CN110457766B - Method for indirectly measuring suspension point of beam-pumping unit based on motor power - Google Patents
Method for indirectly measuring suspension point of beam-pumping unit based on motor power Download PDFInfo
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Abstract
The invention is a method for indirectly measuring the suspension point force of a beam pumping unit based on the motor power, which takes the crank angle of the beam pumping unit and the motor power as independent variables and establishes a real-time parameter dynamic model of the suspension point based on the connection and motion relation of a four-bar linkage mechanism of the beam pumping unit, namely, the corresponding changes of the position, the speed and the acceleration of the suspension point can be calculated in real time according to the change of the crank angle, and the real-time force of the suspension point can be indirectly measured by the motor power (P) and the crank angle (theta), thereby effectively improving the real-time performance and the reliability of oil well monitoring and reducing the design and production cost. On the premise that the power and the crank angle of the motor are known, the real-time dynamic stress value of the suspension point is indirectly measured and obtained.
Description
Technical Field
The invention relates to a brand-new method for measuring the force of the suspension point movement of a beam pumping unit, in particular to a method for indirectly measuring and acquiring the real-time stress value change of the suspension point by taking a crank angle (theta) and motor power (P) as independent variables, belonging to the field of oil field construction production and computer informatization in the petrochemical industry.
Background
At present, in the field of domestic oil field exploration and construction, a beam pumping unit is more commonly adopted. The prior art aims at solving the motion parameters of the suspension point, and basically discloses the change relation between the suspension point load and the stroke of the polished rod of the motor-pumped well through a power diagram or an electric diagram.
For example, the following prior publications, such as journal of Petroleum institute, vol 19, no. 2, pp 107-110, accurate solution of motion parameters of beam-pumping unit, journal of 1998, 4. And establishing a beam swing equation through the suspension point motion parameters, thereby obtaining a displacement, speed and acceleration calculation formula of the suspension point motion, and finally giving an accurate solution for solving the suspension point motion parameters of the beam pumping unit.
And as in volume 34, page 5, pages 22-24 of petroleum machinery, the multi-body dynamics analysis of the motion rule of the beam-pumping unit, journal of 2006, 3. And analyzing by adopting a multi-body dynamics method, and solving and default correcting the displacement and speed level constraint equations by using the result of the integration of the dynamic equation values.
The force measuring method realized by the prior art has the characteristics of complex calculation process and multiple dimensions, and the calculation result is not really an accurate solution because of accumulating larger errors. In addition, the computational process is too complex to have a low reference value for field use.
In view of this, the present patent application is specifically proposed.
Disclosure of Invention
The invention discloses a method for indirectly measuring a suspension point of a beam pumping unit based on motor power, which aims to solve the problems in the prior art, and establishes a real-time parameter dynamic model of a suspension point based on the connection and motion relation of a four-bar linkage mechanism of the beam pumping unit by taking a crank angle (theta) and the motor power (P) of the beam pumping unit as independent variables, namely, the corresponding changes of the position, the speed and the acceleration of the suspension point can be calculated in real time according to the change of the crank angle, and the magnitude of the real-time force of the suspension point is indirectly measured by the motor power (P) and the crank angle (theta), so that the real-time performance and the reliability of oil well monitoring are effectively improved, and the design and production cost is reduced.
In order to achieve the design purpose, the method for indirectly measuring the suspension point force of the beam pumping unit based on the power of the motor is characterized in that in a four-bar mechanism of the beam pumping unit, the dynamic stress of the suspension point meets the following expression:
on the premise that the power (P) and the crank angle (theta) of the motor are known, the real-time dynamic stress value of the suspension point is indirectly measured and obtained.
As mentioned above, the method for indirectly measuring the suspension point force of the beam pumping unit based on the motor power has the advantages that:
1. compared with the prior art, the novel indirect force measuring method has the characteristics of strong real-time performance, high reliability, low cost and high accuracy.
2. On the basis, the real-time performance of oil well state monitoring can be remarkably improved, the dynamic relation of suspension point load, displacement and acceleration can be reflected in time, and the method has practical value in the automatic and information upgrading and transformation processes of the beam pumping unit.
Drawings
FIG. 1 is a schematic diagram of the four-bar linkage mechanism of a beam-pumping unit;
FIG. 2 is a graph of the relationship between motor input torque and reducer output torque;
FIG. 3 is a schematic diagram of the period of change of the displacement of the suspension point movement obtained based on the present application and the actual parameters of the pumping unit;
FIG. 4 is a schematic diagram of the period of change of the movement speed of the suspension point obtained based on the present application and actual parameters of the pumping unit;
fig. 5 is a schematic diagram of the period of change of the motion acceleration of the suspension point obtained based on the application and the actual parameters of the pumping unit.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the drawings.
In embodiment 1, a method for indirectly measuring a suspension point force of a beam-pumping unit based on motor power is that on the premise that a numerical value P of motor power of the beam-pumping unit is known, a relationship between input power of a motor and torque and output torque of a speed reducer is sequentially calculated, and a real-time stress change of a suspension point in a four-bar mechanism motion model, namely a real-time tension change situation of the suspension point C in fig. 1, is indirectly measured through a crank angle θ.
As shown in fig. 1, a schematic diagram of a rectangular coordinate motion model of a four-bar linkage mechanism of a beam-pumping unit is shown.
In the four-bar linkage mechanism, the point O is the fulcrum of the beam-pumping unit support shaft, O 1 The point is the middle point of the power input shaft of the beam-pumping unit, the point C is the suspension point of the beam-pumping unit, the point B is the end point of the beam shaft (beam rear arm) of the beam-pumping unit, and the point A is the end point of the crank of the beam-pumping unit.
The working process is that the power input shaft of the motor transmits torque to the point A through the crank, and the point A winds around the point O 1 The point makes circular motion with radius R and angular velocity omega, and the point A is communicated with the point BThe point B is driven by the point A to do circular arc reciprocating motion by taking the radius as M through the connection of a connecting rod P; the point C and the point B are two ends of the same beam (walking beam), and do circular arc reciprocating motion by taking the point O as a fulcrum, and the motion direction of the point C is opposite to that of the point B.
Wherein R is the crank length (unit: mm); p is the length of the connecting rod (unit: mm); i is the horizontal distance (unit: mm) from the middle point of the bracket shaft to the middle point of the power input shaft; f is the vertical distance (unit: mm) from the middle point of the bracket shaft to the middle point of the power input shaft; m is the length (unit: mm) from the middle point O of the bracket shaft to the end point B of the beam shaft; and N is the length (unit: mm) from the middle point O of the bracket shaft to the suspension point C.
The rotation angle θ of the crank is a real-time rotation angle in the rectangular coordinate system driven by the torque output of the motor through the speed reducer.
The specific calculation process is as follows:
the relational expression between the output power P of the motor and the voltage U and the current I is set as follows:
P＝UI (1)
where power P is in units of W, voltage U is in units of V, and current I is in units of a.
The output torque T of the motor is a torque for rotating the crank of the pumping unit, and is referred to as a torque for short. The relational expression of the torque T, the power P and the rotating speed n is as follows: t =9550P/n (2)
From this it can also be deduced that: p = T.n/9550 (3)
The unit of the power P is kW, the unit of the rotation speed N is r/min, the unit of the torque T is N.m, and 9550 is a coefficient of a constant value obtained by calculation.
The following is the extrapolation process for constant value coefficients 9550:
generally, power P = torque F linear velocity V (1-1)
From the torque T = torque F acting radius R, i.e. T = F R, F = T/R (1-2)
And linear velocity V =2 pi R per second revolution (n seconds) =2 pi R per minute revolution (n minutes)/60 = pi R per n minutes/30.
That is, it is found that V = π R × n/30 (1-3)
Substituting the formulas (1-2) and (1-3) into the formula (1-1) to obtain:
P＝F*V＝T/R*πR*n/30＝π*T*n/30
if the unit of P is changed to kW, then the following formula is used: p1000 = pi/30 t n
Namely, 30000/3.1415926 × p =t × n
9549.297*P＝T*n→T＝9550P/n
From the above equations (1), (3), the electric power P (in kW) can be represented by the following formula:
P＝Tn/9550＝UI/1000 (4)
deformable is Tn/9.55= UI (5)
Also deformable as T =9.55UI/n (6)
Fig. 2 is a schematic diagram showing the relationship between the motor input torque and the reducer output torque.
The ratio of the angular velocities between the motor and the reducer is the transmission ratio, also called the speed ratio.
I.e., ε = n/n 1 (7)
In the formula, epsilon is a transmission ratio and is dimensionless; n is the revolution number input by the motor to the speed reducer, and the unit r/min; n is 1 The revolution number output by the speed reducer is in unit r/min;
input torque T and output torque T of speed reducer 1 Has the following relationship:
i.e. the product of the torque T of the input shaft of the speed reducer and the rotating speed n thereof and the torque T of the output shaft 1 And its rotation speed n 1 The products of (a) and (b) are equal. I.e., T · n = T 1 ·n 1 →T 1 ＝εT (8)
In the formula, epsilon is a transmission ratio and is dimensionless; t is motor input torque, and the unit is N.m; t is 1 The unit N.m is the output torque of the speed reducer;
as shown in FIG. 1, a rectangular coordinate system is established with O point as zero, i.e. the rectangular coordinate of O point is (0, 0), then O 1 The coordinates of the points are O 1 (-I, -F), point A with O 1 Circular motion is performed as the center of a circle, and the motion angular velocity is omega. Then there is (x) a +I) 2 +(y a +F) 2 ＝R 2 (9)
θ＝ωt (10)
x a ＝Rcosθ-I (11)
y a ＝Rsinθ-F (12)
The equation of motion for point B: x is the number of b 2 +y b 2 ＝M 2 (13)
The distance from the point A to the point B is expressed by the following formula:
(x b -x a ) 2 +(y b -y a ) 2 ＝P 2 (14)
expanding equation (14):
x b 2 +x a 2 -2x b x a +y b 2 +y a 2 -2y b y a ＝P 2 (15)
formula (15) — (9) — (13) yields:
-2x b x a -2Ix a -2y b y a -2Fy a ＝P 2 -M 2 -R 2 +F 2 +I 2
2x b x a +2y b y a ＝M 2 +R 2 -P 2 -F 2 -I 2 -2Ix a -2Fy a
substituting equation (16) into equation (13):
let Q = (M) 2 +R 2 -P 2 -F 2 -I 2 -2(x a -2Fy a ) /2, then there are
The relationship between the root of the unary quadratic equation and the fraction is solved as follows:
as can be seen from the figure, | y b R is less than or equal to I, i.e. y is less than or equal to-R b ≤R (18)
Obtained by the formula (9):
x a 2 +y a 2 ＝R 2 -2Ix a -2Fy a (19)
substituting (19) for formula (17):
according to the linear equation, the suspension point C position:
the C-position diagram of the suspension point as shown in FIG. 3 is formed by the coordinate value y of the C-position of the suspension point c Can determine the velocity V of the suspension point C c I.e. V c Is y c First derivative of (d):
accordingly, a speed curve graph of the suspension point C of the pumping unit based on the crank angle theta can be drawn, and the speed curve graph is shown in figure 4.
Based on the same principle, from the coordinate value y of the suspension point C c Obtaining the acceleration a of the suspension point C c I.e. a c Is y c Second derivative of (d):
accordingly, an acceleration curve chart of the suspension point (C) of the pumping unit based on the crank angle theta is drawn, and the acceleration curve chart is shown in figure 5.
As shown in fig. 1, the force at point a is resolved into the following expression:
Fx＝F A cosθ (24)
Fy＝F A sinθ (25)
total weight W of suspension point C suspension, moment T C
T C ＝W(g+a)N (26)
Similarly, the moment at point B is:
as can be seen from the above equation (8), the moment at point a conforms to the following expression:
T A ＝εT
wherein T is the torque of the motor; the force at point a is then:
F A ＝T A /R (28)
because the point B and the point C take O as a fulcrum and the moment is balanced, the following points are provided:
T B ＝T C (29)
namely:
therefore, the force that suspension point C dynamically receives in real time can be expressed as:
substituting equations (8) and (6) above with T =9.55P/n into equation (30) then the suspension point C real-time force is:
wherein x is b And (4) calculating by the formula (16), wherein P is the input power of the motor, theta is the rotation angle of the driving crank of the speed reducer, n is the number of revolutions of the motor, and the unit of the power of the motor is kW.
According to the formula (31), on the basis of the known input power P of the motor, the change condition of the tension applied to the suspension point C in real time can be indirectly measured through the rotation angle theta of the crank.
Similar technical solutions can be derived from the solutions given in the figures and the description, as described above. However, any embodiment that does not depart from the structure of the present invention is intended to be covered by the claims of the present invention.
Claims (1)
1. A method for indirectly measuring the suspension point force of a beam-pumping unit based on the power of a motor is characterized in that: in the four-bar linkage mechanism of the beam pumping unit, the dynamic stress of the suspension point conforms to the following expression,
wherein, in the four-bar linkage mechanism, the point O is the fulcrum of the bracket shaft of the beam-pumping unit, and O is the fulcrum of the bracket shaft of the beam-pumping unit 1 The point is the middle point of the power input shaft of the beam pumping unit, the point C is the suspension point of the beam pumping unit, the point B is the end point of the beam shaft of the beam pumping unit, and the point A is the end point of the crank of the beam pumping unit;
during operation, the power input shaft of the motor transmits torque to the point A through the crank, and the point A winds around the point O 1 The point makes circular motion with radius R and angular velocity omega, the point A is connected with the point B through a connecting rod P, so that the point B makes circular reciprocating motion with radius M under the drive of the point A; the point C and the point B are two ends of the walking beam, and do circular arc reciprocating motion by taking the point O as a fulcrum, and the motion direction of the point C is opposite to that of the point B;
indirectly measuring a real-time dynamic stress value of the suspension point based on the known motor power (P) and the crank angle (theta);
wherein, F C The real-time dynamic force of the point C is represented by the unit N;
epsilon is a transmission ratio and is dimensionless;
theta is the rotation angle of a driving crank of the speed reducer, and is the real-time rotation angle in the rectangular coordinate system under the driving of the motor through the torque output of the speed reducer;
n is the number of revolutions of the motor;
n is the length from the middle point O of the support shaft to the suspension point C, and the unit is mm;
r is the length of the crank in mm;
x b the projection of the length from the end point B of the beam to the midpoint O of the bracket shaft on the x axis is in mm;
the rectangular coordinate system is established by taking the O point as a zero point, and then the rectangular coordinate of the O point is (0, 0), O 1 The coordinates of the points are O 1 (-I, -F), the coordinates of point B are B (x) b ,y b ) The coordinate of the point A is A (x) a ,y a ) In mm;
x b the calculation is made from the following formula,
wherein, P is the length of the connecting rod, and the unit is mm;
i is the horizontal distance from the middle point of the bracket shaft to the middle point of the power input shaft, and the unit is mm;
f is the vertical distance from the middle point of the bracket shaft to the middle point of the power input shaft, and the unit is mm;
m is the length from the middle point O of the bracket shaft to the end point B of the beam shaft, and the unit is mm;
w (g + a) is a load force in Newton, which is a combined action of the gravity acceleration g and the motion acceleration a, and is calculated by the following formula,
wherein, W is the mass on the action C point, and the unit is kg;
g is gravity acceleration with the unit of m/s 2 ；
a is the acceleration of the C point motion, and the unit is m/s 2 ；
Theta is an included angle between the crank and the positive direction of the x axis, and the unit is rad;
T A the moment at point A is expressed in Newton-meters.
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| CN112761594B (en) * | 2021-02-04 | 2023-03-21 | 苏州伟创电气科技股份有限公司 | Method for acquiring rotation angle of crank, method for positioning bottom dead center and frequency converter |
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| CN106202676A (en) * | 2016-07-01 | 2016-12-07 | 安徽理工大学 | The force analysis method of high power drilling pump bilateral helical gear engaged transmission system |
| CN107842489A (en) * | 2016-09-19 | 2018-03-27 | 中国石油化工股份有限公司 | A kind of motor speed method of adjustment of beam pumping unit |
| CN109281655A (en) * | 2018-10-18 | 2019-01-29 | 中国石油化工股份有限公司 | A kind of power loading of pumping unit determines method, diagnostic method of working condition and device |
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| CN106202676A (en) * | 2016-07-01 | 2016-12-07 | 安徽理工大学 | The force analysis method of high power drilling pump bilateral helical gear engaged transmission system |
| CN107842489A (en) * | 2016-09-19 | 2018-03-27 | 中国石油化工股份有限公司 | A kind of motor speed method of adjustment of beam pumping unit |
| CN109281655A (en) * | 2018-10-18 | 2019-01-29 | 中国石油化工股份有限公司 | A kind of power loading of pumping unit determines method, diagnostic method of working condition and device |
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