CN110707969A - Motor control system, motor control method and rotary valve slurry pulse generator - Google Patents
Motor control system, motor control method and rotary valve slurry pulse generator Download PDFInfo
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- CN110707969A CN110707969A CN201810744062.1A CN201810744062A CN110707969A CN 110707969 A CN110707969 A CN 110707969A CN 201810744062 A CN201810744062 A CN 201810744062A CN 110707969 A CN110707969 A CN 110707969A
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- motor
- state
- rotor position
- motor control
- control signal
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
- E21B47/14—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves
- E21B47/18—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling using acoustic waves through the well fluid, e.g. mud pressure pulse telemetry
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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
- H02P6/30—Arrangements for controlling the direction of rotation
Abstract
The invention relates to the technical field of measurement while drilling of petroleum drilling, and discloses a motor control system and method and a rotary valve mud pulse generator. The system comprises: the detection device is used for detecting the rotor position of the motor; the control device is connected with the detection device and used for judging the state of the motor according to the detected rotor position of the motor and outputting a corresponding motor control signal according to a judgment result; and the driving device is connected with the control device and used for controlling the motor according to the motor control signal. Therefore, the motor can be ensured to be quickly and stably started, braked and run to an expected position, and faults such as pump blocking or blocking when meeting a blockage are avoided.
Description
Technical Field
The invention relates to the technical field of measurement while drilling of petroleum drilling, in particular to a motor control system and method and a rotary valve mud pulse generator.
Background
At present, a great number of wireless measurement while drilling systems are adopted in domestic petroleum drilling construction to measure and monitor borehole trajectory parameters. As one of the downhole key components of the wireless measurement while drilling system, compared with the traditional piston linear motion type positive pulser, the rotary valve mud pulser drives the rotor to do shearing motion in the direction vertical to the mud flow direction by means of the direct current brushless motor so as to change the mud pressure and generate a pulse signal, and has obvious advantages in the well conditions of high temperature, high pressure and addition of plugging agents. The motor is used as a driving part for driving the rotor to rotate, and a special control system is needed for controlling the operation of the motor. However, the conventional control system and control method are prone to faults such as pump holding and jamming when the pump is blocked.
Disclosure of Invention
The invention provides a motor control system, a motor control method and a rotary valve mud pulse generator, which can solve the technical problems that in the prior art, a pump is easy to be held, and faults such as blockage and the like are easy to occur.
The invention provides a motor control system, wherein the system comprises:
the detection device is used for detecting the rotor position of the motor;
the control device is connected with the detection device and used for judging the state of the motor according to the detected rotor position of the motor and outputting a corresponding motor control signal according to a judgment result;
and the driving device is connected with the control device and used for controlling the motor according to the motor control signal.
Preferably, the determining, by the control device, the state of the motor according to the detected rotor position of the motor, and outputting a corresponding motor control signal according to the determination result includes:
comparing the detected angle between the rotor position of the motor and the initial position with a predetermined angle;
and under the condition that the detected angle between the rotor position of the motor and the initial position is larger than the preset angle, judging that the state of the motor is a pump holding state, and outputting a first motor control signal for controlling the motor to perform reverse rotation by the control device.
Preferably, the determining, by the control device, the state of the motor according to the detected rotor position of the motor, and outputting a corresponding motor control signal according to the determination result includes:
judging whether the motor rotates to a target position within preset time according to the detected rotor position of the motor;
and under the condition that the motor does not rotate to the target position, judging that the motor is in a card-encountering state, and outputting a second motor control instruction for controlling the motor to execute reverse rotation and multiple shearing actions by the control device.
Preferably, the number of shearing actions is three.
Preferably, the detection device is a hall sensor.
The invention also provides a rotary valve mud pulse generator, wherein the rotary valve mud pulse generator comprises the motor control system.
The invention also provides a motor control method, wherein the method comprises the following steps:
detecting the rotor position of the motor by using a detection device;
judging the state of the motor by using a control device according to the detected rotor position of the motor, and outputting a corresponding motor control signal according to a judgment result;
and controlling the motor by using a driving device according to the motor control signal.
Preferably, the determining the state of the motor according to the detected rotor position of the motor and outputting the corresponding motor control signal according to the determination result includes:
comparing the detected angle between the rotor position of the motor and the initial position with a predetermined angle;
and under the condition that the angle between the detected rotor position of the motor and the initial position is larger than the preset angle, judging that the state of the motor is a pump holding state, and outputting a first motor control signal for controlling the motor to perform reverse rotation.
Preferably, the determining the state of the motor according to the detected rotor position of the motor and outputting the corresponding motor control signal according to the determination result includes:
judging whether the motor rotates to a target position within preset time according to the detected rotor position of the motor;
and under the condition that the motor does not rotate to the target position, judging that the motor is in a card-encountering state, and outputting a second motor control instruction for controlling the motor to execute reverse rotation and multiple shearing actions.
Preferably, the number of shearing actions is three.
By applying the technical scheme of the invention, the position of the rotor of the motor can be detected, and the state of the motor can be judged according to the detected position of the rotor of the motor, so that a corresponding motor control signal can be output according to the state of the motor. Therefore, when the motor is in an abnormal state such as a pump holding-down state or a pump blocking state, a corresponding motor control signal can be timely output to control the motor, so that the motor drives the rotor to realize safe rotation when the rotary valve mud pulse generator provided with the motor control system works underground, and faults such as pump holding-down and blocking are avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 shows a block diagram of a motor control system; and
fig. 2 shows a flow chart of a motor control method.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 shows a block diagram of a motor control system.
Wherein the motor control system may be applied in a rotary valve mud pulser.
As shown in fig. 1, an embodiment of the present invention provides a motor control system, where the system may include:
a detection device 10 for detecting a rotor position of the motor;
the control device 12 is connected with the detection device 10 and used for judging the state of the motor according to the detected rotor position of the motor and outputting a corresponding motor control signal according to a judgment result;
for example, the control device 12 may be responsible for the communication task of the peripheral interface and implement the real-time processing of the encoded signal while outputting the control signal.
And the driving device 14 is connected with the control device 12 and is used for controlling the motor according to the motor control signal.
For example, the driving device 14 may include a high voltage half-bridge driving control circuit and a bridge power circuit, and the control of the motor is performed according to the control command output by the control device 12. For example, the driving device 14 may be a bridge circuit composed of an N-channel power MOSFET (IRFR5305) and a P-channel power MOSFET (IRFR 024N).
Through the technical scheme, the rotor position of the motor can be detected, and the state of the motor can be judged according to the detected rotor position of the motor, so that the corresponding motor control signal can be output according to the state of the motor. Therefore, when the motor is in an abnormal state such as a pump holding-down state or a pump blocking state, a corresponding motor control signal can be timely output to control the motor, so that the motor drives the rotor to realize safe rotation when the rotary valve mud pulse generator provided with the motor control system works underground, and faults such as pump holding-down and blocking are avoided.
According to an embodiment of the present invention, the controlling device 12 determining the state of the motor according to the detected rotor position of the motor and outputting the corresponding motor control signal according to the determination result may include:
comparing the detected angle between the rotor position of the motor and the initial position with a predetermined angle;
and when the detected angle between the rotor position of the motor and the initial position is larger than the preset angle, judging that the state of the motor is a pump holding state, and outputting a first motor control signal for controlling the motor to perform reverse rotation by the control device 12.
In actual work, a motor rotor can be disturbed by mud flow, lateral resistance is generated on the surface of the rotor under the action of high-pressure mud pressure in a drill string, and the motor rotor cannot be normally in a fully open state without a pulse signal, so that a pump can be held back. Therefore, under the idle condition without pulse transmission, the control device of the motor control system can judge the condition that the motor is in the pump holding state by using the detected position of the rotor of the motor, and regularly sends out a command (namely, a first motor control signal) for controlling the motor to reversely rotate, so that the rotor can be in the full-open state to avoid the pump holding state.
According to an embodiment of the present invention, the controlling device 12 determining the state of the motor according to the detected rotor position of the motor and outputting the corresponding motor control signal according to the determination result may include:
judging whether the motor rotates to a target position within preset time according to the detected rotor position of the motor;
and under the condition that the motor does not rotate to the target position, judging that the motor is in a card-encountering state, and outputting a second motor control instruction for controlling the motor to perform reverse rotation and multiple shearing actions by the control device 12.
For example, the predetermined time may be a time for rotating the motor from the initial position to the target position in a normal state.
Because the slurry is often added with solid-phase particles and other plugging materials, if the slurry is just clamped between the stator and the rotor, the normal forward and reverse rotation of the rotor can be influenced, so that a pulse signal cannot be normally generated, and a pump is also blocked. The control system can send a motor reverse rotation command to enable the rotor to return to the fully-opened state when the rotor is found to be stuck by monitoring the position of the rotor, and simultaneously continuously sends a plurality of times of 'shearing' actions, namely the rotor is turned to the fully-closed state, then immediately returns to the fully-opened state and repeats the actions for a plurality of times (namely the 'shearing' action refers to the process that the rotor is turned to the fully-closed state and then immediately returns to the fully-opened state), so that the rotor finishes shearing solid-phase particles to relieve the stuck state.
According to an embodiment of the invention, the number of shearing actions may be three.
It will be appreciated by those skilled in the art that the above description of the number of shearing actions is merely exemplary and not intended to limit the present invention.
According to an embodiment of the present invention, the detecting device 10 may be a hall sensor.
Wherein the hall sensor may be provided on the motor.
For example, the range of rotational angles of the rotor of a rotary valve mud pulser is mechanically limited. When the controlled quantity deviates from the expected value due to external reasons, a corresponding control action is generated to reduce or eliminate the deviation, so that the controlled quantity is consistent with the expected value. The control system monitors the position of the rotor through the Hall sensor on the motor, if the position of the rotor does not reach the expected position, the position is fed back to the control device, and the rotor is continuously driven to rotate to reach the expected state. The control device controls the motion state of the motor through the control signal. The motion action of the motor is transmitted to a motion transmission mechanism, namely a pulser driving component, through a coupler. When the rotor starts to rotate, the control system controls the motor to be quickly started by adopting a PID (proportion integration differentiation) adjusting method, and when the rotor is close to a target position, the control system controls the motor to be quickly braked and decelerated, so that severe collision between the main shaft and the limiting screw is avoided, and mechanical damage is reduced.
Still further, the present invention may also include a communication device 16, a power supply device 18, a protection device 20, a storage device (operating parameter storage device) 22, and a temperature sensor (not shown). The communication device 16 may communicate with the control device 12 via an RS232 interface, perform reading and initialization of downhole stored parameters, and communicate with the storage device 22, temperature sensor, etc. via an SPI interface. The power supply device 18 may provide power to various devices and/or modules of the control system (e.g., convert the system voltage to a supply voltage for other various modules for power). The protection device 20 can perform dc overvoltage, undervoltage, and motor overcurrent protection, for example.
The storage device 22 may be configured to store parameters such as the number of pulses received by the rotary valve mud pulser, the operating temperature, the voltage at which the motor operates, the current, etc. (e.g., the operating parameters may be written into the storage device 22 by the control device 12) for later analysis, and the temperature sensor may be configured to take a temperature measurement.
The storage device 22 may be, for example, a 64MBit FLASH memory M25P 64. The communication device 16 may be an RS485 communication circuit MAX13487 having an automatic transmission/reception function. The power supply device 18 may adopt a flyback switching power supply formed by a UC28C45 chip and a single-tube MOSFET.
It will be appreciated by persons skilled in the art that the above description is illustrative only and is not intended to be limiting.
In addition, after the control system is powered on, the main program may perform some necessary system initialization settings on the control device 12, and in addition, perform corresponding initialization on the functional modules of the control device 12, such as the motion feedback module, the power control PWM module, the timer module, and the AD module. After the initialization is completed, entering a waiting interrupt link, if a timer interrupt or other interrupt occurs at this time, the control device 12 processes the interrupt event according to the priority of the interrupt service subprogram, and after the event processing is completed, returning to the main program to continue waiting for the next interrupt event, and continuously circulating to realize the whole control flow.
Furthermore, the interrupt service routine of the control system can mainly complete the phase change of the motor, the position calculation of the rotor, the rotation speed calculation of the motor, the steering judgment, the position and rotation speed regulation and the like.
The system ADC sampling can mainly complete the detection of power supply voltage and chip power supply voltage and digital filtering thereof. During A/D conversion, a sampled voltage signal may be interfered, and because the voltage sampled by the system is a direct current quantity, an average filtering method can be adopted for filtering to carry out arithmetic average, so that the accuracy of voltage feedback is improved.
The calculation of the system position, the calculation of the rotating speed, the judgment of the motor rotation direction and the motor commutation program can be realized by CAP interruption. The system captures three-phase Hall signals through CAP1, CAP2 and CAP3, and correct phase commutation of the motor can be realized according to the logic relation between the Hall signals and the logic driving signals of the main circuit. The phase change logic control words at different time points before and after different steering directions are different, so that the rotation direction of the motor can be determined. The real-time rotating speed can be calculated through the timer. Each Hall pulse corresponds to a certain rotor displacement of the motor.
The invention also provides a rotary valve mud pulser, wherein the rotary valve mud pulser can comprise the motor control system described in the above embodiments.
Fig. 2 shows a flow chart of a motor control method.
As shown in fig. 2, an embodiment of the present invention provides a motor control method, where the method may include:
s200, detecting the rotor position of the motor by using a detection device;
s202, judging the state of the motor by using a control device according to the detected rotor position of the motor, and outputting a corresponding motor control signal according to a judgment result;
and S204, controlling the motor by using a driving device according to the motor control signal.
Through the technical scheme, the rotor position of the motor can be detected, and the state of the motor can be judged according to the detected rotor position of the motor, so that the corresponding motor control signal can be output according to the state of the motor. Therefore, when the motor is in an abnormal state such as a pump holding-down state or a pump blocking state, a corresponding motor control signal can be timely output to control the motor, so that the motor drives the rotor to realize safe rotation when the rotary valve mud pulse generator provided with the motor control system works underground, and faults such as pump holding-down and blocking are avoided.
According to an embodiment of the present invention, the determining the state of the motor according to the detected rotor position of the motor in S202, and outputting the corresponding motor control signal according to the determination result may include:
comparing the detected angle between the rotor position of the motor and the initial position with a predetermined angle;
and under the condition that the angle between the detected rotor position of the motor and the initial position is larger than the preset angle, judging that the state of the motor is a pump holding state, and outputting a first motor control signal for controlling the motor to perform reverse rotation.
According to an embodiment of the present invention, determining the state of the motor according to the detected rotor position of the motor in S202, and outputting the corresponding motor control signal according to the determination result includes:
judging whether the motor rotates to a target position within preset time according to the detected rotor position of the motor;
and under the condition that the motor does not rotate to the target position, judging that the motor is in a card-encountering state, and outputting a second motor control instruction for controlling the motor to execute reverse rotation and multiple shearing actions.
According to one embodiment of the invention, the number of shearing actions is three.
The method described in fig. 2 corresponds to the system described in fig. 1, and for a specific example, reference may be made to the description of the system in fig. 1, which is not repeated herein.
It can be seen from the above embodiments that the motor control system and method according to the present invention can ensure that the motor can be started, braked and operated to a desired position quickly and smoothly. Meanwhile, when the rotor is blocked by impurities in the slurry, the blocking state can be automatically identified and the rotor safely returns to the initial position to be restarted, so that the normal sending of a slurry pressure signal is ensured, and the faults of pump blocking or blocking and the like are avoided.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A motor control system, comprising:
the detection device is used for detecting the rotor position of the motor;
the control device is connected with the detection device and used for judging the state of the motor according to the detected rotor position of the motor and outputting a corresponding motor control signal according to a judgment result;
and the driving device is connected with the control device and used for controlling the motor according to the motor control signal.
2. The system of claim 1, wherein the control means judges the state of the motor according to the detected rotor position of the motor and outputs a corresponding motor control signal according to the judgment result comprises:
comparing the detected angle between the rotor position of the motor and the initial position with a predetermined angle;
and under the condition that the detected angle between the rotor position of the motor and the initial position is larger than the preset angle, judging that the state of the motor is a pump holding state, and outputting a first motor control signal for controlling the motor to perform reverse rotation by the control device.
3. The system of claim 1, wherein the control means judges the state of the motor according to the detected rotor position of the motor and outputs a corresponding motor control signal according to the judgment result comprises:
judging whether the motor rotates to a target position within preset time according to the detected rotor position of the motor;
and under the condition that the motor does not rotate to the target position, judging that the motor is in a card-encountering state, and outputting a second motor control instruction for controlling the motor to execute reverse rotation and multiple shearing actions by the control device.
4. The system of claim 3, wherein the number of shearing actions is three.
5. The system of claim 4, wherein the detection device is a Hall sensor.
6. A rotary valve mud pulser, comprising a motor control system according to any of claims 1-5.
7. A method of controlling a motor, the method comprising:
detecting the rotor position of the motor by using a detection device;
judging the state of the motor by using a control device according to the detected rotor position of the motor, and outputting a corresponding motor control signal according to a judgment result;
and controlling the motor by using a driving device according to the motor control signal.
8. The method of claim 7, wherein determining the state of the motor according to the detected rotor position of the motor and outputting a corresponding motor control signal according to the determination result comprises:
comparing the detected angle between the rotor position of the motor and the initial position with a predetermined angle;
and under the condition that the angle between the detected rotor position of the motor and the initial position is larger than the preset angle, judging that the state of the motor is a pump holding state, and outputting a first motor control signal for controlling the motor to perform reverse rotation.
9. The method of claim 7, wherein determining the state of the motor according to the detected rotor position of the motor and outputting a corresponding motor control signal according to the determination result comprises:
judging whether the motor rotates to a target position within preset time according to the detected rotor position of the motor;
and under the condition that the motor does not rotate to the target position, judging that the motor is in a card-encountering state, and outputting a second motor control instruction for controlling the motor to execute reverse rotation and multiple shearing actions.
10. The method of claim 9, wherein the number of shearing actions is three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744062.1A CN110707969A (en) | 2018-07-09 | 2018-07-09 | Motor control system, motor control method and rotary valve slurry pulse generator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810744062.1A CN110707969A (en) | 2018-07-09 | 2018-07-09 | Motor control system, motor control method and rotary valve slurry pulse generator |
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| CN110707969A true CN110707969A (en) | 2020-01-17 |
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| CN201810744062.1A Pending CN110707969A (en) | 2018-07-09 | 2018-07-09 | Motor control system, motor control method and rotary valve slurry pulse generator |
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| CN112177592A (en) * | 2020-09-29 | 2021-01-05 | 北京六合伟业科技股份有限公司 | Intelligent measurement and control system for ultra-short radius well position |
| CN117013891A (en) * | 2023-10-07 | 2023-11-07 | 深圳市锐同技术有限公司 | Load point judging method, device, equipment and storage medium |
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| CN117013891B (en) * | 2023-10-07 | 2024-01-16 | 深圳市锐同技术有限公司 | Load point judging method, device, equipment and storage medium |
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Application publication date: 20200117 |
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