CN111734651B - Control system for submersible/diving system - Google Patents
Control system for submersible/diving system Download PDFInfo
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- CN111734651B CN111734651B CN202010652411.4A CN202010652411A CN111734651B CN 111734651 B CN111734651 B CN 111734651B CN 202010652411 A CN202010652411 A CN 202010652411A CN 111734651 B CN111734651 B CN 111734651B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D15/00—Control, e.g. regulation, of pumps, pumping installations or systems
- F04D15/0066—Control, e.g. regulation, of pumps, pumping installations or systems by changing the speed, e.g. of the driving engine
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D13/00—Pumping installations or systems
- F04D13/02—Units comprising pumps and their driving means
- F04D13/06—Units comprising pumps and their driving means the pump being electrically driven
- F04D13/08—Units comprising pumps and their driving means the pump being electrically driven for submerged use
- F04D13/086—Units comprising pumps and their driving means the pump being electrically driven for submerged use the pump and drive motor are both submerged
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D13/00—Pumping installations or systems
- F04D13/02—Units comprising pumps and their driving means
- F04D13/06—Units comprising pumps and their driving means the pump being electrically driven
- F04D13/08—Units comprising pumps and their driving means the pump being electrically driven for submerged use
- F04D13/10—Units comprising pumps and their driving means the pump being electrically driven for submerged use adapted for use in mining bore holes
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- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to the field of system control, and provides a control system of a submersible/diving system in an implementation mode, which comprises a ground controller, a downhole driver and a downhole motor, wherein the downhole driver is connected with the ground controller and controls the downhole motor; the downhole driver is configured to: monitoring the communication state with the ground controller, and controlling the rotating speed of the underground motor based on the instruction of the ground controller if the communication state is normal; and if the communication state is abnormal, controlling the rotating speed of the underground motor based on the obtained dynamic liquid level value. The implementation mode provided by the invention increases the processing of communication abnormity in the control system in the submersible/diving system, and has the advantages of good robustness and reduction of system halt.
Description
Technical Field
The invention relates to the field of system control, in particular to a control system of a submersible/diving system.
Background
The existing submersible or diving system control adopts a ground device to output three-phase current, and the current is transmitted to an underground motor through a power cable, so that the starting and the speed regulation control of the motor are realized, and the submersible or diving system control is a 'remote driving' mode. The method has low transmission efficiency, is difficult to ensure the driving performance under the conditions of starting and variable load, cannot ensure that the motor stably outputs large torque, and cannot ensure the energy conversion efficiency of the motor.
The invention patent 'submersible servo dragging system' with application number 200910137775.2 discloses a pump, wherein the pump is connected with a servo motor system through a protector; the ground control device is connected with a ground power supply through a cable, and the cable is connected with the servo motor system; the ground power supply supplies power to the servo motor and the pump through the ground control device, the servo motor system consists of the servo motor and a servo controller, and the servo controller controls the operation of the servo motor. Although the ground control box is provided in the patent and mainly responsible for converting external three-phase current into direct current to be transmitted to a servo controller in the underground control box, the communication between the ground and the underground servo controller is realized.
The invention patent with application number 200910137762.5 discloses a control system of an oil pumping system, which also comprises a servo motor, a motor control module and a sensor for collecting the operation information of the motor, wherein the servo motor is positioned underground; the system also comprises a power supply module and a ground control module which are positioned on the ground; the power supply module converts three-phase alternating current on the ground into direct current to be input to the underground motor control module; the ground module is in communication with the motor control module.
In both of the above-mentioned patents, no method for monitoring the state of long-distance transmission of a cable is given, nor is a method for accurately calculating the working fluid level and a method for coping with the occurrence of an abnormality in communication given.
Disclosure of Invention
In view of the above, the present invention is directed to a control system of a submersible/diving system, which can avoid the problem of system shutdown caused by abnormal communication by flexibly transferring control authority.
In a first aspect of the invention, a control system for a submersible/diving system is provided, comprising a surface controller, a downhole driver and a downhole motor, wherein the downhole driver is connected with the surface controller and controls the downhole motor; the downhole driver is configured to: monitoring the communication state with the ground controller, and controlling the rotating speed of the underground motor based on the instruction of the ground controller if the communication state is normal; and if the communication state is abnormal, controlling the rotating speed of the underground motor based on the obtained dynamic liquid level value.
Preferably, the controlling the rotation speed of the downhole motor based on the instruction of the surface controller comprises: and transmitting the pressure parameter related to the dynamic liquid level value to the surface controller, and receiving a rotating speed control instruction of the underground motor generated by the surface controller based on the pressure parameter.
Preferably, the rotating speed control instruction is a speed change instruction, and the speed change instruction is used for correcting the current rotating speed of the downhole motor to generate the instant rotating speed of the downhole motor.
Preferably, the controlling the rotation speed of the downhole motor based on the obtained dynamic liquid level value includes: determining that the obtained dynamic liquid level value is not lower than a shutdown threshold value; obtaining a current dynamic liquid level value based on a pressure parameter related to the dynamic liquid level value; and generating the instant rotating speed of the underground motor based on the current dynamic liquid level value and the current rotating speed of the underground motor.
Preferably, if the obtained dynamic liquid level value is lower than a shutdown threshold value, controlling the underground motor to shut down, and continuously monitoring the obtained dynamic liquid level value; and when the obtained dynamic liquid level value is higher than a preset interval, the operation of the underground motor is recovered.
Preferably, the pressure parameter based on correlation with the hydrodynamic level value includes: a well fluid pressure acquisition value and a casing gas pressure acquisition value.
Preferably, the current rotating speed of the downhole motor is obtained through an identification algorithm or a measurement value of an angular displacement sensor.
Preferably, the downhole driver is further configured to: acquiring at least one of input current, voltage and power, and sending the acquired at least one of input current, voltage and power to the ground controller; and comparing with at least one of corresponding current, voltage and power output by the surface controller to the downhole driver to obtain a state of energy transfer between the surface controller and the downhole driver.
Preferably, the downhole driver is a servo driver or a frequency converter.
Preferably, the motor is a permanent magnet synchronous motor or an asynchronous induction motor.
In a second aspect of the invention, there is also provided a downhole driver comprising: at least one processor; a memory coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the functions of the aforementioned configuration by executing the instructions stored by the memory.
Through the technical scheme provided by the invention, the following beneficial effects are achieved:
1) constant voltage direct current transmission, transmission efficiency is high.
2) And the cost of the cable is reduced by changing three transmission lines into two transmission lines.
3) The driver drives the motor nearby, and the driving performance is good.
4) And monitoring the long-distance transmission state of the cable in real time.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
fig. 1 is a schematic structural diagram of a control system of a submersible/diving system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the overall structure of a submersible/diving system provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of the connection of a surface controller to a downhole driver in a control system of a submersible/diving system according to one embodiment of the present invention;
fig. 4 is a data schematic of a surface controller and a downhole driver of a control system of the submersible/diving system provided in accordance with an embodiment of the present invention;
fig. 5 is a schematic data transmission diagram of a control system of a submersible/diving system provided in accordance with an embodiment of the present invention;
fig. 6 is a logic flow diagram of a control system for a submersible/diving system in accordance with one embodiment of the present invention.
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic structural diagram of a control system of a submersible/diving system according to an embodiment of the present invention, as shown in fig. 1. A control system of a submersible/diving system comprises a ground controller, a downhole driver and a downhole motor, wherein the downhole driver is connected with the ground controller and controls the downhole motor; the downhole driver is configured to: monitoring the communication state with the ground controller, and controlling the rotating speed of the underground motor based on the instruction of the ground controller if the communication state is normal; and if the communication state is abnormal, controlling the rotating speed of the underground motor based on the obtained dynamic liquid level value.
Fig. 2 is a schematic diagram of the overall structure of the submersible/diving system according to an embodiment of the present invention, and as shown in fig. 2, the system mainly comprises a surface controller, an air pressure detecting device, a wellhead device, an oil/water pipe, a pump, a coupling, a downhole motor, a downhole driver, and a casing. The pumps in the systems referred to herein include, but are not limited to, progressive cavity pumps and vane pumps. The ground controller rectifies the three-phase power from the power grid and outputs two-phase direct current to the underground driver through a cable, and the ground controller is in remote communication with the underground driver, sends a ground control command and receives underground state data. The air pressure detection device is communicated with the sleeve and used for detecting air pressure in the sleeve and transmitting a detected air pressure signal to the ground controller. The underground driver drives the underground motor to drive the pump to operate through the coupler, the pump pumps underground oil/water and conveys the oil/water to the wellhead device through the oil/water pipe, and the wellhead device conveys the oil/water to a specified point. The downhole driver is in remote communication with the surface controller, receives the surface control command and sends downhole state data. Specifically, the rotation speed of the downhole motor is related to the downhole working fluid level, and although the rotation speed of the downhole motor is controlled according to the collected real-time working fluid level instruction in the existing system, the processing under the condition of abnormal communication between the downhole motor and the ground is not considered. The downhole driver and the surface controller in the embodiment have a function of controlling the rotating speed of the motor, and the implementation equipment of the control function is preferably the surface controller, and when the surface and downhole communication is interrupted, the control authority is transferred to the downhole driver located downhole. Through the embodiment, the problem of control of the underground motor in abnormal communication is avoided, and real-time transfer of control authority in a control system of the submersible/diving system is realized.
Fig. 3 is a schematic diagram of the connection between the surface controller and the downhole driver in the control system of the submersible/diving system according to one embodiment of the present invention, as shown in fig. 3, including a bus for power transmission and a signal line for communication transmission. In one embodiment of the present invention, the controlling the rotation speed of the downhole motor based on the instruction of the surface controller includes: and transmitting the pressure parameter related to the dynamic liquid level value to the surface controller, and receiving a rotating speed control instruction of the underground motor generated by the surface controller based on the pressure parameter. When the ground and underground communication is normal, underground equipment is used for acquiring underground hydraulic data through the sensing device and acquiring air pressure data of the sleeve through the air pressure detection device so as to measure the working fluid level. And the data processing device at the moment is a ground controller, and the ground controller generates a rotating speed control instruction for the underground motor according to the real-time working fluid level data and transmits the rotating speed control instruction to the underground driver to realize rotating speed control of the underground motor.
On the basis of the previous embodiment, the rotation speed control command is a speed change command, and the speed change command is used for correcting the current rotation speed of the downhole motor to generate the instant rotation speed of the downhole motor. And the ground controller realizes the closed-loop control of the working fluid level on the ground controller according to the working fluid level instruction, and outputs a speed change instruction delta V _ ref to be sent to the underground driver. In the present embodiment, instead of sending the speed command V _ ref directly, a speed change command Δ V _ ref is sent, which aims to prevent the downhole motor from being directly affected by an erroneous speed command when a communication signal between the surface controller and the downhole driver is abnormal. Specifically, the speed command caused by communication abnormality disappears suddenly, and great influence is directly caused on the downhole motor controlled by the downhole driver. When the speed change instruction is adopted, even if the speed change instruction is suddenly reduced to 0, the underground motor can receive the previous speed instruction and keeps running at a constant speed, so that the impact of communication abnormity on the underground motor is avoided.
In an embodiment of the present invention, the controlling the rotation speed of the downhole motor based on the obtained flowing liquid level value includes: determining that the obtained dynamic liquid level value is not lower than a shutdown threshold value; obtaining a current dynamic liquid level value based on a pressure parameter related to the dynamic liquid level value; and generating the instant rotating speed of the underground motor based on the current dynamic liquid level value and the current rotating speed of the underground motor. Under the other condition, if the obtained dynamic liquid level value is lower than a shutdown threshold value, controlling the underground motor to shut down and continuously monitoring the obtained dynamic liquid level value; and when the obtained dynamic liquid level value is higher than a preset interval, the operation of the underground motor is recovered. Specifically, when the ground controller judges that the communication with the downhole driver is abnormal, the downhole driver takes over the current control function, calculates the current dynamic liquid level value, compares the current dynamic liquid level value with a preset shutdown threshold value (also called a dangerous dynamic liquid level value), and if the current dynamic liquid level value is not lower than the preset dangerous dynamic liquid level value, the downhole driver performs speed closed-loop control on the downhole motor; if the working fluid level is lower than the preset dangerous working fluid level value, the underground driver automatically stops, whether the current working fluid level is higher than a set interval or not is judged in real time, if not, the underground driver continues to stop for waiting, if so, the underground driver automatically returns to work, the current working fluid level value is calculated, and then the current working fluid level value is compared with the preset dangerous working fluid level value. The underground driver executes the control of the rotating speed of the motor and judges the shutdown threshold value, and the operation control of the underground motor is realized under the condition that a ground controller is not available.
In one embodiment of the present invention, the pressure parameter based on the correlation with the hydrodynamic level value includes: a well fluid pressure acquisition value and a casing gas pressure acquisition value. When the communication is normal, the ground controller or well fluid pressure feedback Fl _ fb sent by the downhole driver and sleeve air pressure feedback Fg _ fb sent by the air pressure detection device obtain pressure feedback F _ fb by calculating F _ fb to Fl _ fb-Fg _ fb, accurately calculate the current fluid level value based on the pressure feedback F _ fb, realize closed-loop control of the fluid level on the ground controller according to a fluid level command, and output a speed change command delta V _ ref to be sent to the downhole driver. And when the communication is abnormal, the underground driver automatically calculates the current dynamic liquid level value according to the collected well liquid pressure feedback Fl _ fb to generate a speed control instruction.
In one embodiment of the present invention, the current rotation speed of the downhole motor is obtained by an identification algorithm or a measurement value of an angular displacement sensor. When the underground motor has no angular displacement sensor, the actual rotating speed V _ fb of the underground motor is obtained through an identification algorithm; when the underground motor is provided with a rotary transformer with high temperature and high pressure resistance as an angular displacement sensor, differentiating the received angular displacement feedback theta _ fb to obtain the actual rotating speed V _ fb of the underground motor, realizing speed closed-loop control on an underground driver according to the variable speed instruction delta V _ ref and the actual rotating speed V _ fb of the underground motor, and driving the underground motor to operate. Because of the influence of the working environment, the actual rotating speed and the control rotating speed of the motor have certain errors, and the actual rotating speed of the motor can be obtained through the implementation mode, so that the closed-loop control of the rotating speed of the motor can be realized, and the rotating speed can be controlled more accurately.
In one embodiment provided herein, the downhole driver is further configured to: at least one of the input current, voltage and power is taken and sent to the ground controller; and comparing with at least one of corresponding current, voltage and power output by the surface controller to the downhole driver to obtain a state of energy transfer between the surface controller and the downhole driver. FIG. 2 the surface controller and downhole driver power are transmitted via two bus bars. The BUS current output detected by the ground controller is represented as BUS _ I _ out, the BUS current input detected by the underground driver is represented as BUS _ I _ in, and the BUS _ I _ out is ideally equal to the BUS _ I _ in.
The BUS voltage output detected by the ground controller is represented as BUS _ U _ out, the BUS voltage input detected by the underground driver is represented as BUS _ U _ in, theoretically, the difference value between the BUS _ U _ out and the BUS _ U _ in is the voltage drop consumed by the resistance of a cable conductor, but if the difference value between the BUS _ U _ in and the BUS _ U _ out obviously exceeds the voltage drop consumed by the resistance of the cable conductor, the situation that the two-phase direct current BUS is locally damaged in the process of long-distance transmission through the cable to cause the reduction of the conductivity is shown, the state of the cable conductor is timely detected through the method, and the alarm prompt is given on the ground controller.
The BUS output power of the ground controller is represented as BUS _ P _ out ═ BUS _ U _ out × BUS _ I _ out, and the BUS input power of the downhole driver is represented as BUS _ P _ in ═ BUS _ U _ in × BUS _ I _ in, so that the remote cable transmission efficiency is BUS _ P _ in ÷ BUS _ P _ out × 100%. By the method, the transmission efficiency is acquired in time and displayed on the ground controller.
Fig. 4 is a data schematic diagram of a surface controller and a downhole driver of a submersible/submersible system control system according to an embodiment of the present invention, where the data of the surface controller and the downhole driver includes: the downhole control system comprises a variable speed command delta V _ ref, an actual downhole motor speed V _ fb, a well fluid pressure feedback Fl _ fb, a BUS current input BUS _ I _ in of a downhole driver and a BUS voltage input BUS _ U _ in of the downhole driver.
The downhole driver is a servo driver or a frequency converter, and the motor is a permanent magnet synchronous motor or an asynchronous induction motor. The drive includes, but is not limited to, a servo drive, a frequency converter, and the motor includes, but is not limited to, a permanent magnet synchronous motor and an asynchronous induction motor. Fig. 5 is a data transmission diagram of a control system of a submersible/diving system according to an embodiment of the present invention, and fig. 5 shows data logic in the control system of the submersible/diving system.
In one embodiment of the present invention, there is also provided a downhole driver comprising: at least one processor; a memory coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the aforementioned functions by executing the instructions stored by the memory. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The memory may be an internal storage unit of the control device, such as a hard disk or a memory of the control device. The memory may also be an external storage device of the control device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the control device. Further, the memory may also include both an internal storage unit of the control device and an external storage device. The memory is used for storing the computer program and other programs and data needed for controlling the device. The memory may also be used to temporarily store data that has been output or is to be output.
Fig. 6 is a logic flow diagram of a control system of a submersible/diving system according to an embodiment of the present invention, and the control logic flow of the control system is shown in fig. 6 for understanding and implementation by those skilled in the art. The embodiment provided by the invention aims at the problem that communication in the existing submersible/diving system is possibly interrupted, and provides a corresponding control system, which realizes the real-time transfer of the control authority in the control system of the submersible/diving system. The embodiment provided by the invention is applied to the control of the existing submersible or diving system.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (7)
1. A control system of a submersible/diving system is characterized in that the submersible/diving system comprises a ground controller, a downhole driver, a downhole motor, an air pressure detection device, a wellhead device, an oil/water pipe, a pump, a coupling and a casing pipe, wherein the downhole driver is connected with the ground controller and controls the downhole motor; the air pressure detection device is communicated with the sleeve and is used for detecting the air pressure in the sleeve and transmitting a detected air pressure signal to the ground controller; the downhole driver is configured to:
monitoring a communication status with the surface controller,
if the communication state is normal, the ground controller acquires underground hydraulic data through the sensing device and acquires air pressure data of a sleeve through the air pressure detection device so as to realize measurement of the working fluid level, pressure parameters which are obtained through measurement and are related to the working fluid level value are transmitted to the ground controller, the ground controller generates a rotating speed control instruction for the underground motor according to the pressure parameters which are received in real time and are related to the working fluid level value, and transmits the rotating speed control instruction to an underground driver, and the underground driver receives the rotating speed control instruction for the underground motor, which is generated by the ground controller based on the pressure parameters which are related to the working fluid level value, so that the rotating speed control of the underground motor is realized; the pressure parameter related to the hydrodynamic level value comprises: collecting well fluid pressure and casing gas pressure; when communication is normal, the ground controller obtains pressure feedback F _ fb by calculating F _ fb ═ Fl _ fb-Fg _ fb according to well fluid pressure feedback Fl _ fb sent by the downhole driver and casing air pressure feedback Fg _ fb sent by the air pressure detection device;
if the communication state is abnormal, the underground driver takes over the current control function, calculates the current dynamic liquid level value, compares the current dynamic liquid level value with a preset shutdown threshold value, and if the current dynamic liquid level value is not lower than the preset shutdown threshold value, the underground driver performs speed closed-loop control on the underground motor; if the current working fluid level is higher than the shutdown threshold, the underground driver automatically stops, whether the current working fluid level is higher than a set interval or not is judged in real time, if not, the underground driver continues to stop waiting, if so, the underground driver automatically resumes working, the current working fluid level is calculated, and then the current working fluid level is compared with the shutdown threshold; and when the communication is abnormal, the underground driver automatically calculates the current dynamic liquid level value according to the collected well liquid pressure feedback Fl _ fb to generate a speed control instruction.
2. The control system of claim 1, wherein the rotation speed control command is a variable speed command, the surface controller implements closed loop control of the working fluid level and outputs the variable speed command to the downhole driver, and the variable speed command is used for correcting the current rotation speed of the downhole motor to generate the instant rotation speed of the downhole motor.
3. The control system of claim 1, wherein the downhole driver performs closed-loop speed control of the downhole motor, comprising:
obtaining a current dynamic liquid level value based on a pressure parameter related to the dynamic liquid level value;
and generating the instant rotating speed of the underground motor based on the current dynamic liquid level value and the current rotating speed of the underground motor.
4. The control system of claim 3, wherein the current rotational speed of the downhole motor is obtained by an identification algorithm or a measurement from an angular displacement sensor.
5. The control system of claim 1, wherein the downhole driver is further configured to:
acquiring at least one of input current, voltage and power, and sending the acquired at least one of input current, voltage and power to the ground controller; and comparing with at least one of corresponding current, voltage and power output by the surface controller to the downhole driver to obtain a state of energy transfer between the surface controller and the downhole driver.
6. The control system of claim 1, wherein the downhole drive is a servo drive or a frequency converter.
7. The control system of claim 1, wherein the downhole motor is a permanent magnet synchronous motor or an asynchronous induction motor.
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| CN202010652411.4A CN111734651B (en) | 2020-07-08 | 2020-07-08 | Control system for submersible/diving system |
| PCT/CN2021/103629 WO2022007680A1 (en) | 2020-07-08 | 2021-06-30 | Control system for oil/water-submersible system |
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| CN202010652411.4A CN111734651B (en) | 2020-07-08 | 2020-07-08 | Control system for submersible/diving system |
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| CN111734651B true CN111734651B (en) | 2021-08-27 |
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| CN111734651B (en) * | 2020-07-08 | 2021-08-27 | 浙江都美电气技术股份有限公司 | Control system for submersible/diving system |
| CN115614003A (en) * | 2021-07-15 | 2023-01-17 | 中国石油天然气股份有限公司 | Electric submersible vane pump lifting system and petroleum production line |
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| US4052703A (en) * | 1975-05-05 | 1977-10-04 | Automatic Terminal Information Systems, Inc. | Intelligent multiplex system for subsurface wells |
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| CN103327007B (en) * | 2013-05-21 | 2017-08-04 | 中国石油天然气集团公司 | Underground and the data transmission system and method on ground |
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| CN111734651B (en) * | 2020-07-08 | 2021-08-27 | 浙江都美电气技术股份有限公司 | Control system for submersible/diving system |
-
2020
- 2020-07-08 CN CN202010652411.4A patent/CN111734651B/en active Active
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2021
- 2021-06-30 WO PCT/CN2021/103629 patent/WO2022007680A1/en active Application Filing
Also Published As
| Publication number | Publication date |
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| CN111734651A (en) | 2020-10-02 |
| WO2022007680A1 (en) | 2022-01-13 |
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