潜油电泵无模型自适应控制

发布时间：2018-12-15 21:01

【摘要】：石油工业是一个国家经济建设的命脉产业，各国都在大力地发展石油工业。随着现代科学技术的飞速发展，石油产业正向着集成化，自动化，高效化的方向前进。而石油开采是石油工业中的一个重要环节，具有举足轻重的地位。由于油井井下环境十分复杂，温度与压力对原油开采的影响比较大，因此需要对整个过程加以控制。潜油电泵的基本结构为潜油电机与离心泵串接，本文分别以潜油电机与离心泵为研究对象，建立双闭环控制系统，并在此基础上应用无模型自适应控制方法，达到进一步提高系统性能的目的。通过对无模型自适应控制方法进行深入研究，明确了其仅利用系统的输入输出信息进行工作的特点。在此基础上，从动态线性化建模的三种方法入手，分别研究了基于不同方法的控制器。并通过实验的方式，总结出了控制参数的整定方法。并基于以上工作，设计了控制仿真实验，对三种无模型自适应控制方案分别进行应用。将实验结果进行对比，分析了三种方案的优缺点。潜油电泵的下泵深度多在2千米以上，受环境与电机自身因素的影响，电机温度会发生较大变化。温度变化会导致金属的电阻率改变，造成电机的定转子电阻值亦会发生变化。在控制系统中，被控对象的模型参数发生变化，属于参数摄动问题。为了解决这一问题，本文在分析了恒压频比控制方式的机械特性之后，建立潜油电机变频调速系统模型，，具体分析了温度变化对电阻的影响。在此基础上，应用之前设计的全格式动态线性化无模型自适应控制器，对潜油电机进行控制，来减小温度变化对系统调速性能影响。并通过实验验证了可行性与优越性。潜油电泵工作在高温、高压的复杂环境下，原油会在地层压力的作用下向泵口移动。在这一过程中，井底流压会减小。若井底流压低于原油中气体的饱和压力，则会导致大量的气体析出与汽化。这对于离心泵来说是十分危险的。通过对潜油电泵的抽油量进行控制可以维持井下压力环境的平衡。本文分别对井下压力系统与潜油电泵进行分析并建立数学模型。考虑到压力反馈信号中会存在噪声干扰，因此在原始无模型自适应算法的基础上加入了抗干扰策略，提升控制效果，并通过实验验证其可行性。
[Abstract]:Petroleum industry is the lifeblood of a country's economic construction, all countries are vigorously developing petroleum industry. With the rapid development of modern science and technology, the petroleum industry is moving towards integration, automation and high efficiency. Oil production is an important link in the petroleum industry, with a pivotal position. Because the downhole environment is very complex and the influence of temperature and pressure on crude oil production is great, it is necessary to control the whole process. The basic structure of the submersible electric pump is that the submersible motor and the centrifugal pump are connected in series. This paper takes the submersible motor and the centrifugal pump as the research object, establishes the double closed loop control system, and then applies the modelless adaptive control method. To further improve the performance of the system. By studying the model-free adaptive control method, it is clear that it only uses the input and output information of the system to work. On this basis, starting with three methods of dynamic linearization modeling, the controllers based on different methods are studied respectively. The tuning method of control parameters is summarized by experiment. Based on the above work, the control simulation experiment is designed, and the three models-free adaptive control schemes are applied respectively. The experimental results are compared and the advantages and disadvantages of the three schemes are analyzed. The depth of the submersible electric pump is more than 2 km. The temperature of the submersible pump will change greatly because of the influence of the environment and the motor itself. The change of temperature will lead to the change of the resistivity of the metal and the change of the resistance of the stator and rotor of the motor. In the control system, the model parameters of the controlled object change and belong to the problem of parameter perturbation. In order to solve this problem, after analyzing the mechanical characteristics of the constant voltage frequency ratio control mode, the model of submersible motor variable frequency speed regulation system is established, and the influence of temperature change on resistance is analyzed in detail. On this basis, the full-format dynamic linearization model-free adaptive controller is used to control the submersible motor to reduce the effect of temperature change on the speed regulation performance of the system. The feasibility and superiority are verified by experiments. The submersible electric pump works in the complex environment of high temperature and high pressure, the crude oil will move to the pump mouth under the action of formation pressure. In this process, the bottom-hole flow pressure will decrease. If the bottom-hole flow depresses the saturation pressure of the gas in the crude oil, it will cause a large amount of gas to precipitate and vaporize. This is very dangerous for centrifugal pumps. By controlling the pumping capacity of submersible electric pump, the balance of downhole pressure environment can be maintained. In this paper, the underground pressure system and submersible pump are analyzed and mathematical models are established. Considering the noise disturbance in the pressure feedback signal, the anti-jamming strategy is added to the original model-free adaptive algorithm to improve the control effect, and the feasibility of the algorithm is verified by experiments.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TE938;TP273

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