CN105429523B - A kind of control method and device of tower-type pumping unit - Google Patents

A kind of control method and device of tower-type pumping unit Download PDF

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Publication number
CN105429523B
CN105429523B CN201510927236.4A CN201510927236A CN105429523B CN 105429523 B CN105429523 B CN 105429523B CN 201510927236 A CN201510927236 A CN 201510927236A CN 105429523 B CN105429523 B CN 105429523B
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tower
pumping unit
type pumping
frequency
setpoint frequency
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CN105429523A (en
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谭维胜
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Shenzhen Invt Electric Co Ltd
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Shenzhen Invt Electric Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

This application provides a kind of control method and device of tower-type pumping unit,Current setpoint frequency by obtaining the tower-type pumping unit reaches default commutating frequency to change the Accelerating running time moved forwards,Travel at the uniform speed the time,Run slowly time and the default frequency that travels at the uniform speed,And calculate accordingly its change move forwards in each moment corresponding setpoint frequency,After obtaining position setting value corresponding with each moment setpoint frequency,In the case where detecting position correction signal,The current setpoint frequency of the tower-type pumping unit reach the default commutating frequency and commutated after the normal each moment back and forth run,Utilize the position setting value and location feedback value at current time,The setpoint frequency at current time is modified,Obtain the target given frequency at current time,So as to utilize the increased position control of the application,Improve the Stroke Control precision up and down reciprocatingly run to the tower-type pumping unit,Make its whole service process steady,And commutation is more smooth.

Description

A kind of control method and device of tower-type pumping unit
Technical field
The invention mainly relates to motor control technology field, more particularly to a kind of controlling party of tower-type pumping unit Method and device.
Background technology
At present, the pumping unit that exploitation oil in China's uses all is largely beam pumping unit, and the exchange of its generally use is different Step motor directly drag, by crank band with balance drive sucker rod, driving downhole pump fix the cycle up and down Move back and forth, so that the oil of underground is sent to ground, it is reliable and easily controllable, meet the basic demand of oil exploitation.
But as the quick of China human mortality increases, energy deficiency getting worse, existing beam pumping unit Less efficient, the defects of power consumption is big, becomes the problem of urgent need overcomes at present.For this reason, a kind of tower oil pumping is proposed in recent years Machine, it increases counterweight by the other end in sucker rod, and uses permanent magnet synchronous motor actually should as actuating unit In, the increase of the counterweight makes the load of its motor diminish, and then the effect of energy-saving and emission-reduction；Moreover, with above-mentioned trip Girder-like oil pump is compared, which also has the advantages that to take up little area, runs that quiet, simple in structure, consumptive material is few, its by Traditional beam pumping unit is gradually substituted to be applied in oil field.
However, in practical applications, since the encoder fault rate for motor speed measuring is higher, thus many clients are reluctant Meaning installation encoder, it would be desirable to the control of the pumping unit is realized with opened loop control scheme, moreover, in its actual moving process, The switching of frequently progress motor positive and inverse is needed, it is difficult to ensure that the tower-type pumping unit steadily reliably moves back and forth.
The content of the invention
In view of this, the present invention provides a kind of control method and device of tower-type pumping unit, by existing speed Increase position control ring on the basis of control open loop control system, utilize obtained new open loop control system to control Tower-type pumping unit pumps, and improves its Stroke Control precision, ensure that the tower-type pumping unit is up and down reciprocatingly transported Row is reliable, steady.
To achieve these goals, this application provides following technical scheme：
A kind of control method of tower-type pumping unit, the described method includes：
When the current setpoint frequency of tower-type pumping unit reaches default commutating frequency and when being commutated, the tower pumping is obtained Oil machine changes the operating parameter moved forwards, wherein, the operating parameter includes Accelerating running time, the time of traveling at the uniform speed, slows down Run time and the default frequency that travels at the uniform speed；
Based on the operating parameter, calculate the tower-type pumping unit change move forwards in each moment corresponding setpoint frequency；
Computing is carried out to corresponding setpoint frequency of each moment in tower-type pumping unit operation, obtains the tower-type pumping unit Position setting value corresponding with the setpoint frequency of each moment in operation；
In the case where detecting position correction signal, the current setpoint frequency of the tower-type pumping unit reaches described default Commutating frequency and the normal each moment back and forth run after being commutated, utilize the position setting at the current time of acquisition Value and location feedback value, are modified the setpoint frequency at current time, obtain the target given frequency at current time.
Preferably, further included in the tower-type pumping unit operational process, the method：
Judge whether to detect position correction signal；
When not detecting position correction signal, judge whether the tower-type pumping unit current time is in and detect Slowed-down stage after position correction signal；
When detecting that the position correction signal, or the tower-type pumping unit current time be in and detect position school During slowed-down stage after positive signal, control the tower-type pumping unit to run slowly, and add up subtracting for the tower-type pumping unit Fast distance；
When the current setpoint frequency for detecting the tower-type pumping unit reaches the default commutating frequency and is commutated, The length of stroke moved forwards is changed according to the preset rules acquisition tower-type pumping unit, the length of stroke is used to calculate the tower Formula pumping unit changes the operating parameter moved forwards.
Preferably, it is described to judge whether to detect that position correction signal includes：
Judge position correction switch whether is triggered during the tower-type pumping unit uplink operation；Or；
Judge lower position correction switch whether is triggered during the tower-type pumping unit downlink operation.
Preferably, in the tower-type pumping unit operational process, the method further includes：
When not detecting position correction signal, and the tower-type pumping unit current time is not in detecting position school During slowed-down stage after positive signal, judge whether this operation of the tower-type pumping unit is after the tower-type pumping unit is shut down Operation first；
When the tower-type pumping unit this operation is the operation first after the tower-type pumping unit is shut down, the tower is controlled Formula pumping unit downlink or uplink, until detecting the position correction signal；
Wherein, it is described to be changed according to the preset rules acquisition tower-type pumping unit when detecting the position correction signal The length of stroke moved forwards is specially：
To the total reduction distance of this operation of the tower-type pumping unit that is currently accumulated by, predeterminated position amount of bias and Default length of stroke carries out summation operation, obtains the tower-type pumping unit and changes the length of stroke moved forwards.
Preferably, when the tower-type pumping unit this operation is not the operation first after the tower-type pumping unit is shut down, institute The method of stating further includes：
Judge whether the current setpoint frequency of the tower-type pumping unit reaches default commutating frequency；
When the current setpoint frequency of the tower-type pumping unit is not reaching to the default commutating frequency, commutated according to the last time When the operating parameter that obtains, calculate the setpoint frequency at the tower-type pumping unit current time, and to the setting at the current time Frequency carries out computing, obtains the position setting value at current time corresponding with the setpoint frequency at the current time, and control is tower Pumping unit continues by when front direction is run；
When the current setpoint frequency of the tower-type pumping unit reaches the default commutating frequency and commutates, pressed described in execution The length of stroke step moved forwards is changed according to the preset rules acquisition tower-type pumping unit, and it is described according to preset rules acquisition institute State tower-type pumping unit and change the length of stroke moved forwards and be specially：
Default length of stroke is obtained, and the default length of stroke is changed to rushing of moving forwards as the tower-type pumping unit Cheng Changdu.
Preferably, the position setting value and location feedback value using the current time obtained, works as to described The setpoint frequency at preceding moment is modified, and is obtained the target given frequency at the current time and is included：
Calculate the position setting value at current time and the current location deviation of location feedback value obtained；
Scale operation is carried out to the current location deviation, obtains current correction amount；
The setpoint frequency at current time is modified using the current correction amount, the target for obtaining current time gives Frequency.
Preferably, it is described the tower-type pumping unit is run in each moment corresponding setpoint frequency carry out computing, obtain institute Stating position setting value corresponding with the setpoint frequency of each moment in tower-type pumping unit operation is specially：
Integral operation is carried out to corresponding setpoint frequency of each moment in tower-type pumping unit operation, obtains the tower pumping Position setting value corresponding with the setpoint frequency of each moment in oil machine operation.
Preferably, the location feedback value is calculated according to the synchro angle of the motor of the tower-type pumping unit and obtained.
A kind of control device of tower-type pumping unit, the tower-type pumping unit be sequentially installed with from top to bottom upper limit position switch, Upper position correction switch, lower position correction switch and lower position switch, described device include：
First acquisition module, for when the current setpoint frequency of the tower-type pumping unit reaches default commutating frequency and carries out During commutation, obtain the tower-type pumping unit and change the operating parameter moved forwards, wherein, when the operating parameter includes Accelerating running Between, the time that travels at the uniform speed, the time of running slowly and the default frequency that travels at the uniform speed；
First computing module, for based on the operating parameter, calculate the tower-type pumping unit change move forwards in it is each when Carve corresponding setpoint frequency；
Second computing module, computing is carried out for corresponding setpoint frequency of each moment in being run to the tower-type pumping unit, Obtain position setting value corresponding with the setpoint frequency of each moment in the tower-type pumping unit operation；
Correction and Control module, in the case where detecting correction signal, the current setting of the tower-type pumping unit to be frequently Rate reach the default commutating frequency and commutated after normal operation each moment, utilize the institute at the current time of acquisition State position setting value and location feedback value, the setpoint frequency at current time be modified, obtain the target at current time to Determine frequency.
Preferably, described device further includes：
First judgment module, for judging whether to detect position correction signal；
Second judgment module, for when the judging result of first judgment module is no, judging the tower oil pumping Whether machine current time is in the slowed-down stage after detecting position correction signal；
First control module, for when the judging result of first judgment module or the second judgment module is is, controlling Make the tower-type pumping unit to run slowly, and add up the deceleration distance of the tower-type pumping unit；
Second acquisition module, for when the running frequency for detecting the tower-type pumping unit reaches default commutating frequency and When being commutated, the length of stroke moved forwards is changed according to the preset rules acquisition tower-type pumping unit, the length of stroke is used The operating parameter moved forwards is changed in the calculating tower-type pumping unit.
Preferably, first judgment module includes：
Whether the first judging unit, for judging tower-type pumping unit uplink operation when trigger upper position correction switch；
Whether the second judging unit, for judging tower-type pumping unit downlink operation when trigger lower position correction switch.
Preferably, described device further includes：
3rd judgment module, when the judging result for second judgment module is no, judges the tower-type pumping unit Whether this operation is operation first after the tower-type pumping unit is shut down；
Second control module, for when the judging result of the 3rd judgment module is is, controlling the tower oil pumping Machine downlink or uplink, until the judging result of first judgment module is yes；
Wherein, when the judging result of first judgment module is is, second acquisition module is specifically used for working as Before the tower oil receiving equipment that is accumulated by this operation total reduction distance, predeterminated position amount of bias and default length of stroke Summation operation is carried out, the tower-type pumping unit is obtained and changes the length of stroke moved forwards.
Preferably, described device further includes：
4th judgment module, for when the judging result of the 3rd judgment module is no, judging the tower oil pumping Whether the current setpoint frequency of machine reaches default commutating frequency；
3rd acquisition module, for when the judging result of the 4th judgment module is no, triggering described first to calculate The operating parameter that module obtains when being commutated according to the last time calculates the setpoint frequency at the tower-type pumping unit current time, and by institute State the second computing module and computing is carried out to the setpoint frequency at the current time, obtain the setpoint frequency pair with the current time After the position setting value at the current time answered, trigger the Correction and Control module control tower-type pumping unit and continue by when front direction is transported OK；Wherein, when the judging result of the 4th judgment module is is, second acquisition module is specifically used for obtaining default punching Cheng Changdu, and the default length of stroke is changed to the length of stroke moved forwards as the tower-type pumping unit.
Preferably, the Correction and Control module includes：
First computing unit, for calculating the position setting value at current time and the present bit of location feedback value that obtain Put deviation；
Second computing unit, for carrying out scale operation to the current location deviation, obtains current correction amount；
3rd computing unit, for being modified using the current correction amount to the setpoint frequency at current time, is obtained The target given frequency at current time.
Preferably, second computing module is specially integration module, for the tower-type pumping unit run in it is each when Carve corresponding setpoint frequency and carry out integral operation, it is corresponding with the setpoint frequency to obtain each moment in the tower-type pumping unit operation Position setting value.
Preferably, described device further includes：
3rd computing module, the synchro angle for the motor according to the tower-type pumping unit, which calculates, obtains the position feedback Value.
It can be seen from the above that compared with prior art, this application provides a kind of control method and device of tower-type pumping unit, lead to Cross and obtain the current setpoint frequency of the tower-type pumping unit and reach default commutating frequency and change Accelerating running time, even for moving forwards Fast run time, run slowly time and the default frequency that travels at the uniform speed, and calculate accordingly the tower-type pumping unit commutation after In operation after each moment corresponding setpoint frequency, computing is carried out to the setpoint frequency at each moment, is obtained and the setting at each moment frequency The corresponding position setting value of rate, afterwards, in the case where detecting position correction signal, the current setting frequency of the tower-type pumping unit Rate reaches the default commutating frequency and the normal each moment back and forth run after being commutated, and the application will be utilized and obtained Current time position setting value and location feedback value, the setpoint frequency at current time is modified, when obtaining current The target given frequency at quarter, thus control the tower-type pumping unit commutate after even running and smooth commutation next time, it is seen then that The application increases position control on the basis of existing speed control open loop control system, improves to the tower oil pumping The Stroke Control precision that machine is up and down reciprocatingly run, makes it steady and reliable in whole service process.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow diagram of the control method embodiment for tower-type pumping unit that the application provides；
Fig. 2 is a kind of tower-type pumping unit open loop control block diagram that the application provides；
Fig. 3 is a kind of flow diagram of the preferred embodiment of the control method for tower-type pumping unit that the application provides；
Fig. 4 is a kind of course of work schematic diagram for tower-type pumping unit that the application provides；
Fig. 5 is a kind of structure diagram of the control device embodiment for tower-type pumping unit that the application provides；
Fig. 6 is the part-structure schematic diagram of the control device embodiment for another tower-type pumping unit that the application provides.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work Embodiment, belongs to the scope of protection of the invention.
This application provides a kind of control method and device of tower-type pumping unit, by obtaining the current of the tower-type pumping unit Setpoint frequency reaches default commutating frequency and changes the Accelerating running time moved forwards, the time of traveling at the uniform speed, runs slowly the time And the default frequency that travels at the uniform speed, and calculate accordingly the tower-type pumping unit change move forwards in each moment corresponding setting frequency After rate, computing is carried out to the setpoint frequency at each moment, obtains position setting value corresponding with the setpoint frequency at each moment, afterwards, In the case where detecting position correction signal, the current setpoint frequency of the tower-type pumping unit reach the default commutating frequency and The normal each moment back and forth run after being commutated, the application all will using obtain current time position setting value with And location feedback value, the setpoint frequency at current time is modified, the target given frequency at current time is obtained, so as to control Even running and smooth commutation next time after tower-type pumping unit commutation, it is seen then that the application is opened in existing speed control Increase position control on the basis of bad vector control system, improve the Stroke Control up and down reciprocatingly run to the tower-type pumping unit Precision, makes it steady and reliable in whole service process.
In order to enable the above objects, features and advantages of the present invention more obvious understandable, below in conjunction with the accompanying drawings and specifically The present invention is described in further detail for embodiment.
As shown in Figure 1, a kind of flow diagram of the control method embodiment of the tower-type pumping unit provided for the application, should Method can include：
Step S110：When the current setpoint frequency of tower-type pumping unit reaches default commutating frequency and when being commutated, obtain The tower-type pumping unit changes the operating parameter moved forwards.
In the present embodiment, by using the back and forth operation, and being changed every time at it of opened loop control scheme control tower-type pumping unit Backward, usually all it is according to Accelerating running, travels at the uniform speed, run slowly, until decelerates to for example default commutation of certain frequency point Commutate during Frequency point, continue to run with according still further to above-mentioned rule, be so repeated.
Wherein, the stability and reliability moved forwards to control tower-type pumping unit to change, the present embodiment will precalculate It changes the operating parameter moved forwards, as the tower-type pumping unit commutate after Accelerating running time, the time of traveling at the uniform speed, run slowly Time and the frequency etc. that travels at the uniform speed, the application are not construed as limiting this, specifically can currently be run according to the tower-type pumping unit Situation be calculated its change the length of stroke that moves forwards to determine these operating parameters, so as to avoid the tower-type pumping unit from changing Beyond the length of stroke of the tower-type pumping unit when being run backward according to the operating parameter, and influence the normal fortune of tower-type pumping unit OK, specific calculating process can refer to the description of example below corresponding part.
Step S120：Based on the operating parameter, calculate tower-type pumping unit change move forwards in each moment corresponding setting frequency Rate.
Optionally, in practical applications, the Accelerating running time moved forwards is changed in definite tower-type pumping unit, travel at the uniform speed After time, the time of running slowly and the default frequency that travels at the uniform speed, the boost phase that is run for the tower oil receiving equipment can be with The Accelerating running time is run to using it and reaches the frequency that travels at the uniform speed as standard, it is corresponding to calculate the boost phase each moment Setpoint frequency；Similarly, for the decelerating phase, it can reduce speed now to run to the deceleration from the default frequency that travels at the uniform speed with it and transport It is standard to reach default commutating frequency during the row time, calculates corresponding setpoint frequency of each moment in tower-type pumping unit decelerating phase； And for the constant velocity stage of the tower-type pumping unit, which can be determined as tower-type pumping unit and at the uniform velocity transported Row order section each moment corresponding setpoint frequency.
It should be noted that specific side of the application to calculating each moment in tower-type pumping unit each stage corresponding setpoint frequency Method is not construed as limiting, as long as disclosure satisfy that above-mentioned standard.In addition, for tower-type pumping unit according to above-mentioned regular operational process In, it can realize the switching of each stage running by setting the devices such as corresponding timer, the application is not construed as limiting this.
Step S130：Change tower-type pumping unit the corresponding setpoint frequency of each moment in moving forwards and carry out computing, be somebody's turn to do Tower-type pumping unit changes move forwards in position setting value corresponding with the setpoint frequency of each moment.
In the present embodiment, according to the open loop control block diagram shown in Fig. 2 tower-type pumping unit will be controlled back and forth to run, Thus, after tower-type pumping unit is calculated and changes the operating parameter moved forwards, and changes and move forwards in the tower-type pumping unit During, the operating parameter that the moment is corresponded to using the corresponding operation phase is calculated to the setpoint frequency (f_ in such as Fig. 2 at the moment ref0), as shown in Fig. 2, in order to increase the accuracy of stroke when the tower-type pumping unit is back and forth run, the present embodiment is opened existing Position control ring is added on the basis of ring vector control system, to change the setpoint frequency at the moment, so, when obtaining this After the setpoint frequency at quarter, it can be come by carrying out integral operation (calculating process that 1/S is represented in such as Fig. 2) to the setpoint frequency To the position setting value (p_ref in such as Fig. 2) at the moment.
It can be seen from the above that in the tower-type pumping unit normally reciprocal operational process, the position setting value at the current time of acquisition P_ref is the setpoint frequency f_ref obtained with current time0It is corresponding, and the setpoint frequency f_ref at each moment0Can be according to above-mentioned The tower-type pumping unit being calculated changes the operating parameter moved forwards and obtains, and specifically can refer to the description of above-mentioned corresponding part.
Step S140：In the case where detecting position correction signal, when the current setpoint frequency of the tower-type pumping unit reaches At the normal each moment back and forth run after being commutated to default commutating frequency, set using the position at the current time of acquisition Definite value and location feedback value, are modified the setpoint frequency at current time, obtain the target given frequency at current time.
Wherein, the normal reciprocal operation of tower-type pumping unit can be accelerated after the commutation of foregoing description, at the uniform velocity and slow down, Reach default commutating frequency to commutate again, run so forth process, and not comprising the deceleration entered after trigger position correction switch Stage.
According to above-mentioned analysis, in the present embodiment practical application, in order to make the operation after tower-type pumping unit commutation more Adding steadily, commutation process is more smooth, and the setpoint frequency for each moment is not changeless, but according to the corresponding moment Operating parameter determine, and the tower-type pumping unit shutdown after changing first move forwards in or detecting position correction signal Afterwards in the reciprocal operation of the tower-type pumping unit, it will the location feedback value p_feed at each moment in the control ring of position is obtained, so that Using the position setting value p_ref and location feedback value p_feed at corresponding moment, the setpoint frequency f_ to the moment is realized ref0Amendment so that obtain the target given frequency at the moment and send to speed control ring, realize to the tower-type pumping unit The accurate control of operation, ensures its stability back and forth run.
Optionally, for the setpoint frequency f_ref at each moment0Makeover process, can realize in the following way：
Each moment in reciprocal operational process after running and commutate first after being shut down for the tower-type pumping unit, or It is for each moment detected after position correction signal in the reciprocal operational process of the tower-type pumping unit, according to above-mentioned counterparty After formula obtains the position setting value p_ref and location feedback value p_feed at current time, as shown in Fig. 2, the two can first be calculated The position setting value p_ref- location feedback value p_feed of the current location deviation of parameter, i.e. current time, then to the present bit Put deviation and carry out scale operation (computing that the Kp in such as Fig. 2 is represented), obtain current correction amount delta_f1, deserve so as to utilize Setpoint frequency f_refs of the preceding correction amount delta_f1 to current time0It is modified, obtains the final goal frequency at the current time Rate f_ref, as shown in Fig. 2, the current correction amount delta_f1+ setpoint frequencies f_ of final goal frequency f_ref=at current time ref0, afterwards, which will be defeated as the open loop control system medium velocity control ring current time Enter, and calculate its speed with the velocity deviation delta_f, i.e. current time of the speed feedback value f_feed at the current time of acquisition The final goal frequency f_ref- speed feedback value f_feed that degree deviation delta_f=current times obtain, afterwards, speed ring control Velocity deviation delta_f control tower-type pumping unit of the device (i.e. speed ring PI in Fig. 2) processed i.e. using the moment before deserving is current The operation at moment, similarly, when tower-type pumping unit is from after reaching its subsequent time at the current time, will obtain setting for the subsequent time Determine frequency, and run according to above-mentioned control process control tower-type pumping unit, details are not described herein by the application.
It can be seen from the above that in the present embodiment, when tower-type pumping unit starts operation first, it usually can all seek and secure a position Reference point and determine its current location, specifically can correct switch by trigger position obtain the position reference point, that is, detect To the position reference point that the tower-type pumping unit position is run as the tower-type pumping unit during position correction signal, and from the tower Formula pumping unit start run to obtain the position reference point after run slowly, until current setpoint frequency reaches default commutating frequency And commutate before during, be the operation by the conventional open loop vector control system speed control tower-type pumping unit；In addition, In the reciprocal operational process of the tower-type pumping unit, when need the tower-type pumping unit is corrected and trigger position correction switch after Run slowly during, and run by speed control tower-type pumping unit.It is normal in addition to the two operation phase At each moment in reciprocal operational process, the present embodiment will all be utilized increases position on the basis of the conventional open loop vector control system The mode for putting control ring controls the operation of the tower-type pumping unit, substantially increases the row of the whole reciprocal operational process of tower-type pumping unit Process control precision, ensure that its reciprocal traveling comfort.
, wherein it is desired to explanation, on the open loop control block diagram medium velocity ring controller and electric current shown in Fig. 2 The control process of ring controller can refer to existing open-loop control method, and this will not be detailed here by the application.
Optionally, for the location feedback value p_feed at each moment obtained in the various embodiments described above, it can be according to the tower The synchro angle of the motor of formula pumping unit, which calculates, to be obtained, and the position can be calculated by the motor rotor position computing module in Fig. 2 Value of feedback p_feed, the application do not limit the specific method of synchro angle calculating.It is permanent magnet synchronous electric to be additionally, since the motor Machine, without slip, thus, the position range value being calculated according to synchro angle is accurate.In addition, above-mentioned speed feedback value f_ What feed can be observed by speed observer, the application does not also limit the calculating process.
To sum up, the present embodiment on the basis of the existing control system to tower-type pumping unit by adding position control Ring, the tower oil pumping is controlled from the control system is made using position ring controller, speed ring controller and current loop controller Machine is back and forth run, and improves the Stroke Control precision to pump using the tower-type pumping unit of permanent magnet synchronous motor, is protected Demonstrate,prove the smooth of its reciprocal traveling comfort and commutation.Specifically, the current setpoint frequency by obtaining the tower-type pumping unit Reach default commutating frequency and change the Accelerating running time moved forwards, the time of traveling at the uniform speed, the time and default of running slowly The frequency that travels at the uniform speed, and calculate accordingly the tower-type pumping unit change move forwards in after each moment corresponding setpoint frequency, it is right The setpoint frequency at each moment carries out computing, obtains position setting value corresponding with the setpoint frequency at each moment, afterwards, is detecting In the case of position correction signal, the current setpoint frequency of the tower-type pumping unit reaches the default commutating frequency and carries out and change The normal each moment back and forth run backward, the application will utilize the position setting value at the current time obtained and position Value of feedback, is modified the setpoint frequency at current time, obtains the target given frequency at current time as speed control ring Input, come control the tower-type pumping unit smooth commutation and ensure its commutation after even running.
A kind of as shown in figure 3, flow signal of the control method preferred embodiment of the tower-type pumping unit provided for the application Figure, this method may comprise steps of：
Step S301：Judge whether to detect position correction signal, if so, entering step S303；If it is not, perform step S302。
In the present embodiment, as shown in figure 4, the clump weight 410 and sucker rod 420 of tower-type pumping unit pass through permanent magnet synchronous electric Uplink and downlink are realized in the rotating of machine 430, and both traffic directions are opposite, and clump weight 410 is represented with arrow in Fig. 4 Up direction exemplified by illustrate.
In the tower-type pumping unit actual moving process, after reciprocal operation a period of time, the tower-type pumping unit is often inclined To one end of weight, and its normal work is influenced, in this regard, the application by installing upper limit successively from top to bottom in tower-type pumping unit Switch K1, upper position correction switch K2, lower position correction switch K3 and lower position switch K4.Back and forth transported in the tower-type pumping unit During row, because it is partially heavy and when trigger the switch K2 or lower position corrections of position correction thereon and switching K3, it will generation position school Positive signal, so that its control system is corrected it according to above-mentioned default rule, as recalculated it changes and move forwards Length of stroke, so that the operating parameter after the commutation being calculated accordingly is more in line with the operation of the tower-type pumping unit at this time Situation, that is, realize the accurate control back and forth run to the tower-type pumping unit.
Wherein, in the reciprocal operational process of tower-type pumping unit, when it triggers upper limit position switch K1 and lower position switch K2, Its motor will all be shut down and band-type brake, so as to avoid the operation of the tower-type pumping unit from causing beyond the length of stroke for allowing it to run It can not be worked normally.
It should be noted that encounter upper position school when can be the tower-type pumping unit uplink on above-mentioned position correction signal Encounter what lower position correction switch produced when positive switch or downlink, opened for encountering lower position correction during the tower-type pumping unit uplink Signal caused by upper position correction switch is encountered when pass or downlink is not responding to.So in the present embodiment practical application, it is above-mentioned Step S301 can include judging whether trigger position correction switch during the tower-type pumping unit uplink operation, judge the tower Whether formula pumping unit downlink triggers lower position correction switch when running.
Optionally, for above-mentioned upper limit position switch K1, upper position correction switch K2, lower position correction switch K3 and lower limit Bit switch K4 can approach switch i.e. contactless proximity switch, can be grasped without carrying out mechanically direct contact with moving component The position switch of work, but be not limited thereto.
Further, since above-mentioned upper limit position switch K1, upper position correction switch K2, lower position correction switch K3 and lower limit The service life of switch K4 etc. close to switch be it is limited, thus, the operation stroke that the application can be to tower-type pumping unit is set Corresponding location bias amount, lower position amount of bias L1 as shown in Figure 4, it is, of course, also possible to set corresponding upper position amount of bias (not drawn in Fig. 4), but be not limited thereto, and the application is not construed as limiting the concrete numerical value of the location bias amount, can Determined according to real work situation.As it can be seen that the application is by setting location bias amount so that back and forth operation is multiple for tower-type pumping unit Just need correct once, that is to say, that in tower-type pumping unit operational process, be not run each time all can trigger position correction hold Close, so as to extend the service life of above-mentioned two position correction switch.
In addition, under normal conditions, in the range of certain time, after tower-type pumping unit for a long time reciprocal operation, lead to Its normal position can only be inclined to one end of weight, therefore, it is possible to make a position correction switch of the tower-type pumping unit.But Since in different time sections, oil well liquid level can change, thus, one end of tower-type pumping unit weighting is simultaneously not fixed, so, In order to ensure that tower-type pumping unit is smoothly back and forth run, the mode of the preferably bidirectional correction of the present embodiment, even if upper position correction is opened Close and lower position correction switch is involved in work, in this way, position correction switch or downlink on encountering in tower-type pumping unit uplink When encounter lower position correction switch and can all be corrected so that adjustment detects the operation row first after position correction signal in time The length of journey is length of stroke hereafter, ensures that the tower-type pumping unit is reliable, stable operation, detailed process can parameter hereafter retouch State.
Step S302：Judge whether tower-type pumping unit current time is in the fortune of the deceleration after detecting position correction signal Row order section, if so, entering step S303；If it is not, perform step S310.
In the present embodiment, when not detecting position correction signal, illustrate to be to detect position correction signal at this time Running slowly afterwards is either working in normal reciprocal operation.For the former, the tower-type pumping unit will be controlled to continue to subtract Speed operation, and constantly add up its deceleration distance；For the latter, will continue control according to current time open loop control program should Tower-type pumping unit is normally back and forth run.
Step S303：Control the tower-type pumping unit to run slowly, and add up the deceleration distance of the tower-type pumping unit.
In the present embodiment, triggered when upper position correction switch or downlink operation are triggered when tower-type pumping unit uplink is run During lower position correction switch, the motor of the tower-type pumping unit will invert immediately, so that it runs slowly, in order to accurately calculate In this case tower-type pumping unit changes the length of stroke moved forwards, will start to add up its deceleration distance.
In addition, it is necessary to explanation, the slowed-down stage after position correction signal is detected, the application is by normal The rule open loop control system speed control tower-type pumping unit runs slowly, and is changed until its current setpoint frequency reaches default After commutating to frequency, the present embodiment just can control the tower-type pumping unit into row position, to improve to its Stroke Control precision, Ensure its normal reciprocal traveling comfort.
Step S304：Judge whether the current setpoint frequency of the tower-type pumping unit reaches default commutating frequency, if so, into Step S305；If it is not, return to step S301.
In tower-type pumping unit normal course of operation, its commutation typically first decelerates to zero and ramps up again.But due to this Apply to the reciprocal operation control method of tower-type pumping unit using opened loop control, there is low frequency output in it, so, In the present embodiment, it may commutate after a certain frequency is decelerated to also without just having commutated to 0Hz if decelerating to 0.5Hz, Specifically it can be obtained by field adjustable or be set by experience, the concrete numerical value that the application presets this commutating frequency does not limit It is fixed.Wherein, which refers to so that the Frequency point of tower-type pumping unit commutation smooth steady.
Step S305：The tower-type pumping unit, which is obtained, according to preset rules changes the length of stroke that moves forwards.
With reference to above-mentioned analysis, in this case, that is, detect position correction signal or do not detect position school Positive signal, but the slowed-down stage for detecting position correction signal is currently at, when the current setting frequency of the tower-type pumping unit When rate reaches default commutating frequency and commutated, step S305 is specifically the tower oil receiving equipment to being currently accumulated by Total reduction distance, predeterminated position amount of bias and the default length of stroke of this operation carry out summation operation, obtain the tower pumping Oil machine changes the length of stroke moved forwards, and the operating parameter moved forwards is changed to calculate the tower-type pumping unit.Step S306：Obtain The tower-type pumping unit is taken to change the operating parameter moved forwards.
In the present embodiment, when detecting position correction signal, and pass through and described tower receive oil to what is be currently accumulated by Total reduction distance, predeterminated position amount of bias and the default length of stroke of this operation of machine carry out summation operation, and it is tower to obtain this After pumping unit changes the length of stroke moved forwards, when the length of stroke that this can be obtained down in view of the situation calculates the tower oil pumping Machine changes the operating parameter moved forwards.
Step S307：Based on commutation when obtain the operating parameter, calculate the tower-type pumping unit change move forwards in each moment Corresponding setpoint frequency.
Understand that, when tower-type pumping unit operates in different situations, changing for being calculated moves forwards based on above-mentioned analysis Length of stroke be different, thus, according to the length of stroke and the default frequency that travels at the uniform speed of acquisition, be calculated Accelerating running time, the time of running slowly and the time that travels at the uniform speed are also different, i.e., the operating parameter after the commutation obtained accordingly is not Together, so that constantly calculating the tower oil pumping according to operating parameter is obtained in normal operation after this commutation of tower-type pumping unit The setpoint frequency at each moment is different in machine normal operation, and then realizes the accurate control to the tower-type pumping unit.
Wherein, back and forth transported before tower-type pumping unit shutdown operation first detects position correction signal and commutates or normally Row detect position correction signal enter slowed-down stage, directly using the setpoint frequency at each moment being calculated as The input of speed control ring, so as to control the tower-type pumping unit back and forth to run using the speed ring of open loop control system.
Step S308：Change tower-type pumping unit the corresponding setpoint frequency of each moment in moving forwards and carry out computing, obtain with The corresponding position setting value of the setpoint frequency.
Optionally, as shown in Fig. 2, the present embodiment, which can carry out the setpoint frequency at each moment integral operation, obtains the corresponding moment Position setting put.
Step S309：In the case where detecting position correction signal, the current setpoint frequency of the tower-type pumping unit reaches The default commutating frequency and normal each moment back and forth run after being commutated, utilize institute's rheme at the current time of acquisition Definite value and location feedback value are installed, the setpoint frequency at current time is modified, the target for obtaining current time gives frequency Rate.
In practical applications, tower-type pumping unit changes each moment moved forwards, will utilize the position setting value at corresponding moment And location feedback value, current correction amount is obtained, the setpoint frequency at the moment is modified, is delivered to obtaining the corresponding moment The variable of speed control ring, ensures even running after tower-type pumping unit commutation.
Step S310：Judge the tower-type pumping unit this operation whether be shut down after operation first, if so, entering step S311, if it is not, performing step S312.
In the present embodiment, if current time does not only detect position correction signal, but also it is not to detect position correction During slowed-down stage after signal, illustrate that the tower-type pumping unit is normally moved back and forth at this time, in order to further improve pair Tower-type pumping unit Stroke Control precision, can determine whether this its this operation is operation first after shutting down.
Wherein, in practical applications, a mark would generally be put after tower-type pumping unit shutdown, thus, the present embodiment can lead to Cross detect the mark judge this operation whether be shut down after operation first.
Step S311：Control the tower-type pumping unit downlink or uplink, and return to step S301.
In the present embodiment practical application, when being run first after tower-type pumping unit shutdown, it will first look into and secure a position Reference point, determine the tower-type pumping unit be currently at where, afterwards could according to control method provided in this embodiment essence The tower-type pumping unit really is controlled to run.
Wherein, can be corresponding to trigger by controlling the slow upstream or downstream of tower-type pumping unit on the position reference point Position correction switch and determine.
In addition, it is necessary to explanation, in this application, the operation of startup first after tower-type pumping unit shutdown, triggers phase The position correction answered switchs and detects position correction signal, that is, this process of position reference point is searched, with above-mentioned detection Run slowly to position correction signal, the process one before current setpoint frequency reaches default commutating frequency and commutated Sample, is all that the tower-type pumping unit is run by conventional open loop vector control system speed control.
Step S312：Judge whether the current setpoint frequency of the tower-type pumping unit reaches default commutating frequency, if so, performing Step S305；If it is not, enter step S307.
In this case, i.e., after not detecting this operation of position correction signal and the tower-type pumping unit and not being shutdown Operation first, that is to say, that in the normal reciprocal operational process of the tower-type pumping unit, judge that its current setpoint frequency reaches During default commutating frequency, performed step S305 specifically obtains default length of stroke, and this is preset length of stroke as institute State tower-type pumping unit and change the length of stroke moved forwards.
Wherein, which is that to change the length of stroke moved forwards be normal reciprocal stroke length to tower-type pumping unit On the premise of the non-trigger position correction of degree, the i.e. tower-type pumping unit switchs and do not report failure, its continuous upstream and downstream is back and forth run Length of stroke, it is typically the length of stroke (with reference to the L2 in Fig. 4) of a setting, once set, the tower-type pumping unit Normal reciprocal stroke length will immobilize.
In the present embodiment, after it is not shutdown not detect this operation of position correction signal and the tower-type pumping unit Run in this case first, if detecting, the current setpoint frequency of the tower-type pumping unit is not reaching to default commutation frequency Rate, calculates the setpoint frequency that the operating parameter obtained calculates current time, afterwards, according to above-mentioned step when can commutate according to the last time Suddenly the method that is provided calculates the corresponding position setting value of setpoint frequency at current time, with control the tower-type pumping unit continue by Run according to when front direction.
In conclusion the present embodiment will judge whether to detect position correction in the reciprocal operational process of tower-type pumping unit Signal, and after the position correction signal is detected, be corrected by the way of the length of stroke moved forwards is changed in correction.Tool Body, by whether this is operation first after shutting down according to tower-type pumping unit, changes calculating the tower-type pumping unit and move forwards Actual length of stroke, without always directly acquiring default fixed stroke length, so that the tower pumping obtained accordingly Operating parameter and the setpoint frequency at each moment being calculated accordingly after this commutation of oil machine are more in line with the tower oil pumping The practical operation situation of machine so that utilize the position setting value corresponding with the setpoint frequency at each moment obtained and position feedback Value, the amendment to the setpoint frequency at corresponding moment is more accurate, and the operation control to the tower-type pumping unit is more accurate, makes its fortune Row is more stablized, and compared with the mode of existing change location feedback value, this control mode of the present embodiment will not cause speed Degree fluctuation so that commutation is more smooth.
Optionally, on the basis of the various embodiments described above, it can also detect whether the control process breaks down in real time, then This method can also include：Judge whether to detect fault-signal, if so, controlling the tower-type pumping unit to shut down and exporting band-type brake letter Number, if it is not, can continue to control the tower-type pumping unit to run according to above-mentioned control method.
Wherein, in the present embodiment, which can include the tower-type pumping unit triggering upper limit position switch Or signal caused by the lower position switch, but be not limited thereto, it can also be that other failures occurs in tower-type pumping unit, such as Situations such as overvoltage, overcurrent, under-voltage, excess temperature caused fault-signal, the application no longer illustrates one by one herein.
In addition, when detecting above-mentioned any one or more fault-signals, in order to protect the tower-type pumping unit system, make The components such as its machinery are without damage, can directly control the tower-type pumping unit and shut down and export band-type brake signal.
Optionally, on the basis of the various embodiments described above, this method can also include：Judge whether to detect effective fortune Row instruction, specifically, in the practical application of the alternative embodiment, if detecting, tower-type pumping unit is currently at shutdown status, After receiving effective operating instruction, the tower-type pumping unit will be controlled to run；If the operating instruction received is invalid, holding stops Machine state；If detecting, tower-type pumping unit is currently at operating status, and after receiving effective operating instruction, will continue control should Tower-type pumping unit is run, and when the operating instruction received is invalid, will control the tower-type pumping unit speed reducing stopping, and in moderating process In its running frequency export band-type brake signal when reaching given frequency.It can be seen from the above that the operating instruction in the present embodiment is used to refer to Show the tower-type pumping unit operation.
As shown in figure 5, a kind of structure diagram of the control device embodiment of the tower-type pumping unit provided for the application, knot Close shown in Fig. 4, which can install upper limit position switch, upper position correction switch, lower position correction successively from top to bottom Switch and lower position switch, these switches can approach switch, and the application does not limit its concrete composition structure.In reality In, when upper position correction switch and lower position correction switch are encountered in tower-type pumping unit operational process, the tower-type pumping unit Motor all can immediately reversely, so as to fulfill the up and down reciprocatingly operation of the tower-type pumping unit, and when on the tower-type pumping unit is encountered When limit switch and lower position switch, its motor will be shut down and band-type brake, so as to protect the mechanical part of the tower-type pumping unit not It is damaged.In practical applications, which can be specifically frequency converter, but be not limited thereto, and the present embodiment is by the change Frequency device is driven and controls to the motor (i.e. permanent magnet synchronous motor) of tower-type pumping unit, reciprocal to the tower-type pumping unit to improve The Stroke Control precision of operation, realizes smooth commutation and ensures its reciprocal traveling comfort.
Based on this, the control device of the present embodiment can include：
First acquisition module 510, the current setpoint frequency for obtaining the tower-type pumping unit reach default commutating frequency And change the operating parameter moved forwards.
Wherein, the operating parameter includes Accelerating running time, the time of traveling at the uniform speed, the time and default of running slowly Travel at the uniform speed frequency, and in practical applications, which this length of stroke run can calculate according to tower-type pumping unit Obtain.
First computing module 520, for based on the operating parameter, calculate the tower-type pumping unit change move forwards in it is each Moment corresponding setpoint frequency.
In the present embodiment practical application, which can specifically run to each rank according to tower-type pumping unit The operating parameter at each moment and the calculating standard of each class of section, to calculate the setpoint frequency at corresponding moment, can specifically join According to the description of above method embodiment corresponding part.
Second computing module 530, for the tower-type pumping unit is changed move forwards in each moment corresponding setpoint frequency into Row computing, obtain the tower-type pumping unit change move forwards in position setting value corresponding with the setpoint frequency of each moment.
Wherein, in the present embodiment, the open loop control block diagram with reference to shown in Fig. 2, second computing module 530 are specific Can be integration module (1/S in such as Fig. 2), for the tower-type pumping unit is changed move forwards in each moment corresponding setting frequency Rate carry out integral operation, obtain the tower-type pumping unit change move forwards in each moment position corresponding with the setpoint frequency set Definite value.
Correction and Control module 540, in the case where detecting position correction signal, the current of the tower-type pumping unit to set At the normal each moment back and forth run after determining frequency to reach the default commutating frequency and being commutated, utilize the current of acquisition The position setting value and location feedback value at moment, are modified the setpoint frequency at current time, obtain current time Target given frequency.
According to the description of above method embodiment corresponding part, when tower-type pumping unit starts operation first, usually A position reference point will be found and determine its current location, specifically switch can be corrected by trigger position to obtain the position Put reference point, and start from the tower-type pumping unit run to obtain the position reference point after run slowly, until current setting frequency Rate reach default commutating frequency and commutate before during, be that this is tower by conventional open loop vector control system speed control The operation of pumping unit；In addition, in the reciprocal operational process of the tower-type pumping unit, when needing to be corrected the tower-type pumping unit During running slowly after trigger position correction switch, and run by speed control tower-type pumping unit.Except the two Each moment in normal reciprocal operational process outside operation phase, the present embodiment will be all utilized in the conventional open loop vector control The mode for increasing position control ring in system-based processed controls the operation of the tower-type pumping unit, and it is whole to substantially increase tower-type pumping unit The Stroke Control precision of a reciprocal operational process, ensure that its reciprocal traveling comfort.Optionally, with reference to Fig. 2, the amendment control Molding block 540 can include：
First computing unit 541, for calculating the position setting value p_ref and location feedback value at the current time obtained The current location deviation of p_feed, as shown in Fig. 2, the position setting value p_ref- positions at current location deviation=current time are anti- Feedback value p_feed.
Second computing unit 542, for carrying out scale operation to the current location deviation, obtains current correction amount, such as Shown in Fig. 2, the current correction amount=current location deviation * Kp.
3rd computing unit 543, for being modified using the current correction amount to the setpoint frequency at current time, is obtained To the target given frequency at current time.
In the present embodiment, the setpoint frequency f_ref at the target given frequency=correspondence moment at each moment0+ obtained pair The current correction amount at moment is answered, so that the input variable of the speed control ring in the open loop control system is adjusted, realization pair The accurate control that the tower-type pumping unit is back and forth run, ensures its traveling comfort.
In addition, can be by the 3rd computing module of the device according to the tower for the location feedback value in above-described embodiment The synchro angle of the motor of formula pumping unit, which calculates, to be obtained, and since the motor is permanent magnet synchronous motor, no slip, ensures to calculate gained The accuracy of location feedback value.
To sum up, in the present embodiment, the current setpoint frequency by obtaining the tower-type pumping unit reach default commutating frequency and Change the Accelerating running time moved forwards, the time of traveling at the uniform speed, run slowly time and the default frequency that travels at the uniform speed, calculating The tower-type pumping unit changes move forwards in after each moment corresponding setpoint frequency, so as to calculate position corresponding with the setpoint frequency Setting value, afterwards, in the case where detecting position correction signal, the current setpoint frequency of the tower-type pumping unit reaches described pre- If commutating frequency and the normal each moment back and forth run after being commutated, the position setting value at the current time of acquisition is utilized And location feedback value, the setpoint frequency at current time is modified, the target given frequency at current time is obtained, to control Even running after tower-type pumping unit commutation, it is seen then that the increased position control of the application, improves to above and below the tower-type pumping unit The Stroke Control precision back and forth run, makes its whole service process steady, and it is more smooth to commutate.
As another embodiment of the application, as shown in fig. 6, on the basis of above-described embodiment, which can also include：
First judgment module 610, for judging whether to detect position correction signal.
As it can be seen that first judgment module 610 can include the detection unit of test position correction signal, it is tower for monitoring Position correction signal whether is generated in the reciprocal operational process of pumping unit, and the position correction can be detected in time when producing Signal, so that the control device carries out subsequent control accordingly.
Optionally, in the present embodiment practical application, which can include the first judging unit, use Upper position correction switch whether is triggered when the tower-type pumping unit uplink operation is judged, that is to say, that monitor position school on this The action just switched, to ensure to detect the position correction signal being generated by it in time；Second judging unit, it is described for judging Whether tower-type pumping unit downlink triggers lower position correction switch when running, similarly, can monitor the lower position correction switch in real time Action, with ensure detect the position correction signal being generated by it in time.
Second judgment module 620, when the judging result for the first judgment module 610 is no, judges that tower-type pumping unit is worked as It is preceding whether to be in the slowed-down stage after detecting position correction signal.
First control module 630, for first judgment module or the second judgment module judging result for be when, Control the tower-type pumping unit to run slowly, and add up the deceleration distance of the tower-type pumping unit.
In the present embodiment, when detecting position correction signal, illustrate that the operation of the tower-type pumping unit has occurred not Stable case, it is such as partially heavy, thus, in order to ensure the tower-type pumping unit even running and make its commutation more smooth, the present embodiment The tower-type pumping unit will be run and be adjusted, specifically giving variable to its position is corrected, and detailed process is as follows.
Second acquisition module 640, for reaching default commutation when the current setpoint frequency for detecting the tower-type pumping unit During frequency, the length of stroke moved forwards is changed according to the preset rules acquisition tower-type pumping unit.
Wherein, which changes the operating parameter moved forwards for calculating the tower-type pumping unit, specifically calculates Journey can refer to the description of above method embodiment corresponding part, and details are not described herein for this implementation.
In the present embodiment, when detecting position correction signal, the first acquisition module 640 is specifically used in tower-type pumping unit Current setpoint frequency when reaching default commutating frequency, to always subtracting for this operation of the tower oil receiving equipment for being currently accumulated by Speed distance, predeterminated position amount of bias and default length of stroke carry out summation operation, are transported after obtaining the tower-type pumping unit commutation Capable length of stroke.
Optionally, on the basis of above-mentioned another embodiment, as shown in fig. 6, the device can also include：
3rd judgment module 650, when the judging result for the second judgment module 620 is no, judges tower-type pumping unit sheet It is secondary operation whether be the tower-type pumping unit shut down after operation first.
Second control module 660, for when the judging result of the 3rd judgment module 650 is is, controlling the tower pumping Oil machine downlink or uplink, until the judging result of first judgment module is yes.
In the present embodiment, the operation first after determining that the tower-type pumping unit is to shut down, in order to determine the tower oil pumping The position of machine at this time, can control upstream or downstream to trigger corresponding position correction switch, to determine a position reference point.
4th judgment module 670, for when the judging result of the 3rd judgment module is no, judging the tower pumping Whether the current setpoint frequency of oil machine reaches default commutating frequency.
Wherein, which is a frequency values for making the tower-type pumping unit smooth commutation, can specifically be passed through Experiment adjustment obtains, and the application is not construed as limiting its concrete numerical value.
3rd acquisition module 680, for when the judging result of the 4th judgment module 670 is no, obtaining the tower Formula pumping unit changes the operating parameter moved forwards, and triggers the operation obtained when first computing module commutates according to the last time Parameter calculates the setpoint frequency at the tower-type pumping unit current time, and by second computing module to the current time Setpoint frequency carries out computing, after obtaining the position setting value at current time corresponding with the setpoint frequency at the current time, touches Sending out Correction and Control module described, control tower-type pumping unit continues by when front direction is run.
In the present embodiment, which can include：Accelerating running time, the time of traveling at the uniform speed travel at the uniform speed frequency And run slowly time etc., but be not limited thereto, in this case, the length of stroke for calculating above-mentioned operating parameter is actual On be default length of stroke.
It can be seen from the above that in the case where tower-type pumping unit shuts down operation and the non-different situations run first first, will recalculate Corresponding length of stroke, to obtain the operating parameter after more accurate commutation accordingly, is realized after commutating to tower-type pumping unit Accurate control.
Optionally, on the basis of above-described embodiment, which can also include：
5th judgment module, for judging whether to detect fault-signal.
Wherein, which can be that the tower-type pumping unit triggers the upper limit position switch or the lower limit There is letter situations such as overvoltage, overcurrent, under-voltage or excess temperature caused by signal caused by switch, or tower-type pumping unit Number, the application is not construed as limiting this.In practical applications, when not detecting the fault-signal, triggering described first is sentenced Disconnected module judges whether to detect position correction signal.
3rd control module, for when the judging result of the 5th judgment module is is, controlling the tower oil pumping Machine stops and exports band-type brake signal.
In addition, on the basis of above-mentioned alternative embodiment, which can also include：
6th judgment module, for judging whether to detect effective operating instruction.
Wherein, the operating instruction is used to indicate the tower-type pumping unit operation.In practical applications, it is effective when detecting Operating instruction, above-mentioned 5th judgment module will be triggered and judge whether to detect fault-signal；If effective fortune is not detected Row instruction does not either just detect operating instruction at all, and the tower-type pumping unit will be controlled to shut down and export band-type brake signal.Need If it is noted that the tower-type pumping unit is at shutdown status, then it will still keep the shutdown status at this time.
According to above-mentioned analysis, the present embodiment gives variable after position correction signal is detected, using correction position Mode, i.e., under the different operating conditions of tower-type pumping unit, recalculate tower-type pumping unit according to corresponding preset rules and change The actual length of stroke moved forwards, without always directly acquiring default fixed stroke length, so that obtain accordingly Operating parameter after this commutation of the tower-type pumping unit is more in line with the practical operation situation of the tower-type pumping unit, utilizes the operation The operation of the state modulator tower-type pumping unit is more stablized, and compared with the mode of existing change location feedback value, this implementation This control mode of example will not cause velocity perturbation so that commutation is more smooth, substantially increases to the whole row of tower-type pumping unit The control accuracy of journey.
In addition, it is necessary to explanation, in the various embodiments described above, such as first, second or the like relational terms are only Only be used for operating an operation, unit or module with another, unit or module distinguish, and not necessarily require or secretly Show that there are any actual relationship or order between these units, operation or module.Moreover, term " comprising ", " bag Containing " or any other variant thereof is intended to cover non-exclusive inclusion, so that process, method including a series of elements Or system not only includes those key elements, but also including other elements that are not explicitly listed, or further include to be this Process, method or the intrinsic key element of system.In the absence of more restrictions, limited by sentence "including a ..." Key element, it is not excluded that also there are other identical element in the process including the key element, method or system.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment For, due to its with embodiment disclosed in method it is corresponding, so description is fairly simple, related part is referring to method part illustration .
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use the present invention. A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one The most wide scope caused.

Claims (16)

  1. A kind of 1. control method of tower-type pumping unit, it is characterised in that the described method includes：
    When the current setpoint frequency of tower-type pumping unit reaches default commutating frequency and when being commutated, the tower-type pumping unit is obtained The operating parameter moved forwards is changed, wherein, the operating parameter includes Accelerating running time, the time of traveling at the uniform speed, runs slowly Time and the default frequency that travels at the uniform speed；
    Based on the operating parameter, calculate the tower-type pumping unit change move forwards in each moment corresponding setpoint frequency；
    Computing is carried out to corresponding setpoint frequency of each moment in tower-type pumping unit operation, obtains the tower-type pumping unit operation In position setting value corresponding with the setpoint frequency of each moment；
    In the case where detecting position correction signal, the current setpoint frequency of the tower-type pumping unit reaches the default commutation Frequency and the normal each moment back and forth run after being commutated, using the position setting value at the current time of acquisition with And location feedback value, the setpoint frequency at current time is modified, obtains the target given frequency at current time.
  2. 2. according to the method described in claim 1, it is characterized in that, in the tower-type pumping unit operational process, the method is also Including：
    Judge whether to detect position correction signal；
    When not detecting position correction signal, judge whether the tower-type pumping unit current time is in and detect position Slowed-down stage after correction signal；
    When detecting the position correction signal, or the tower-type pumping unit current time is in and detects that position correction is believed During slowed-down stage after number, control the tower-type pumping unit to run slowly, and add up the deceleration of the tower-type pumping unit away from From；
    When the current setpoint frequency for detecting the tower-type pumping unit reaches the default commutating frequency and is commutated, according to Preset rules obtain the tower-type pumping unit and change the length of stroke moved forwards, and the length of stroke is used to calculate the tower pumping Oil machine changes the operating parameter moved forwards.
  3. 3. according to the method described in claim 2, it is characterized in that, described judge whether to detect that position correction signal includes：
    Judge position correction switch whether is triggered during the tower-type pumping unit uplink operation；Or,
    Judge lower position correction switch whether is triggered during the tower-type pumping unit downlink operation.
  4. 4. according to the method described in claim 2, it is characterized in that, in the tower-type pumping unit operational process, the method Further include：
    When not detecting position correction signal, and the tower-type pumping unit current time is not in detecting that position correction is believed During slowed-down stage after number, judge whether the tower-type pumping unit this operation is head after the tower-type pumping unit is shut down Secondary operation；
    When the tower-type pumping unit this operation is the operation first after the tower-type pumping unit is shut down, the tower pumping is controlled Oil machine downlink or uplink, until detecting the position correction signal；
    Wherein, when detecting the position correction signal, after the tower-type pumping unit commutation according to preset rules acquisition The length of stroke of operation is specially：
    To the total reduction distance of this operation of the tower-type pumping unit that is currently accumulated by, predeterminated position amount of bias and default Length of stroke carries out summation operation, obtains the tower-type pumping unit and changes the length of stroke moved forwards.
  5. 5. according to the method described in claim 4, it is characterized in that, this operation is not described tower when the tower-type pumping unit During operation first after shutdown of pumping machine, the method further includes：
    Judge whether the current setpoint frequency of the tower-type pumping unit reaches default commutating frequency；
    Obtained when the current setpoint frequency of the tower-type pumping unit is not reaching to the default commutating frequency, is commutated according to the last time The operating parameter that takes calculates the setpoint frequency at the tower-type pumping unit current time, and to the setpoint frequency at the current time into Row computing, obtains the position setting value at current time corresponding with the setpoint frequency at the current time, controls tower-type pumping unit Continue by when front direction is run；
    When the current setpoint frequency of the tower-type pumping unit reaches the default commutating frequency and commutates, perform described according to pre- If rule obtains the tower-type pumping unit and changes the length of stroke step moved forwards, and described according to the preset rules acquisition tower Formula pumping unit changes the length of stroke moved forwards：
    Default length of stroke is obtained, and the default length of stroke is changed to the stroke length moved forwards as the tower-type pumping unit Degree.
  6. 6. according to the method described in claim 1-5 any one, it is characterised in that the institute using the current time obtained Position setting value and location feedback value are stated, the setpoint frequency at the current time is modified, obtains the current time Target given frequency include：
    Calculate the position setting value at current time and the current location deviation of location feedback value obtained；
    Scale operation is carried out to the current location deviation, obtains current correction amount；
    The setpoint frequency at current time is modified using the current correction amount, the target for obtaining current time gives frequency Rate.
  7. 7. according to the method described in claim 6, it is characterized in that, each moment corresponds in the operation to the tower-type pumping unit Setpoint frequency carry out computing, obtain in the tower-type pumping unit operation position corresponding with the setpoint frequency of each moment and set Value is specially：
    Integral operation is carried out to corresponding setpoint frequency of each moment in tower-type pumping unit operation, obtains the tower-type pumping unit Position setting value corresponding with the setpoint frequency of each moment in operation.
  8. 8. according to the method described in claim 6, it is characterized in that, the location feedback value is according to the electricity of the tower-type pumping unit The synchro angle of machine, which calculates, to be obtained.
  9. 9. a kind of control device of tower-type pumping unit, it is characterised in that the tower-type pumping unit is sequentially installed with from top to bottom Limit switch, upper position correction switch, lower position correction switch and lower position switch, described device include：
    First acquisition module, for when the current setpoint frequency of the tower-type pumping unit reaches default commutating frequency and commutates When, obtain the tower-type pumping unit and change the operating parameter moved forwards, wherein, the operating parameter include the Accelerating running time, Travel at the uniform speed time, the time of running slowly and the default frequency that travels at the uniform speed；
    First computing module, for based on the operating parameter, calculate the tower-type pumping unit change move forwards in each moment pair The setpoint frequency answered；
    Second computing module, for the tower-type pumping unit is changed move forwards in each moment corresponding setpoint frequency transport Calculate, obtain the tower-type pumping unit change move forwards in position setting value corresponding with the setpoint frequency of each moment；
    Correction and Control module, in the case where detecting correction signal, the current setpoint frequency of the tower-type pumping unit to reach At each moment of normal operation after being commutated to the default commutating frequency, utilize institute's rheme at the current time of acquisition Definite value and location feedback value are installed, the setpoint frequency at current time is modified, the target for obtaining current time gives frequency Rate.
  10. 10. device according to claim 9, it is characterised in that described device further includes：
    First judgment module, for judging whether to detect position correction signal；
    Second judgment module, for when the judging result of first judgment module is no, judging that the tower-type pumping unit is worked as Whether the preceding moment is in the slowed-down stage after detecting position correction signal；
    First control module, for when the judging result of first judgment module or second judgment module is to be, controlling Make the tower-type pumping unit to run slowly, and add up the deceleration distance of the tower-type pumping unit；
    Second acquisition module, for reach default commutating frequency when the current setpoint frequency that detect the tower-type pumping unit and into During row commutation, the length of stroke moved forwards is changed according to the preset rules acquisition tower-type pumping unit, the length of stroke is used for Calculate the tower-type pumping unit and change the operating parameter moved forwards.
  11. 11. device according to claim 10, it is characterised in that first judgment module includes：
    Whether the first judging unit, for judging tower-type pumping unit uplink operation when trigger upper position correction switch；
    Whether the second judging unit, for judging tower-type pumping unit downlink operation when trigger lower position correction switch.
  12. 12. according to the devices described in claim 11, it is characterised in that described device further includes：
    3rd judgment module, for second judgment module judging result for it is no when, judge the tower-type pumping unit this Whether operation is operation first after the tower-type pumping unit is shut down；
    Second control module, for when the judging result of the 3rd judgment module is is, controlling under the tower-type pumping unit Row or uplink, until the judging result of first judgment module is yes；
    Wherein, when the judging result of first judgment module is is, second acquisition module is specifically used for current tired Total reduction distance, predeterminated position amount of bias and default length of stroke of this operation of the tower-type pumping unit that meter obtains carry out Summation operation, obtains the tower-type pumping unit and changes the length of stroke moved forwards.
  13. 13. device according to claim 12, it is characterised in that described device further includes：
    4th judgment module, for when the judging result of the 3rd judgment module is no, judging the tower-type pumping unit Whether current setpoint frequency reaches default commutating frequency；
    3rd acquisition module, for when the judging result of the 4th judgment module is no, triggering first computing module The operating parameter that obtains calculates the setpoint frequency at the tower-type pumping unit current time when being commutated according to the last time, and by described the Two computing modules carry out computing to the setpoint frequency at the current time, obtain corresponding with the setpoint frequency at the current time After the position setting value at current time, trigger the Correction and Control module control tower-type pumping unit and continue by when front direction is run；
    Wherein, when the judging result of the 4th judgment module is is, second acquisition module is specifically used for obtaining default Length of stroke, and the default length of stroke is changed to the length of stroke moved forwards as the tower-type pumping unit.
  14. 14. according to the device described in claim 9-13 any one, it is characterised in that the Correction and Control module includes：
    First computing unit, the position setting value at the current time obtained for calculating and the current location of location feedback value are inclined Difference；
    Second computing unit, for carrying out scale operation to the current location deviation, obtains current correction amount；
    3rd computing unit, for being modified using the current correction amount to the setpoint frequency at current time, is obtained current The target given frequency at moment.
  15. 15. device according to claim 14, it is characterised in that second computing module is specially integration module, is used In the tower-type pumping unit is changed move forwards in each moment corresponding setpoint frequency carry out integral operation, obtain the tower pumping Oil machine is changed move forwards in position setting value corresponding with the setpoint frequency of each moment.
  16. 16. device according to claim 14, it is characterised in that described device further includes：
    3rd computing module, the synchro angle for the motor according to the tower-type pumping unit, which calculates, obtains the location feedback value.
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CN108425658B (en) * 2018-03-15 2020-06-30 深圳市英威腾电气股份有限公司 Tower-type pumping unit and frequency converter, control method and storage medium thereof
CN108868704B (en) * 2018-07-10 2020-12-11 东营优立拓夫石油科技有限公司 Control method of vertical pumping unit
CN108894752A (en) * 2018-07-11 2018-11-27 胜利油田高原石油装备有限责任公司 A kind of chain drive pumping unit speed change controllable system and working method
CN114759838B (en) * 2022-06-13 2022-09-02 常州市常华电机有限公司 Rotating speed control method and synchronous motor for automobile air conditioner compressor

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