RU2685367C2 - 3d sensorless conversion device for pump differential pressure and flow rate - Google Patents

Abstract

FIELD: non-displacement compressors and pumps.SUBSTANCE: invention relates to a pump control device. Device comprises a signal processor or processing module that may be configured at least to at least receive signals containing information about calibrated motor speed and power data for a hydraulic pumping system; and determine pumping system flow rate and pressure associated with an equivalent hydraulic system characteristic variable, based at least partly on the received signals. Signal processor or processing module can be configured to provide a corresponding signal containing information about the determined pumping system flow rate and pressure. Corresponding signals may contain information used to control the hydraulic pumping system.EFFECT: as a result, flow rate and pressure in the system can be determined directly and more accurately.18 cl, 10 dwg

Description

CROSS REFERENCE TO RELATED APPLICATION

The priority of this PCT application is stated on the filing date of patent application No. 14/091,795, filed on November 27, 2013, the priority of which is claimed on provisional patent application No. 61/771,375, filed March 1, 2013, which are fully incorporated herein by reference.

This application is also associated with the following applications:

US patent application No. 12/982,289 (patent registry No. 911-019.001.1 // F-B & G-1001), filed December 30, 2010, entitled "Method and device for controlling pumps using a variable equivalent system characteristic curve, AKA curve adaptive management ";

US Patent Application No. 13/717,086 (Patent Registry No. 911-019.004.2 // F-B & G-X0001) filed December 17, 2012, entitled “Dynamic Linear Control Methods and Device for Controlling a Variable Speed Pump” whose priority claimed on the filing date of the provisional application for US patent No. 61/576,737, filed December 16, 2011, now canceled;

provisional application for US patent No. 61/803,258 (patent registry No. 911-019.0010.1 // F-B & G-X0007), filed March 19, 2013, entitled "Mixed theoretical and discrete sensorless transducer for controlling differential pressure and pump flow";

provisional application for US patent No. 61/858,237 (patent registry No. 911-019.012.1 // F-B & G-X0010US), filed July 25, 2013, entitled "Sensorless adaptive pump control with auto-calibration device for hydraulic pumping system";

which are assigned to the assignee of the present patent application and all are fully incorporated herein by reference.

The present invention is based on a family of technologies.

disclosed in the aforementioned related applications.

BACKGROUND OF THE INVENTION

1. The scope of the invention

The present invention relates to a method for controlling the operation of a pump; and more specifically, the present invention relates to a method and apparatus for controlling a pump, for example, for domestic and industrial heating or a water cooling system.

2. A brief description of the prior art

As an example, in FIG. 1 (a) shows an auxiliary hydraulic heating or cooling control system with a variable speed pump that is known in the art, and FIG. 1 (b) shows a pumping system for pressurizing water, which is also known in the art. Recently, issues related to energy saving and environmental protection in such pump systems have been substantially resolved. Also, more and more attention was paid to hydraulic pump control applications, including pump control for domestic and industrial water pumping systems or circulation systems with heating and cooling, pumping systems to increase water pressure, and the like, as shown in FIG. 1 (a) and (b), with characteristics that may be dynamic and whose nature may be unknown. To reduce energy consumption and operating costs, several well-known adaptive management techniques have been proposed.

, где кривая адаптивного управления,

может быть получена из уравнения потока с помощью фильтра скользящего среднего. При использовании этого адаптивного подхода, кривая адаптивного управления для получения установочной точки давления расположена гораздо ближе к эквивалентной кривой системы, которая представляет собой минимальное давление, необходимое для поддержания требуемого расхода, в соответствии с тем, что показано на Фиг. 1(c). Из-за этого, при использовании этого адаптивного подхода, номинальная энергия насосной системы может быть сэкономлена.In addition, the aforementioned U.S. Patent Application No. 12 / 982,286, filed December 30, 2010 (Patent Register No. 911-019.001.1 // FB & G-1001), discloses an adaptive control circuit for hydraulic pumping systems for heating and cooling, as well as for pumping systems to increase water pressure, in accordance with what is shown schematically in FIG. 1 (a) and (b). FIG. 1 (b) the hydraulic pumping system comprises a controller and a pump in communication with the process tube with non-return valves. During operation, the pump responds to control signals from the controller and pumps the flow through the process pipe. FIG. 1 (c) is a graph showing various functions constructed using the known equations of the system curves, for example, including the pump curve, the instantaneous system curve, the permanent control curve, the equivalent system curve (as calculated), the adaptive control curve and the loss distribution curve. The setpoint pressure, P *, depending on the flow rate required, Q *, can be calculated and / or determined from the equation

where is the adaptive control curve,

can be obtained from the flow equation using a moving average filter. When using this adaptive approach, the adaptive control curve for obtaining a pressure setpoint is located much closer to the system’s equivalent curve, which is the minimum pressure required to maintain the required flow, in accordance with what is shown in FIG. 1 (c). Because of this, using this adaptive approach, the nominal energy of the pumping system can be saved.

In addition, techniques are known in the art using converting a sensorless pump, obtaining pressure and flow in a system based on engine output signals. Nevertheless, the well-known sensorless models presented so far are formulated either in one-dimensional (1D) space or in two-dimensional (2D) discrete space, which complicates obtaining pressure and flow in the system from the rotational speed and engine power, from the point of view of development algorithm and accuracy of conversion signals.

For the sensorless transformation, some well-known approaches can be used, including discrete models calibrated by the hydraulic data of the pump and the system, along with numerical solutions. Such discrete sensorless modeling techniques are simple and effective. Conversion accuracy can be maintained within less than 5-10% of the error. On the other hand, there are also some theoretical methodologies based on the pump and system characteristic equations used for some simple and easy pump control applications, where knowledge of the exact flow and pressure is not required to control the pump and no calibration sensors are provided. As a compromise, the accuracy of flow and pressure conversion can have at least more than 10–15% error. However, the conversion accuracy can deteriorate very quickly at low speeds.

SUMMARY OF INVENTION

Thus, the present invention provides a three-dimensional (3D) sensorless means and a transducer designed to obtain flow and pressure in a system for a dynamic hydraulic pumping system with respect to engine signals based on pump and engine calibration data. Pressure and flow in the system can be resolved directly in a three-dimensional formulation from any pair of engine output signals, such as rotational speed, current, torque, power, and the like.

As an example, and in accordance with some embodiments, the present invention may be implemented as a device, such as a pump controller, having a signal processor capable of at least:

receiving a signal containing information on calibrated rotational speed and engine power data for a hydraulic pumping system, and

determine the flow rate and pressure in the pumping system, which are related to the equivalent characteristic variable of the hydraulic system, using a three-dimensional sensorless model or algorithm, based, at least in part, on the signals received.

Embodiments of the present invention may also contain one or more of the following features:

The signal processor may be adapted to provide a corresponding signal containing information about the flow rate and pressure in the pumping system, which are associated with a certain equivalent characteristic variable of the hydraulic system.

The corresponding signal may contain information used to control the hydraulic pumping system.

The signal processor or processor module may be configured to determine the flow rate and pressure in the pumping system, using a three-dimensional sensorless model or algorithm, based, at least in part, on the processed signals associated with calibrated rotation speed and engine power data.

The signal processor or processor module may be configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on the processed signals related to the ratio between the hydraulic, mechanical and electrical parameters of power conversion from the pump to the engine or drive in the hydraulic pumping system .

The signal processor or processor module may be configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on some combination of the following steps:

signal processing associated with equation number 1:

where γ is the power conversion ratio between the hydraulic, mechanical and electrical parameters from the pump to the motor drive;

processing, decoupling and reassigning signals associated with the energy conversion function of the above equation No. 1, taken to directly formulate the appropriate flow rate in the system, pressure in the system or differential pressure of the pump, functions of engine power depending on the engine speed and equivalent characteristics of the system;

processing the signals associated with the reconstructed 3D functions presented and resolved to obtain pump flow and pressure, which are related to unknown system characteristics at a given engine speed and power, and based, at least in part, on measured pump and engine calibration data ;

signal processing associated with the corresponding reconstructed 3D-functions of the distribution of engine power, pump flow and differential pressure of the pump depending on the power and speed of rotation of the engine, as represented by equations No. 2.1, 2.2. and 2.3, as follows:

,

,

и

and

.

.

where w, g and p are functions of the engine power W, the flow rate Q in the system and the differential pressure P of the pump, depending on the engine speed n and the equivalent characteristic variable C _{ν of the} system;

signal processing associated with discrete decoupled and reassigned 3D-functions of the flow distribution in the system, the differential pressure of the pump, engine power, depending on the speed of rotation of the engine and the equivalent characteristics of the system, obtained from the pumping system;

processing and receiving, for a pair of given indications W and n of the engine at an arbitrary point in time, signals associated with the unknown equivalent characteristic variable C _{ν of the} system in the above equation No. 2.1;

processing and receiving signals associated with the differential pressure P and the flow rate Q of the pump directly from equation No. 3.1 and 3.2, as follows:

и

and

»

"

представляет собой инверсно переназначенную степенную функцию w; иWhere

is an inversely reassigned power function w; and

processing and receiving signals related to the differential pressure P and the pump flow rate Q, directly using a predetermined pair of engine power W and engine rotation speed n for C _ν hydraulic system.

The device may further comprise at least one memory containing computer program code; moreover, the specified at least one memory and computer program code is configured to, using at least one processor, instruct the device at least:

receive signals and

determine the flow rate and pressure in the pumping system, which are related to the equivalent characteristic variable of the hydraulic system, using a three-dimensional sensorless model or algorithm, based, at least in part, on the signals received. The device may contain or take the form of a pump control unit or controller, including PID control, having a signal processor or a processor module.

In accordance with some embodiments, the present invention may be embodied as a method comprising the steps of obtaining signals in the processor that contain information about calibrated rotational speed and engine power data for a hydraulic pumping system, and determining, in the processor, signals, pump flow and pressure that are related to the equivalent characteristic variable of the hydraulic system, using a three-dimensional sensorless model or algorithm based at least on cal, on the received signals.

The present invention can also, for example, be implemented as a computer program product having computer-readable media with computer-executable code embedded in it to perform the method, for example, when running in a signal processing device that is part of such a pump controller. As an example, a computer program product may, for example, take the form of a compact disk, floppy disk, flash card, memory card, as well as other types or types of storage devices that can store such computer-executable code on such computer-readable media, or known in present, or to be developed in the future.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings include the following figures, which are not necessarily to scale:

FIG. 1 includes FIG. 1a, 1b and 1c, with FIG. 1a is a diagram of an auxiliary hydraulic heating or cooling control system with a variable speed pump that is known in the art; FIG. 1b is a diagram of a water pressure boosting system that is known in the art; and FIG. 1c is a flow chart (gallons / min) versus subpressure for executing an adaptive control method based on an adaptive control curve, in which the saved hydraulic power = dP⋅Q * at a flow rate of Q * corresponds to that known in the art.

FIG. 2 is a block diagram of a device comprising a signal processor, configured to implement a signal processing function, in accordance with some embodiments of the present invention.

FIG. 3 is a model for converting pressure and flow in a system, and electric power and engine speed for a hydraulic pumping system, similar to that shown in FIG. 1b.

FIG. 4 is a graph of the flow rate Q (g / min) versus pressure P (feet or pounds per square inch), showing the differential pressure curve of the pump at a given speed, balanced by the characteristic curve of the system at the equilibrium point.

FIG. 5 includes FIG. 5a, 5b, and 5c, representing discrete 3D distribution functions, respectively, of the flow rate in the system, the differential pressure of the pump, the engine power, depending on the speed of rotation of the engine and the equivalent characteristics of the system.

FIG. 6 is a flow chart (gal / min) versus differential pressure (psi), showing a comparison of pump differential pressure and flow rate from the transducer (dashed lines) and sensors (solid lines), depending on engine speed .

DETAILED DESCRIPTION OF THE INVENTION

3D Discrete Sensorless Transformation

The present invention provides new and unique means or methods of a three-dimensional discrete sensorless transform designed to obtain flow and pressure in a system for a dynamic hydraulic pumping system depending on engine signals, based on pump and engine calibration data. The flow and pressure in the system can be resolved directly and more accurately using any pair of engine output signals, such as rotational speed, current, torque, power, and the like.

As an example, in FIG. 2 shows a device, generally designated by reference number 10, made in accordance with some embodiments of the present invention, which includes a signal processor or processor module 12 in combination with other circuits and components 14 of the signal processor. The signal processor 12 may be configured to implement a signal processing function in accordance with some embodiments of the present invention.

In the process, the processor 12 may be configured to at least:

receiving signals containing information on calibrated rotational speed and engine power data for a hydraulic pumping system, and

determine the flow rate and pressure in the pumping system, which are related to the equivalent characteristic variable of the hydraulic system, using a three-dimensional sensorless model or algorithm, based, at least in part, on the signals received.

As an example, signals can be obtained from a stored database, for example, from one that is part of a memory module. Calibrated data of rotational speed and engine power can be determined by processing the corresponding signals received from a particular engine, for example, during field tests, and coming from a particular centrifugal pump for control as shown in FIG. 1b. Alternatively, calibrated rotational speed and engine power data can be determined by processing the corresponding signals received from a typical engine in a series or class of pumps, for example, tested by the manufacturer at the factory or factory, or being part of it or integrated into the purchased engine, for example, stored in the memory module of the engine, pump or pump controller. The scope of the present invention is not intended to be limited to how the calibrated rotational speed and engine power data is determined, or whether the calibrated rotational speed and engine power data are inherent in a particular engine or class or series of engines, etc.

The processor 12 may also be adapted to provide corresponding signals containing information about the flow rate and pressure in the pumping system, defined, for example, in order to control one or more pumps shown in FIG. 1a or the centrifugal pump shown in FIG. 1b.

As another example, device 10 may take the form of, or form part of, the pump controller shown in FIG. 1a, or the controller shown in FIG. 1b. The scope of the present invention is intended to include provided embodiments in which device 10 takes shape or contains one or more components, for example, the hydraulic pump system shown in FIG. 1a and 1b.

The processor 12 or processor module may be configured to implement a three-dimensional sensorless model or algorithm and signal processing associated with such a model or algorithm to implement the present invention, for example, in accordance with what is shown in FIG. 2, based, at least in part, on what is stated below as follows:

FIG. 3 schematically shows the model of energy conversion between the system pressure or differential pressure of the pump and the flow rate, P and Q, which are related to the equivalent characteristic variable C _{ν of the} hydraulic system in the pump discharge section, and the power and speed, W and n, of the engine at the other end drive the engine at an arbitrary point in time.

FIG. Figure 4 shows the hydraulic characteristics of the pump and system depending on the engine speed and power W, which schematically shows the differential pressure curves of the pump at a given rotational speed and power, intersecting or balanced with the characteristic curve of the system at the equilibrium point. The corresponding mathematical expression can be represented as in equation No. 1 as follows:

,

,

where γ is the power conversion factor between the hydraulic, mechanical and electrical parameters from the pump to the pump drive, which may seem difficult to some in nature, as the efficiency of the engine and the pump varies with the engine speed, pressure and flow rate in the system.

In accordance with some embodiments of the present invention, the method of three-dimensional distribution by decoupling and reassigning the energy conversion function of equation No. 1 can be used to directly formulate the corresponding flow rate in the system, pressure in the system or differential pressure of the pump, functions of engine power depending on the speed of rotation of the engine and equivalent system characteristics. The reconstructed 3D functions presented here can then be resolved to obtain pump flow and pressure, which are related to any unknown system characteristics at a given rotational speed and engine power based, at least in part, on measured pump and engine calibration data. The corresponding reconstructed 3D-functions of the distribution of engine power, pump flow rate, and also the differential pressure of the pump depending on the power and speed of rotation of the engine can be represented, respectively, by equations No.2.1, 2.2. and 2.3, as follows:

,

,

и

and

,

,

where w, g and p are functions of the engine power W, the flow rate Q in the system and the differential pressure P of the pump, depending on the engine speed n and the equivalent characteristic variable C _{ν of the} system. The discrete decoupled and reassigned 3D-functions of flow distribution in the system, differential pressure of the pump, engine power, depending on the speed of rotation of the engine and equivalent characteristics of the system, obtained from the real pumping system, are shown, respectively, in FIG. 5 as 3D distribution functions.

For a pair of given readings W and n of the engine at an arbitrary time, the unknown equivalent characteristic variable C _{ν of the} system in Equation 2.1 may be obtained numerically. The differential pressure P of the pump and the flow rate Q can then be obtained directly from equation No. 3.1 and 3.2 as follows:

и

and

,

,

представляет собой инверсно переназначенную степенную функцию w. Затем дифференциальное давление Р насоса и расход Q могут быть получены непосредственно с помощью заданной пары мощности W двигателя и скорости n вращения двигателя для C_ν гидравлической системы.Where

is an inversely reassigned power function w. Then, the differential pressure P of the pump and the flow rate Q can be obtained directly using a predetermined pair of engine power W and engine rotation speed n for the C _ν hydraulic system.

A three-dimensional sensorless transducer for differential pump pressure and pump flow, in accordance with some embodiments of the present invention, was developed and tested in a closed-loop hydraulic system. FIG. 6 shows a comparison of the differential pressure of the pump and the flow of the pump, obtained respectively from the converter (dashed lines) and sensors (solid lines), depending on the speed of rotation of the engine.

Calibration using measuring instruments

The differential pressure data of the pump in Equation 3 can be used for a closed-loop system, since all the energy consumed by the system has a contribution from the system’s loss of dynamic friction, which is associated only with the differential pressure of the pump. As an example, a differential pressure sensor or a pressure sensor with a flow sensor can be used to collect calibration data from a pumping system.

For an open-loop system with static suction pressure, system pressure data obtained during calibration in field tests can be directly used. For an open-loop system with a variable suction pressure, a pressure sensor on the suction side of the pump or a differential pressure sensor in the pump can be used to calibrate the contribution from pressure and flow to suction pressure.

Device 10

By way of example, the functionality of the device 10 may be implemented using hardware, software, firmware, or a combination thereof. In a typical software implementation, device 10 comprises one or more microprocessor-based architectures having, for example, at least one element 12, similar to a signal processor or microprocessor. One skilled in the art should be able to program such an implementation based on a microcontroller (or microprocessor) to perform the functionality described herein without undue experimentation. The scope of the present invention is not intended to be limited to any particular implementation using technology either already known or one that will be developed in the future. The scope of the present invention is intended to include implementations of the functionality of processors 12 as a stand-alone processor or processor module, as a separate processor or processor modules, as well as some combination thereof.

The device may also contain other circuits or components 14 of the signal processor, for example, including element 14 in the form of random access memory (RAM) and / or read-only memory (ROM), devices and input / output control unit, as well as buses connecting them data and address buses, and / or at least one input processor and at least one output processor.

Possible Additional Applications / Implementation Options

In accordance with the present invention, embodiments are provided, and the scope of the invention is to include a device, for example, taking the form of tools and three-dimensional sensorless device for differential pressure of the pump and pump flow, containing one or more of the following:

A three-dimensional digital sensorless transducer, which, for example, gives the flow rate in the system and the differential pressure of the pump, which are associated with unknown systems, depending on the readings of the rotation speed and the engine power, based on the calibration data of the pump and the engine. Pressure and flow in the system can be resolved directly and more accurately from any pair of engine readings, such as rotational speed, current, torque, power, and so on.

Several related 3D functions, such as engine power, differential pump pressure, and pump flow, are presented in equations 2 and 3, as well as graphically presented in FIG. five.

Any or all of the potential 3D discrete numerical reassignment methods, such as, for example, 2D interpolation, 2D splines and the like.

Any or all of the potential 2D or 3D discrete or numerical inversion methods, such as, for example, 1D or 2D direct inversion, minimization, simplex, and the like.

Any or all closed-loop or open-loop hydraulic pumping systems, such as primary pumping systems, secondary pumping systems, water circulation systems, and backwater pressure systems. The systems mentioned herein may have one zone or several zones.

Regarding pump calibration data, for example, for a closed-loop hydraulic system in such a device, the differential pressure and pump flow data, since all the energy consumed by the system has a contribution from the dynamic friction loss, which is only related to the differential pressure of the pump. Calibration data may include data on system pressure or pressure in the discharge section of the pump and the corresponding flow rate.

In relation to the calibration data of the pump, for example, for an open-circuit hydraulic system in such a device, the data of the differential pressure and the flow rate of the pump depending on the corresponding engine data. For an open-circuit system with static suction pressure, pressure and flow data in the system can be obtained directly under field test conditions. However, for an open-loop system with varying suction pressure, a single pressure sensor on the suction side of the pump or a differential pressure sensor in the pump can be used to calibrate the pressure and flow contributions to the suction pressure.

As for the measured motor data for such a device, for example, any pair of potential electrical or mechanical motor readings, such as engine speed, current, torque, power, and the like, can be used.

As for the hydraulic signals for such a device, for example, pressure in the system, differential pressure of the pump, zonal pressures, flow rates in the system, zonal flow rates and the like can be used.

As for the transmission of control signals and transmission technology, then, for example, all the traditional measuring and transmission tools that are currently in use can be used. Preferably, the wireless transmission technology of the sensor signal will be optimal and preferred.

As for the pumps mentioned above for hydraulic pumping systems, for example, a single pump, a circulator, a group of parallel group pumps or thermostats, a group of series group pumps or thermostats, or a combination of these can be used.

With regard to the flow control system, for example, manual or automatic control valves, manual or automatic control circulators, or combinations of these can be used.

Scope of invention

It should be understood that, unless otherwise indicated, any of the features, characteristics, alternatives, or modifications described in relation to a particular embodiment of the present invention may also be applied, used, or included with any other embodiment described herein. In addition, the drawings in this document are not to scale.

Although the present invention has been described by way of example with respect to a centrifugal pump, the scope of the present invention is intended to include other types or types of pumps, either currently known or developed in the future.

Although the present invention has been described and illustrated with respect to its illustrative embodiments, the foregoing and various other additions and omissions may be made herein without departing from the spirit and scope of the present invention.

Claims (58)

1. A device for controlling a pump comprising: a signal processor or processor module configured to at least: receiving signals containing information on calibrated rotational speed and engine power data for one or more pumps in a hydraulic pumping system, and creating appropriate signals containing information to control the specified one or more pumps of the hydraulic pumping system by determining the flow rate and pressure in the pumping system based on discrete 3D differential pump pressure distribution functions, system flow rate and engine power depending on the engine rotational speed and at least one equivalent characteristic variable Cv of the hydraulic system, using a three-dimensional sensorless model or algorithm and Acquiring the signals, wherein The specified signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on the processing of signals relating to equation No. 1, as follows:

where γ is the power conversion factor between the hydraulic, mechanical and electrical parameters from the pump to the motor drive, which is a function of the differential pressure P of the pump, flow rate Q in the system, engine power W, engine speed n and the equivalent system variable Cν. 2. The device according to claim 1, wherein the signal processor or processor module is configured to create said corresponding signals used for control. 3. The device according to claim 1, wherein the signal processor or processor module is configured to determine the flow rate and pressure in the pumping system using a three-dimensional sensorless model or algorithm based, at least in part, on signal processing associated with calibrated rotation speed data and engine power. 4. The device according to claim 3, wherein the signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on signal processing related to the power conversion factor between hydraulic, mechanical and electrical parameters from the pump to the engine or drive in a hydraulic pumping system. 5. The device according to claim 1, wherein said at least one equivalent characteristic variable of the hydraulic system comprises an equivalent characteristic variable of the hydraulic system for the flow rate Q of the hydraulic pumping system. 6. The device according to claim 1, wherein said at least one equivalent characteristic variable of the hydraulic system comprises an equivalent characteristic variable of the hydraulic system for the pressure P of the hydraulic pumping system. 7. The device according to claim 2, wherein said signal processor or processor module is configured to The definition of a three-dimensional sensorless model or algorithm, based on equations No. 2.1, 2.2 and 2.3, as follows:

determine an unknown characteristic variable Cν of the hydraulic system for a pair of calibrated readings of rotational speed and engine power at an arbitrary point in time, based on the engine power function, as follows: w (W, n, Cv) = 0, and determine the flow rate and pressure in the pump system using equations No. 3.1 and 3.2, based on the flow functions in the system and the differential pressure of the pump, as follows:

where w, g and p are three-dimensional functions of the engine power W, the flow rate Q in the system and the differential pressure P of the pump depending on the engine speed n and the equivalent characteristic variable Cν of the system and where

is an inversely reassigned power function w. 8. A device for controlling a pump, comprising: a signal processor or processor module configured to at least: receiving signals containing information on calibrated rotational speed and engine power data for one or more pumps in a hydraulic pumping system, and creating appropriate signals containing information to control the specified one or more pumps of the hydraulic pumping system by determining the flow rate and pressure in the pumping system based on discrete 3D differential pump pressure distribution functions, system flow rate and engine power depending on the engine rotational speed and at least one equivalent characteristic variable Cν of the hydraulic system, using a three-dimensional sensorless model or algorithm and received signals, and said signal processor or processor module is configured to determine the flow rate and pressure in the pumping system using a three-dimensional sensorless model or algorithm based, at least in part, on signal processing related to calibrated data of rotation speed and engine power, said signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on signal processing related to the power conversion factor between hydraulic, mechanical and electrical parameters from a pump to an engine or drive in a hydraulic pumping system, and The specified signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on the processing of signals relating to equation No. 1, as follows:

where γ is the power conversion factor between the hydraulic, mechanical and electrical parameters from the pump to the motor drive, which is a function of the differential pressure P of the pump, flow rate Q in the system, engine power W, engine speed n and the equivalent system variable Cν. 9. The device according to claim 8, wherein the signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on processing, decoupling and reassigning signals associated with the power conversion function of equation (1), used directly to obtain the appropriate flow rate in the system, pressure in the system or differential pressure of the pump, functions of engine power depending on the speed of rotation of the engine and system tick. 10. The device according to claim 9, wherein the signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on processing signals associated with the reconstructed 3D functions presented and allowed to obtain consumption and pump pressure that are related to unknown system characteristics at a given rotational speed and engine power, as well as based, at least in part, on measured pump and motor calibration data of Tell. 11. The device according to claim 10, wherein the signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on signal processing associated with the corresponding reconstructed 3D functions of engine power distribution, pump flow and differential pressure of the pump, depending on the power and speed of rotation of the engine, as represented by equations No. 2.1, 2.2 and 2.3, as follows:

where w, g and p are functions of the engine power W, the flow rate Q in the system, and the differential pressure P of the pump, depending on the engine speed n and the equivalent characteristic variable Cν of the system. 12. The device according to claim 11, wherein the signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on signal processing associated with discrete decoupled and reassigned 3D flow distribution functions in the system, differential pressure of the pump, engine power depending on the speed of rotation of the engine and equivalent system characteristics obtained from the pumping system. 13. The device according to claim 12, in which the signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm, based, at least in part, on processing and receiving signals for a pair of specified engine readings W and n at an arbitrary point in time associated with the unknown equivalent characteristic variable Cν of the system in equation No. 2.1. 14. The device according to claim 13, wherein the signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on processing and receiving signals related to the differential pressure P of the pump and the flow rate Q of the pump directly from Equations No. 3.1 and 3.2, as follows:

Where

is an inversely reassigned power function w. 15. The device according to claim 14, wherein the signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on processing and receiving signals related to the differential pressure P of the pump and the flow rate Q of the pump, directly using a given pair of engine power W and engine rotation speed n for the Cν hydraulic system. 16. A hydraulic pumping system comprising: one or more pumps and a controller having a signal processor or processor module, configured to at least: receiving signals containing information on calibrated rotational speed and engine power data for the one or more pumps, generating controller signals that contain information to control the specified one or more pumps by determining the flow rate and pressure in the pump system based on the discrete 3D differential distribution function of the pump, the flow rate in the system, and the engine power depending on the engine speed and at least one equivalent characteristic variable Cν of the hydraulic system, using a three-dimensional sensorless model or algorithm and these received signals, and The specified signal processor or processor module is configured to implement a three-dimensional sensorless model or algorithm based, at least in part, on the processing of signals relating to equation No. 1, as follows:

where γ is the power conversion factor between the hydraulic, mechanical and electrical parameters from the pump to the motor drive, which is a function of the differential pressure P of the pump, flow rate Q in the system, engine power W, engine speed n and the equivalent system variable Cν. 17. The system of claim. 16, in which the specified signal processor or processor module is configured to The definition of a three-dimensional sensorless model or algorithm, based on equations No. 2.1, 2.2 and 2.3, as follows:

determine the unknown characteristic variable Cν of the hydraulic system for a pair of calibrated readings of rotational speed and engine power at an arbitrary time, based on the engine power function, as follows: w (W, n, Cν) = 0, determine the flow rate and pressure in the pumping system, based on equations No. 3.1 and 3.2 for the flow functions in the system and the differential pressure of the pump, as follows:

where w, g and p are three-dimensional functions of the engine power W, the flow rate Q in the system and the differential pressure P of the pump depending on the engine speed n and the equivalent characteristic variable Cν of the system and where

is an inversely reassigned power function w. 18. The system of claim 16, wherein said at least one equivalent characteristic variable of the hydraulic system comprises equivalent characteristic variables of the hydraulic system for flow Q and pressure P of the hydraulic pumping system.

Images