CN115370333B - Stepless speed changer control method under variable speed driving mode of oil pumping unit - Google Patents

Stepless speed changer control method under variable speed driving mode of oil pumping unit Download PDF

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Publication number
CN115370333B
CN115370333B CN202210873575.9A CN202210873575A CN115370333B CN 115370333 B CN115370333 B CN 115370333B CN 202210873575 A CN202210873575 A CN 202210873575A CN 115370333 B CN115370333 B CN 115370333B
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speed
liquid level
fuzzy
pumping unit
continuously variable
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CN115370333A (en
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杨水余
袁哲
鲍永哲
侯波
童燕华
史源
石岳林
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Hangzhou Advance Gearbox Group Co Ltd
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Hangzhou Advance Gearbox Group Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
    • E21B43/12—Methods or apparatus for controlling the flow of the obtained fluid to or in wells
    • E21B43/121—Lifting well fluids
    • E21B43/126—Adaptations of down-hole pump systems powered by drives outside the borehole, e.g. by a rotary or oscillating drive
    • E21B43/127—Adaptations of walking-beam pump systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/20—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by changing the driving speed

Abstract

The application relates to a stepless speed changer control method in a variable speed driving mode of an oil pumping unit, which comprises the following steps: acquiring suspension point load information transmitted by a load sensor; acquiring liquid level information in a sucker rod oil pump transmitted by a liquid level sensor; and controlling the speed change and/or the reversing of the driving motor of the continuously variable transmission according to the suspension point load information and the liquid level height information. The beneficial effects of this application are: the speed of the sucker rod is regulated to meet the requirement of stepless regulation from zero in operation; the forward and reverse conversion requirements in the work can be met; the special scene can adjust the rotating speed according to the requirement; the whole regulation meets the requirement of automatic control.

Description

Stepless speed changer control method under variable speed driving mode of oil pumping unit
Technical Field
The invention relates to the field of oil pumping machine control, in particular to a stepless speed changer control method under a variable speed driving mode of an oil pumping machine.
Background
The conventional beam pumping unit has the advantages of simple structure, low price, low maintenance cost and the like, is the most commonly adopted oil extraction equipment in oil and gas field exploitation for a long time, and is widely used in oil fields at home and abroad. At present, most oil pumping units in oil fields adopt constant-speed driving motors to drive the oil pumping units to work, which causes consumption of a large amount of electric energy and reverse power generation. According to the variable speed driving technology, the impact of a complex variable load can be effectively reduced by changing the rotating speeds under different working conditions according to the principle of slow running under heavy load and fast running under light load, and the oil fullness is improved, so that the motor efficiency is improved, and the electric energy is saved. However, the conventional pumping unit has the following problems in the speed change control of the motor: 1. the existing mechanical speed changer usually presets a speed change curve of the oil pumping unit according to well conditions, and directly controls the motor to change speed according to the speed change curve, but the underground condition in the actual oil pumping process is complex, and the preset speed change curve cannot reflect the actual load condition, so that the motor speed cannot be corresponding to the actual working conditions, and the oil pumping efficiency is affected; 2. in the research of the current energy-saving system of the pumping unit, the control system needs to feed back signals of a plurality of data sources (pressure, torque, current, tension) and the like acquired by the sensors so as to realize the control of the pumping unit, and the multi-input single-output system (MISO) has high requirements on the system sensors, particularly under the condition of variable speed driving, the sensor with low precision can cause serious system hysteresis, thereby influencing the real-time control of torque matching and motor rotating speed, and the speed control of the motor is carried out by adopting a PID algorithm in the prior art, but the traditional PID control method cannot achieve ideal effect on the scene with high delay.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a stepless speed changer control method in a variable speed driving mode of an oil pumping unit, wherein the stepless speed changer can be controlled according to actual load conditions by controlling a motor through the stepless speed changer, so that the oil pumping efficiency is improved; meanwhile, the traditional PID algorithm is improved, and the PID parameters are adjusted on line in real time by using a fuzzy control method, so that the optimal control of the system is realized.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a stepless speed changer control method in a variable speed driving mode of an oil pumping machine comprises the following steps:
acquiring suspension point load information transmitted by a load sensor;
acquiring liquid level information in a sucker rod oil pump transmitted by a liquid level sensor;
and controlling the speed change and/or the reversing of the driving motor of the continuously variable transmission according to the suspension point load information and the liquid level height information.
In a preferred embodiment, the method further includes constructing a fuzzy PI control system, and implementing a shift control for the continuously variable transmission based on the fuzzy PI.
By adopting the technical scheme, the speed change and the reversing of the continuously variable transmission are controlled based on the suspension point load information and the liquid level height information, the rotating speed and the direction of the motor can be regulated according to the actual working condition of the oil pumping unit, the principle of heavy load slow running and light load fast running can be better implemented, and the motor efficiency is improved. In addition, a traditional PID algorithm is adopted, PID parameters are adjusted online in real time by using a fuzzy control method, optimal control of the system is realized, and the working capacity and stability of the pumping unit system are effectively improved.
Drawings
Fig. 1 is a schematic diagram of a pumping unit speed change control system in the present embodiment;
fig. 2 is a schematic diagram of a speed change control flow of the pumping unit in the present embodiment;
fig. 3 is a schematic diagram of a nonlinear coupling behavior prediction method of the pumping unit system in the present embodiment;
FIG. 4 is a general flow chart of the variable speed drive optimization design and evaluation platform based on multiple operating conditions in the present embodiment;
FIG. 5 is a schematic diagram of fuzzy PI control;
fig. 6 (a) is the membership functions of the voltage error E and the voltage error change rate EC in the present embodiment, and (b) is the membership functions of Δkp and Δki.
Detailed Description
Embodiments of the present application are further described below with reference to the accompanying drawings.
The embodiment relates to a control method of a stepless speed changer in a variable speed driving mode of a beam pumping unit, which is used for controlling a motor of the beam pumping unit. First, the structure of the pumping unit will be briefly described. As shown in figure 1, the beam pumping unit mainly comprises a horsehead, a beam, a crank connecting rod mechanism and a power mechanism, wherein the power mechanism comprises a motor and a speed changer, when the beam pumping unit works, the rotation of the motor is changed into the up-and-down motion of the horsehead through the speed changer and the crank connecting rod mechanism, and the horsehead drives a plunger of the underground pumping pump to move up and down through a polished rod and a pumping rod, so that crude oil in a well is continuously pumped out of a shaft. The structure and operation of a beam pumping unit are well known in the art and will not be described in detail herein. During the operation of the beam pumping unit, the distance between the polish rod and the top dead center is the stroke of the pumping unit, wherein the upper dead center is the upper stroke from the bottom dead center, the lower dead center is the lower stroke from the top dead center, and the complete lower stroke and the upper stroke are one working period of the pumping unit, so that the stepless speed changer needs to complete speed change and reversing control in one working period.
In the field of beam pumping units, the speed of a transmission driving motor is controlled according to the principle of 'heavy load is slow, light load is fast', so that the impact of a complex load is reduced, and the oil fullness is improved. On the basis of following the principle, the embodiment provides a stepless speed changer control method in a variable speed driving mode of the pumping unit, and the method can control the pumping unit speed changer to work by combining with actual pumping unit suspension point load change.
The method is applied to a speed change control system of the pumping unit, the speed change control system of the pumping unit comprises a beam pumping unit, a load sensor, a liquid level sensor and a controller, wherein the load sensor is arranged at a suspension point of the pumping unit and used for detecting the load of the suspension point, the liquid level sensor is used for detecting the liquid level in an oil pump, the load sensor and the liquid level sensor are communicated with the controller, the controller is connected with a stepless speed changer, and the rotation speed and the direction of a motor are regulated through the stepless speed changer; the system also comprises a downhole sensor, wherein the downhole sensor detects the position of the sucker rod oil pump and sends the detected information to the controller. The stepless speed changer comprises a speed regulating module and a reversing module, wherein the speed regulating module is used for regulating the rotating speed, and the reversing module is used for regulating the stroke.
The method is applied to a controller and comprises the following steps of:
acquiring suspension point load information transmitted by a load sensor;
acquiring liquid level information in a sucker rod oil pump transmitted by a liquid level sensor;
and controlling the speed change and/or the reversing of the driving motor of the continuously variable transmission according to the suspension point load information and the liquid level height information.
Compared with the speed change control mode of a speed change curve set according to the well condition in the prior art, the speed change control method of the continuously variable transmission is more accurate and timely, is beneficial to improving the oil fullness, and therefore improves the motor efficiency.
In the method, one-time oil loading and unloading of the pumping unit is a complete speed change period, which corresponds to one working period of the pumping unit, the polish rod moves from the top dead center to the bottom dead center, the oil pump descends to the well for oil pumping, and then the polish rod moves from the bottom dead center to the top dead center, and the oil pump filled with oil is unloaded.
The method further comprises the steps of: and when a motor starting signal is received, a forward direction adjusting signal is sent to the continuously variable transmission, and the motor is controlled to accelerate gradually to a preset threshold value. In the embodiment, the motor adopts a three-phase asynchronous motor, the motor can be started in an idle state, and the stepless speed changer is zero when the motor is started, so that the speed of the sucker rod can be continuously regulated from zero in the working process of the pumping unit, and the output power of the motor can effectively track the change of alternating load. In a speed change period, the motor is started in a gradual acceleration process, so that the sucker rod oil pump is lowered in a process of accelerating to approach the underground oil, and the oil pumping efficiency can be improved. The controller sends a forward regulation signal to the continuously variable transmission, so that the gear lever gradually moves from the original point direction to the speed requirement direction, and soft start is realized. The continuously variable transmission in the embodiment is a mechanical transmission, and the gear engagement position in the transmission is changed through a gear lever to change the transmission ratio, so that the aim of speed change is fulfilled. The present disclosure introduces a continuously variable transmission for motor speed regulation, and compared with direct control of motor speed change, the mechanical transmission has higher efficiency, is more stable, and is easy for error correction maintenance.
The method further comprises the steps of: and acquiring the information of the height of the sucker rod oil pump from the liquid level, sending a deceleration signal to the continuously variable transmission when the sucker rod oil pump is detected to be close to the liquid level in the well, and sending a speed change signal to the continuously variable transmission in real time according to a load change signal transmitted by a load sensor in the process of descending the oil pump until the oil pump is immersed, so that the output power of the motor tracks the change of alternating load. In a specific embodiment, a speed damping coefficient may be determined based on a downhole operating environment such as temperature, humidity, etc., and processed as a final speed control continuously variable transmission after determining a corresponding speed according to a load sensor.
The present disclosure detects height information of a sucker rod pump from a fluid level via a downhole sensor. The device is arranged to reduce the speed when approaching the liquid level in the well, so that the impact load of the oil pump to the liquid can be effectively reduced, the fullness of the oil in the pump can be improved, and the efficiency can be further improved. In other embodiments, the height information of the sucker rod oil pump from the liquid level can also be detected by a sensor arranged on the sucker rod.
The method further comprises the steps of: when the oil pump is immersed, monitoring the information of the liquid level in the oil pump, and if the liquid level reaches a preset height or the suspension point load reaches a preset load threshold value, sending a reversing signal to a reversing mechanism to control the reversing of the continuously variable transmission, so that the oil is lifted. The oil pump in the pumping unit is usually provided with a maximum oil filling height according to the capacity, and a maximum suspension point load to ensure that the oil can be lifted. Based on the control method, the control device and the control system monitor the liquid level and the suspension point load in the oil pump after the oil pump is immersed, automatically control the reversing of the continuously variable transmission according to the information, enable the oil to be lifted, and meet the forward and reverse conversion requirements in work.
When the oil is lifted, the controller sends a deceleration signal to the continuously variable transmission so as to ensure that enough traction force is provided when the oil in the well is lifted. In the oil lifting process, signals of a liquid level sensor and a load sensor are comprehensively considered to determine the speed of the continuously variable transmission. In the process, the speed reduction during oil lifting can effectively reduce the installed working condition of the motor of the pumping unit and improve the motor efficiency.
And starting a new gear shifting period after oil discharge.
In summary, as shown in fig. 2, when the pumping unit works, under the drive of the power mechanism (including the motor and the continuously variable transmission), the suspension point reciprocates up and down, the suspension point load changes periodically, the load sensor detects the suspension point load information, and the controller works according to the suspension point load information and the speed regulating mechanism of the continuously variable transmission; meanwhile, a liquid level sensor in the oil pump detects the liquid level in the pump, and a signal sent by the liquid level sensor is combined to control a reversing mechanism of the continuously variable transmission to work, so that the automatic control of the oil pumping unit is realized in advance.
It should be further noted that, according to the kinematic and dynamic model of the beam pumping unit in the art, the corresponding motor rotation speed under a certain suspension point load can be calculated by combining the external characteristic curve of the motor. Therefore, in order to realize real-time driving of the continuously variable transmission according to the suspension point load in the method, nonlinear coupling behavior prediction of the pumping unit system is performed in advance in the method, and on the basis of the nonlinear coupling behavior prediction of the pumping unit, in order to realize real-time optimal power matching and rotation speed fitting of a motor, a multi-working-condition-based variable speed driving optimization design and evaluation platform is established so as to obtain an optimal speed change curve. Based on the shift curve, the continuously variable transmission can be driven to perform a continuously variable shift based on the suspension point load. The method for predicting the nonlinear coupling behavior of the pumping unit system is specifically shown in fig. 3, the overall flow of the variable speed driving optimization design and evaluation platform based on multiple working conditions is shown in fig. 4, and the scheme can be obtained according to the kinematics and dynamics theory knowledge in the art, and the detailed description is omitted here.
The main improvement point of the method is that the speed change and the reversing of the stepless speed changer are controlled based on the suspension point load information and the liquid level height information, the rotating speed and the direction of the motor can be regulated according to the actual working condition of the oil pumping unit, the principle of heavy load chronicity and light load fast running can be better implemented, and the motor efficiency is improved.
In the method, the controller controls the stepless speed changer to adjust the motor speed according to the parameters acquired by the sensor, so that the PID algorithm is adopted to optimize the control process so as to correct the deviation of the controlled object. In the actual production environment of the oil pumping unit, due to factors such as sensor data lag and the like, the rotating speed matching effect of the whole oil pumping unit cannot reach enough precision, and the influence on partial load sensitive working conditions such as variable speed driving efficiency is large. In the research of the current energy-saving system of the pumping unit, the control system needs to perform signal feedback on a plurality of data sources (pressure, torque, current, tension) and the like acquired by the sensor so as to realize the control of the pumping unit. The multiple-input single-output system (MISO) has high requirements on system sensors, and particularly under the condition of variable speed driving, the sensors with low accuracy can cause serious system hysteresis, so that the torque matching and the real-time control of the motor rotating speed are affected. The traditional PID control method cannot achieve ideal effects for the high-delay scene. Aiming at the problem, the method improves the traditional PID algorithm, utilizes a fuzzy control method to adjust PID parameters on line in real time, realizes optimal control of the system, and effectively improves the working capacity and stability of the pumping unit system.
The present disclosure relates generally to variable speed control of a continuously variable transmission, and more particularly to a method for controlling a continuously variable transmission, in which a load signal transmitted through a load sensor is calculated by a controller, and a rotational speed control signal is provided to the continuously variable transmission to achieve a target rotational speed.
Fig. 5 is a schematic diagram of fuzzy PI control, and as shown in the figure, the fuzzy PI control system mainly comprises a fuzzy controller and a PI controller. The error e of the tested system and the error change rate ec thereof are input into the fuzzy controller, and the delta Kp and the delta Ki are output after calculation. The output is used as input of a PI controller, kp and Ki of the PI controller are corrected, and real-time setting of PI parameters is achieved.
The PI controller parameters set in real time are as follows:
in the above formula, kp and Ki are corrected PI parameters, K p0 、K i0 The PI controller is set according to the initial parameters of the pumping unit system in the stop state, and delta Kp and delta Ki are PI parameter variation corrected in real time according to the pumping unit operation parameters by fuzzy control.
The present disclosure uses fuzzy PI control in a continuously variable transmission speed matching control system. And designing the fuzzy controller according to the basic theory of the fuzzy controller and combining the actual operation condition.
The first step is to determine the domain and fuzzy aggregation set of input and output variables. According to the actual rotating speed matching requirement of the continuously variable transmission, the control structure of the fuzzy controller is designed into a two-input two-output mode, wherein a load voltage signal error E and a voltage error change rate EC are used as input quantities, and output quantities are PI controller parameter adjustment quantities delta Kp and delta Ki. In theory, the number of fuzzy aggregation subsets of input and output variables of the fuzzy controller is in direct proportion to control performance and control precision, but the huge number of the subsets can occupy a large amount of system computing resources, so that the implementation difficulty is increased. Here, according to the actual control accuracy requirement and considering the structure of the fuzzy set, seven levels of negative large (NB), negative Medium (NM), negative Small (NS), zero (ZO), positive Small (PS), medium (PM), positive large (PB) are selected as the fuzzy set.
Defining a fuzzy set of voltage errors E and voltage error change rates Ec as follows:
{NB,NM,NS,ZO,PS,PM,PB} (5.2)
the fuzzy sets of outputs Δkp and Δki are defined as:
{NB,NM,NS,ZO,PS,PM,PB} (5.3)
the domain value of the fuzzy controller determines the roughness, and the regulation effect is not obvious due to the overlarge domain, so that the regulation speed is slow due to the overlarge domain. In consideration of the factors, the fuzzy control theory is selected according to the structural characteristics of the pumping unit system by combining an experimental trial-and-error method and a traditional experience method, so that the input variable adjusting range is between +10 and-10, and the output variable adjusting range is between +1 and-1.
Defining fuzzy sets of the voltage error E and the voltage error change rate EC as follows:
{-10,-6.6,-3.3,-1.5,0,1.5,3.3,6.6,10} (5.4)
the fuzzy sets of outputs Δkp and Δki are defined as:
{-1,-0.66,-0.33,0,0.33,0.66,1} (5.4)
the following is the definition blurring and membership function establishment.
The fuzzy controller is input as a definition quantity, the definition quantity is firstly fuzzified, then the fuzzy variation quantity is controlled within the input domain range, and the quantization factor is determined according to the following formula:
wherein K is 1 ，K 2 Respectively are provided withQuantization factors for the voltage error E and the voltage error rate of change EC; a, a E ,a EC The discourse domain ranges of the voltage error E and the voltage error change rate EC are respectively; n (N) E ,N EC The number of fuzzy sets of the voltage error E and the voltage error change rate EC respectively.
According to the control characteristics of the pumping unit system, K is taken 1 ＝0.01，K 2 =0.0001 as quantization factor. Meanwhile, a triangular membership function is selected as the membership function of the rotation speed matching controller, as shown in fig. 6, (a) is the membership function of the voltage error E and the voltage error change rate EC, and (b) is the membership function of Δkp and Δki.
And finally, establishing and defuzzifying the fuzzy rule. According to the setting requirement of PI parameters and combining the characteristics of rotational speed matching control, the fuzzy control rules of delta Kp and delta Ki are obtained as shown in the following table:
table 5.1 fuzzy control rule table of Δkp
TABLE 5.2 fuzzy control rule Table of DeltaKi
And obtaining the fuzzy output quantity after fuzzy reasoning operation. The result is deblurred through a gravity center method, and a variable mu is obtained through solving, wherein the variable mu is shown in the following formula:
wherein μ is the output definition, μ i Weights for each group of elements.
According to mu calculation, real-time voltage with higher accuracy is obtained and converted into a current signal which is input into a controller, and the variable speed control is implemented on the continuously variable transmission according to the requirements of heavy load slow driving and light load fast driving.
The method improves the traditional PID algorithm, utilizes the fuzzy control method to adjust PID parameters on line in real time, realizes optimal control of the system, and effectively improves the working capacity and stability of the pumping unit system.
Those of ordinary skill in the art will appreciate that: all or part of the steps of the embodiments implementing the above method may be performed by program instructions and stored in a computer readable storage medium, and a processor reads the program stored in the storage medium and executes to implement the method steps. The aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the embodiments by those of ordinary skill in the art without departing from the principles and spirit of the application.

Claims (8)

1. The stepless speed changer control method in the variable speed driving mode of the pumping unit is characterized by comprising the following steps:
acquiring suspension point load information transmitted by a load sensor;
acquiring liquid level information in a sucker rod oil pump transmitted by a liquid level sensor;
controlling the speed change and/or the reversing of a driving motor of the continuously variable transmission according to the suspension point load information and the liquid level height information;
constructing a fuzzy PI control system, implementing speed change control on the continuously variable transmission based on fuzzy PI,
constructing a fuzzy PI control system, comprising:
s1, designing a control structure of a fuzzy controller into a two-input two-output mode according to the actual rotating speed matching requirement of the continuously variable transmission, wherein a load voltage signal error E and a voltage error change rate EC are used as input quantities, and output quantities are PI controller parameter adjustment quantities delta Kp and delta K;
s2, determining a quantization factor according to the following formula:
wherein K is 1 ，K 2 Quantization factors of the voltage error E and the voltage error change rate EC respectively; a, a E ,a EC The discourse domain ranges of the voltage error E and the voltage error change rate EC are respectively; n (N) E ,N EC The number of fuzzy sets of the voltage error E and the voltage error change rate EC respectively;
selecting a triangular membership function as a membership function of the rotating speed matching controller;
s3, determining fuzzy control rules of output quantities delta Kp and delta Ki; after fuzzy reasoning operation, obtaining fuzzy output quantity, and performing deblurring on the result by a gravity center method, and solving to obtain a variable mu, wherein the variable mu is shown in the following formula:
wherein μ is the output definition, μ i Weights for each group of elements.
2. The method according to claim 1, wherein the method further comprises: and when a motor starting signal is received, a forward direction adjusting signal is sent to the continuously variable transmission, and the motor is controlled to accelerate gradually to a preset threshold value.
3. The method of claim 2, wherein said sending a forward adjustment signal to the continuously variable transmission includes the controller sending a forward adjustment signal to the continuously variable transmission to cause the sucker rod to move gradually away from the origin in a speed demand direction to effect a soft start.
4. The method according to claim 1, wherein the method further comprises: and acquiring the information of the height of the sucker rod oil pump from the liquid level, sending a deceleration signal to the continuously variable transmission when the sucker rod oil pump is detected to be close to the liquid level in the well, and sending a speed change signal to the continuously variable transmission in real time according to a load change signal transmitted by a load sensor in the process of descending the oil pump until the oil pump is immersed, so that the output power of the motor tracks the change of alternating load.
5. The method according to claim 1, wherein the method further comprises: when the oil pump is immersed, monitoring the information of the liquid level in the oil pump, and if the liquid level reaches a preset height or the suspension point load reaches a preset load threshold value, sending a reversing signal to a reversing mechanism to control the reversing of the continuously variable transmission, so that the oil is lifted.
6. The method according to claim 1, characterized in that the method comprises: when the oil lifts, the controller sends a deceleration signal to the stepless speed changer.
7. The method of claim 1, wherein the pumping unit system nonlinear coupling behavior prediction is performed before the suspension point load information and the liquid level height information are acquired, and a speed change driving optimization design and evaluation platform based on multiple working conditions is established on the basis of the pumping unit nonlinear coupling behavior prediction so as to obtain a speed change curve meeting requirements.
8. The method of claim 1, wherein the fuzzy control domain is selected according to structural characteristics of the pumping unit system by combining an experimental trial and error method and a traditional empirical method, so that the input variable adjustment range is between +10 and-10, and the output variable adjustment range is between +1 and-1.
CN202210873575.9A 2022-07-21 2022-07-21 Stepless speed changer control method under variable speed driving mode of oil pumping unit Active CN115370333B (en)

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US6155347A (en) * 1999-04-12 2000-12-05 Kudu Industries, Inc. Method and apparatus for controlling the liquid level in a well
CN107060695B (en) * 2016-12-16 2023-04-25 中国石油天然气股份有限公司 Beam-pumping unit energy-saving control system and method
CN106762584B (en) * 2016-12-27 2018-11-16 中国石油天然气股份有限公司 A kind of oil well interval pumping control system and method
CN106948796B (en) * 2017-03-20 2023-04-25 中国石油天然气股份有限公司 Intermittent pumping control device and method for pumping unit without stopping
CN111810126B (en) * 2020-07-01 2023-08-18 北京泛华万联机电集成技术有限责任公司 Automatic control equipment and method for improving pump efficiency of beam pumping unit
CN114293977A (en) * 2021-12-31 2022-04-08 天津技易科技有限公司 Method for testing driving end perception type pumping unit indicator diagram

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