CN111749680A - Working fluid level automatic control method, equipment and system - Google Patents
Working fluid level automatic control method, equipment and system Download PDFInfo
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- 239000012530 fluid Substances 0.000 title claims abstract description 125
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000012937 correction Methods 0.000 claims abstract description 53
- 230000008859 change Effects 0.000 claims abstract description 41
- 230000005499 meniscus Effects 0.000 claims description 14
- 238000013507 mapping Methods 0.000 claims description 13
- 239000007788 liquid Substances 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000006698 induction Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 239000003129 oil well Substances 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 13
- 238000004364 calculation method Methods 0.000 description 8
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- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 238000005086 pumping Methods 0.000 description 2
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- 238000004891 communication Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000010897 surface acoustic wave method Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
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Abstract
The invention relates to the field of working fluid level control, and provides an automatic working fluid level control method, which comprises the following steps: acquiring the current value and/or the change rate of the working fluid level depth; generating a speed correction value according to the obtained current value and/or the change rate; and correcting the current speed instruction by adopting the speed correction value to obtain a corrected speed instruction, wherein the corrected speed instruction is used for controlling the rotating speed of the motor. Meanwhile, the corresponding automatic control equipment and automatic control system for the working fluid level are also provided. The implementation mode provided by the invention improves the closed-loop control in the control of the working fluid level of the oil well, and has the beneficial effects of high precision and good real-time performance.
Description
Technical Field
The invention relates to the field of working fluid level control, in particular to a working fluid level automatic control method, a working fluid level automatic control device and a working fluid level automatic control system.
Background
The working fluid level control of the existing oil well and water well depends on ground sound waves or downhole pressure and other special well logging devices to measure the depth of the working fluid level, and then an artificial or centralized control system sends instructions to adjust the action frequency or the rotating speed of the lifting equipment according to the current working fluid level depth and the ideal depth. The control real-time performance is poor, the reliability is poor, and the investment is large.
The prior art already has a method for controlling speed according to the depth of the working fluid level, but the prior working fluid level control technology has the following problems and disadvantages: special logging devices relying on surface acoustic waves or well pressure transmission; the manual or centralized control system sends instructions for adjustment, so that the automation degree is low; indirectly controlling the brake liquid level by utilizing the corresponding relation between the underground pressure and the liquid level depth; the accuracy, real-time and reliability of the working fluid level control are poor.
For example: in the invention patent 'closed-loop control system for automatically measuring the operating speed of an oil well working fluid level change pumping unit' with the application number of 200710011796.0, the technical scheme is that an output speed instruction cannot be directly calculated according to the working fluid level error, but the position error calculation is needed, and the position error is calculated according to the actual output speed of the mechanical continuously variable transmission measured by a rotating speed sensor, rather than being directly detected in real time to obtain the position error; neither is speed control achieved by closed loop control for speed. In summary, although the invention seemingly realizes automatic control of the working fluid level, the invention cannot realize real-time accurate closed-loop control directly aiming at the working fluid level.
Disclosure of Invention
In view of the above, the present invention provides a method, a device and a system for automatically controlling a working fluid level, which directly perform real-time closed-loop control on a working fluid level command and a working fluid level depth by specially designing a working fluid level digital controller, so as to achieve the purpose of accurately and automatically controlling the working fluid level.
In a first aspect of the present invention, there is provided a working fluid level automatic control method, the method comprising:
acquiring the current value and/or the change rate of the working fluid level depth; generating a speed correction value according to the obtained current value and/or the change rate; and correcting the current motor rotating speed control instruction by adopting the speed correction value to obtain a corrected motor rotating speed control instruction.
Preferably, the generating of the speed correction value according to the obtained current value and/or the obtained change rate includes: if a current value is obtained, generating a first correction value according to the current value to serve as the speed correction value; if the change rate is obtained, generating a second correction value according to the change rate to serve as the speed correction value; and if the current value and the change rate are acquired, taking the sum of the first correction value and the second correction value as the speed correction value.
Preferably, the generating a first correction value according to the current value includes: acquiring a working fluid level instruction;
calculating a difference between the dynamic liquid level command and the current value; obtaining the first correction value based on the difference value and a first mapping coefficient; the first mapping coefficient is a preset value.
Preferably, the generating a second correction value according to the change rate includes: obtaining a second correction value based on the change rate and a second mapping coefficient; the second mapping coefficient is a preset value.
In a second aspect of the present invention, there is also provided a working fluid level automatic control apparatus 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 method by executing the instructions stored by the memory.
In a third aspect of the present invention, there is also provided an automatic control system for a working fluid level, the control system comprising:
the control device is used for generating and outputting a motor rotating speed control instruction; the working fluid level digital controller is embedded in the control equipment and is used for receiving the working fluid level instruction, the working fluid level depth and the current speed instruction and carrying out real-time closed-loop control on the working fluid level; the working fluid level depth acquisition device is used for converting the real-time working fluid level depth into an electric signal and transmitting the electric signal to a working fluid level digital controller in the control equipment; and the motor is used for driving the pump to lift the well fluid to adjust the working fluid level.
Preferably, the control system further includes: the speed digital controller is embedded in the control equipment and is used for receiving the motor rotating speed control instruction and the actual motor speed and carrying out real-time closed-loop control on the motor; and the motor speed sensing device is used for monitoring the rotating speed of the motor in real time and feeding back the actual speed of the motor to the speed digital controller.
Preferably, the motor comprises a submersible permanent magnet synchronous motor and an asynchronous induction motor.
Preferably, the control device is integrated in a downhole driver.
Preferably, the control device is integrated in a surface drive.
In a fourth aspect of the present invention, there is also provided a computer-readable storage medium having stored therein instructions, which when run on a computer, cause the computer to execute the above-described automatic control method for a working fluid level.
Through the technical scheme provided by the invention, the following beneficial effects are achieved:
1) the accuracy is high; the working fluid level digital controller is specially designed for closed-loop control, so that the accuracy of working fluid level control is effectively improved.
2) The real-time performance is good; compared with manual adjustment, the real-time performance is greatly improved; compared with the remote receiving of the speed instruction, the real-time performance is obviously improved.
3) The reliability is high; automatic control is realized, and the possibility of human errors and communication errors is eliminated.
4) Supporting a distributed display application; theoretically, the number of oil and gas wells which are simultaneously controlled by the working fluid level can be infinite, the condition that the burden of a main control system is too heavy can not be caused, and distributed control is easily realized.
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 flow chart of a method for automatically controlling a working fluid level according to an embodiment of the present invention;
FIG. 2 is a logic diagram of a calculation of a method for automatic control of a working fluid level according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an automatic control system for a working fluid level according to an 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 flow chart of a method for automatically controlling a working fluid level according to an embodiment of the present invention, as shown in fig. 1. A method of automatic control of a working fluid level, the method comprising: acquiring the current value and/or the change rate of the working fluid level depth; generating a speed correction value according to the obtained current value and/or the change rate; and correcting the current motor rotating speed control instruction by adopting the speed correction value to obtain a corrected motor rotating speed control instruction.
Thus, real-time accurate closed-loop control of the direct needle to the meniscus is achieved. In the prior art, automatic control technology according to the working fluid level of an oil well exists, but the control technology does not consider the real-time performance of control parameters, so the accuracy of the control parameters is influenced.
Specifically, the current value and/or the change rate of the depth of the working fluid level are obtained, which is realized by a sound wave transmitting and receiving device controlled by a single-chip microcomputer in a currently common mode, so as to obtain real-time data of the depth of the working fluid level. The oil well system adjusts the rotating speed through the data, but the data has certain hysteresis after being processed, when the driver receives a working fluid level command transmitted by the upper control device, the working fluid level is changed, so that the working fluid level command is judged in the driver, certain correction is carried out according to the actual difference value, and the correction value is reflected on the rotating speed control of the motor. In order to further reflect the change of the working fluid level, the rotating speed of the motor can be corrected by acquiring the change value of the working fluid level. According to the needs of the actual scene, the user can select one or two of the calculation modes to carry out correction calculation.
In an embodiment provided by the present invention, the acquiring the current value and/or the change rate of the depth of the working fluid level includes: monitoring the depth of the working fluid level in real time; obtaining the depth of the working fluid level at the current moment to obtain the current value of the depth of the working fluid level; and/or obtaining the working fluid level depth at the current moment, and carrying out differential processing to obtain the change rate. The present embodiment provides a way to obtain the current value and the rate of change. The current common approach is to implement a single-chip microcomputer controlled logging device or sensor, where the differential processing can be implemented in the drive.
In an embodiment provided by the present invention, the generating a speed correction value according to the obtained current value and/or the obtained change rate includes: if a current value is obtained, generating a first correction value according to the current value to serve as the speed correction value; if the change rate is obtained, generating a second correction value according to the change rate to serve as the speed correction value; and if the current value and the change rate are acquired, taking the sum of the first correction value and the second correction value as the speed correction value. Both the current value and the change rate can be used for correcting the motor rotating speed, and in an actual scene, a user can select one or both of the current value and the change rate to perform correction calculation. And when the acquisition amount of the field sensor is only one of the acquisition amounts, generating a corresponding correction value according to the acquired acquisition parameters. The embodiment provides a flexible parameter selection mode and a corresponding calculation mode, and is convenient for a user to select.
In an embodiment of the present invention, the generating a first correction value according to the current value includes: acquiring a working fluid level instruction; calculating a difference between the dynamic liquid level command and the current value; obtaining the first correction value based on the difference value and a first mapping coefficient; the first mapping coefficient is a preset value. Namely: the (meniscus command D _ ref — meniscus depth D _ fb) × proportional gain Kp, which is a first correction value, is derived from experimental data or empirical data.
In one embodiment of the present invention, the generating the second correction value according to the change rate includes: obtaining a second correction value based on the change rate and a second mapping coefficient; the second mapping coefficient is a preset value. Namely: the rate of change of the meniscus depth × the differential gain Ki is a second correction value, and the differential gain Ki (i.e., the second mapping coefficient) is obtained from experimental data or empirical data.
Fig. 2 is a logic diagram of a calculation of an automatic control method for a working fluid level according to an embodiment of the present invention, as shown in fig. 2. The computational logic diagram only shows the case where both parameters are selected. Wherein D _ ref is the meniscus command, D _ fb is the meniscus depth, Δ D is the meniscus offset, Kp is the proportional gain, Ki is the derivative gain, V _ ref is the current speed command, and V' ref is the corrected speed command output. Firstly, comparing a working fluid level command D _ ref with a working fluid level depth D _ fb to obtain a working fluid level deviation delta D; then, multiplying the working fluid level deviation delta D by a proportional gain Kp; meanwhile, difference dt is carried out on the depth D _ fb of the dynamic liquid level to obtain the change rate of the depth of the dynamic liquid level, and then the change rate is multiplied by a differential gain Ki; finally, the calculated value multiplied by the proportional gain Kp and the calculated value multiplied by the differential gain Ki are added to the current speed command V _ ref, and the final corrected speed command V' ref is output. The theoretical algorithm formula of the numerical controller of the working fluid level is as follows:
the corrected speed command V' ref is the current speed command V _ ref + (meniscus command D _ ref — meniscus depth D _ fb) × proportional gain Kp + meniscus depth change rate × differential gain Ki.
In an embodiment provided by the present invention, there is also provided a working fluid level automatic control apparatus including: at least one processor; a memory coupled to the at least one processor; the memory stores instructions capable of being executed by the at least one processor, and the at least one processor realizes the automatic control method of the working fluid level by executing the instructions stored in 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, or the like. 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. 3 is a schematic structural diagram of an automatic control system for a working fluid level according to an embodiment of the present invention. As shown in fig. 3, in an embodiment provided by the present invention, there is also provided an automatic control system for a working fluid level, the control system including: the control device is used for generating and inputting a motor rotating speed control instruction; the working fluid level digital controller is embedded in the control equipment and is used for receiving the working fluid level instruction, the working fluid level depth and the current speed instruction and carrying out real-time closed-loop control on the working fluid level; the working fluid level depth acquisition device is used for converting the real-time working fluid level depth into an electric signal and transmitting the electric signal to a working fluid level digital controller in the control equipment; and the motor is used for driving the pump to lift the well fluid to adjust the working fluid level. The automatic control system of the single well dynamic liquid level is shown in figure 3. The device consists of a driver, a motor, a pump, a logging device or a sensor and the like. The driver controls the rotating speed of the motor according to the working fluid level instruction, the motor drives the pump to lift well fluid to adjust the depth of the working fluid level, and the logging device or the sensor and the like detect or calculate the depth value of the working fluid level in real time and feed the value back to the driver, so that the driver directly performs real-time closed-loop automatic control on the working fluid level. The driver comprises but is not limited to a servo driver and a frequency converter, and the motor comprises but is not limited to a submersible permanent magnet synchronous motor and an asynchronous induction motor.
In one embodiment of the present invention, the control system further includes: the speed digital controller is embedded in the control equipment and is used for receiving the motor rotating speed control instruction and the actual motor speed and carrying out real-time closed-loop control on the motor; and the motor speed sensing device is used for monitoring the rotating speed of the motor in real time and feeding back the actual speed of the motor to the speed digital controller. An embedded software functional module, namely a working fluid level digital controller and a speed digital controller, is designed in the driver, and the working fluid level digital controller calculates and outputs a corrected speed instruction according to a working fluid level instruction, working fluid level depth feedback data and a current speed instruction; and the speed digital controller outputs a driving signal for controlling the motor according to the corrected speed instruction and the actual speed of the motor. The working fluid level digital controller realizes the outer closed-loop control of the working fluid level, and the speed digital controller realizes the inner closed-loop control of the speed, thereby realizing the real-time accurate control of the working fluid level through the double closed loops.
In one embodiment of the present invention, the control device is integrated into a downhole driver. The application scenario of the present embodiment is a downhole driver scheme: the underground driver is connected with the submersible motor and works at the same underground position, the underground driver can detect the well fluid pressure at the position, the current working fluid level depth is calculated and compared with the working fluid level instruction, the corrected speed instruction is output through a working fluid level digital controller in the control equipment, the speed digital controller in the control equipment controls the running rotating speed of the submersible motor according to the corrected speed instruction, and the submersible motor drives the pump to lift the well fluid to adjust the working fluid level, so that the real-time closed-loop control is performed on the working fluid level.
In one embodiment, the control device is integrated in a surface drive. The application scenario of the present embodiment is a ground driver scheme: the ground driver comprises a frequency converter, a servo driver and the like, drives the oil pumping unit to drag a motor or drives the submersible motor through a submersible cable, and simultaneously receives real-time working fluid level data detected by the logging device, an embedded software function module is designed in the ground driver, a corrected speed instruction is obtained through calculation of a working fluid level digital controller in the control equipment according to the working fluid level instruction and the current working fluid level data, the speed digital controller in the control equipment receives the corrected speed instruction to control the running rotating speed of the submersible motor, and the submersible motor drives a pump to lift well fluid, so that real-time closed-loop control of the working fluid level is achieved.
The embodiment of the invention provides a method, equipment and a system for automatically controlling the working fluid level, aiming at the problem that the working fluid level in the existing oil well is not timely and accurate. The embodiment provided by the invention is applied to the automatic control of the working fluid level in the oil well.
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 (10)
1. A method for automatically controlling a working fluid level, the method comprising:
acquiring the current value and/or the change rate of the working fluid level depth;
generating a speed correction value according to the obtained current value and/or the change rate;
and correcting the current motor rotating speed control instruction by adopting the speed correction value to obtain a corrected motor rotating speed control instruction.
2. The method according to claim 1, wherein the generating the speed correction value according to the obtained current value and/or the obtained change rate comprises:
if a current value is obtained, generating a first correction value according to the current value to serve as the speed correction value;
if the change rate is obtained, generating a second correction value according to the change rate to serve as the speed correction value;
if a current value and a change rate are obtained, generating a first correction value according to the current value, generating a second correction value according to the change rate, and taking the sum of the first correction value and the second correction value as the speed correction value.
3. The method of claim 2, wherein said generating a first correction value based on said current value comprises:
acquiring a working fluid level instruction;
calculating a difference between the dynamic liquid level command and the current value;
obtaining the first correction value based on the difference value and a first mapping coefficient;
the first mapping coefficient is a preset value.
4. The method of claim 2, wherein said generating a second correction value based on said rate of change comprises:
obtaining a second correction value based on the change rate and a second mapping coefficient;
the second mapping coefficient is a preset value.
5. An automatic control apparatus for a working fluid level, characterized in that the control apparatus comprises:
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, the at least one processor implementing the method of any one of claims 1 to 4 by executing the instructions stored by the memory.
6. An automatic control system for a working fluid level, the control system comprising:
the control apparatus of claim 5, for generating and outputting a motor rotation speed control command;
the working fluid level digital controller is embedded in the control equipment and is used for receiving the working fluid level instruction, the working fluid level depth and the current speed instruction and carrying out real-time closed-loop control on the working fluid level;
the working fluid level depth acquisition device is used for converting the real-time working fluid level depth into an electric signal and transmitting the electric signal to a working fluid level digital controller in the control equipment;
and the motor is used for driving the pump to lift the well fluid to adjust the working fluid level.
7. The automatic meniscus control system of claim 6, further comprising:
the speed digital controller is embedded in the control equipment and is used for receiving the motor rotating speed control instruction and the actual motor speed and carrying out real-time closed-loop control on the motor;
and the motor speed sensing device is used for monitoring the rotating speed of the motor in real time and feeding back the actual speed of the motor to the speed digital controller.
8. The automatic meniscus control system of claim 6, wherein the motor is a submersible permanent magnet synchronous motor or an asynchronous induction motor.
9. Automatic meniscus control system according to claim 6, characterized in that the control device is integrated in a downhole driver.
10. Automatic meniscus control system according to claim 6, characterized in that the control device is integrated in a ground drive.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010632653.7A CN111749680A (en) | 2020-07-01 | 2020-07-01 | Working fluid level automatic control method, equipment and system |
| PCT/CN2021/103624 WO2022002147A1 (en) | 2020-07-01 | 2021-06-30 | Automatic control method, apparatus and system for working fluid level |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010632653.7A CN111749680A (en) | 2020-07-01 | 2020-07-01 | Working fluid level automatic control method, equipment and system |
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| CN111749680A true CN111749680A (en) | 2020-10-09 |
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| WO2022002147A1 (en) * | 2020-07-01 | 2022-01-06 | 浙江都美电气技术股份有限公司 | Automatic control method, apparatus and system for working fluid level |
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| CN117211969B (en) * | 2023-10-17 | 2024-03-29 | 江苏省无锡探矿机械总厂有限公司 | Energy-saving control method and system for hydraulic drilling machine |
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