals entail the use of hodograms and time-varying notch filters. Hodograms provide a qualitative analysis of harmonic distortion and vibrator performance. A fast, time-varying notch filter gives quantitative and qualitative information about the harmonic distortion present in the signal and can be used to identify problems with vibrator behaviour. Both the hodogram and fast, time-varying notch filter methods can analyse the vibrator's reaction mass and baseplate accelerations as it progresses through its sweep and can present automatically interpreted results to the operator before moving to the next vibrator point.     

Modelling and modal analysis of seismic vibrator baseplate

The vibroseis method must be extended to its limits as the search for oil and gas continues on land. To successfully improve vibroseis data quality, it is crucial to evaluate each element in the vibroseis data acquisition system and ensure that the contribution from each element is successful. Vibroseis systems depend greatly upon the ability of vibrators to generate synchronous, repeatable ground-force sweeps over a broad frequency range. This requires that the reaction mass and the baseplate of the vibrator move as rigid bodies. However, rigid-body motion is not completely true for high- frequency vibrations, especially for the vibrator baseplate. In order to accurately understand the motion of the vibrator baseplate, a finite element analysis model of the vibrator baseplate and the coupled ground has been developed. This model is useful for simulating the vibrator baseplate dynamics, evaluating the impact of the baseplate on the coupled ground and vibrator baseplate design. Model data demonstrate that the vibrator baseplate and its stilt structure are subject to six significant resonant frequencies in the range of 10–80 Hz. Due to the low rigidity of the baseplate, the baseplate stilt structure experiences severe rocking motions at lower frequencies and the baseplate pad experiences severe flexing motions at higher frequencies. Flexing motions cause partial decoupling, which gives rise to increased levels of harmonic distortion and less useable signal energy. In general, the baseplate pad suffers more bending and flexing motions at high frequencies than low frequencies, leading less efficiency in transmitting the useable energy into the ground.     

Developments in vibrator control

Hydraulic limitations, non-rigidity of the baseplate as well as variable characteristics of the ground constantly distort the downgoing energy output by vibrators. Therefore, a real time feedback control must be performed to continuously adjust the emitted force to the reference pilot signal. This ground force is represented by the weighted sum of the reaction mass and the baseplate accelerations. It was first controlled with an amplitude and phase locked loop system, poorly reactive and sensitive to noise. Later on, new vibrator electronics based on a digital model of the vibrator were introduced. This model is based on the physical equations of the vibrator and of the ground. During an 'identification' process, the model is adjusted to each particular vibrator. Completed by a Kalman adaptive filter to remove the noise, it computes ten estimated states via a linear quadratic estimator. These states are used by a linear quadratic control to compute the torque motor input and to compare the ground force estimated from the states with the pilot signal. Test results using downhole geophones demonstrate the benefit of filtered mode operation.     

ON THE DETERMINATION OF THE DOWNGOING P-WAVES RADIATED BY THE VERTICAL SEISMIC VIBRATOR*

It is well recognized that in order to realize the full potential of the Vibroseis technique, one needs to ensure accurate phase locking and a meaningful cross-correlation. To achieve these two important objectives we require an accurate estimate of the compressional stress wave radiated by the vibrator into the ground. In this paper a simple method (subject of a patent application) is developed for predicting the compressional stress waves radiated by a vertical vibrator. The main feature of the proposed method is that it involves the field measurement of the acceleration of the reaction mass and the baseplate, respectively. The method is illustrated by computing the compressional stress waves generated by a typical vertical vibrator radiating into ice, chalk, sand, and mud. It is shown that for a seismic vibrator radiating into hard ground the pressure of the downgoing P-wave is 180° out of phase with the baseplate velocity. It is also shown that when the driving force of the seismic vibrator has a flat amplitude spectrum, the amplitude spectrum of the downgoing P-wave falls off by 6 dB/octave towards low frequencies.     

On the accuracy of the ground force estimated in vibroseis acquisition

For a linear elastic Earth the time derivative of the ground force is considered proportional to the far-field wavelet. Under the assumption that the baseplate is stiff and the bending forces of the baseplate are negligible, the ground force is also approximated by the sum of the accelerations of the baseplate and the reaction mass weighted by the respective masses. Combining these two assumptions, the time derivative of the weighted sum is considered proportional to the far-field wavelet. This result, often referred to as the far-field wavelet assumption, although convenient and most often employed is not always valid. We explore its validity using the spectral harmonic ratios of recorded data, which are used extensively in data filtering and analysis of vibratory data. We show that the far-field wavelet assumption fails particularly for harmonic components of even order. More compact soil after repeated shots further invalidates this assumption. Non-linear modelling of the ground under the vibrator point may provide a direction towards solving this discrepancy. Finally, we describe a method for the estimation of the harmonic spectral ratios.     

SEISMIC VIBRATOR MODELLING1

The wavefield in, and at the surface of, a homogeneous, isotropic, perfectly elastic half-space, excited by a traction distribution at the surface of the medium is investigated. The emitted wavefield is a spatial convolution of the surface tractions and the spatial impulse response. The properties of the wavefield in the far-field of the medium are derived and it is shown that the far-field particle velocity is essentially equal to a weighted sum of the time derivative of the integrated surface tractions, that is, of the components of the ‘ground force’. The theory is valid for an arbitrary geometry and orientation of the surface tractions, and is independent of the boundary conditions at the surface of the medium. The surface tractions are related to a source that consists of a mass distribution with an arbitrary force distribution imposed upon it. A boundary condition is introduced that accounts for the mass load and the forces applied to it but neglects vibrations within the mass. The boundary condition follows from the equation of motion of the surface mass load. The theory is applied to the Vibroseis configuration, using a P-wave vibrator model with a uniformly distributed force imposed on top of the baseplate, and assuming that horizontal surface traction components are absent. The distribution of displacement and stress directly underneath the baseplate of a single vibrator and an array of vibrators is investigated. Three different boundary conditions are used: (1) assuming uniform pressure, (2) assuming uniform displacement, (3) using the equation of motion of the baseplate as a boundary condition. The calculations of the distribution of stress and displacement over the plate for different elastic media and several frequencies of operation show that only the results obtained with the mixed boundary condition agree with measurements made in the field. The accuracy of three different phase-feedback signals is compared using synthetic data. Baseplate velocity phase-feedback leads to huge deviations in the determination of the far-field wavelet; reaction mass acceleration phase-feedback looks stable but neglects the differentiating earth filter; and phase-feedback to a weighted sum of baseplate and reaction mass accelerations becomes unstable with increasing frequency. The instability can be overcome using measurements over the whole baseplate. The model can be extended to a lossy layered earth.     

THE AMPLITUDE AND PHASE RESPONSE OF A SEISMIC VIBRATOR*

The amplitude and phase response of a simple model is compared with the performance of a real vibrator working in the field. The field results show a characteristic phase response which confirms that the real drive force applied to the baseplate and its load impedance is faithfully represented by the acceleration of the reaction mass. It follows that all the parameters necessary to calculate the load impedance and the true power dissipated in the earth can be measured at the output of the vibrator. It also follows that the current method of baseplate phase compensation should be reconsidered.     

Break through the limits of vibroseis data quality

The vibroseis method has become the principal data acquisition method in land seismic exploration. It seems that this method has been extended to its limits as the search for energy resources continues. Many practical issues arising from field operations have remained theoretically unexplained, for example, variations in wavelet arrival time, inaccurate wavelet estimation and harmonics in the wavelet itself. The focus of this paper is the proposal of a new model, which is referred to as the vibrator‐coupled ground model, to simulate the filtering effects of a complex coupling system consisting of the coupling between the baseplate and the ground as well as the coupling between the captured ground mass near the vibrator baseplate and the surrounding earth. With this vibrator‐coupled ground model many of the practical issues mentioned above were reasonably addressed. Furthermore, it was demonstrated from experimental tests that both the pilot sweep and the weighted‐sum groundforce, when filtered by the vibrator‐coupled ground model, are proportional to the far‐field particle velocity whereas the unfiltered signals are not. The harmonics on the filtered weighted‐sum groundforce successfully maintain a proportional relationship with the harmonics seen in the far‐field signal.     

Pushing the vibrator ground-force envelope towards low frequencies

Several mechanical and hydraulic limitations hinder the ground-force energy output of a seismic vibrator at low frequencies. The hydraulic pump flow, pump response time, reaction mass stroke, servo valve stroke, engine horsepower, accumulator size, harmonic distortion and vehicle chassis isolation each play a role in limiting the ground-force energy output of vibrators. In addition, the peak-decoupling force – which is defined as the smaller value of either the maximum peak force or the hold-down weight – also plays a role in limiting ground-force energy production. A model useful for simulating seismic vibrator dynamics is developed to evaluate the impact of these parameters on the vibrator fundamental force envelope at low frequencies. Model data show that among these factors the reaction mass stroke and the peak-decoupling force are key parameters for setting the target fundamental force that can be achieved at low frequencies. Formulas are derived to estimate fundamental force, peak force and the reaction mass displacement. These formulas can serve as guidelines for sweep designers who plan to design low frequency sweeps with considerable dwell time in the lower frequency ranges. Test data show that formulas can be used to profile the vibrator envelope at low frequencies.     

Nonlinear analysis on the coupling process of electromagnetic vibrator and earth

Vibrator is an excitation equipment of the vibratory source in the seismic exploration[1―3]. In order to ap-proach the δ function, dynamite can be used to release high energy in an instantaneous explosion and form the seismic wavelet. On the other hand, a portable vi-brator sweeps a low energy signal for a long time to simulate the function of an explosion source. The re-flection signal of the portable vibrator is estimated for time-delay by digital cross correlation technology, and the disp…     

Review of vibroseis data acquisition and processing for better amplitudes: adjusting the sweep and deconvolving for the time-derivative of the true groundforce

The goal of vibroseis data acquisition and processing is to produce seismic reflection data with a known spatially-invariant wavelet, preferably zero phase, such that any variations in the data can be attributed to variations in geology. In current practice the vibrator control system is designed to make the estimated groundforce equal to the sweep and the resulting particle velocity data are cross-correlated with the sweep. Since the downgoing far-field particle velocity signal is proportional to the time-derivative of the groundforce, it makes more sense to cross-correlate with the time-derivative of the sweep. It also follows that the ideal amplitude spectrum of the groundforce should be inversely proportional to frequency. Because of non-linearities in the vibrator, bending of the baseplate and variable coupling of the baseplate to the ground, the true groundforce is not equal to the pre-determined sweep and varies not only from vibrator point to vibrator point but also from sweep to sweep at each vibrator point. To achieve the goal of a spatially-invariant wavelet, these variations should be removed by signature deconvolution, converting the wavelet to a much shorter zero-phase wavelet but with the same bandwidth and signal-to-noise ratio as the original data. This can be done only if the true groundforce is known. The principle may be applied to an array of vibrators by employing pulse coding techniques and separating responses to individual vibrators in the frequency domain. Various approaches to improve the estimate of the true groundforce have been proposed or are under development; current methods are at best approximate.     

Linear dynamic modeling of a uni‐axial servo‐hydraulic shaking table system

This paper focuses on the development of a linear analytical model (even though servo‐hydraulic actuation systems are inherently non‐linear, especially for large amplitude simulations — near the performance capacity of the system — linearized models proved experimentally to be quite effective overall in capturing the salient features of shaking table dynamics) of a uni‐axial, servo‐hydraulic, stroke controlled shaking table system by using jointly structural dynamics and linear control theory. This model incorporates the proportional, integral, derivative, feed‐forward, and differential pressure gains of the control system. Furthermore, it accounts for the following physical characteristics of the system: time delay in the servovalve response, compressibility of the actuator fluid, oil leakage through the actuator seals and the dynamic properties of both the actuator reaction mass and test structure or payload. The proposed model, in the form of the total shaking table transfer function (i.e. between commanded and actual table motions), is developed to account for the specific characteristics of the Rice University shaking table. An in‐depth sensitivity study is then performed to determine the effects of the table control parameters, payload characteristics, and servovalve time delay upon the total shaking table transfer function. The sensitivity results reveal: (a) a potential strong dynamic interaction between the oil column in the actuator and the payload, and (b) the very important effect of the servovalve time delay upon the total shaking table transfer function. Copyright © 2000 John Wiley & Sons, Ltd.     

消除滑动扫描地震数据中谐波干扰的反相关方法(英文)

滑动扫描技术是高效、高保真、环保的可控震源勘探技术之一,是下一组震源不必等待上一组震源震动结束即可开始震动的高效采集方法。该技术由于缩短了相邻两炮的等待时间,使得生产效率得到显著提高。但是后一炮的谐波畸变与前一炮的基波信号混叠在一起,不易分离,在相关后的地震记录上形成了严重的谐波干扰,降低了地震资料的质量。本文提出一种反相关方法来压制滑动扫描地震数据中的谐波干扰。该方法首先把地面力信号分解为基波和各阶谐波分量;然后将后一炮的相关前数据分别与各分量相关,只选取正时间轴中对应分量的自相关部分,利用各分量的反相关算子提取各阶谐波信息;最后从前一炮数据中减去提取出的高阶谐波,得到压制谐波后的地震记录。该方法对有效信号影响小,可同时处理相关前和相关后数据,而且算法简单稳定,计算效率高。本文分别对理论模型和实际数据进行处理,验证了该方法消除谐波干扰的有效性。     

疏松地表可控震源高频畸变分析及改善方法

针对可控震源高频拓展,一些使用者只是简单提高高频截止频率,出现了较多问题,如在沙漠、草场等疏松地表区域会出现高频畸变,严重影响了资料品质.为此,从高频段畸变现象入手,建立可控震源与地表振动模型,深入研究了震源振动输出力信号.分析表明高频段重锤与平板加速度之间产生较大相位差,造成可控震源系统过载是产生高频畸变的原因,并进一步提出了高频优化能量补偿扫描技术的方法改善高频畸变,通过试验对比说明了该方法能够提高高频输出信号的稳定性,降低高频畸变,也为以后解决类似问题提供帮助.     

Weighted sum method for calculating ground force: an evaluation by using a portable vibrator system

Using a lightweight portable vibrator, we have evaluated the accuracy of the 'weighted sum' method for calculating ground force. Experiments in which the vibrator was suspended elastically have shown that, contrary to expectations based on standard theory, the amplitude of the weighted sum ground force was significantly above zero at high frequencies (> 500 Hz). Complementary investigations with load cells confirmed these results. If not accounted for, these deviations may introduce significant 'vibroseis-correlation noise' in processed records. Furthermore, we have demonstrated that ground force and base-plate velocity can be used to estimate the radiation impedance, which describes the interaction of (vibratory) sources with the ground. Using the mechanical characteristics of the system (i.e. maximum displacement, maximum velocity and maximum acceleration of the base-plate) and the radiation impedance, the behaviour of the portable vibrator on typical Dutch soil types was evaluated. We found that for the same sweep, more high-frequency energy could be generated on hard grounds (e.g. concrete) characterized by a higher radiation impedance than on softer grounds (e.g. clay or sand). Knowledge of this behaviour may provide important information for use in data interpretation.     

Dynamic force control with hydraulic actuators using added compliance and displacement compensation

A new approach to dynamic force control of mechanical systems, applicable in particular to frame structures, over frequency ranges spanning their resonant frequencies is presented. This approach is implemented using added compliance and displacement compensation. Hydraulic actuators are inherently velocity sources, that is, an electrical signal regulates their velocity response. Such systems are therefore by nature high‐impedance (mechanically stiff) systems. In contrast, for force control, a force source is required. Such a system logically would have to be a low‐impedance (mechanically compliant) system. This is achieved by intentionally introducing a flexible mechanism between the actuator and the structure to be excited. In addition, in order to obtain force control over frequencies spanning the structure's resonant frequency, a displacement compensation feedback loop is needed. The actuator itself operates in closed‐loop displacement control. The theoretical motivation, as well as the laboratory implementation of the above approach is discussed along with experimental results. Having achieved a means of dynamic force control, it can be applied to various experimental seismic simulation techniques such as the effective force method and the real‐time dynamic hybrid testing method. Copyright © 2008 John Wiley & Sons, Ltd.     

SIMULTANEOUS VIBROSEIS RECORDING1

An experiment was undertaken at BP's Fulbeck Geophysical test site to compare the viability of various simultaneous vibroseis recording techniques, which are often recommended as a means of improving data acquisition production rates for 3D seismic surveys. Of particular interest were: (a) the ability to separate the signals from each source during processing, (b) the generation and suppression of harmonics and (c) the effects of any source interaction. Two vibrators were deployed with a baseplate separation of 10 m, about a borehole containing a vertical array of geophones. Our analysis concentrated on the groundforce signals measured at each vibrator and the far-field signatures measured using a vertical geo-phone at a depth of 204 m. By comparing single vibrator records with similar but separated records from a simultaneous recording sequence, signal separability, harmonic suppression and vibrator interaction could be fully studied. Separated far-field signatures from simultaneous vibroseis methods using combinations of up and downsweeps exhibited unsuppressed harmonics and substantial energy from the undesired source which leaked through the correlation process. The ‘up/down’ method was capable of separating the signal from each source by only 12.7 dB, and is therefore unsuitable as a field technique. The variphase simultaneous vibroseis methods studied afforded some harmonic suppression and gave signal separations of about 30.0 dB. Use of variphase simultaneous vibroseis methods will compromise the quality of the data recorded, when compared with single-source acquisition methods. None of the simultaneous vibroseis methods tested provided adequate signal separation and, therefore, cannot be recommended as data acquisition techniques. The ‘alternate sweeping’ method coupled with multispread recording will give the desired improvement in data acquisition rates, while preserving the necessary quality of our seismic data.     

The effects of inter‐vibrator interference on vibrator performance

The output from the hydraulic vibrators typically used for land seismic surveys is controlled by monitoring the acceleration measured by accelerometers mounted on the reaction mass and baseplate. The considerable energy output by such vibrators, which are coupled with the sensitivity of the accelerometers used, results in crosstalk if more than one vibrator is being used. In this paper, we present the results of a field experiment in which we measured the crosstalk between two adjacent vibrators. We found that the level of crosstalk was approximately ‐20 dB when the vibrators were adjacent but decreased with increasing frequency and separation. This result has implications for measurements of vibrator performance, source‐signature deconvolution, and in particular, estimates of the total energy output by a fleet of vibrators.     

磁流变减振驱动器的响应时间试验与分析

本文首先通过分析平行平板间磁流变液流变后的非稳态过程，建立了磁流变减振驱动器响应时间的计算理论。分析表明，磁流变减振驱动器响应时间的主要影响因素是流体的动力粘度和活塞与缸体的间隙，而与流变液的剪切屈服强度和活塞两端的压差无关，利用此理论初步估计的磁流变减振驱动器的响应时间为毫秒级。其次，通过瞬间改变输入电流，进行了磁流变减振驱动器阻尼力响应时间试验。试验结果表明，磁流变减振驱动器的响应时间为百毫秒级，远远大于理论值。最后，计算分析表明，液体气泡的存在延缓了减振驱动器的响应时间。     

震源车地震勘探技术在西安地裂缝勘探中的试验研究

为克服巨大的城市环境干扰,采集高质量的人工地震勘探数据,将大吨位震源车引入到西安地裂缝人工地震勘探中,并在真实城市道路环境下对已知地裂缝进行多项试验,包括抗干扰效果、勘探深度、震源工作参数、垂直叠加次数、不同主频检波器接收、勘探排列长度、最佳反射波接收窗口等,最后将人工地震勘探结果与钻探结果进行验证对比。结果表明,大吨位震源车在实际道路干扰环境下可以得到理想的地震反射剖面,剖面中地裂缝异常明显,推测解释的地裂缝在地面的位置可信。