CN112000042B - Equal network control system and method for multi-electric fracturing device - Google Patents
Equal network control system and method for multi-electric fracturing device Download PDFInfo
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- 238000005553 drilling Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- 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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides an equal network control system of a plurality of electric fracturing devices, wherein output pipelines of the fracturing devices are connected with each other through a main pipeline, the fracturing devices are provided with main control devices, the main control devices are electrically connected with motors, and the main control devices of the fracturing devices are connected with each other through an industrial field bus to form an adaptive equal network. The time of each master control device is synchronous; optionally, a node sends out an initial instruction of binding time; each node receives the initial instruction, and returns to the node which sends the initial instruction after the difference between the receiving time and the binding time in the instruction; averaging the individual time differences; taking the master control device closest to the average number as a master node; the selection of the master node in the equal network is realized through the steps. Because of adopting the self-adaptive equal network structure, the dependence on the control of the upper computer is greatly reduced, and the flexible control is realized. The robustness of the equipment group of the multi-electric fracturing device can be greatly improved, and the occurrence probability of shutdown faults is reduced.
Description
Technical Field
The invention relates to the field of petroleum drilling equipment, in particular to an equal network control system and method for a multi-electric fracturing device.
Background
The fracturing operation is a main measure for increasing and stabilizing yield in the exploration and development of oil and gas fields, and a plurality of high-power fracturing devices are utilized to fracture reservoir rocks and form a diversion channel. Along with the development of ultra-deep well and horizontal well technologies, the required power of the fracturing unit is larger and larger, and the weight and the volume of a single fracturing device are larger and larger. For example, the output pressure of the existing equipment reaches 175Mpa, and the higher pressure also puts higher demands on the clutch in the equipment. In chinese patent document CN107237617a, an electrically driven fracturing device with a single machine and double pump structure is described, where a motor drives two pump head assemblies to operate, and a friction plate assembly of a clutch needs to be hydraulically driven to switch between a disengaged state and a combined state.
More electric fracturing units are required in the prior art to form a group of devices to achieve greater fracturing fluid flow output. With the increase of the output pressure, the difficulty of controlling the equipment group of the multi-fracturing device is greatly increased, and the difficulty of controlling the output pressure in a smaller fluctuation range is very high. In the prior art, an upper computer is generally adopted for control, and the problem is that the work of the whole equipment group is stopped due to the problem of the upper computer, so that great economic loss is easily caused. And the data transmission delay between the upper computer and each electric fracturing device causes either low control precision or very expensive implementation scheme, for example, an external clock with high precision is provided as a reference.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an equal network control system and method for a multi-electric fracturing device, which can greatly improve the robustness of equipment groups of the multi-electric fracturing device and reduce the occurrence probability of shutdown faults. In the preferred scheme, the cost of a control system can be reduced, the control difficulty is reduced, and the stability of the output pressure of the equipment group of the multi-electric fracturing device is improved.
In order to solve the technical problems, the invention adopts the following technical scheme: an equal network control system of a plurality of electric fracturing devices is characterized in that output pipelines of the fracturing devices are connected with each other through a main pipeline, the fracturing devices are provided with main control devices, the main control devices are electrically connected with motors, and the main control devices of the fracturing devices are connected with each other through industrial field buses to form an adaptive equal network.
In the preferred scheme, the motor is a double-extension-shaft motor, and two ends of a motor shaft are respectively connected with the pump head through a clutch;
the pump head is 3, 4, 5 or 6 cylinders.
In a preferred embodiment, the industrial field bus is also electrically connected to an industrial personal computer for collecting and transmitting data.
A control method of an equal network control system adopting the multi-electric fracturing device comprises the following steps:
s1, synchronizing time of each master control device;
s2, optionally a node sends out an initial instruction of binding time;
s3, each node receives the initial instruction, and returns to the node which sends the initial instruction after the difference between the receiving time and the binding time in the instruction;
s4, averaging the time differences;
s5, taking the master control device closest to the average number as a master node;
the selection of the master node in the equal network is realized through the steps.
In the preferred scheme, the method further comprises the step of S01, performing self-checking on each main control device, evaluating the robustness of the main control device, wherein evaluation parameters comprise computing capacity, storage capacity, working life and working temperature, and limiting the main control device with the robustness lower than a preset value to be the qualification of the main node.
In the preferred scheme, if the robustness of the remaining master control devices is lower than the preset value, the master control device with the highest robustness is selected as the master node.
In a preferred embodiment, before step S1, the method further comprises a step of confirming whether the master node exists in the equal network.
In the preferred scheme, in the step S1, an initiating node sends a section of clock pulse, and a receiving node adjusts its own clock to synchronize according to the clock pulse;
the frequency of the clock pulse is gradually increased until the precision limit of each master control device is reached.
In a preferred embodiment, the method further comprises the following steps:
s6, the master node determines the number of each master control device;
s7, the master node performs circumferential indexing of the phase according to the total number of the master control devices;
s8, the master node sends the indexing phase angle to each slave node;
s9, sequentially starting the master node and the slave node according to the sequence of the phase angles;
s10, the main node issues the rotating speed and the real-time phase angle every other time period;
s11, slave nodes follow according to the released rotating speed, and convert a real-time phase angle into a self-following phase angle to carry out closed-loop control;
through the steps, stable output pressure fluctuation under the equal network control of the multi-electric fracturing device is realized.
In the preferred scheme, in the working period of the master node, the slave node is added or withdrawn, and then the steps S6-S11 are re-executed;
when the master node exits, the process goes to step S1 to reselect the master node.
By adopting the scheme, the system and the method for controlling the multiple electric fracturing devices through the equal network greatly reduce the dependence on the control of an upper computer and realize flexible control due to the adoption of the self-adaptive equal network structure. The fault of the upper computer does not influence the work of the equipment group of the multi-electric fracturing device, so that the robustness of the equipment group of the multi-electric fracturing device can be greatly improved, and the occurrence probability of shutdown faults is reduced. In the preferred scheme, the upper computer control is canceled, so that the cost of a control system, particularly the cost of a software part, can be reduced, and the control difficulty is reduced. By means of the advantage of low delay of the equal network structure, stability of output pressure of the multi-electric fracturing device equipment group is improved.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is a schematic diagram of the overall structure of an electric fracturing device equipment group according to the present invention.
Fig. 2 is a schematic structural view of a single electric fracturing device in the invention.
Fig. 3 is a schematic diagram of a connection structure of a master control device in the present invention.
FIG. 4 is a schematic view of a plurality of master devices according to the present invention indexed circumferentially.
FIG. 5 is a schematic diagram of the output pressure of a single electric fracturing apparatus according to the present invention.
FIG. 6 is a schematic diagram of the output pressure of a group of electrical fracturing apparatus devices according to the present invention.
Fig. 7 is a schematic diagram of output pressure fluctuation of the electric fracturing apparatus equipment group in the present invention.
Fig. 8 is a flow chart of the present invention when determining a master node.
Fig. 9 is a schematic diagram of clock synchronization in the present invention.
Fig. 10 is a flowchart of the control of uniformly distributing each master device along the circumference according to the phase in the present invention.
In the figure: the fracturing device 1, the motor 2, the pump head 3, the electrical cabinet 4, the main control device 5, the clock 51, the control part 52, the network part 53, the clutch 6 and the industrial field bus 7.
Detailed Description
Example 1:
as shown in fig. 1-3, in an equal network control system for multiple electric fracturing devices, output pipelines of multiple fracturing devices 1 are connected with each other through a main pipeline, the main pipeline is connected with a wellhead, the fracturing devices 1 are provided with a main control device 5, the main control device 5 is electrically connected with a motor 2, and the main control devices 5 of the fracturing devices 1 are connected with each other through an industrial field bus 7 to form an adaptive equal network. By adopting the scheme of the self-adaptive equal network, the control of the upper computer is omitted, and the operation of a device group formed by a plurality of electric fracturing devices is prevented from being influenced due to the upper computer. In the equipment group of the electric fracturing device, even if part of equipment fails, the equipment can easily exit from the self-adaptive equal network for maintenance, and the rest of the electric fracturing devices can be self-adaptively adjusted to continuously complete the set work.
Industrial field BUS 7 includes one of PROFIBUS, etherCAT, interbus, CANopen, controlNet , ethernet, PROFINET, modbus, RS232/RS485, EPA, G-link, symotion, and NCUC-BUS.
In the preferred scheme shown in fig. 2, the motor 2 is a double-extension-shaft motor, and two ends of a shaft of the motor 2 are respectively connected with the pump head 3 through a clutch 6; the pump head is 3, 4, 5 or 6 cylinders. In this case, each pump head 3 is preferably of a 5-cylinder structure.
In a preferred embodiment, the industrial field bus 7 is also electrically connected to an industrial control computer for collecting and transmitting data. With this structure, it is convenient to collect the operation data of each equipment group or realize remote control, but the control is separated from the self-adaptive equal network, and more commands like high-level commands such as increasing or decreasing pressure, increasing or decreasing flow and the like are more similar.
Example 2:
based on embodiment 1, as shown in fig. 8 and 9, a control method of the network control system for the electric fracturing device comprises the following steps:
s1, synchronizing time of each master control device 5;
in the preferred scheme, in the step S1, an initiating node sends a section of clock pulse, and a receiving node adjusts its own clock to synchronize according to the clock pulse;
the frequency of the clock pulse is gradually increased until the precision limit of each master control device is reached. In chinese patent publication 201410019821.X, a wireless sensor module and a TDMA ad hoc network implementation method are described, in which a scheme for implementing synchronization of each node through slot control is mentioned. In this example, clock synchronization is achieved step by means of clock pulses. As shown in fig. 9, the originating node gives a clock from which the other nodes are approximately tuned, but the synchronization accuracy at this time is low, without taking into account the effects of network delays, operational delays, and operational delays. A clock pulse is issued, for example initially at a frequency of seconds, i.e. a square waveform per second, and then the frequency is stepped up, for example, 1/2 seconds, 1/5 seconds, 1/10 seconds, 1/50 seconds, 1/100 seconds, until the limit of accuracy of the master is reached. This step achieves accurate synchronization of the clocks. But also very fast.
S2, optionally a node sends out an initial instruction of binding time; the optional node refers to a node which is qualified to participate in the election of the main node, and can select a master control device 5 with the largest or smallest serial number, the highest robustness or random selection, and the initial instruction sent is a code which at least comprises an address code, a time code and an event code, the address code is convenient for receiving returned data, the time code is used for operation, and the event code is used for informing other nodes that the instruction is the initial instruction.
S3, each node receives the initial instruction, and returns to the node which sends the initial instruction after the receiving time of each node is differenced from the binding time in the instruction; this approach can be approximated as a delay of each node relative to the initial node. The delays herein include the sum of network delays, computation delays, and operational delays.
S4, averaging the time differences;
s5, taking the master control device closest to the average number as a master node; the probability of the presence of a plurality of closely averaged masters in parallel is very low due to the sufficiently high precision, although the presence may be selected in an optional manner. Since delay is unavoidable, selecting the master with the delay centered as the master node is advantageous in reducing the accumulated error of the delay.
The selection of the master node in the equal network is realized through the steps.
In a further preferred scheme, the nodes sending out the initial instruction may be sequentially selected, the steps S1 to S5 may be performed in multiple rounds, and the master node with the largest number of selections is used as the final master node.
In the preferred scheme, the method further comprises the steps of S01, performing self-checking on each main control device, evaluating the robustness of the main control device, wherein evaluation parameters comprise computing capacity, storage capacity, working life and working temperature, and limiting the main control device with the robustness lower than a preset value to be the qualification of a main node;
in the preferred scheme, if the robustness of the remaining master control devices is lower than the preset value, the master control device with the highest robustness is selected as the master node. By the scheme, the breakdown resistance of the whole system is further improved.
In a preferred embodiment, before step S1, the method further comprises a step of confirming whether the master node exists in the equal network. A period of time may be preset, in which no data sent by the master node is received, step S1 is initiated.
Example 3:
independently or on the basis of the embodiments 1-2, a preferred scheme is as shown in fig. 10, and the method further comprises the following steps:
s6, the master node determines the number of each master control device 5;
s7, the master node performs circumferential indexing of the phase according to the total number of the master control devices 5; as shown in fig. 4. It should be noted that fig. 4 is merely an example for convenience of observation and understanding. In practice, each electric fracturing device has a plurality of cylinders, for example, from 1 to 12 cylinders are different, and each cylinder of each electric fracturing device is distributed in a complete circumference, i.e. in practice, the indexing angle a in the figure is far smaller than that shown in the figure. Taking 5 cylinders as an example, the phase angles among 5 cylinders are uniformly distributed on the circumference, the phase angle of each cylinder on the circumference is 72 degrees, but when 20 groups of 5 cylinders are arranged in an array, the problem of overlapping the phase angles of the cylinders is easy to occur, if the phase angles of a plurality of cylinders are close, a pressure peak appears on an output pressure value, and in a section of the circumference, no cylinder output pressure appears, a pressure valley appears on the output pressure value, which is detrimental to the normal operation of equipment, especially the damage to a high-pressure manifold is large. If the phase angles of the cylinders can be evenly distributed on the circumference, the medium with stable pressure value can be output, and the service life of the equipment is prolonged. Thus, when there are 20 sets of 5 cylinder heads in an array, then the phase angles of the cylinders are distributed with an angular difference of 3.6 °.
S8, the master node sends the indexing phase angle to each slave node; the index phase refers to the phase difference between the slave node and the master node.
S9, sequentially starting the master node and the slave nodes according to the sequence of the preset phase angles;
s10, the main node issues the rotating speed and the real-time phase angle every other time period;
s11, the slave node follows according to the rotation speed issued by the master node, and converts the real-time phase angle into a self-following phase angle to carry out closed-loop control; the slave node first follows the rotation speed, and after the rotation speed approximately reaches the rotation speed of the master node, the slave node follows and adjusts the phase angle according to the phase angle of the master node. Further preferably, in the conversion process, the delay of the network time is calculated as a correction coefficient, thereby further improving the control accuracy.
As shown in fig. 6, when a plurality of electric fracturing apparatuses are simultaneously operated as a group device, the distribution of the individual cylinders should be theoretically as shown in fig. 6 to ensure as uniformity as possible. As shown in fig. 7, the purpose of steps 6 to 11 is to make the pressure difference Q1 as small as possible. Thereby ensuring a smooth output pressure. In fig. 5 and 6, the vertical axis represents pressure, and the horizontal axis represents circumferential phase. In fig. 7, the ordinate indicates pressure and the abscissa indicates time.
Through the steps, stable output pressure fluctuation under the equal network control of the multi-electric fracturing device is realized. The solution in this example can be implemented independently.
In the preferred scheme, in the working period of the master node, the slave node is added or withdrawn, and then the steps S6-S11 are re-executed; the solution in this example can be implemented independently.
In a further preferred step, when the master node exits, the process jumps to step S1, and the master node is reselected.
The above embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention should be defined by the claims, including the equivalents of the technical features in the claims. I.e., equivalent replacement modifications within the scope of this invention are also within the scope of the invention. Because of the limited description, all the combination schemes cannot be exemplified in this example, the technical features of the above embodiments can be combined with each other to generate more technical schemes without collision.
Claims (8)
1. The utility model provides a control method of network control system that many electronic frac devices are equal, the output pipeline of a plurality of frac devices (1) is through total pipeline interconnect, frac device (1) are equipped with master control unit (5), and master control unit (5) are connected with motor (2) electricity, characterized by:
the main control devices (5) of the fracturing devices (1) are connected with each other through an industrial field bus (7) to form an adaptive equal network;
the control method comprises the following steps:
s1, time synchronization of all the master control devices (5);
s2, optionally a node sends out an initial instruction of binding time;
s3, each node receives the initial instruction, and returns to the node which sends the initial instruction after the difference between the receiving time and the binding time in the instruction;
s4, averaging the time differences;
s5, taking the master control device closest to the average number as a master node;
the selection of the master node in the equal network is realized through the steps;
s6, the master node determines the number of each master control device (5);
s7, the master node performs circumferential indexing of the phase according to the total number of the master control devices (5);
s8, the master node sends the indexing phase angle to each slave node;
s9, the master node and the slave node are started in sequence according to the sequence of the phase angles;
s10, the main node issues the rotating speed and the real-time phase angle every other time period;
s11, slave nodes follow according to the released rotating speed, and convert a real-time phase angle into a self-following phase angle to carry out closed-loop control;
through the steps, stable output pressure fluctuation under the equal network control of the multi-electric fracturing device is realized.
2. The control method of the multi-electric fracturing apparatus equal network control system according to claim 1, characterized in that: the motor (2) is a double-extension-shaft motor, and two ends of a shaft of the motor (2) are respectively connected with the pump head (3) through a clutch (6);
the pump head is 3, 4, 5 or 6 cylinders.
3. The control method of an equal network control system of a multi-electric fracturing apparatus according to claim 1 or 2, characterized in that: the industrial field bus (7) is also electrically connected to an industrial control computer for collecting and transmitting data.
4. The control method of the multi-electric fracturing apparatus equal network control system according to claim 1, characterized in that:
and S01, performing self-checking on each main control device, evaluating the robustness of the main control device, wherein evaluation parameters comprise computing capacity, storage capacity, working life and working temperature, and limiting the main control device with the robustness lower than a preset value to be the qualification of the main node.
5. The control method of the multi-electric fracturing apparatus equal network control system according to claim 4, wherein: and if the robustness of the rest main control devices is lower than the preset value, selecting the main control device with the highest robustness as the main node.
6. The control method of the multi-electric fracturing apparatus equal network control system according to claim 1, characterized in that: before step S1, a step of confirming whether a master node exists in the equal network is further included.
7. The control method of the multi-electric fracturing apparatus equal network control system according to claim 1, characterized in that: in the step S1, an initiating node sends a section of clock pulse, and a receiving node adjusts the clock of the receiving node to synchronize according to the clock pulse;
the frequency of the clock pulse is gradually increased until the precision limit of each master control device is reached.
8. The control method of the multi-electric fracturing apparatus equal network control system according to claim 1, characterized in that: in the working period of the master node, the slave node is added or withdrawn, and the steps S6-S11 are re-executed;
when the master node exits, the process goes to step S1 to reselect the master node.
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