CN105245155B - Electric-machine directly-driven beam pumping unit integrates self study oil extraction controller - Google Patents
Electric-machine directly-driven beam pumping unit integrates self study oil extraction controller Download PDFInfo
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- CN105245155B CN105245155B CN201510660264.4A CN201510660264A CN105245155B CN 105245155 B CN105245155 B CN 105245155B CN 201510660264 A CN201510660264 A CN 201510660264A CN 105245155 B CN105245155 B CN 105245155B
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- 238000005086 pumping Methods 0.000 title claims abstract description 22
- 238000000605 extraction Methods 0.000 title abstract description 12
- 230000010354 integration Effects 0.000 claims abstract description 34
- 238000011084 recovery Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 9
- 238000005457 optimization Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 4
- 239000003129 oil well Substances 0.000 abstract description 3
- 239000003208 petroleum Substances 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 22
- 230000006870 function Effects 0.000 description 3
- 230000001052 transient effect Effects 0.000 description 3
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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Abstract
The electric-machine directly-driven beam pumping unit integration self study oil extraction controller of the present invention is related to field of petroleum exploitation, it is by integration learning controller, inner loop velocity controller, torque controller, torque zone limits module, motor driver, motor and motor speed detector are formed, integrate learning controller, inner loop velocity controller, torque controller, torque zone limits module, circuit couples successively for motor driver and motor, motor speed detector is respectively with integrating learning controller, inner loop velocity controller and motor circuit connection, integration learning controller couples with torque zone limitation modular circuit.Present system is simple in construction, improves the performance of system by working out the controller in driver, realizes motor operation efficiency, power factor (PF), the control of recovery ratio self-learning optimization；Do not increase unnecessary hardware, self-adapting load can change in different oil well conditions, reduction allotment weight and maintenance time, realize with to oil recovery of the load change with strong robustness.
Description
Technical field
The present invention relates to field of petroleum exploitation, more particularly to a kind of integration self study of electric-machine directly-driven beam pumping unit
Oil extraction controller.
Background technology
At this stage, beam pumping unit takes out controller, star/triangle switching controller, silicon-controlled voltage regulation energy-conservation control between using
The conventional energy-saving controller in the oil fields such as device processed, reactive-load compensation energy-saving controller, take out controller be generally adapted run on can from
By the environment for stopping and starting, when oil well liquid-supplying deficiency or pump degree of filling deficiency, stop taking out a period of time, be again started up, take out
The motor of oil machine is in discontinuous operation state, has certain energy-saving effect；Star/triangle switching controller, silicon-controlled voltage regulation section
Energy controller, reactive-load compensation energy-saving controller also have certain energy-saving effect, and above-mentioned conventional art is although fairly simple, easily real
It is existing, but the shortcomings of running efficiency of system is relatively low, personnel's maintenance cost is higher be present, occur gradually by what new technology substituted being become
Gesture.
And due to being conventional pattern in engineering field speed control, it is familiar with for numerous engineers and technicians and uses.
Oil pumper control generally also uses speed control, and both speed was as controlled variable, and using regulatory PID control, system is with constant speed
Degree operation.Engineer generally pursues velocity control accuracy, due to beam type oil pumping in motor a cycle machine load change compared with
Greatly, this will cause motor most time is motoring condition in a swing circle, a small number of period electric current very littles, even
Generator operation state, the power factor (PF) of such motor is relatively low, causes supply line's loss increase, and running efficiency of system reduces.Together
When due to system effectiveness it is low, motor part energy is changed into heat energy pernicious, this will cause select larger capacity motor,
Low load with strong power phenomenon is caused, further reduces the operational efficiency of system, increases system hardware cost.This situation is using different
It is more obvious during common frequency converter opened loop control that step motor drives or used synchronous machine drives to match somebody with somebody, and due to asynchronous machine
Driving, opened loop control restrict, it is difficult to further improve systematic function.
The content of the invention
The object of the invention is exactly to overcome above mentioned problem, there is provided a kind of electric-machine directly-driven beam pumping unit integrates self study
Oil extraction controller.
The present invention electric-machine directly-driven beam pumping unit integration self study oil extraction controller, be by integration learning controller,
Inner loop velocity controller, torque controller, torque zone limitation module, motor driver, motor and motor speed detector structure
Into integration learning controller, inner loop velocity controller, torque controller, torque zone limitation module, motor driver and motor
Circuit couples successively, and motor speed detector couples with integration learning controller, inner loop velocity controller and motor circuit respectively,
Integration learning controller couples with torque zone limitation modular circuit.
As a further improvement on the present invention, it is PID controller to integrate learning controller.
As a further improvement on the present invention, inner loop velocity controller is P controller.
The electric-machine directly-driven beam pumping unit integration self study oil recovery control method of the present invention, specific works step are as follows：
(1) under conditions of making mean power and mean speed certain, set motor given rotating speed and motor give torque,
Deliver to integration learning controller；
(2) learning controller is integrated according to preparatory condition using motor given rotating speed and the given torque calculation of motor to be turned
Square limited area, deliver to torque zone limitation module；
(3) integration learning controller export inner loop velocity instruction respectively and motor give torque to inner loop velocity controller and
Torque controller, inner loop velocity instruction include motor given rotating speed；
(4) during motor operation, motor speed detector reads motor instantaneous velocity, by the motor instantaneous velocity and inner ring speed
Motor given rotating speed contrasts to obtain deviation I and delivers to inner loop velocity controller in degree instruction, then obtains inner loop velocity control
Device adjust after inner ring output speed；
(5) simultaneously, motor driver reads motor instantaneous torque, and the motor instantaneous torque and motor are given into torque versus
Obtain deviation II and deliver to torque controller, then obtain the inner ring output torque after torque controller is adjusted；
(6) step（4）Obtained inner ring output speed and step（5）Obtained inner ring output torque is limited by torque zone
Motor driver motor is delivered to after torque limiting region limitation in molding block；
(7) when motor operation one week and more than one week, motor speed detector detects and calculates motor each cycle and puts down
Equal speed, and by the average speed and motor given rotating speed contrast to obtain deviation III deliver to integration learning controller obtain it is new
Motor given rotating speed, while using formula calculate average torque and deliver to integration learning controller and obtain that new motor is given to be turned
Square；
(8) integration learning controller adjusts torque limiting region according to preparatory condition and the mean power in each cycle；
(9) repeat step（3）To shutdown.
As a further improvement on the present invention, motor works in motoring condition all the time.
As a further improvement on the present invention, the instantaneous power of motor is limited in the 35% ~ 100% of maximum instantaneous power.
As a further improvement on the present invention, motor driver obtains motor instantaneous torque by reading its internal current.
The electric-machine directly-driven beam pumping unit integration self study oil extraction controller of the present invention, system architecture is simple, passes through volume
The controller software being formed in driver is greatly enhanced the performance of system, realizes motor operation efficiency, power factor (PF), recovery ratio
These variable self-learning optimizations control；Do not increase unnecessary hardware, it is easy to accomplish；Can be adaptive in different oil well conditions
Load change, reduces and allocates weight and maintenance time, realizes with to optimization oil recovery of the load change with higher robustness.
Brief description of the drawings
Accompanying drawing 1 integrates the structured flowchart of self study oil extraction controller for the electric-machine directly-driven beam pumping unit of the present invention；
Accompanying drawing 2 integrates the flow chart of self study oil recovery control method for the electric-machine directly-driven beam pumping unit of the present invention；
Accompanying drawing 3 integrates the torque limiting in self study oil recovery control method for the electric-machine directly-driven beam pumping unit of the present invention
Region.
Embodiment
Self study oil extraction controller is integrated to the electric-machine directly-driven beam pumping unit of the present invention below in conjunction with the accompanying drawings, made into one
Walk explanation：
As shown in figure 1, the electric-machine directly-driven beam pumping unit integration self study oil extraction controller of the present invention, is by integral calculus
Practise controller, inner loop velocity controller, torque controller, torque zone limitation module, motor driver, motor and motor speed
Detector is formed, integration learning controller, inner loop velocity controller, torque controller, torque zone limitation module, motor driving
Circuit couples successively for device and motor, and motor speed detector is respectively with integrating learning controller, inner loop velocity controller and motor
Circuit couples, and integration learning controller couples with torque zone limitation modular circuit.
Above-mentioned, integration learning controller is PID（Proportional-integral-differential）Controller；Inner loop velocity controller is P（Than
Example）Controller.
As shown in Fig. 2 the electric-machine directly-driven that self study oil extraction controller is integrated using the electric-machine directly-driven beam pumping unit is swum
Girder-like oil pump integrates self study oil recovery control method, and specific works step is as follows：
(1) under conditions of making mean power and mean speed certain, according to formula T=9549*P/n, setting motor gives
Rotating speed and motor give torque, deliver to integration learning controller, due to motor instantaneous power, instantaneous torque, transient speed all
It is not constant, but mean power, mean speed can be constant, so just can guarantee that motor is operated in the area of requirement
Domain；
(2) learning controller is integrated according to preparatory condition, is given torque calculation using motor given rotating speed and motor and is obtained
Torque limiting region, deliver to torque zone limitation module；
(3) integration learning controller export inner loop velocity instruction respectively and motor give torque to inner loop velocity controller and
Torque controller, inner loop velocity instruction include motor given rotating speed；
(4) during motor operation, motor speed detector reads motor instantaneous velocity, by the motor instantaneous velocity and inner ring speed
Motor given rotating speed contrasts to obtain deviation I and delivers to inner loop velocity controller in degree instruction, then obtains inner loop velocity control
Device adjust after inner ring output speed, because inner ring is simply in limited area and inner ring is only with ratio P control strategies, so
Motor instantaneous velocity also has certain fluctuation with load change；
(5) simultaneously, motor driver obtains motor instantaneous torque by reading its internal current, by the motor instantaneous torque
Torque versus is given with motor to obtain deviation II and deliver to torque controller, then obtains the inner ring after torque controller is adjusted
Output torque；
(6) step（4）Obtained inner ring output speed and step（5）Obtained inner ring output torque is limited by torque zone
Motor driver motor is delivered to after torque limiting region limitation in molding block；
(7) when motor operation one week and more than one week, motor speed detector detects and calculates motor each cycle and puts down
Equal speed, and by the average speed and motor given rotating speed contrast to obtain deviation III deliver to integration learning controller obtain it is new
Motor given rotating speed, while using formula calculate average torque and deliver to integration learning controller and obtain that new motor is given to be turned
Square；
(8) integrate learning controller according to preparatory condition and the mean power in each cycle come adjust torque limiting region and
Inner loop velocity set-point, to ensure that average speed meets setting value requirement；
(9) repeat step（3）To shutdown.
Above-mentioned motor works in motoring condition all the time, and makes the instantaneous power of motor be limited in maximum instantaneous power
35% ~ 100%, this scheme can give full play to the ability of motor, and the heating of motor is mean power, as long as mean power
It is less than rated power and overload heating limitation is just not present, certainly larger instantaneous power demands motor bearings, axle, driver has
Enough allowances, exactly because the also control can use the instantaneous power of motor 100%, such motor can suitably select it is small,
The program could embody larger cost advantage.
The electric-machine directly-driven beam pumping unit integration self study oil extraction controller of the invention is directly to be built in frequency converter
In, will the controller directly in frequency converter by change code realize.
The present apparatus is mainly characterized by, and inner ring is set as torque mode, and direct torque and motor operation are carried out by inner ring
The restriction in region, and the motor operation region according to integration learn controller optimization region timing change, make due to it is extraneous because
Pumping unit system is still run in the range of optimizing index restriction after element change.
The characteristics of device is that integration learning controller output sets torque limiting region, torque limiting area variable limit
Determine motor and work in motor-operated running state all the time, while the device sends out motor given rotating speed to interior speed ring controller, and by
Cause common speed proportional integral controller quality to reduce in torque limiting region a lot, torque limiting region particularly occur
Nearby there is excessive dynamic, speed control is prevented because the limitation of torque causes using proportional controller within institute
There is excessive dynamic in interior speed control.Such words motor operation is had in a swing circle because offending torque limiting
Region and cause motor instantaneous velocity to fluctuate, but in a swing circle internal power and motor instantaneous torque the two variables
Standard deviation will significantly reduce, and when loading light, motor accelerates storage kinetic energy, discharges the kinetic energy in heavier loads, and
Ensure that motor operation also will significantly reduce in motoring condition, such motor active power of output standard deviation.
The input and output of interior speed ring controller will appear from larger error, but the error does not influence overall operation of recovering the oil
Energy-saving index and efficiency, moreover it is possible to by adjusting the traffic coverage, make system that there is bigger adaptive ability to load change, subtract
Mini system maintenance times.By the way that with integration learning controller, the dtc signal collected, speed and speed command are inputted
Signal adjusts output speed control instruction by learning, and adjusts torque zone dominated variable, due to using closed-loop control, torque
Signal can actually be obtained with the electric current provided in driver.Because it is defeated that this control mode can calculate motor by electric current
Go out torque.The present apparatus can ensure that motor is worked in the optimization region such as Fig. 3 mechanical properties, pass through speed fourth finger in regulation
Order, ensure the system fluctuation of motor instantaneous velocity and transient current fluctuation in a swing circle（Motor instantaneous torque）The two
Variable perturbations realize that the height that operation stable state average speed error is zero is averaged within the limitation of optimal conditions, for the long period
Velocity accuracy requirement.
But certainly, if design of electrical motor maximum instantaneous power is 100%, motor mean power 50%, by electricity
Machine is limited to motoring condition instantaneous power and fluctuated between 35% ~ 100%,（Assuming that the mean power reaches the 85% of rated power,
Influence the system reliability this when is the allowance of electromechanics axle, bearing, motor driver）, run failure and stop
The possibility of car reduces a lot, the requirement for the enough allowances of transient motion such as satisfaction starts.Thus reduce electricity than present scheme
Machine design power, improve operational efficiency and reduce operating cost.The main path that equipment investment reduces is that design of electrical motor power subtracts
It is small, solve the problems, such as original low load with strong power.
Above-mentioned motor speed detector sample motor instantaneous velocity, the frequency of motor instantaneous torque use upper frequency,
Typically in more than 100Hz；Average speed puts the method for surveying the time using positioning, turns fixed position read access time every, obtains every
Turn the time needed, so as to which control, gradual optimizing is integrated, calculated and learnt to velocity error, so average speed updates
Frequency is within 0.2Hz.
In learning controller is integrated, integrating function is completed by more swing circles, and the average speed in each cycle enters
Row integration realizes the high accuracy operation that speed steady-state error is zero, and self-learning function is existed by calculating each cycle mean power
Torque limit region is adjusted in the range of motor-operated running state, realizes that energy-conservation and self-adapting intelligent recover the oil.
Claims (4)
1. electric-machine directly-driven beam pumping unit integrates self study oil recovery control method, it is characterised in that specific works step is as follows：
（1）Under conditions of making mean power and mean speed certain, set motor given rotating speed and motor gives torque, deliver to
Integrate learning controller；
（2）Integration learning controller gives torque calculation using motor given rotating speed and motor according to preparatory condition and obtains torque limit
Determine region, deliver to torque zone limitation module；
（3）Integration learning controller exports inner loop velocity instruction respectively and motor gives torque to inner loop velocity controller and torque
Controller, inner loop velocity instruction include motor given rotating speed；
（4）During motor operation, motor speed detector reads motor instantaneous velocity, and the motor instantaneous velocity is referred to inner loop velocity
Motor given rotating speed contrasts to obtain deviation I and delivers to inner loop velocity controller in order, and it is whole then to obtain inner loop velocity controller
Inner ring output speed after fixed；
（5）Meanwhile motor driver reads motor instantaneous torque, the motor instantaneous torque is given into torque versus with motor and obtained
Deviation II simultaneously delivers to torque controller, then obtains the inner ring output torque after torque controller is adjusted；
（6）Step（4）Obtained inner ring output speed and step（5）Obtained inner ring output torque limits mould by torque zone
Motor driver motor is delivered to after torque limiting region limitation in block；
（7）When motor operation one week and more than one week, motor speed detector detected and calculates motor each cycle average speed
Degree, and the average speed and motor given rotating speed contrasted to obtain deviation III and delivers to integration learning controller and obtains new motor
Given rotating speed, at the same using formula calculate average torque deliver to integration learning controller obtain new motor give torque；
（8）Integration learning controller adjusts torque limiting region according to preparatory condition and the mean power in each cycle；
（9）Repeat step（3）To shutdown.
2. electric-machine directly-driven beam pumping unit according to claim 1 integrates self study oil recovery control method, its feature exists
Motoring condition is worked in all the time in motor.
3. electric-machine directly-driven beam pumping unit according to claim 1 integrates self study oil recovery control method, its feature exists
In preparatory condition the 35% ~ 100% of maximum instantaneous power is limited in for the instantaneous power of motor.
4. electric-machine directly-driven beam pumping unit according to claim 1 integrates self study oil recovery control method, its feature exists
In motor driver motor instantaneous torque is obtained by reading its internal current.
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| CN201510660264.4A CN105245155B (en) | 2015-10-13 | 2015-10-13 | Electric-machine directly-driven beam pumping unit integrates self study oil extraction controller |
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| CN105245155B true CN105245155B (en) | 2017-12-29 |
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| CN110120771B (en) * | 2018-02-06 | 2021-03-02 | 中车株洲电力机车研究所有限公司 | Motor control system, method and application thereof |
| CN113982538B (en) * | 2021-11-17 | 2022-08-19 | 燕山大学 | Flexible frequency conversion and voltage regulation closed-loop energy-saving control system and method for beam-pumping unit |
Citations (5)
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|---|---|---|---|---|
| CN1877981A (en) * | 2005-06-08 | 2006-12-13 | 三星电子株式会社 | Apparatus and method for controlling motor |
| CN101789738A (en) * | 2010-03-05 | 2010-07-28 | 东南大学 | Device and method for controlling doubly salient permanent magnet motor |
| JP2014036450A (en) * | 2012-08-07 | 2014-02-24 | Panasonic Corp | Motor drive unit |
| JP2014135860A (en) * | 2013-01-11 | 2014-07-24 | Okuma Corp | Motor speed controller |
| CN104821772A (en) * | 2014-01-31 | 2015-08-05 | 山洋电气株式会社 | Motor control device |
-
2015
- 2015-10-13 CN CN201510660264.4A patent/CN105245155B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1877981A (en) * | 2005-06-08 | 2006-12-13 | 三星电子株式会社 | Apparatus and method for controlling motor |
| CN101789738A (en) * | 2010-03-05 | 2010-07-28 | 东南大学 | Device and method for controlling doubly salient permanent magnet motor |
| JP2014036450A (en) * | 2012-08-07 | 2014-02-24 | Panasonic Corp | Motor drive unit |
| JP2014135860A (en) * | 2013-01-11 | 2014-07-24 | Okuma Corp | Motor speed controller |
| CN104821772A (en) * | 2014-01-31 | 2015-08-05 | 山洋电气株式会社 | Motor control device |
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Effective date of registration: 20200717 Address after: Ranghulu District Economic and Technological Development District of Heilongjiang city in Daqing province 163000 letter Street No. 19 Patentee after: Daqing Dannuo Petroleum Technology Development Co.,Ltd. Address before: 163000, No. 40, building A, building 4, emerging industry incubator, No. 808 torch new street, Daqing hi tech Zone, Heilongjiang, China Patentee before: DAQING PES PETROLEUM TECHNOLOGY Co.,Ltd. |
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Application publication date: 20160113 Assignee: DAQING PES PETROLEUM TECHNOLOGY Co.,Ltd. Assignor: Daqing Dannuo Petroleum Technology Development Co.,Ltd. Contract record no.: X2020230000028 Denomination of invention: Integral self-learning oil production controller for motor driven beam pumping unit Granted publication date: 20171229 License type: Exclusive License Record date: 20200806 |