CN102255590B - Adaptive permanent magnet brushless DC motor macrocontrol system for beam-pumping unit - Google Patents
Adaptive permanent magnet brushless DC motor macrocontrol system for beam-pumping unit Download PDFInfo
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- CN102255590B CN102255590B CN2011102036517A CN201110203651A CN102255590B CN 102255590 B CN102255590 B CN 102255590B CN 2011102036517 A CN2011102036517 A CN 2011102036517A CN 201110203651 A CN201110203651 A CN 201110203651A CN 102255590 B CN102255590 B CN 102255590B
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Abstract
The invention discloses an adaptive permanent magnet brushless DC motor macrocontrol system for a beam-pumping unit, and relates to a motor control system for the beam-pumping unit. The adaptive permanent magnet brushless DC motor macrocontrol system consists of a permanent magnet brushless DC motor, a rotor position sensor and a controller. The control system performs control by taking the time t<*>=60N, s of each frequency of stroke of the pumping unit as instruction time and a sampling period; in the sampling period t<*>, the average revolution per minute n-iN of the motor is determined as a control target; and in the time t<*>, an operating point of the motor slides on a sagging mechanical characteristic curve determined by a pulse width modulation (PWM) duty ratio D along the change of load torque, thereby creating conditions for reducing stroke loss and making the motor always work in a high efficiency area. Compared with a three-phase squirrel cage asynchronous motor, the control system can reduce about 30 percent of energy consumed by the beam-pumping unit in the production of each ton meter of liquid.
Description
Technical field
The present invention relates to beam pumping unit and use electric machine control system, particularly relate to beam pumping unit, belong to macroscopical speed stabilizing control technology that erratic variation is done in motor speed closed-loop control, load with permanent-magnet brushless DC electric machine macroscopic view adaptive control system.
Background technology
Beam pumping unit accounts for more than 70% of mechanical oil recovery equip ment.When starting beam pumping unit, motor need be exported big detent torque, so that the pumping unit system that comprises counterweight is quickened.The load of each jig frequency of beam pumping unit all maybe be different, and load torque is all changing constantly in the middle of a jig frequency.
For a long time, most beam pumping units adopt universal 3 phase programme of cage asynchronous motor (for example Y series asynchronous motor) as power.This has just brought the unmatched problem of a series of power sources and load characteristic.The detent torque of 3 phase programme of cage asynchronous motor approximately is about 2 times of its nominal torque; So, when oil pumper is selected motor capacity, be not to be criterion with equivalent power output; But be prerequisite to satisfy detent torque, this has just caused " low load with strong power " phenomenon.Therefore, the motor start-up electric current is very big, and motor is operated under the low load factor, causes motor to be operated in efficient and all low operating state of power factor.In 5%, its mechanical property is very hard greatly for the revolutional slip of the universal asynchronous motor of 3 phase cage types, and this has just caused not matching of power source and load, has reduced system effectiveness.
For the energy consumption and increase oil production that reduces unit production fluid amount; Study and tested polytype motor both at home and abroad; For example: high slip and superelevation slip 3 programme of cage asynchronous motor, frequency control 3 phase programme of cage asynchronous motor, 3 phase programme of cage asynchronous motor mutually add electromagnetic clutch, 3 phase coil wound rotor asynchronous motors, rare-earth permanent-magnet synchronous motor, switched reluctance motor or the like, and experiment effect is all desirable not enough.
Summary of the invention
The object of the present invention is to provide a kind of beam pumping unit with permanent-magnet brushless DC electric machine macroscopic view adaptive control system; This system counts under the prerequisite in assurance beam pumping unit per minute jig frequency; Slided on sagging mechanical characteristic with the load size in the working point of its drive motor; Reaching the matched well of motor, sucker rod and oil pump piston motion, thereby reduced loss of plunger stroke.
The objective of the invention is to realize through following technical scheme:
Beam pumping unit is made up of brushless, permanently excited direct current motor, rotor-position sensor and controller with permanent-magnet brushless DC electric machine macroscopic view adaptive control system, and its said control system is the time t with each jig frequency of oil pumper
*=60/N, s, for the control of instruction time and sampling period, wherein, N is the jig frequency number of oil pumper per minute; PWM duty ratio D through the output of forcibly changing voltage source inverter is operated on a certain mechanical characteristic motor in the middle of a jig frequency; At a sampling period t
*In, motor per minute average revolution n=iN is decided to be controlled target, and wherein i is the oil pumper speed reducing ratio; At t
*In time; The working point of motor is with the variation of load torque; On the sagging mechanical characteristic of being confirmed by PWM duty ratio D, slide, make oil pumper count the cooperation that obtains motor, sucker rod and piston motion under the prerequisite in assurance per minute jig frequency, motor moves with efficient district at permanent power.
Described beam pumping unit is with permanent-magnet brushless DC electric machine macroscopic view adaptive control system, the instruction t of its said each jig frequency
*Be from host computer output to the surface dynamometer card data processing, or from experiential artificial setting.
Described beam pumping unit is with permanent-magnet brushless DC electric machine macroscopic view adaptive control system, its described instruction time t
*, s uses the umber of pulse 60f/N of each jig frequency to express, wherein, f=3piN/60, Hz, p are the number of pole-pairs of motor; Motor is at a jig frequency time t
*In average revolutions per minute n, jump along the pulse with rotor-position sensor U, V, W are last that strokes per minute 3pn/N counts, Bing Yi ⊿ n=60f-3pn is the foundation of the PWM duty ratio D that exports of forcibly changing voltage source inverter.
Described beam pumping unit is with permanent-magnet brushless DC electric machine macroscopic view adaptive control system, and its brushless, permanently excited direct current motor system forms, and includes 3 cross streams supply voltages; 3 phase full-bridge rectifiers; Filtering capacitor; The direct current bus bar flow sensor; Voltage-type 3 phase inverters; Controller; P is to pole permanent magnet brushless direct current drive machine stator; P is to the pole permanent magnet brushless dc motor rotor; Rotor-position sensor.
Advantage of the present invention and effect are:
The present invention counts under the prerequisite in assurance beam pumping unit per minute jig frequency; Slided on sagging mechanical characteristic with the load size in the working point of its drive motor; Reaching the matched well of motor, sucker rod and oil pump piston motion, thereby reduced loss of plunger stroke.Sliding on sagging mechanical characteristic in the working point of motor, makes motor be bordering on output-constant operation, and this just provides motor to always work in the condition in efficient district.This control system with 3 mutually cage type asynchronous motor compare, the energy consumption that beam pumping unit is produced rice liquid per ton can reduce about 30%.
Description of drawings
Fig. 1 is the driving-chain figure of beam pumping unit;
Fig. 2 is motor speed when constant, the position of suspension point, speed, acceleration and crank load diagram;
Fig. 3 is sagging electrical machinery performance plot;
Fig. 4 is the electric motor drive system structured flowchart;
Fig. 5 implements block diagram for the brushless, permanently excited direct current motor that drives beam pumping unit.
Embodiment
With reference to the accompanying drawings the present invention is elaborated.
The characteristics of motion of beam pumping unit can be similar to regards the simple harmonic motion that crank connecting link becomes rotatablely moving of motor sucker rod as.Therefore, the linear position S of oil pumper suspension point
A, movement velocity V
A, acceleration a
AIt all is the function of crank axle rotational angle theta.
S
A=a/b·r(?1-cosθ?)
V
A=a/b·r·Ω·sinθ
a
A=?a/b·r·Ω
2·cosθ
In the formula, a, b, r, θ see Fig. 1; Ω is a crank angular velocity, rad/s
When θ=0, S
A=0, be equivalent to suspension point A and be positioned at minimum point, just the piston of oil well pump is in minimum point, is the end point of down stroke and the starting point of upstroke, when θ=180 °, S
A=2ar/b is equivalent to suspension point A and is positioned at peak, is the end point of upstroke and the starting point of down stroke.Accomplish a upstroke and a down stroke is called a jig frequency.Decide per minute jig frequency number according to the down-hole liquid situation.
Fig. 2 is when Ω is constant, the position S of suspension point A
A=(θ), the linear velocity V of suspension point
A=(θ), the acceleration a of suspension point
A=(θ); Show the load torque T on the crank axle
L=(θ), balancing moment T
B=(θ) export torque T only with crank axle
θ=(θ) sketch map.T
LBe proportional to the stressed F of suspension point A
A
The stressed F of upstroke suspension point A
AUApproximation simplifies and is gravity and inertia force sum:
F
AU?=?(?W
r?+?W
l?)·(?Ω
2cosθ/g?+?1?)
The stressed F of down stroke suspension point A
ADApproximation can simplify into the difference of gravity, buoyancy and inertia force and:
F
AD?=?(?W
r?-?W
rl?)?+?W
r/g·Ω
2·cosθ
In the formula, W
rBe the weight of sucker rod, piston; W
lBe the weight of the above liquid of piston; W
RlBe the buoyancy of liquid to sucker rod; G is an acceleration of gravity.
Can know from above-mentioned analysis: interval at θ=0 ~ pi/2 when Ω is constant, a
A>=0, and θ=0, a
AReach maximum and and Ω
2Be directly proportional, upstroke begins at a time when this.Suspension point A receives maximum tension F
AU (max)=(W
r+ W
l) (Ω
2/ g+1).Dan property Bian Xing ⊿ L takes place in the relative oil pipe of sucker rod, and on the suspension point A Xiang during the Yun Dong ⊿ L, piston does not rise, curve T in Fig. 2 in other words
LThe K point time, beam hanger just drives piston and moves upward that oil is discharged well head ， ⊿ L is exactly loss of plunger stroke.When θ is near pi/2, the suspension point A speed V that moves upward
AMaximum, unit interval oil drain quantity are also maximum.Along with suspension point A continue to rise, the above oil column of piston shortens, and the dwindling gradually of relative resilient Bian Xing ⊿ L between sucker rod and oil pipe is at Fig. 2 T
LWhen curve arrived the M point, the suspension point load descended rapidly, at θ<during π (suspension point A does not arrive peak), T
LZero passage, and near θ=π T
L<0, load is a negative power, and this will give birth to the change-speed gearing by-product and impact.
Fig. 3 is one group of mechanical characteristic of brushless, permanently excited direct current motor.n
0n, T
StnBe that motor is D at applied voltage
nThe time ideal no-load speed and stall square; On the curve any point corresponding the rotation speed n of motor during different output torque T.If D
1Representative allows to be added in the ceiling voltage on the armature winding, so, and D
1N on the curve
01With T
St1Can become the working point of motor under certain applied voltage with any point on 0 area that is centered on.Like this, after D confirms: T
LDuring increase, n descends automatically, T
LWhen reducing, n raises automatically, so, when 0 ° of θ ≈, T
LGreatly, n is little, a
AThe Dan property Bian Xing ⊿ L also little, that this has just reduced the relative oil pipe of sucker rod has reduced loss of plunger stroke, has improved oil production.When θ is near pi/2, T
LGreatly, V
AReach maximum unlike n for the constant that kind, make V because of n descends on the contrary
ADescend, make T
LReduce, the M point moves to right, negative power is reduced to is bordering on zero.Suspension point A loading process with same methods analyst down stroke can be known: as long as at T
LDuring increase, n reduces, T
LWhen reducing, n increases, and will make that relative resilient Bian Xing ⊿ L diminishes between sucker rod and oil pipe, and loss of plunger stroke diminishes, T
LZero crossing is near 2 π.In order to make brushless, permanently excited direct current motor adapt to the work characteristics of beam pumping unit, the control strategy of brushless, permanently excited direct current motor neither should be a speed stabilizing system, neither moment controlling system.Its control strategy should be: in the macroscopical Adaptable System that guarantees under the per minute jig frequency prerequisite.
Fig. 4 is the theory diagram of this system.T wherein
*=60/N, s is each jig frequency required time of oil pumper, also is the sampling period of system, N is the jig frequency number of oil pumper per minute.t
*From host computer output, also can be experiential artificial setting to the surface dynamometer card data processing.N is that motor is at t
*In time, average revolutions per minute.K is a constant of considering factors such as oil pumper speed reducing ratio, t
fBe the time of motor actual consumption in the middle of jig frequency of completion, s.Compare t
*With t
fIf: and t
*>t
f, explain that motor is at t
*Average revolutions per minute in time is greater than desired value, and at this moment pi regulator is by (t
*-t
f)/t
*Ratio reduces the current duty ratio of PWM, makes oil pumper in next jig frequency, and motor is operated on the lower mechanical characteristic of input voltage, and presses the size of load torque, and sliding on this mechanical characteristic in the working point, makes in next jig frequency t
*=t
fIf t
*<t
f, explain that motor is at t
*Average revolutions per minute in time is less than desired value, and at this moment pi regulator is by (t
*-t
f)/t
*Ratio increases the current duty ratio of PWM, makes oil pumper in next jig frequency, and motor is operated on the higher mechanical characteristic of input voltage, and presses the size of load torque, and sliding on this mechanical characteristic in the working point, makes in next jig frequency t
*=t
fIf t
*=t
f, explain that current PWM duty ratio does not need to change, next jig frequency is still worked by current PWM duty ratio, and on former mechanical characteristic, presses the size of load torque, and slide on mechanical characteristic in the working point.This system is to guarantee that oil pumper per minute jig frequency number (macroscopic view) is a prerequisite, the control strategy that slides by the load size naturally in the working point on sagging mechanical characteristic.This obtains good fit with regard to the motion that makes motor, sucker rod and oil well pump piston, has reduced loss of plunger stroke, has improved the efficient of pump; Simultaneously, reduce or eliminated negative bearing power, life-span of having improved gear.This control strategy has made full use of the sagging mechanical property characteristics of brushless, permanently excited direct current motor, and the power output of motor changes not quite in a jig frequency, and motor is always worked in the efficient district.This control system with 3 mutually cage type asynchronous motor compare, the energy consumption that beam pumping unit is produced rice liquid per ton can reduce about 30%.
Brushless, permanently excited direct current motor set of systems prejudice Fig. 5.Among the figure, Us is 3 cross streams supply voltages; R is 3 phase full-bridge rectifiers; C is a filtering capacitor; ID is the output current of direct current bus bar flow sensor; IV is voltage-type 3 phase inverters; CT is a controller; M is that p is to pole permanent magnet brushless direct current drive machine stator; N/S is that p is to the pole permanent magnet brushless dc motor rotor; U, V, W are rotor-position sensor output.After having confirmed that motor turns to (CW or CCW) and oil pumper per minute jig frequency N, press motor start-up button (ON), motor will turn to startup according to setting.Controller receives U, V, W signal, removes to be used for exporting GA
+, GA
-, GB
+, GB
-, GC
+, GC
-Information supplies inverter to switch outside the switching state, a per second 3pn/60 pulse signal that also can utilize U, V, W rising edge to produce, and wherein n is a motor per minute actual average revolution.If the maximum jig frequency of oil pumper per minute is counted the corresponding instruction of Nmax level 3.3V, the instruction level u=N/Nmax x 3.3 of per minute N jig frequency so, V.The corresponding command pulse frequency of instruction level u is: f=3piN/60, and Hz, wherein i is the oil pumper speed reducing ratio.In other words, the per minute jig frequency is counted N and is converted into level u setting; U is converted into pulse frequency f; The command pulse number of each jig frequency is 60f/N.With 60/N second as the sampling period, De is Dao ⊿ n=60f-3pn ， Dang ⊿ n>0, explain that each jig frequency time built-in motor per minute mean speed n is on the low side, should Gen Ju ⊿ n relative value increase PWM duty ratio D in proportion; Dang ⊿ n 0, and explain that motor per minute mean speed is higher in the middle of a jig frequency, should Gen Ju ⊿ n relative value reduce PWM duty ratio D in proportion.Here it is: in the middle of a jig frequency, the transient speed of motor slides with the mechanical characteristic of load torque size along appointment, does not go artificial interference; But the time of each jig frequency, but recently guarantee through changing duty.
Claims (1)
1. beam pumping unit is made up of brushless, permanently excited direct current motor, rotor-position sensor and controller with permanent-magnet brushless DC electric machine macroscopic view adaptive control system, it is characterized in that said control system is the time t with each jig frequency of oil pumper
*=60/N, s, for the control of instruction time and sampling period, wherein, N is the jig frequency number of oil pumper per minute; PWM duty ratio D through the output of forcibly changing voltage source inverter is operated on a certain mechanical characteristic motor in the middle of a jig frequency; At a sampling period t
*In, motor per minute average revolution n=iN is decided to be controlled target, and wherein i is the oil pumper speed reducing ratio; At t
*In time; The working point of motor is with the variation of load torque; On the sagging mechanical characteristic of being confirmed by PWM duty ratio D, slide, make oil pumper count the cooperation that obtains motor, sucker rod and piston motion under the prerequisite in assurance per minute jig frequency, motor moves with efficient district at permanent power;
The instruction t of said each jig frequency
*Be from host computer output to the surface dynamometer card data processing, or from experiential artificial setting;
Described instruction time t
*, s uses the umber of pulse 60f/N of each jig frequency to express, wherein, f=3piN/60, Hz, p are the number of pole-pairs of motor; Motor is at a jig frequency time t
*In average revolutions per minute n, jump along the pulse with rotor-position sensor U, V, W are last that strokes per minute 3pn/N counts, Bing Yi ⊿ n=60f-3pn is the foundation of the PWM duty ratio D that exports of forcibly changing voltage source inverter.
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|---|---|---|---|
| CN2011102036517A CN102255590B (en) | 2011-07-20 | 2011-07-20 | Adaptive permanent magnet brushless DC motor macrocontrol system for beam-pumping unit |
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|---|---|---|---|
| CN2011102036517A CN102255590B (en) | 2011-07-20 | 2011-07-20 | Adaptive permanent magnet brushless DC motor macrocontrol system for beam-pumping unit |
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| CN102255590B true CN102255590B (en) | 2012-12-26 |
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| CN103500247B (en) * | 2013-09-24 | 2016-03-16 | 东北石油大学 | A kind of walking-beam pumping unit and motor Matching Method |
| CN104929616B (en) * | 2014-03-20 | 2018-01-02 | 沈阳中科奥维科技股份有限公司 | A kind of indicator data acquisition adaptive approach towards beam pumping unit |
| CN104729773B (en) * | 2015-03-24 | 2017-07-14 | 沈阳理工大学 | Beam type oil pumping machine indicating diagram online soft sensor method and device based on RBF neural |
| CN105429523B (en) * | 2015-12-14 | 2018-04-20 | 深圳市英威腾电气股份有限公司 | A kind of control method and device of tower-type pumping unit |
| CN105429554B (en) * | 2015-12-15 | 2017-08-22 | 大连理工大学 | A kind of control method of switch magnetic resistance driving system used for oil extractor |
| CN107703758B (en) * | 2017-11-10 | 2020-09-18 | 河北华北石油荣盛机械制造有限公司 | Self-adaptive variable-speed drive control system and control method for oil pumping unit |
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| JP4558367B2 (en) * | 2004-03-31 | 2010-10-06 | エドワーズ株式会社 | Vacuum pump and control method thereof |
| CN1924742A (en) * | 2006-09-14 | 2007-03-07 | 上海江润石油科技有限公司 | Pumping unit detection and control terminal |
| CN101207352B (en) * | 2007-11-21 | 2012-07-04 | 华北电力大学 | Control method and control device of power supply soft launch for intermittent power supply by balance beam type pumping unit |
| CN101424928A (en) * | 2008-11-30 | 2009-05-06 | 葛敬东 | Intelligent control method for beam type pumping unit |
| CN201414107Y (en) * | 2009-05-19 | 2010-02-24 | 北京胜利顺天技术股份有限公司 | Special frequency converter for oil extractor |
| CN201650261U (en) * | 2010-02-12 | 2010-11-24 | 克拉玛依市华西工贸有限责任公司 | Intermittent pumping and energy saving control device and intermittent pumping and energy saving control circuit of oil pumping machine |
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