【摘要】：石油工業(yè)是一個國家經(jīng)濟(jì)建設(shè)的命脈產(chǎn)業(yè)，各國都在大力地發(fā)展石油工業(yè)。隨著現(xiàn)代科學(xué)技術(shù)的飛速發(fā)展，石油產(chǎn)業(yè)正向著集成化，自動化，高效化的方向前進(jìn)。而石油開采是石油工業(yè)中的一個重要環(huán)節(jié)，具有舉足輕重的地位。由于油井井下環(huán)境十分復(fù)雜，溫度與壓力對原油開采的影響比較大，因此需要對整個過程加以控制。潛油電泵的基本結(jié)構(gòu)為潛油電機(jī)與離心泵串接，本文分別以潛油電機(jī)與離心泵為研究對象，建立雙閉環(huán)控制系統(tǒng)，并在此基礎(chǔ)上應(yīng)用無模型自適應(yīng)控制方法，達(dá)到進(jìn)一步提高系統(tǒng)性能的目的。 通過對無模型自適應(yīng)控制方法進(jìn)行深入研究，明確了其僅利用系統(tǒng)的輸入輸出信息進(jìn)行工作的特點。在此基礎(chǔ)上，從動態(tài)線性化建模的三種方法入手，分別研究了基于不同方法的控制器。并通過實驗的方式，總結(jié)出了控制參數(shù)的整定方法。并基于以上工作，設(shè)計了控制仿真實驗，對三種無模型自適應(yīng)控制方案分別進(jìn)行應(yīng)用。將實驗結(jié)果進(jìn)行對比，分析了三種方案的優(yōu)缺點。 潛油電泵的下泵深度多在2千米以上，受環(huán)境與電機(jī)自身因素的影響，電機(jī)溫度會發(fā)生較大變化。溫度變化會導(dǎo)致金屬的電阻率改變，造成電機(jī)的定轉(zhuǎn)子電阻值亦會發(fā)生變化。在控制系統(tǒng)中，被控對象的模型參數(shù)發(fā)生變化，屬于參數(shù)攝動問題。為了解決這一問題，本文在分析了恒壓頻比控制方式的機(jī)械特性之后，建立潛油電機(jī)變頻調(diào)速系統(tǒng)模型，，具體分析了溫度變化對電阻的影響。在此基礎(chǔ)上，應(yīng)用之前設(shè)計的全格式動態(tài)線性化無模型自適應(yīng)控制器，對潛油電機(jī)進(jìn)行控制，來減小溫度變化對系統(tǒng)調(diào)速性能影響。并通過實驗驗證了可行性與優(yōu)越性。 潛油電泵工作在高溫、高壓的復(fù)雜環(huán)境下，原油會在地層壓力的作用下向泵口移動。在這一過程中，井底流壓會減小。若井底流壓低于原油中氣體的飽和壓力，則會導(dǎo)致大量的氣體析出與汽化。這對于離心泵來說是十分危險的。通過對潛油電泵的抽油量進(jìn)行控制可以維持井下壓力環(huán)境的平衡。本文分別對井下壓力系統(tǒng)與潛油電泵進(jìn)行分析并建立數(shù)學(xué)模型�？紤]到壓力反饋信號中會存在噪聲干擾，因此在原始無模型自適應(yīng)算法的基礎(chǔ)上加入了抗干擾策略，提升控制效果，并通過實驗驗證其可行性。
[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.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TE938;TP273

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