CN110895396B - Iterative approach follow-up leveling control method and device for beam-pumping unit - Google Patents
Iterative approach follow-up leveling control method and device for beam-pumping unit Download PDFInfo
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Abstract
The invention provides an iterative approach follow-up leveling control method of a beam-pumping unit, which comprises the steps of firstly analyzing the motion rule and the energy circulation mechanism of a pumping unit system, and establishing a mathematical model of the incidence relation between the change of an integral value of input electric power of a motor and the balance degree of the pumping unit; secondly, calculating the power integral ratio of the unit stroke or the multi-stroke up-stroke and down-stroke to detect the system balance of the pumping unit on line by acquiring real-time operation electrical parameters of the beam pumping unit; and finally, according to the calculated balance degree, judging the balance state of the operation system of the pumping unit, and controlling the motor to drive the lead screw to adjust the position of the balance box body to move by adopting a servo method so as to change the balance moment and further realize the adjustment of the optimal balance state of the pumping unit. Compared with the prior art, the iterative approach follow-up leveling control method and device for the beam pumping unit improve the working efficiency and the production safety coefficient of balance adjustment of the pumping unit, the energy saving rate can reach 3%, and the engineering applicability is strong.
Description
Technical Field
The invention relates to the technical field of oil pumping unit control, in particular to an iterative approach follow-up leveling control method and device for a beam pumping unit.
Background
The balance state operation of the beam pumping unit is one of the key factors for ensuring safe and efficient oil extraction. When the pumping unit is in an unbalanced state, the service life of the motor can be shortened, the pumping power consumption is increased, the uniformity of the rotation speed of the crank is damaged, the up-and-down swinging of the horse head is not uniform, the normal work of the pumping unit and an oil well pump is influenced, the vibration of the pumping unit is caused, the service life of the pumping unit is shortened, and unpredictable loss can be even caused by serious conditions.
The balance degree of the conventional pumping unit is regulated and controlled mainly in two ways: firstly, increase the walking beam counter weight of beam-pumping unit self or remove the crank balancing piece by the manual work, this mode is after calculating the required distance that moves of crank balancing piece or the required walking beam balancing piece figure that increases by the technical staff basically, carries out the balanced operation of adjusting of high strength by operating personnel, and this will lead to balanced work efficiency of adjusting low, the operation degree of difficulty is big, extravagant manpower and materials, and the accuracy of adjustment receives the influence of artificial subjective operation at to a great extent moreover. Secondly, when the balance weight of the pumping unit can not continuously adjust the balance of the pumping unit, the balance adjusting device is arranged on the pumping unit to continuously adjust, the current mode of automatically adjusting the balance is realized by directly replacing a digital pumping unit or arranging a mechanical part (a winding drum device) on the original pumping unit, the adjusting modes all need to adjust the balance under the static condition of shutdown, belong to the static leveling mode, and can not dynamically track the real-time balance state of the pumping unit, so that the pumping unit can operate in an unbalanced state for a long time.
Therefore, it is necessary to provide a new method and apparatus for controlling the iterative approach follow-up leveling of a beam pumping unit to solve the above-mentioned problems.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an iterative approach follow-up leveling control method and device of a beam-pumping unit, which are convenient to operate, high in adjustment efficiency and good in safety.
In order to solve the technical problem, the invention provides an iterative approach follow-up leveling control method of a beam-pumping unit, which comprises the following steps:
step S1, mounting a tail beam counterweight structure of the oil pumping unit on a tail beam, and moving a counterweight block to be adjusted to a middle position;
step S2 of using power productSeparately detecting the balance degree of the oil pumping unit, and calculating the balance degree PHD at the current moment according to a formula (1)0；
In formula (1), PHD is the degree of balance; EPtOn the upper part、EptLower partTotal power consumed for a single stroke cycle motor, or multiple stroke cycles EptOn the upper partK、EptLower partAverage value of K.
Wherein, EptLower partK is the algebraic sum of the upper-stroke phase-closing electric energy, EptOn the upper partK is the algebraic sum of the downstroke phasor energy as shown in equation (2):
in the formula (2), tOn the upper partIs the time of the top dead center position of the pumping unit; t is tLower partIs the time of the bottom dead center position of the pumping unit; i isOn the upper part、ILower partRespectively inputting instantaneous current by a motor in the processes of up stroke and down stroke; u is the instantaneous voltage value; t ═ TLower part-t0Representing the time of one stroke cycle;
when the current oil pumping unit is in an unbalanced state, counting the instantaneous power consumption Ept within unit time at the current time T10It is represented as follows;
step S3, judging a balance state according to a follow-up leveling k coefficient change reference table, determining an adjusting coefficient k0 value, performing single adjustment and waiting for 10min after the adjusting position of a constraint function meets a constraint condition L (3) according to follow-up leveling adjustment, calculating the current balance PHD1 according to a formula (1) and judging the balance state of the current balance PHD1, and jumping to step 7 if the balance state is reached; the follow-up leveling adjustment constraint function is as follows:
wherein the constraint condition L (1) represents that the absolute value of the difference between the feedback balance degree and the balance range after the balance weight position of the tail beam is finally adjusted is less than or equal to 5 percent; the constraint condition L (2) means that the power consumption of the instantaneous active power P1(T) after follow-up regulation balance and the instantaneous active power P (T) of the motor when the motor is not leveled is reduced in the same T1 unit time; the constraint L (3) indicates that the position S (t) of the weight box on the tail beam is smaller than the movable range S of the tail beam, which is the following equation:
S(t)(i+1)＝S(t)(i)+k*ΔS,(i＝0,1,2,…)
wherein, k { -3, -2, -1, 0, 1, 2, 3}, k {. DELTA.S is the balanced weight displacement amount of the current adjusting horizontal tail beam and S (t) (i) - | k |. DELTA.S | ≧ 0, k depends on whether the current balance degree is in the balanced state range, if not, depends on the difference between the current balance degree and the balanced state range, the specific k value and the direction refer to table 2 for actual adjustment, and Δ S is the unit moving distance. The distance S and the unit m can be adjusted, the upper end point of the tail beam motor is the zero position of S, and the initial point position S (t) (0) of follow-up leveling control is the middle position;
step S4, judging a balance state according to a table follow-up leveling k coefficient change reference table, determining a current adjusting coefficient k1 value, waiting for 10min after single adjustment after the adjusting position meets a constraint condition L (3), calculating the current balance degree PHD2 and judging the balance state, and jumping to step S7 if the balance state is reached;
step S5, judging according to the follow-up adjusting direction function: when the balance degree is less than 100%, the follow-up adjusting direction e <0 represents that the adjusting direction is correct, when the balance degree is more than 100%, the follow-up adjusting direction e >0 represents that the adjusting direction is correct, and the follow-up adjusting direction function is as follows:
if not, the adjustment direction is considered to be wrong, the current balance degree is calculated again, and the correctness of the follow-up adjustment direction is judged;
step S6, judging whether the balance degree of the current oil pumping unit meets the constraint condition L (1), if so, performing the next step, otherwise, jumping to the step S2 to perform iterative adjustment;
step S7, when the PHD is adjusted to be less than or equal to 95%i<105% and the adjustment error is 0, and the current T is counted1Energy consumption per unit time Ept1It is represented as follows;
step S8, judging whether the energy consumption of the driving motor of the oil pumping unit before and after adjustment meets the constraint condition L (2):
if not, skipping to the step 2 for iterative adjustment; if the L (2) is satisfied, judging according to a constraint condition L (4):
if the condition satisfies L (4), the servo regulation is finished, and the oil pumping unit reaches a balanced state; and if not, skipping to the step 2 for iterative adjustment.
Preferably, in the step S5, if the adjustment direction is not considered to be wrong, the current balance degree is calculated again, the correctness of the follow-up adjustment direction is judged, and the process of judging the wrong direction is performed three times continuously.
Preferably, in the step S8, if neither of the two consecutive adjustments satisfies the adjustment constraint condition, a leveling fault alarm is issued.
The invention also provides a balance degree regulating mechanical tail arm which is applied to the iterative approach follow-up leveling control method of the beam pumping unit, wherein the balance degree regulating mechanical tail arm comprises a tail beam, a transmission mechanism, a movable balance arm box body and a limit switch;
the transmission mechanism comprises a motor fixed at one end of the top surface of the tail beam, a lead screw and an elastic diaphragm coupler, wherein the two ends of the lead screw are respectively supported and fixed at the two ends of the top surface of the tail beam and are arranged in parallel with the tail beam;
the movable balance arm box body is sleeved on the lead screw and is in threaded rotary connection with the lead screw, and the movable balance arm box body is sleeved on the tail beam and is in sliding connection;
the limit switch includes upper limit switch and lower limit switch, upper limit switch set up in the lead screw is close to the one end of motor, lower limit switch set up in the lead screw is kept away from the one end of motor.
Preferably, the transmission mechanism further comprises protecting sleeves arranged at two ends of the lead screw.
The invention also provides an intelligent measurement and control device based on a double-DSP structure, which is applied to the iterative approach follow-up leveling control method of the beam pumping unit; the intelligent measurement and control device based on the double-DSP structure comprises a forward measurement and control channel, an algorithm control processing module and a backward measurement and control channel;
the forward measurement and control channel comprises a three-phase voltage detection module, a three-phase current detection module and a 4-20mA detection loop module;
the algorithm control processing module comprises an analog signal conditioning module, a first DSP system module, a voltage-frequency conversion module, a first magnetic coupler, a second magnetic coupler, a third magnetic coupler, a serial communication module, a liquid crystal display module, a keyboard module and a CPLD logic and combined system module; the three-phase voltage detection module is connected with the analog signal conditioning module, processed by the first DSP system and then connected to the CPLD logic and combination system module; the three-phase voltage detection module is connected with the analog signal conditioning module, processed by the first DSP system and then connected to the CPLD logic and combination system module; the 4-20mA detection loop module is connected to the CPLD logic and combined system module through the voltage-frequency conversion module; the first DSP system module is connected with the first DSP system module and is connected with the CPLD logic and combined system module; the serial communication module is connected to the second DSP system module after being isolated by the first magnetic coupler module; the liquid crystal display module is connected to the CPLD logic and combination system module after being partitioned by the second DSP system module; the keyboard module is connected to the CPLD logic and combined system module after being separated by the third magnetic coupler; the first magnetic coupler module, the second magnetic coupler module and the third magnetic coupler module are all directly connected with the CPLD logic and combination system module;
the backward measurement and control channel comprises an oil engine starting open loop module, an oil engine stopping open loop module, an unbalance warning loop module, a counterweight increasing open loop module, a counterweight reducing open loop module, a main switch state module, a balancing motor forward rotation upper limit state module, a balancing motor reverse rotation lower limit state module, an oil engine locking state module, a switch signal conditioning circuit module and five optical coupling modules; the CPLD logic and combined system module is respectively connected with the oil engine starting open loop module, the oil engine stopping open loop module, the unbalance warning loop module, the counterweight increasing open loop module and the counterweight reducing open loop module after passing through the five optical coupling modules; the main switch state module, the balancing motor forward rotation upper limit state module, the balancing motor reverse rotation lower limit state module and the oil engine locking state module are respectively connected to the CPLD logic and combined system module through the switch signal conditioning circuit.
Compared with the prior art, the iterative approach follow-up leveling control method and device for the beam-pumping unit firstly analyze the motion law and the energy circulation mechanism of the beam-pumping unit system by analyzing the motion law and the energy circulation mechanism of the beam-pumping unit system, establish a correlation mathematical model between the change of the integral value of the input electric power of the motor and the balance degree of the pumping unit, secondly calculate the power integral ratio of the upper stroke and the lower stroke of a unit stroke or multiple strokes by acquiring the real-time operation electric parameters of the pumping unit, detect the balance degree of the pumping unit system on line, and finally control the motor to drive the lead screw to adjust the position of the balance box body to move by adopting a follow-up servo method so as to change the balance moment and further realize the adjustment of the optimal balance state of the pumping unit. The field test result shows that the method can accurately detect the balance degree of the oil pumping unit, iteratively approaches to control the follow-up counterweight, can enable the oil pumping unit to reach the optimal balance state, improves the working efficiency and the production safety coefficient of balance adjustment of the oil pumping unit, has the energy saving rate of 3 percent, and has strong engineering applicability.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a block diagram of an energy circulation mechanism of a pumping unit system in an iterative approach follow-up leveling control method of a beam-pumping unit according to the present invention;
FIG. 2 is a graph of balance degree determined by different methods for a walking beam pumping unit in the related art;
FIG. 3 is a schematic diagram of the pumping unit stress in the iterative approach follow-up leveling control method of the beam pumping unit according to the present invention;
FIG. 4 is a block diagram of a follow-up leveling control structure in the iterative approach follow-up leveling control method of the beam-pumping unit according to the present invention;
FIG. 5 is a schematic diagram of a change process of a follow-up leveling related quantity in the iterative approach follow-up leveling control method of the beam-pumping unit according to the present invention;
FIG. 6 is a schematic block diagram of an intelligent measurement and control platform based on dual DSP structure hardware in the iterative approach follow-up leveling control method of the beam pumping unit according to the present invention;
FIG. 7 is a control flow chart of the intelligent measurement and control platform shown in FIG. 6;
fig. 8 shows a mechanical trailing arm for adjusting and controlling the degree of balance in the iterative approach follow-up leveling control method applied to the beam-pumping unit.
Fig. 9 is a graph of a change of an instantaneous active power of the pumping unit according to the first embodiment of the present invention, wherein (a) is a graph of a change of an instantaneous active power of the pumping unit in an underbalanced state; (b) a curve diagram of the instantaneous active power change of the pumping unit in a balanced state; (c) the instantaneous active power change curve diagram of the pumping unit in an overbalance state is shown.
Detailed Description
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. 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.
The invention provides an iterative approach follow-up leveling control method for a beam pumping unit by analyzing the motion law and the energy circulation mechanism of the beam pumping unit system. Firstly, the optimal balance state judgment basis of the pumping unit and the correlation between the balance degree of the pumping unit and the weight of the pumping unit are analyzed, a secondary balance iterative control method capable of adjusting the weight in a follow-up manner is provided, namely, the power integration method is adopted to calculate the balance degree, the moving direction and the moving distance of the follow-up counterweight block are controlled in an iterative way according to the feedback condition of the balance degree and the power consumption change condition of the pumping unit driving motor in fixed time, thereby changing the balance torque, achieving the purpose of measuring the change of the real-time power of the driving motor of the pumping unit to adjust the balance degree, realizing the secondary adjustment of the balance of the pumping unit, through designing an intelligent measurement and control platform and a follow-up leveling mechanical structure of which a motor drives a lead screw to adjust a balance box body to move along a guide rail, simulation and engineering experiments show that, the method can accurately detect the balance degree of the oil pumping unit, and the follow-up balance weight is controlled by iterative approximation, so that the oil pumping unit can reach the optimal balance state.
The invention provides an iterative approach follow-up leveling control method of a beam-pumping unit, which comprises the following steps:
and step S1, mounting the tail beam counterweight structure of the oil pumping unit on the tail beam, and moving the counterweight block to be adjusted to the middle position. In this embodiment, the pumping unit is a beam pumping unit in the prior art.
Step S2, using power integration method to detect the balance degree of the oil pumping unit, and calculating the balance degree PHD at the current moment according to the formula (1)0；
In formula (1), PHD is the degree of balance; EPtOn the upper part、EptLower partTotal power consumed for a single stroke cycle motor, or multiple stroke cycles EptOn the upper partK、EptLower partAverage value of K.
Wherein, EptLower partK is the algebraic sum of the upper-stroke phase-closing electric energy, EptOn the upper partK is the algebraic sum of the downstroke phasor energy as shown in equation (2):
in the formula (2), tOn the upper partIs the time of the top dead center position of the pumping unit; t is tLower partIs the time of the bottom dead center position of the pumping unit; i isOn the upper part、ILower partRespectively inputting instantaneous current by a motor in the processes of up stroke and down stroke; u is the instantaneous voltage value; t ═ TLower part-t0Representing the time of one stroke cycle;
when the current oil pumping unit is in an unbalanced state, counting the instantaneous power consumption Ept within unit time at the current time T10It is represented as follows;
fig. 1 is a block diagram of an energy flow mechanism of a beam pumping unit system. The input electric energy is transmitted to the four-bar mechanism through the driving motor module and the reducer module, the circular motion of the motor is converted into the upper and lower periodic reciprocating linear motion of the sucker rod, and the unbalanced stress of the four-bar mechanism is improved by the balance block. Neglecting the energy transmission loss of each module, the input electric energy of the motor is converted into periodic work of the horsehead suspension point, and the load of the beam pumping unit is uneven in the whole working cycle. For static load, a horsehead suspension point needs to lift a sucker rod string and an oil string during an upstroke, and the motor is in an electric state and does a large amount of work outwards; when the down stroke is reached, the sucker rod can fall down by means of self weight, so that the motor is in a power generation running state by applying work to the motor instead of providing power by the motor. Therefore, the loads of the motor on the up stroke and the down stroke are very uneven, so the balance problem is solved in a beam pumping unit system through various balance modes, and the negative work is eliminated as far as possible, so that the loads of the motor and the reduction gearbox are even.
Identifying the optimal balance degree of the pumping unit:
the current method, the power method and the torque method are adopted as the method for measuring the balance state at present, because the torque of the crank of the reduction gearbox is difficult to measure directly, the current method and the power method are mostly adopted for measuring, the pumping unit is influenced by geological change, wax precipitation of an oil well, repeated vibration and the like in the oil extraction process, the original balance state is continuously changed, the loads at two ends of the fulcrum of the pumping unit are unbalanced, and the phenomenon of reverse power generation of a motor often occurs. Under the condition that the motor reversely generates electricity in the oil pumping process, the current method or the conventional method for calculating the balance degree by utilizing the power peak value can generate the phenomenon of false balance, the balance degree of the oil pumping unit cannot be objectively and accurately judged, and the judgment result is obviously unscientific as the basis for adjusting the balance weight.
As shown in fig. 2, the power integration method is closer to the equilibrium state, and the equilibrium degrees obtained by different determination methods in the same equilibrium state are different. The balance degree obtained by the torque is used as a judgment standard, the power integration method is most accurate, and the current method is largest in judgment error. Therefore, the power integration method is scientific and accurate as a method for detecting the balance degree of the pumping unit. Therefore, in this step, the balance is calculated by using the above formula (1).
Analyzing the correlation between the balance degree and the weight of the pumping unit:
according to the principle of calculating the balance degree of the pumping unit by the power integration method and the energy conversion mechanism of the pumping unit, the change of the balance degree of the pumping unit is necessarily in direct relation with the change of the balance weight of the pumping unit, so that the incidence relation between the balance degree of the measurement quantity and the balance weight of the control quantity of the follow-up measurement and control system can be analyzed according to the law of energy conservation of the motor of the three-phase asynchronous motor, the energy circulation mechanism of the pumping unit, the moment balance principle and the geometric relation of the four-bar linkage mechanism, the balance weight of the balance weight can be effectively changed, and the iterative approximation of the balance state of the pumping unit can be realized.
The energy flow equation of the pumping unit of the formula (3) is obtained by performing basic analysis on a compound balance beam pumping unit, combining the basic analysis with the diagram of fig. 3, introducing parameters shown in table 1 for the convenience of analysis, and converting input energy of a driving motor and output energy of a suspension point load into output torque of a crank of a speed reducer respectively to serve as a parameter table of the pumping unit. Wherein the crank angle theta is positive clockwise from the 12 o' clock position, and the mule head suspension point motion direction is positive vertically upwards.
Wherein the torque factor
Depending on the geometry and crank angle of the pumping unit, the meaning is the torque produced on the crank per unit suspension load. Where α and β are derived from the four-bar linkage parameters and J is derived from the four-bar linkage parameters, without derivation.
And (3) establishing a mathematical model formula among the suspension point load, the weight of the balance weight and the output power of the motor by calculation after simplifying the formula (3), wherein the mathematical model formula is shown as a formula (4):
in the formula (4), W, B, M,
theta is a constant value, and is a constant value in the case of the determined type of the pumping unit. The balance degree adjustment is to change the change of input power according to the balance degree calculation mode of the upper segment of the pumping unit, and then an additional balancing weight delta Gy needs to be added to achieve secondary balance (unit: kN).
TABLE 1 Pumping unit parameter table
For the oil pumping unit with balanced walking beam in operation, the invention adopts the following leveling to adjust the weight adjustment quantity delta G of the balance block of the walking beamyHas the unit of kN, Δ GyPositive, indicates that the weight of the walking beam weight is to be increased, Δ GyNegative, indicates that the weight of the walking beam weight is to be reduced, as shown in equation (5):
wherein
Is the average output power of the upper stroke motor, kW;
is the average output power of the down stroke motor, kW; etaTThe mechanical transmission efficiency of the oil pumping unit; n is a radical ofsIs polished rod stroke times, min-1；HyIs the displacement of the balance weight in the vertical direction, S (t) is the displacement of the balance weight in the direction of the tail beam, LyIs the length of the balance arm of the pumping unit, m; a is the length of the front arm of the oil pumping unit, m; l is the polish rod stroke, m; α is the beam balance angle (declination angle), rad; hyAnd S (t) is represented by the formula (6):
obtaining a mathematical model formula (7) between the weight of the balance weight and the input power of the motor by the formulas (5) and (6):
from the formula (7), it can be seen that under the condition of the existing pumping unit that the automatic adjustment cannot be performed during the pumping process, the dynamically adjustable balance weight Δ G needs to be addedyThe balance degree calculation parameter P1 is changed, and the balance state of the oil pumping unit is adjusted.
As can be seen from equation (6), ηT、NSAlpha is a fixed quantity, and the weight adjustment quantity delta G of the balance beam can be changed by adjusting the position S (t) of the weight box on the tail beamyTherefore, the follow-up counterweight can be adjusted, and the oil pumping unit can reach a balanced state.
Step S3, judging a balance state according to a follow-up leveling k coefficient change reference table (shown in the following table 2), determining an adjusting coefficient k0 value, performing single adjustment after the adjusting position of a constraint function meets a constraint condition L (3) according to follow-up leveling adjustment, waiting for 10min, calculating the current balance degree PHD1 according to a formula (1), judging the balance state of the current balance degree PHD1, and jumping to the step 7 if the balance state is reached; the follow-up leveling adjustment constraint function is as follows:
wherein the constraint condition L (1) represents that the absolute value of the difference between the feedback balance degree and the balance range after the balance weight position of the tail beam is finally adjusted is less than or equal to 5 percent; the constraint condition L (2) means that the power consumption of the instantaneous active power P1(T) after follow-up regulation balance and the instantaneous active power P (T) of the motor when the motor is not leveled is reduced in the same T1 unit time; the constraint L (3) indicates that the position S (t) of the weight box on the tail beam is smaller than the movable range S of the tail beam, which is the following equation:
S(t)(i+1)＝S(t)(i)+k*ΔS,(i＝0,1,2,…)
wherein, k { -3, -2, -1, 0, 1, 2, 3}, k {. DELTA.S is the balanced weight displacement amount of the current adjusting horizontal tail beam and S (t) (i) - | k |. DELTA.S | ≧ 0, k depends on whether the current balance degree is in the balanced state range, if not, depends on the difference between the current balance degree and the balanced state range, the specific k value and the direction refer to table 2 for actual adjustment, and Δ S is the unit moving distance. The distance S and the unit m can be adjusted, the upper end point of the tail beam motor is the zero position of S, and the initial point position S (t) (0) of follow-up leveling control is the middle position.
The follow-up control system is a control system in which the change rule of a given signal along with time cannot be determined in advance, and is a feedback control system taking displacement, speed or force, torque and the like as controlled quantities. The controlled amount changes following the change of the input amount, and the change rule of the input amount cannot be determined in advance. The task of a follower system is to quickly and accurately track the change in the controlled quantity given a value in each case.
Referring to fig. 4, in which the position regulator is a digital controller, the output of the system is a given amount of the regulating part, and the regulating closed loop is a balance detecting follow-up correcting part of the follow-up system. The controlled quantity of the follow-up system is a balance degree signal, when the output position for adjusting the balance degree generates deviation, the balance degree feedback is used for calculating the actual balance state of the pumping unit, the deviation is generated by comparing the balance degree signal with the balance degree signal at a given position, the position loop correction is carried out, the position quantity change is controlled by the lead screw adjusting system, and the closed-loop follow-up control is realized. The method for directly expressing the requirements on the dynamic performance of the system by executing the output result of the motor is very visual and convenient for adjusting the motion control system.
According to the structure diagram of the follow-up leveling control shown in fig. 4, the corresponding relationship of the follow-up control amount is shown in fig. 5. In fig. 5, the actual adjustment displacement is represented as follows:
S(t)(i+1)＝S(t)(i)+k*ΔS,(i＝0,1,2,…)
wherein, k { -3, -2, -1, 0, 1, 2, 3}, k {. DELTA.S is the balanced weight displacement amount of the current adjusting horizontal tail beam and S (t) (i) - | k |. DELTA.S | ≧ 0, k depends on whether the current balance degree is in the balanced state range, if not, depends on the difference between the current balance degree and the balanced state range, the specific k value and the direction refer to table 2 for actual adjustment, and Δ S is the unit moving distance. The distance S and the unit m can be adjusted, the upper end point of the tail beam motor is the zero position of S, and the initial point position S (t) (0) of follow-up leveling control is the middle position.
The follow-up direction function is shown in equation (8) below:
in the formula (8), e is the following single-step adjustment direction, and is mainly used for judging whether the balance adjustment direction is correct or not.
The follow-up leveling adjustment constraint function is shown in equation (9) below:
in the formula, a constraint condition L (1) represents that the absolute value of the difference between the feedback balance degree and the balance range after the balance weight position of the tail beam is finally adjusted is less than or equal to 5 percent; the constraint condition L (2) means that the power consumption of the instantaneous active power P1(T) after follow-up regulation balance and the instantaneous active power P (T) of the motor when the motor is not leveled is reduced in the same T1 unit time; the constraint L (3) indicates that the position S (t) of the weight box on the tail beam is smaller than the movable range S of the tail beam.
TABLE 2 follow-up leveling k-factor variation reference table
| Degree of balance | Change in k value | Analysis of results |
| PHD<65％ | —— | Increase the number of the counterweight blocks |
| 65％≤PHD<80％ | 3 | The counterweight is light |
| 80％≤PHD<95％ | 2 | State of |
| 95％≤PHD<105％ | 1 | Optimum state of equilibrium |
| 105％≤PHD<120％ | -1 | |
| 120％≤PHD<135％ | -2 | The counterweight being heavy |
| 135％≤PHD<150％ | -3 | Excessive weight of balance weight |
Step S4, judging a balance state according to a table follow-up leveling k coefficient change reference table, determining a current adjusting coefficient k1 value, waiting for 10min after single adjustment after the adjusting position meets a constraint condition L (3), calculating the current balance degree PHD2 and judging the balance state, and jumping to step S7 if the balance state is reached;
step S5, judging according to the follow-up adjusting direction function: when the balance degree is less than 100%, the follow-up adjusting direction e <0 represents that the adjusting direction is correct, when the balance degree is more than 100%, the follow-up adjusting direction e >0 represents that the adjusting direction is correct, and the follow-up adjusting direction function is as follows:
otherwise, the adjustment direction is considered to be wrong, the current balance degree is calculated again, and the correctness of the follow-up adjustment direction is judged. In this step, if the adjustment direction is not correct, the current balance degree is calculated again, and the correctness of the follow-up adjustment direction is judged, and the process of judging the direction error is carried out three times continuously.
Step S6, judging whether the balance degree of the current oil pumping unit meets the constraint condition L (1), if so, performing the next step, otherwise, jumping to the step S2 to perform iterative adjustment;
step S7, when the PHD is adjusted to be less than or equal to 95%i<105% and the adjustment error is 0, and the current T is counted1Energy consumption per unit time Ept1It is shown below.
Step S8, judging whether the energy consumption of the driving motor of the oil pumping unit before and after adjustment meets the constraint condition L (2):
if not, skipping to the step 2 for iterative adjustment; if the L (2) is satisfied, judging according to a constraint condition L (4):
if the condition satisfies L (4), the servo regulation is finished, and the oil pumping unit reaches a balanced state; and if not, skipping to the step 2 for iterative adjustment.
Preferably, if the adjustment of two times can not meet the adjustment constraint condition, a leveling fault alarm is sent out. And checking whether the operation setting parameters of the pumping unit are correct, whether the operation voltage and current of the driving motor are normal and the like, and maintaining.
In the iterative approach follow-up leveling control method of the beam-pumping unit, a balance degree regulating and controlling system of the beam-pumping unit is required to be used, and the system comprises an intelligent measuring and controlling platform based on a double DSP structure as a software control part and a balance degree regulating and controlling mechanical tail arm as a mechanical hardware part.
The design of the intelligent measurement and control platform based on a double-DSP structure is that the intelligent measurement and control platform is a high-performance hardware platform based on the double-DSP structure, the hardware platform consists of a parameter acquisition and control output board, a main control board and a display and key operation board, and comprises three links of an algorithm control processing module, a forward measurement and control channel and a backward measurement and control channel. Therefore, the invention also provides an intelligent measurement and control device based on a dual-DSP structure, which is applied to the iterative approach follow-up leveling control method of the beam-pumping unit, as shown in FIG. 6.
The intelligent measurement and control device based on the double-DSP structure comprises a forward measurement and control channel, an algorithm control processing module and a backward measurement and control channel.
The forward measurement and control channel comprises a three-phase voltage detection module, a three-phase current detection module and a 4-20mA detection loop module;
the algorithm control processing module comprises an analog signal conditioning module, a first DSP system module, a voltage-frequency conversion module, a first magnetic coupler, a second magnetic coupler, a third magnetic coupler, a serial communication module, a liquid crystal display module, a keyboard module and a CPLD logic and combined system module; the three-phase voltage detection module is connected with the analog signal conditioning module, processed by the first DSP system and then connected to the CPLD logic and combination system module; the three-phase voltage detection module is connected with the analog signal conditioning module, processed by the first DSP system and then connected to the CPLD logic and combination system module; the 4-20mA detection loop module is connected to the CPLD logic and combined system module through the voltage-frequency conversion module; the first DSP system module is connected with the first DSP system module and is connected with the CPLD logic and combined system module; the serial communication module is connected to the second DSP system module after being isolated by the first magnetic coupler module; the liquid crystal display module is connected to the CPLD logic and combination system module after being partitioned by the second DSP system module; the keyboard module is connected to the CPLD logic and combined system module after being separated by the third magnetic coupler; the first magnetic coupler module, the second magnetic coupler module and the third magnetic coupler module are all directly connected with the CPLD logic and combination system module;
the backward measurement and control channel comprises an oil engine starting open loop module, an oil engine stopping open loop module, an unbalance warning loop module, a counterweight increasing open loop module, a counterweight reducing open loop module, a main switch state module, a balancing motor forward rotation upper limit state module, a balancing motor reverse rotation lower limit state module, an oil engine locking state module, a switch signal conditioning circuit module and five optical coupling modules; the CPLD logic and combined system module is respectively connected with the oil engine starting open loop module, the oil engine stopping open loop module, the unbalance warning loop module, the counterweight increasing open loop module and the counterweight reducing open loop module after passing through the five optical coupling modules; the main switch state module, the balancing motor forward rotation upper limit state module, the balancing motor reverse rotation lower limit state module and the oil engine locking state module are respectively connected to the CPLD logic and combined system module through the switch signal conditioning circuit.
Real-time active power parameters required by balance degree calculation are acquired in real time by the forward measurement and control channel (driving motor parameter acquisition unit current and voltage transformer, filtered and digitized by the analog signal conditioning module and transmitted to the first DSP system module (driving motor parameter algorithm control processing module DSP1 system), balance degree calculation process, balance degree judgment and follow-up control process are completed by the second DSP system module (DSP2 system), wherein a follow-up tail beam balance structure regulation out-of-limit signal passes through the 4-20mA detection loop module, passes through the pressure-frequency conversion module and enters the CPLD logic and combination system module to complete the acquisition of the regulation out-of-limit signal, a follow-up control signal is processed by the second DSP system module to send signals for starting and stopping the pumping unit and regulating the balance motor up and down, and the output of the control signal is completed through the backward measurement and control channel, when the tail beam balance motor receives a signal that the balance weight moves up or down, the tail beam balance motor rotates forwards or reversely to drive the screw rod to move so as to realize the up-and-down displacement S (t) movement of the tail beam balance weight, and therefore the balance degree PHD is adjusted. In the control process, when the balance weight adjustment exceeds the adjustable length range of the tail beam, the balance motor does not move any more, the second DSP system sends out an unbalanced alarm signal when judging that the balance weight adjustment exceeds the limit, and the unbalanced alarm signal is output to the backward measurement and control channel through the CPLD logic and combination system module, so that information for reminding balance out-of-limit, such as voice alarm, ring alarm and the like can be configured outside, and the out-of-limit alarm can be realized by adopting a liquid crystal display or communication background monitoring mode. Please refer to fig. 7 for a working flow of the pumping unit balance detection and follow-up control processing subroutine.
In the intelligent measurement and control device based on the double DSP structure, the three-phase voltage detection module adopts three parallel voltage transformers (such as HPT304A and HRPT-1), the three-phase current detection module adopts three parallel current transformers (such as HCT255A and HRCT-1), a 4-20mA detection loop passes through the voltage-frequency conversion module, analog signals are filtered by a filter consisting of I/V conversion, TVS protection and a universal capacitor resistance device, and then the analog signals are converted into frequency signals by the voltage-frequency conversion module (such as an LM331 voltage-frequency conversion chip) and directly enter a CPLD logic and combination system after optical coupling isolation.
The analog signal conditioning module is realized by a filter consisting of an I/V conversion and amplification circuit (such as RVC420, LM324 and peripheral auxiliary elements), a clamping diode (such as IN4148), a limiting voltage regulator tube and a general resistor-capacitor device;
the first DSP system module can adopt a built-in A/D digital signal processor (such as TMS320F 2812);
the second DSP system module adopts DSPIC30F6014A and ADuC8XX series single-chip microcomputers.
The CPLD logic and combination system module adopts MAX7000 series devices (such as EPM 7128).
The serial communication module can be formed by MAX485 devices or directly selected serial special modules (such as HV2002D-TX, XXX).
The first magnetic coupler module, the second magnetic coupler module and the third magnetic coupler module are all high-speed magnetic isolation devices (such as ADUM 1200).
The five open loops (the oil engine starting open loop module, the oil engine stopping open loop module, the unbalance warning loop module, the counterweight increasing open loop module and the counterweight reducing open loop module) all adopt a universal control relay (such as JQX-14) or a solid state relay SSR (such as S310 ZK).
Five optical coupling modules are five power photoelectric couplers, and an optical coupling device (such as TLP127) with large output driving capability is selected.
The 4-20mA detection circuit module is directly taken from an auxiliary contact signal of an air switch IN the distribution box and switching signals of upper and lower limit positions of a tail beam counterweight, and the switching value signal conditioning circuit module is realized by a typical anti-shake and isolation circuit which is composed of a clamping diode (such as IN4001), a limiting voltage-stabilizing tube, a general resistance-capacitance device and a general photoelectric coupler (such as TLP 521-X).
In combination with the above-mentioned intelligent measurement and control platform based on the dual-DSP structure, the mechanical trailing arm is regulated and controlled to the degree of balance, as shown in FIG. 8, this mechanical trailing arm 80 is regulated and controlled to the degree of balance includes: tail beam 81, transmission mechanism 82, movable balance arm box 83 and limit switch.
The tail beam 81 serves as a balance body structure.
A transmission mechanism 82 fixed to one end of the top surface of the tail beam 81; in this embodiment, the transmission mechanism 82 includes a motor 821, a lead screw 822 having two ends supported and fixed to two ends of the top surface of the tail beam 81 and arranged in parallel with the tail beam 81, and an elastic diaphragm coupling 823.
The motor 821 is configured with a speed reducer for providing a larger driving force.
One end of the lead screw 822 near the motor 821 is connected to the motor 821 through an elastic diaphragm coupling 823. The motor 821 and the screw rod 822 are connected through the elastic diaphragm coupling 823, the deviation that the output shaft of the motor 821 and the screw rod 822 have micro coaxiality can be eliminated, a linear guide rail can be selected in a sliding mode, the precision is high, the resistance is small, intelligent control is facilitated, and relatively accurate movement can be achieved in the moving process.
The movable balance arm box 83 is sleeved on the lead screw 822 and is in threaded rotary connection with the lead screw 822; meanwhile, the movable balance arm box 83 is sleeved on the tail beam 81 and forms a sliding connection. The lead screw 822 is driven to rotate by the motor 821 to drive the movable balance arm box to move back and forth along the tail beam 81 for adjustment.
The limit switches include an upper limit switch 841 and a lower limit switch 842. The upper limit switch 841 is disposed at one end of the lead screw 822 close to the motor 821, and the lower limit switch 842 is disposed at one end of the lead screw 822 far from the motor 821.
In the working process, the motor 821 of the transmission mechanism 82 drives the lead screw belt 822 to move the n-shaped movable balance box body 83 to move back and forth along the tail beam 81, and the position of the balance weight on the tail beam 81 is changed to change the moment of the balance degree regulating mechanical tail arm 80 on the oil pumping unit, so that the change of the balance state of the oil pumping unit is realized.
In consideration of field environmental conditions, in order to avoid the influence of wind, sand and the like on the precision of the screw 822 part, protective sleeves 824 are additionally arranged at two ends of the screw 822. Not only can protect the lead screw 822 from environmental erosion, but also can prolong the service life of the lead screw 822.
In addition, because the movable balance arm box 83 is important and large, a movable roller 85 can be additionally arranged between the tail beam 81 and the movable balance arm box 83 for enabling the movable balance arm box 83 to move more smoothly and accurately.
The balance degree regulating mechanical tail arm 80 is additionally arranged or transformed on a common oil pumping unit, so that the establishment of the hardware mechanical condition of the balance degree regulating system of the beam pumping unit can be realized.
The embodiment of the iterative approximation carrying leveling control method of the beam pumping unit, disclosed by the invention, is as follows:
through the test of a plurality of oil wells such as 7-171 and 8-171 of king of a certain large-scale oil field oil production plant, the measured data results of the balance degree of the pumping unit after unadjusted balance degree and follow-up leveling are shown in table 2, and the change curve before and after the leveling of the active power input by the driving motor is shown in fig. 9 by taking king 8-171 as an example.
The model of the oil pumping unit of the test well is CYJY5-1.8-13HF (K), basic oil pumping unit parameter values such as the length, the angle and the like of a four-bar mechanism of the oil pumping unit can be found according to the national standard SY/T5044-2003, wherein the structure non-balance weight B is-0.3 kN, the power of a driving motor of the oil pumping unit is 7.5kW, the rated voltage is 380V, and the stroke of the oil pumping unit is 1.8 m; the whole machine mass of the tail beam follow-up counterweight is 40kg, the adjustable lead screw length range is S1.6 m, the rated power of the balance motor is 0.55kW, the output rotating speed of the balance motor is 25.9r/min, the transmission ratio of the speed reducer is 29:1, the rated voltage is 380V, the rated current is 2.2A, the weight of the single counterweight can be increased or decreased to 8.5kg, the relation between the running distance of the lead screw and the rotating speed of the motor is 10mm/r, the delta S is 100mm, and the single step length of the balance motor can be adjusted: and 5 s.
Fig. 9(a) is a single-cycle real-time variation curve of the input active power of the pumping unit driving motor in the underbalanced state of the pumping unit tested by a field test, fig. 9(b) is a single-cycle real-time variation curve of the suspension point operation displacement and the input active power of the pumping unit driving motor after follow-up leveling, and fig. 9(c) is a single-cycle real-time variation curve of the input active power of the pumping unit driving motor in the overbalanced state of the pumping unit. In fig. 9, it can be seen that the areas enclosed by the active power integrals of the upper stroke motor and the lower stroke motor of the beam-pumping unit are respectively S1 and S2. In fig. 9(a), S1 is significantly larger than S2, that is, the pumping unit is in an underbalanced state, and the balance degree is 75% at this time through actual field measurement; in fig. 9(b), S2 is substantially equal to S1, i.e., the pumping unit is in a balanced state, which is 97% of the balance as measured in actual field, and in fig. 9(c), S2 is significantly greater than S1, i.e., the pumping unit is in an overbalanced state, which is 150% of the balance as measured in actual field. In fig. 9, the change of the instantaneous power of the pumping unit driving motor before and after the balance weight is adjusted in the same well proves the feasibility and accuracy of the power integration method for judging the balance degree and the effectiveness of the follow-up leveling control method.
Specific experimental data are shown in table 3 and actual measurement data are shown in table 4.
TABLE 3 Experimental data
TABLE 4 Experimental data
The data in tables 3 and 4 show that the current method and the power method do not necessarily accord with the actual production condition when judging the operation state of the pumping unit, and the power consumption of the pumping unit is obviously reduced after detecting the balance degree according to the power integration method to judge the unbalanced state and adjusting the pumping unit. Detecting that the well conditions of the test well are all in an unbalanced state by adopting a power integration method, and reversing the motor; the power consumption of the servo system after the balance degree adjustment is reduced by about 3 percent, namely the working condition is improved. The system well solves the problem of balance adjustment of the pumping unit, can realize the follow-up intelligent balance degree adjustment and control of the pumping unit, realizes the energy conservation and consumption reduction of the pumping unit, and provides a new idea for the research of realizing digital modification of the pumping unit.
Compared with the prior art, the iterative approach follow-up leveling control method and device for the beam-pumping unit firstly analyze the motion law and the energy circulation mechanism of the beam-pumping unit system by analyzing the motion law and the energy circulation mechanism of the beam-pumping unit system, establish a correlation mathematical model between the change of the integral value of the input electric power of the motor and the balance degree of the pumping unit, secondly calculate the power integral ratio of the upper stroke and the lower stroke of a unit stroke or multiple strokes by acquiring the real-time operation electric parameters of the pumping unit, detect the balance degree of the pumping unit system on line, and finally control the motor to drive the lead screw to adjust the position of the balance box body to move by adopting a follow-up servo method so as to change the balance moment and further realize the adjustment of the optimal balance state of the pumping unit. The field test result shows that the method can accurately detect the balance degree of the oil pumping unit, iteratively approaches to control the follow-up counterweight, can enable the oil pumping unit to reach the optimal balance state, improves the working efficiency and the production safety coefficient of balance adjustment of the oil pumping unit, has the energy saving rate of 3 percent, and has strong engineering applicability.
(1) The balance state of the pumping unit in the operation process can be changed by adjusting the tail beam balance weight in a follow-up manner according to the linear correlation relationship between the measurement balance degree and the control balance weight of the follow-up measurement and control system, so that dynamic tracking leveling is realized.
(2) According to the following control thought and the energy conversion mechanism of the pumping unit, the following leveling control structure disclosed by the invention can be used for calculating the actual balance state of the pumping unit through balance degree feedback when the output position for adjusting the balance degree generates deviation, comparing the deviation with a balance degree signal at a given position to generate deviation, performing position loop iterative correction, and controlling the position quantity change through a lead screw adjusting system, thereby realizing the closed-loop following leveling control of the pumping unit.
(3) The field test result shows that the follow-up leveling control method can realize the measurement and balance adjustment of the dynamic balance of the running state of the oil pumping unit, the intelligent measurement and control platform is designed to meet the calculation of the real-time balance degree and the realization of the follow-up leveling control algorithm, the mechanical structure of the balance degree regulation and control system is designed, the follow-up system controls the regulation motor to drive the lead screw to move the balance box body so as to change the balance moment, the balance degree is optimized, the control difficulty of the system can be effectively reduced, and the smoothness and the follow-up precision of the balance degree regulation and control movement are improved. The iterative approach follow-up leveling control method of the beam-pumping unit meets the digital production requirement of the oil field, and the soft measurement and follow-up control idea and the intelligent measurement and control platform have theoretical reference significance and engineering application value in the digital realization process of other parameters.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (4)
1. An iterative approach follow-up leveling control method of a beam pumping unit is characterized by comprising the following steps:
step S1, mounting a tail beam counterweight structure of the oil pumping unit on a tail beam, and moving a counterweight block to be adjusted to a middle position;
step S2, detecting the balance degree of the oil pumping unit by using a power integration method, and calculating the balance degree PHD at the current moment according to the formula (1);
in the formula (1), PHD is the current time balance; EPtOn the upper part、EptLower partFor a plurality of stroke cycles EptOn the upper partK、EptLower partAverage value of K.
Wherein, EptLower partK is the algebraic sum of the downstroke combined phase electric energy, EptOn the upper partK is the algebraic sum of the upper-stroke phase-closing electric energy, as shown in formula (2):
in the formula (2), tOn the upper partIs the time of the top dead center position of the pumping unit; t is tLower partIs the time of the bottom dead center position of the pumping unit; i isOn the upper part、ILower partRespectively inputting instantaneous current by a motor in the processes of up stroke and down stroke; u is the instantaneous voltage value; theta is the included angle of the instantaneous current and the instantaneous voltage; t ═ TLower part-t0Representing the time of one stroke cycle;
when the current oil pumping unit is in an unbalanced state, counting the current time T1Instantaneous power consumption per unit time Ept0It is represented as follows;
step S3, judging a balance state according to a follow-up leveling coefficient k change reference table, determining an adjusting coefficient k value, performing single adjustment and waiting for 10min after the adjusting position of a constraint function meets a constraint condition L (3) according to follow-up leveling adjustment, calculating the current balance PHD according to a formula (1) and judging the balance state of the current balance PHD, and jumping to step S7 if the balance state is reached; the follow-up leveling adjustment constraint function is as follows:
wherein the constraint condition L (1) represents that the absolute value of the difference between the feedback balance degree and the balance range after the balance weight position of the tail beam is finally adjusted is less than or equal to 5 percent; the constraint condition L (2) refers to the instantaneous active power P after follow-up regulation balance1(T) a reduction in power consumption of the motor at the same time T1 units as the motor instantaneous active power P (T) when not leveled; constraint L (3) represents the position S (t) of the weight box on the tail beamiThe adjustable distance S is smaller than the tail beam, and the position S (t) of the weight box on the tail beamiThe following formula:
S(t)(i)＝S(t)(i-1)+k*ΔS,(i＝1,2,…)
wherein k { -3, -2, -1, 0, 1, 2, 3}, and k {. DELTA.S is the displacement of the currently adjusted tail beam counterweight and S (t)(i-1)- | k Δ S | ≧ 0, k depends on whether the current balance degree is in the range of the balance state, if not, depends on the difference between the current balance degree and the range of the balance state, the specific k value and the direction reference table 1 perform actual adjustment, Δ S is the unit moving distance, the distance S and the unit m can be adjusted, the upper end point of the tail beam motor is the zero position of S, the initial point position of the follow-up leveling control S (t)(0)Is a neutral position;
table 1 follow-up leveling coefficient k variation reference table
Step S4, judging a balance state according to a follow-up leveling coefficient k change reference table in the table 1, determining the value of a current adjusting coefficient k, waiting for 10min after single adjustment after an adjusting position meets a constraint condition L (3), calculating the current balance degree PHD, judging the balance state, and jumping to the step S7 if the balance state is reached;
step S5, judging according to the follow-up adjusting direction function: when the balance degree is less than 100%, the follow-up adjusting direction e <0 represents that the adjusting direction is correct, when the balance degree is more than 100%, the follow-up adjusting direction e >0 represents that the adjusting direction is correct, and the follow-up adjusting direction function is as follows:
if not, the adjustment direction is considered to be wrong, the current balance degree is calculated again, and the correctness of the follow-up adjustment direction is judged;
step S6, judging whether the balance degree of the current oil pumping unit meets the constraint condition L (1), if so, performing the next step, otherwise, jumping to the step S2 to perform iterative adjustment;
step S7, when the PHD is adjusted to be less than or equal to 95%<105% and the adjustment error is 0, and the current T is counted1Energy consumption per unit time Ept1It is represented as follows;
step S8, judging whether the energy consumption of the driving motor of the oil pumping unit before and after adjustment meets the constraint condition L (2):
if not, jumping to step S2 for iterative adjustment; if the L (2) is satisfied, judging according to a constraint condition L (4):
if the condition satisfies L (4), the servo regulation is finished, and the oil pumping unit reaches a balanced state; and if not, jumping to the step S2 for iterative adjustment.
2. The iterative approximation follow-up leveling control method for a beam-pumping unit according to claim 1, wherein in the step S5, if the adjustment direction is not considered to be wrong, the current balance degree is calculated again, the correctness of the follow-up adjustment direction is judged, and the process of judging the direction error is performed three times continuously.
3. The iterative approximation follow-up leveling control method for a beam-pumping unit according to claim 1, wherein in step S8, if neither of the two consecutive adjustments satisfies the adjustment constraint condition, a leveling fault alarm is issued.
4. An intelligent measurement and control device based on a double DSP structure is applied to the iterative approach follow-up leveling control method of the beam-pumping unit according to any one of claims 1 to 3; the intelligent measurement and control device based on the double-DSP structure comprises a forward measurement and control channel, an algorithm control processing module and a backward measurement and control channel;
the forward measurement and control channel comprises a three-phase voltage detection module, a three-phase current detection module and a 4-20mA detection loop module;
the algorithm control processing module comprises an analog signal conditioning module, a first DSP system module, a second DSP system module, a voltage-frequency conversion module, a first magnetic coupler, a second magnetic coupler, a third magnetic coupler, a serial communication module, a liquid crystal display module, a keyboard module and a CPLD logic and combined system module; the three-phase voltage detection module is connected with the analog signal conditioning module, processed by the first DSP system module and then connected to the CPLD logic and combination system module; the three-phase current detection module is connected with the analog signal conditioning module, processed by the first DSP system module and then connected to the CPLD logic and combination system module; the 4-20mA detection loop module is connected to the CPLD logic and combined system module through the voltage-frequency conversion module; the first DSP system module and the second DSP system module are connected and are both connected with the CPLD logic and combined system module; the serial communication module is connected to the second DSP system module after being isolated by the first magnetic coupler module; the liquid crystal display module is connected to the CPLD logic and combination system module after being partitioned by the second DSP system module; the keyboard module is connected to the CPLD logic and combined system module after being separated by the third magnetic coupler; the first magnetic coupler module, the second magnetic coupler module and the third magnetic coupler module are all directly connected with the CPLD logic and combination system module;
the backward measurement and control channel comprises an oil engine starting open loop module, an oil engine stopping open loop module, an unbalance warning loop module, a counterweight increasing open loop module, a counterweight reducing open loop module, a main switch state module, a balancing motor forward rotation upper limit state module, a balancing motor reverse rotation lower limit state module, an oil engine locking state module, a switch signal conditioning circuit module and five optical coupling modules; the CPLD logic and combined system module is respectively connected with the oil engine starting open loop module, the oil engine stopping open loop module, the unbalance warning loop module, the counterweight increasing open loop module and the counterweight reducing open loop module after passing through the five optical coupling modules; the main switch state module, the balancing motor forward rotation upper limit state module, the balancing motor reverse rotation lower limit state module and the oil engine locking state module are respectively connected to the CPLD logic and combined system module through the switch signal conditioning circuit.
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