Automatic control system of variable frequency fixed depth winch for carbon dioxide leakage sampling

Abstract

The present application discloses an automatic control system for variable frequency fixed depth winch for sampling carbon dioxide leakage, including: a motion control module, used to control the variable frequency electric control winch to move to a preset theoretical depth; a temperature acquisition module, used to divide the preset theoretical depth and the initial port into N depth segments, and obtain the actual temperature of each depth segment; a thermal expansion acquisition module, used to obtain the thermal expansion of each depth segment of the preset cable based on the actual temperature and the preset thermal expansion compensation formula; a compensation value acquisition module, used to obtain the thermal expansion length compensation value based on the thermal expansion; an actual depth acquisition module, used to obtain the actual depth based on the thermal expansion length compensation value; a dynamic control module, used to dynamically control the movement of the variable frequency electric control winch based on the difference between the actual depth and the preset theoretical depth. The system can realize intelligent control of the variable frequency fixed depth winch, realize full automatic control of the sampling process, intelligent and precise sampling, and effectively improve the sampling efficiency and accuracy.

Description

Technical Field

[0001] The present disclosure relates to the technical field of gas leakage detection, and in particular to an automatic control system of a variable frequency fixed depth winch for sampling carbon dioxide leakage. Background Art

[0002] Carbon dioxide recovery and storage, also known as carbon capture and storage (CCS), is a technology to reduce greenhouse gas emissions in the atmosphere. In this process, carbon dioxide is captured and injected deep underground, usually to enhance oil recovery or for direct storage.

[0003] However, traditional sampling methods usually use gas sampling bags or manual sampling. The samples collected by gas sampling bags have poor accuracy, and manual sampling is inefficient and requires a lot of time and human resources to complete. This is particularly problematic in large-scale storage projects and will also increase the safety risks of operators. At the same time, due to the discontinuity of manual sampling, it may be difficult to obtain continuous and real-time carbon dioxide leakage data.

[0004] In addition, in harsh underground environments, traditional sampling equipment is not durable enough and requires frequent maintenance and replacement, resulting in relatively high costs for manual sampling and equipment maintenance, especially in long-term storage projects. Summary of the invention

[0005] In view of this, the embodiments of the present disclosure provide a variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling, which can solve the problems existing in the prior art such as high manual dependence, low sampling efficiency, and poor sampling quality.

[0006] In a first aspect, an embodiment of the present disclosure provides a variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling, the method specifically comprising:

[0007] A motion control module, used to control the variable frequency electric controlled winch to move to a preset theoretical depth based on a preset speed control strategy;

[0008] A temperature acquisition module, used to divide the area between the preset theoretical depth and the initial opening into N depth segments, and obtain the actual temperature of each depth segment;

[0009] A thermal expansion amount acquisition module, used to obtain the thermal expansion amount of each depth section of the preset cable based on the actual temperature and a preset thermal expansion compensation formula;

[0010] A compensation value acquisition module, used for acquiring a thermal expansion length compensation value based on the thermal expansion amount;

[0011] An actual depth acquisition module, used to obtain the actual depth based on the thermal expansion length compensation value;

[0012] A dynamic control module is used to dynamically control the movement of the variable frequency electric-controlled winch based on the difference between the actual depth and the preset theoretical depth.

[0013] Optionally, controlling the variable frequency electric-controlled winch to move to a preset theoretical depth based on a preset speed control strategy includes: sending a sampling instruction to the variable frequency electric-controlled winch through a sampling control terminal, controlling the speed and direction of the variable frequency electric-controlled winch, and adjusting the position of the sampling kettle through a position control component on the variable frequency electric-controlled winch to perform carbon dioxide leakage sampling;

[0014] Wherein, the sampling control terminal and the variable frequency electric-controlled winch are connected via a preset cable.

[0015] Optionally, the preset speed control strategy includes PID control algorithm, parameter setting, anti-integral saturation, differential term filtering and sampling period setting;

[0016] The PID control algorithm includes: u(t)=K p e(t)+K i ∫e(t)dt+K d de(t) / dt, where u(t) is the control output, e(t) is the difference between the target speed and the actual speed, and K p is the proportional gain, K i is the integral gain, K d is the differential gain;

[0017] The parameter setting includes: K p0 =0.6K u , K i0 =1.2K u / T u , K d0 =3K u T u / 40, where K u is the critical gain, T u is the critical period;

[0018] The anti-integral saturation includes integral separation technology and variable integral coefficient method;

[0019] The differential term filtering includes reducing the noise effect in the differential term by a first-order low-pass filter;

[0020] The sampling period setting includes setting a corresponding interval duration according to the sampling frequency requirement of carbon dioxide leakage sampling.

[0021] Optionally, the preset speed control strategy further includes: configuring different speed curves according to different depth segments, and using Bezier curves to perform smooth transition of speed in transition areas of different depth segments;

[0022] When the depth section belongs to the shallow layer, the movement speed of the variable frequency electric controlled winch is controlled based on a preset acceleration formula;

[0023] The preset acceleration formula includes: v(t)=v max (1-cos(πt / T)) / 2, 0≤t≤T, T is the acceleration time, v max It is the preset maximum speed reached after acceleration;

[0024] When the depth section belongs to the middle layer, the movement speed of the variable frequency electric controlled winch is controlled according to a preset uniform speed value;

[0025] When the depth section belongs to the deep layer, the movement speed of the variable frequency electric controlled winch is controlled based on a preset deceleration formula;

[0026] The preset deceleration formula includes: k is the attenuation coefficient, v0 is the velocity at t1 = 0;

[0027] The depth of the shallow layer is H1, the depth of the middle layer is H2, and the depth of the deep layer is H3, 0

[0028] Optionally, it further includes a motor operation control module, the motor operation control module is used to control the operation of the motor of the variable frequency electric-controlled winch based on a preset motor operation strategy;

[0029] The controlling the operation of the motor of the variable frequency electric-controlled winch based on the preset motor operation strategy includes: controlling the soft start of the motor of the variable frequency electric-controlled winch based on a ramp function;

[0030] Controlling the soft stop of the motor of the variable frequency electric controlled winch based on a quadratic function;

[0031] Controlling the speed change of the motor of the variable frequency electric controlled winch based on a preset formula;

[0032] The ramp function includes: ω(t)=ω max ·(t / T start ), 0≤t≤T start ;ω(t) is the speed at time t, ω max is the maximum speed, T start is the start time;

[0033] The quadratic function includes: ω(t)=ω initial ·(1-(t / T stop ​) 2 ), 0≤t≤T stop ;ω initial is the initial speed, T stop To stop time;

[0034] The preset formula includes: 3 x / dt 3 |≤jerk max , jerk max is the maximum value of the speed change rate.

[0035] Optionally, a speed dynamic adjustment module is also included, which is used to obtain the tension deviation according to the actual tension of the preset cable obtained in real time, and dynamically adjust the parameters of the corresponding speed curve based on the tension deviation, the historical accumulation of the deviation, and the deviation change rate.

[0036] Optionally, obtaining the tension deviation according to the actual tension of the preset cable obtained in real time includes:

[0037] During the movement of the variable frequency fixed depth winch, the actual tension of the preset cable is obtained in real time based on the high-precision strain type tension sensor;

[0038] The cable tension prediction information is obtained based on a preset tension prediction model; the preset tension prediction model includes: predicted =k1depth+k2velocity 2 +k3, where k1, k2, k3 are system calibration parameters, depth is the preset cable lowering depth, and velocity is the operating speed of the variable frequency fixed depth winch;

[0039] A tension deviation is obtained based on the actual tension and the cable tension prediction information.

[0040] Optionally, an alarm module is further included, which is used to dynamically adjust the preset speed control strategy based on the fuzzy PID control strategy when the actual tension is abnormal, and if the tension deviation exceeds the threshold, trigger a corresponding alarm according to the multi-level safety threshold mechanism, and start the corresponding emergency control based on the preset response strategy;

[0041] The method of dynamic control comprises:

[0042] A fuzzy rule base is configured, wherein the fuzzy rule base is used to convert the tension deviation and the tension deviation change rate into a PID parameter increment, wherein the PID parameter increment includes a proportional gain increment, an integral gain increment, and a differential gain increment;

[0043] Based on the fuzzy rule base, fuzzy reasoning is performed, and the result of the fuzzy reasoning is converted into clear PID parameter values ​​by using the centroid method;

[0044] According to the output of the fuzzy controller, adjust the parameters of the PID controller;

[0045] According to the preset depth of the cable, the PID parameters in the preset speed control strategy are dynamically adjusted through an adaptive mechanism.

[0046] Optionally, the preset thermal expansion compensation formula is: △L i =α i L 0i △T i , α i is the linear expansion coefficient of the preset cable at the i-th depth segment, L 0i is the initial movement length of the cable at the i-th depth segment at the initial temperature, △T i It is the difference between the actual temperature of the i-th depth section of the preset cable and the initial temperature at the initial port.

[0047] Optionally, obtaining the thermal expansion length compensation value based on the thermal expansion amount includes: superimposing the thermal expansion amounts of N depth segments to obtain the thermal expansion length compensation value

[0048] The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in this embodiment can ensure that the winch reaches the preset theoretical depth at a stable speed through a preset speed control strategy, which can effectively reduce the operator's frequent adjustment of the winch speed and improve the efficiency of the sampling operation. At the same time, it can effectively reduce the impact of the winch when starting and stopping, and extend the service life of the equipment; the depth is divided into multiple sections, so that the temperature data of different depths can be obtained more accurately, avoiding the influence of temperature error on the overall depth. The temperature changes in different depth sections may be different. The segmented measurement can more accurately reflect these changes and provide more accurate data for subsequent thermal expansion compensation. The depth is divided into sections of equal length, which makes data processing simpler and standardized, and improves the efficiency of data processing; the thermal expansion amount of each depth section can be accurately calculated through accurate temperature data and thermal expansion compensation formulas, providing reliable data for subsequent length compensation; the thermal expansion amount calculation takes into account the effect of temperature changes on the depth. The influence of cable length is reduced, and the interference of environmental factors on the accuracy of depth measurement is reduced; accurate thermal expansion calculation improves the accuracy of depth measurement and avoids measurement errors caused by temperature changes; the thermal expansion of each depth segment is accumulated to obtain the overall thermal expansion length compensation value, which provides key data for the next step of calculating the actual depth; the comprehensive compensation value takes into account the temperature changes in the entire depth range, ensuring the overall accuracy of depth measurement; the actual depth can be obtained through accurate thermal expansion length compensation value, ensuring that the measurement result is consistent with the actual depth and avoiding depth errors caused by temperature changes; finally, based on the difference between the actual depth and the preset theoretical depth, the movement of the variable frequency electric control winch is dynamically regulated. Through automatic control and dynamic adjustment, any deviation of the variable frequency fixed depth winch used for carbon dioxide leakage sampling can be corrected in real time during operation, enhancing sampling stability, and accurate depth control and real-time data monitoring can reduce potential risks during operation and improve the overall safety of operation.

[0049] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1A schematic diagram of the framework of a variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling provided in an embodiment of the present disclosure.

[0052] Figure 2 A schematic flow chart of a method for executing a preset speed control strategy provided in an embodiment of the present disclosure.

[0053] Figure 3 A flow chart of a method for controlling the operation of a motor of a variable frequency electric-controlled winch based on a preset motor operation strategy provided in an embodiment of the present disclosure.

[0054] Figure 4 A flowchart of a method for dynamically adjusting speed provided in an embodiment of the present disclosure.

[0055] Figure 5 A schematic flow chart of a method for obtaining tension deviation provided in an embodiment of the present disclosure.

[0056] Figure 6 A schematic diagram of a flow chart of a dynamic control method provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0058] It should be clear that the following embodiments of the present disclosure are described by specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0059] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0060] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present disclosure. The drawings only show components related to the present disclosure rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0061] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0062] Reference Figure 1 The present application discloses a variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling, which specifically includes: a motion control module 11, a temperature acquisition module 12, a thermal expansion acquisition module 13, a compensation value acquisition module 14, an actual depth acquisition module 15, and a dynamic control module 16, wherein the motion control module 11 is used to control the variable frequency electric control winch to move to a preset theoretical depth based on a preset speed control strategy.

[0063] Specifically, the variable frequency electric-controlled winch is controlled to move to a preset theoretical depth based on a preset speed control strategy, including: sending a sampling instruction to the variable frequency electric-controlled winch through a sampling control terminal, controlling the speed and direction of the variable frequency electric-controlled winch, and adjusting the position of the sampling kettle through a position control component on the variable frequency electric-controlled winch to sample carbon dioxide leakage.

[0064] Among them, the sampling control terminal is connected to the variable frequency electric control winch through a preset cable, and the sampling kettle used for carbon dioxide leakage sampling is installed on the variable frequency electric control winch; the position control component includes a lifting adjustment component and a rotation adjustment component, the lifting adjustment component is used to adjust the height position of the sampling kettle, and the rotation adjustment component is used to adjust the angle of the sampling kettle.

[0065] In this embodiment, the winch movement can be precisely controlled to achieve automatic depth setting and retraction and extension of the sampling kettle, greatly improving the automation level of the sampling process.

[0066] The temperature acquisition module 12 is used to divide the area between the preset theoretical depth and the initial opening into N depth segments, and obtain the actual temperature of each depth segment.

[0067] In this step, the depth is divided into multiple sections, so that the temperature data at different depths can be obtained more precisely, providing accurate data support for subsequent thermal expansion calculations and reducing the impact of temperature errors at individual depths on the overall depth.

[0068] The thermal expansion amount acquisition module 13 is used to obtain the thermal expansion amount of each depth section of the preset cable based on the actual temperature and a preset thermal expansion compensation formula.

[0069] Through precise temperature data and thermal expansion compensation formula, the thermal expansion amount of each depth section can be accurately calculated, providing reliable data for subsequent length compensation.

[0070] The compensation value acquisition module is used to obtain the thermal expansion length compensation value based on the thermal expansion amount.

[0071] By accumulating the thermal expansion, a comprehensive thermal expansion length compensation value can be obtained, which provides key data for the next step of calculating the actual depth.

[0072] The actual depth acquisition module is used to obtain the actual depth based on the thermal expansion length compensation value.

[0073] The actual depth can be obtained through accurate thermal expansion length compensation value, ensuring that the measurement result is consistent with the actual depth and avoiding depth errors caused by temperature changes.

[0074] In this step, the accuracy of depth measurement is improved by compensating for the length change due to thermal expansion and reducing the measurement error caused by temperature change, thereby improving the stability and accuracy of the control system.

[0075] The dynamic control module is used to dynamically control the movement of the variable frequency electric control winch based on the difference between the actual depth and the preset theoretical depth.

[0076] Through this step, precise control is achieved, which can quickly respond to depth changes and make adjustments, thereby ensuring that the winch is always within the preset depth range, enhancing the adaptability and reliability of the system, and ensuring the safety and accuracy of operation.

[0077] The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in this embodiment can ensure that the winch reaches the preset theoretical depth at a stable speed through the motion control module, which can effectively reduce the operator's frequent adjustment of the winch speed and improve the efficiency of the sampling operation. At the same time, it can effectively reduce the impact of the winch when starting and stopping, and extend the service life of the equipment; the temperature acquisition module can more accurately obtain temperature data at different depths, avoiding the influence of temperature errors on the overall depth. The temperature changes in different depth segments may be different. Segmented measurement can more accurately reflect these changes and provide more accurate data for subsequent thermal expansion compensation. The depth is divided into segments of equal length, making data processing simpler and standardized, and improving the efficiency of data processing; the thermal expansion acquisition module can accurately calculate the thermal expansion of each depth segment to provide reliable data for subsequent length compensation; the thermal expansion calculation takes temperature changes into account The impact on cable length reduces the interference of environmental factors on the accuracy of depth measurement; accurate thermal expansion calculation improves the accuracy of depth measurement and avoids measurement errors caused by temperature changes; the compensation value acquisition module can obtain the overall thermal expansion length compensation value, providing key data for the next step of calculating the actual depth; the comprehensive compensation value takes into account the temperature changes in the entire depth range, ensuring the overall accuracy of depth measurement; the actual depth can be obtained through the actual depth acquisition module to ensure that the measurement result is consistent with the actual depth and avoid depth errors caused by temperature changes; the dynamic control module can dynamically control the movement of the variable frequency electric control winch. Through automatic control and dynamic adjustment, any deviation of the variable frequency fixed depth winch used for carbon dioxide leakage sampling can be corrected in real time during operation, enhancing sampling stability. Accurate depth control and real-time data monitoring can reduce potential risks during operation and improve the overall safety of operation.

[0078] In general, this variable frequency fixed depth winch automatic control system ensures that the winch can stably and accurately maintain the set depth during the carbon dioxide leakage sampling process through high-precision motion control, real-time data acquisition and compensation strategy, thereby improving the accuracy and safety of sampling.

[0079] In this embodiment, the variable frequency electric-controlled winch includes a synchronous motor, a vector inverter and a winch drum, wherein the synchronous motor is a high-performance permanent magnet synchronous motor for providing stable and precise power output; the vector inverter is used to achieve precise control of the motor speed; the winch drum adopts a special design to ensure that the preset cables are evenly arranged to avoid entanglement.

[0080] In this embodiment, the preset cable is preferably a seven-core armored cable, which integrates power transmission, data communication and load-bearing functions; the use of high-strength steel wire armor can improve tensile strength and wear resistance; the internal optical fiber of the seven-core armored cable can achieve high-speed data transmission and support real-time monitoring.

[0081] In this embodiment, the sampling control terminal uses an industrial-grade embedded computer, such as a processor based on the ARM Cortex-A72 architecture; it can run a real-time operating system (such as VxWorks) to ensure the timely execution of control instructions, and is equipped with a touch screen human-machine interface to facilitate operator monitoring and intervention.

[0082] Furthermore, the preset speed control strategy includes PID control algorithm, parameter setting, anti-integral saturation, differential term filtering and sampling period setting. The PID control algorithm is used to achieve precise adjustment of the winch speed. Anti-integral saturation is to avoid excessive accumulation of control signals caused by the integral term, thereby affecting the stability and performance of the system.

[0083] Among them, the PID control algorithm (i.e. PID controller design) includes:

[0084] u(t)=K p e(t)+K i ∫e(t)dt+K d de(t) / dt, where u(t) is the control output, e(t) is the speed difference between the target speed and the actual speed, and K p is the proportional gain, K i is the integral gain, K d is the differential gain.

[0085] Parameter tuning includes preliminary adjustment using the Ziegler-Nichols method and then fine-tuning through experiments; the initial parameters include: K p0 =0.6K u , K i0 =1.2K u / T u , K d0 =3K u T u / 40, where K u is the critical gain, T u is the critical period.

[0086] Anti-integral windup includes integral separation technology and variable integral coefficient method. Integral separation technology (or integral anti-windup) is used to adjust or disable the influence of the integral term under specific conditions. The variable integral coefficient method (or integral gain adjustment) is a method of dynamically adjusting the integral gain.

[0087] The filtering of the derivative term involves reducing the effect of noise in the derivative term by a first-order low-pass filter.

[0088] The sampling cycle setting includes setting the corresponding interval duration according to the sampling frequency requirement of carbon dioxide leakage sampling.

[0089] In this embodiment, the sampling period is preferably 1 ms to ensure control accuracy and real-time performance.

[0090] Reference Figure 2 , the execution method of the preset speed control strategy specifically includes:

[0091] A100, real-time acquisition of the depth of the variable frequency fixed depth winch.

[0092] In this step, the depth information of the winch is obtained in real time to provide accurate data support for subsequent speed control, ensuring that the movement state of the winch at different depths can be properly controlled, thereby improving the control accuracy and response speed.

[0093] A200, configure different speed curves according to different depth segments;

[0094] When the depth section belongs to the shallow layer, the movement speed of the variable frequency electric winch is controlled based on the preset acceleration formula; when the depth section belongs to the middle layer, the movement speed of the variable frequency electric winch is controlled according to the preset uniform speed value; when the depth section belongs to the deep layer, the movement speed of the variable frequency electric winch is controlled based on the preset deceleration formula.

[0095] The preset speed control strategy also includes: configuring different speed curves according to different depth segments, and using Bezier curves to smoothly transition the speed in transition areas of different depth segments;

[0096] When the depth section belongs to the shallow layer, the movement speed of the variable frequency electric controlled winch is controlled based on a preset acceleration formula;

[0097] The preset acceleration formula includes: v(t)=v max (1-cos(πt / T)) / 2, 0≤t≤T, T is the acceleration time, v max It is the preset maximum speed reached after acceleration.

[0098] In this embodiment, v max ≤3m / s.

[0099] When the depth section belongs to the middle layer, a constant speed of 2m / s can be maintained.

[0100] The preset deceleration formulas include: k is the attenuation coefficient, v0 is the velocity at t1=0; when the depth segment belongs to the deep layer, the minimum velocity is 0.5m / s.

[0101] Specifically, the depth of the shallow layer is H1, the depth of the middle layer is H2, and the depth of the deep layer is H3, 0

[0102] ​In this step, different speed control strategies are set for different depth segments, which can optimize the operating efficiency and stability of the winch in each depth segment, avoid using a unified speed control in different depth segments, reduce control problems caused by depth changes, and improve the overall performance of the system.

[0103] A300 uses Bezier curves to smoothly transition the speed in the transition areas of different depth segments.

[0104] Specifically, a Bezier curve can be set to control the smooth transition of speed. For example, in the transition zone from shallow to middle layers, a quadratic Bezier curve B(t)=(1-t) can be used. 2 ·P0+2(1-t)t·P1+t 2 P2 is used to smooth the change of speed from acceleration to uniform speed, where P0, P1 and P2 are control points.

[0105] In the transition zone from deep to middle layers, a similar Bezier curve is applied to smooth the change of speed from constant speed to deceleration.

[0106] In this embodiment, the use of the Bezier curve can avoid sudden changes in speed, making the speed change process smoother and reducing sudden acceleration or deceleration between different depth segments, thereby reducing the mechanical wear of the system and the burden on the control system.

[0107] The execution method of the preset speed control strategy disclosed in this embodiment optimizes the speed control of the winch at each depth segment by configuring speed curves specifically for different depth segments, thereby improving the operating efficiency and stability. At the same time, the application of the Bezier curve ensures a smooth transition of speed changes, reducing the mechanical vibration and system burden caused by sudden speed changes.

[0108] In this embodiment, the depth information is acquired in real time and dynamically adjusted, making the speed control more precise and improving the accuracy and reliability of the operation; through reasonable acceleration and deceleration strategies, possible operational fluctuations are effectively reduced, and the overall stability and life of the system are enhanced. At the same time, smooth speed control and transition strategies help reduce the wear of mechanical components and extend the service life of the winch.

[0109] In summary, this preset speed control strategy greatly improves the control accuracy and system stability of the variable frequency fixed depth winch through dynamic adjustment of the depth section, smooth speed transition and real-time control, while reducing mechanical wear and operational risks.

[0110] Furthermore, the variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in the present application also includes: controlling the operation of the motor of the variable frequency electric-controlled winch based on a preset motor operation strategy.

[0111] The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in the present application also includes a motor operation control module, which is used to control the operation of the motor of the variable frequency electric control winch based on a preset motor operation strategy. Figure 3 The method for controlling the operation of the motor of the variable frequency electric controlled winch based on the preset motor operation strategy specifically includes the following steps:

[0112] B100, soft start of the motor of the variable frequency electric winch based on ramp function control.

[0113] Wherein, the ramp function includes: ω(t)=ω max ·(t / T start ), 0≤t≤T start ;ω(t) is the speed at time t, ω max is the maximum speed, T start This is the startup time, usually set to 2-3 seconds.

[0114] Through this step, the increase in speed is linear, thereby reducing the impact on the equipment during the startup process. That is, when starting the motor, during the startup process, the speed of the motor gradually increases from a stationary state to a target speed, and sudden impacts are avoided by gradually increasing the speed of the motor.

[0115] In this step, the ramp function control can avoid the severe starting shock of the motor at startup, reduce the damage to the mechanical parts, and reduce the current shock at startup and the burden on the power grid by steadily increasing the running speed of the motor.

[0116] B200, soft stop of the motor of variable frequency electric winch is controlled based on quadratic function.

[0117] Among them, the quadratic function includes: ω(t)=ω initial ·(1-(t / T stop ) 2 ), 0≤t≤T stop ;ω initial is the initial speed, T stop This is the stop time, usually set to 3-5 seconds.

[0118] In this step, the speed of the motor gradually decreases according to a quadratic function, so that it stops smoothly, making the speed reduction smooth and avoiding the impact of sudden stop on the equipment. That is, when stopping the motor, the speed of the motor is gradually reduced to avoid the impact of sudden stop and protect the stability of the mechanical system. At the same time, soft stopping reduces the friction and impact during the stopping process, which can extend the service life of mechanical components.

[0119] B300 controls the speed change of the motor of the variable frequency electric winch based on a preset formula.

[0120] The preset formulas include: |d 3 x / dt 3 |≤jerk max , jerk max is the maximum value of the velocity change rate, jerk max Usually set to 0.5m / s 3 .

[0121] In this step, a jerk limit is actually added to control the rate of change of acceleration; jerk refers to the derivative of acceleration, that is, the rate of change of acceleration. Limiting jerk helps ensure smooth operation of the system, that is, controlling the rate of change of acceleration to avoid excessive changes that burden the system.

[0122] The method disclosed in this embodiment ensures the smooth operation of the motor during the starting and stopping process by applying a ramp function and a quadratic function, thereby avoiding the impact of drastic speed changes on the motor and the mechanical system; at the same time, the smooth starting and stopping process reduces the impact and vibration of the system, and improves the stability and reliability of the entire system; by optimizing the speed change control of the motor, the operating efficiency of the motor can be improved and energy consumption can be reduced.

[0123] In addition, soft start can effectively reduce the impact of starting current, help stabilize the power grid, and avoid excessive impact on the power grid.

[0124] In general, this control strategy can optimize the motor's operating performance, improve system stability, extend equipment life, and reduce energy consumption and grid burden through precise soft start, soft stop, and speed change control. These improvements not only improve operational efficiency and reliability, but also reduce maintenance costs.

[0125] In this embodiment, speed control performance evaluation is also included, specifically including: 1) steady-state error: <0.5% of full scale; 2) adjustment time: <200ms (time for step response to reach steady state); 3) overshoot: <5%; 4) anti-disturbance capability: under a sudden load of 50N, speed fluctuation is <2%.

[0126] Furthermore, the variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in the present application also includes a speed dynamic adjustment module, which is used to obtain the tension deviation according to the actual tension of the preset cable obtained in real time, and dynamically adjust the parameters of the corresponding speed curve based on the tension deviation, historical accumulation of deviation, and deviation change rate.

[0127] Specific reference Figure 4 , the methods for dynamically adjusting speed include:

[0128] C100 obtains the tension deviation according to the actual tension of the preset cable obtained in real time.

[0129] In this step, the cable tension can be monitored in real time to ensure that the system has timely knowledge of the cable status; by calculating the tension deviation, the difference between the actual tension and the preset tension can be accurately analyzed and adjusted.

[0130] C200 dynamically adjusts the parameters of the corresponding speed curve based on tension deviation, historical accumulation of deviation, and deviation change rate.

[0131] The historical accumulation of deviation refers to recording the tension deviation data over a period of time to form historical accumulation data. For example, the tension deviation data for the past hour can help understand the long-term trend.

[0132] Deviation change rate refers to calculating the rate of change of tension deviation (for example, the ratio of the change in deviation to time), which helps determine the speed and trend of deviation change.

[0133] Dynamically adjusting the speed curve parameters may include: adjusting the parameters of the speed curve (such as acceleration rate, deceleration rate, target speed, etc.) based on real-time deviation, historical data and rate of change; for example, if the tension deviation increases, the acceleration rate may be reduced to avoid excessive stretching of the cable; and using a PID controller or other dynamic adjustment algorithm to adjust the parameters of the speed curve in combination with the deviation and rate of change. For example, the PID controller may automatically adjust the parameters during acceleration and deceleration based on the deviation and rate of change.

[0134] In this step, the parameters of the speed curve are dynamically adjusted to adapt to changes in cable tension in real time, ensuring stable operation of the system under different working conditions. Through comprehensive consideration of historical data and rate of change, the error caused by tension fluctuations can be effectively reduced, improving the control accuracy of the system. Dynamic adjustment makes the operation more flexible and precise, and can optimize the movement and sampling process of the winch according to actual conditions.

[0135] The method disclosed in this embodiment can accurately control the speed and tension of the winch through real-time monitoring and dynamic adjustment, reduce operational errors, and improve overall control accuracy; dynamically adjust the speed curve parameters so that the system can adapt to changes in cable tension and avoid operational instability caused by tension fluctuations. At the same time, the operating state of the winch can be accurately controlled to ensure the stability and accuracy of the carbon dioxide leakage sampling process and improve the reliability of the sampling data. Real-time adjustment of the speed curve parameters can effectively reduce the mechanical impact and wear caused by changes in cable tension and extend the service life of the equipment; dynamic adjustment enables the system to flexibly respond to various operating conditions and can effectively improve the operating efficiency and response speed of the entire system. In addition, real-time monitoring and adjustment can adapt to operational requirements under different environmental conditions and can improve the adaptability and flexibility of the system.

[0136] This control method can significantly improve the control accuracy and stability of the variable frequency fixed depth winch during the carbon dioxide leakage sampling process by acquiring tension data in real time and dynamically adjusting the speed curve parameters, thereby optimizing the operating effect, reducing equipment wear, and improving the overall operating efficiency and system adaptability.

[0137] Further reference Figure 5 , according to the actual tension of the preset cable obtained in real time, the tension deviation is obtained, that is, the method for obtaining the tension deviation specifically includes:

[0138] D100, during the movement of the variable frequency fixed depth winch, obtains the actual tension of the preset cable in real time based on a high-precision strain gauge tension sensor.

[0139] Specifically, you can choose a high-precision strain-type tension sensor, such as a certain model of high-precision tension sensor, whose accuracy can reach ±0.5%; install the sensor on the cable to ensure that the sensor is in close contact with the cable to accurately measure the cable tension; during the movement of the winch, the sensor will output the actual tension data of the cable in real time, and these data will be transmitted to the control system via the data line for processing.

[0140] Through this step, the actual tension of the cable can be instantly obtained, providing real-time data support for subsequent tension control and adjustment; at the same time, high-precision sensors can provide more accurate tension data, reduce measurement errors, and improve the accuracy of the control system.

[0141] Among them, the high-precision strain-type tension sensor has a measuring range of 0-50kN and an accuracy of 0.1% FS; the signal acquisition frequency is 100Hz, and a 24-bit ADC is used for digital conversion.

[0142] Furthermore, signal preprocessing may be performed, specifically including: median filtering to remove impulse noise, that is, taking the median of five consecutive sampling points; low-pass filtering to remove high-frequency noise, that is, a second-order Butterworth filter with a cutoff frequency of 10 Hz.

[0143] D200 obtains cable tension prediction information based on a preset tension prediction model.

[0144] Among them, the preset tension prediction model includes: T predicted =k1depth+k2velocity 2 +k3, where k1, k2, k3 are system calibration parameters, depth is the preset cable lowering depth, and velocity is the operating speed of the variable frequency fixed depth winch.

[0145] In this step, the model can predict the cable tension at different depths and speeds, providing a reference for tension control. The model parameters can be adjusted through calibration to adapt to different working environments and cable characteristics.

[0146] D300 obtains tension deviation based on actual tension and cable tension prediction information.

[0147] In this step, by comparing the actual tension and the predicted tension, the current tension status can be understood more accurately, providing a basis for subsequent tension adjustments. At the same time, real-time calculation of tension deviation can promptly detect and resolve tension abnormalities, ensuring the safety and stability of winch operation.

[0148] The method disclosed in this embodiment can more accurately control the tension of the cable, reduce tension fluctuations, and improve the stability of the winch operation by acquiring and processing tension data in real time and using a prediction model to predict tension. The existence of the prediction model enables the system to adaptively adjust according to different working environments and cable characteristics, thereby improving the flexibility and adaptability of the system. By real-time monitoring and calculating tension deviations, abnormal situations can be discovered and handled in a timely manner to ensure the safety and reliability of the winch operation. At the same time, this also reduces the risk of equipment failure and damage and extends the service life of the equipment.

[0149] Furthermore, the variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in the present application also includes an alarm module, which is used to dynamically adjust the preset speed control strategy based on the fuzzy PID control strategy when the actual tension is abnormal, and if the tension deviation exceeds the threshold, trigger the corresponding alarm according to the multi-level safety threshold mechanism, and start the corresponding emergency control based on the preset response strategy.

[0150] In this embodiment, the preset thermal expansion compensation formula is: ΔL i =α i L 0i △T i , α i is the linear expansion coefficient of the preset cable at the i-th depth segment, L 0i is the initial movement length of the cable at the i-th depth segment at the initial temperature, △T i It is the difference between the actual temperature of the i-th depth section of the preset cable and the initial temperature at the initial port.

[0151] In this step, the thermal expansion of each depth segment is accurately calculated based on the actual temperature and the preset formula to ensure the accuracy of the depth measurement. At the same time, targeted adjustments can be made based on the specific thermal expansion of each depth segment to improve the measurement and control accuracy.

[0152] The method disclosed in this embodiment divides the length of the cable into multiple depth segments and performs thermal expansion compensation for the actual temperature of each segment, so as to more accurately calculate and compensate for the length change caused by temperature change and improve the measurement accuracy; the actual temperature is obtained in segments and the corresponding thermal expansion formula is applied, so that the compensation effect is more accurate and the system error caused by temperature change is avoided; the temperature change of each depth segment is monitored in real time and compensated, which can effectively adapt to the changes in environmental conditions and improve the stability and reliability of the system; the thermal expansion amount of each depth segment is accurately calculated and compensated, which can significantly reduce the measurement error caused by thermal expansion and improve the overall performance of the system; the error caused by temperature change and excessive wear of mechanical parts are reduced, thereby extending the service life of the equipment.

[0153] Further, the actual depth is obtained based on the thermal expansion length compensation value, including: superimposing the thermal expansion amounts of N depth segments to obtain the thermal expansion length compensation value, that is, accumulating the thermal expansion amounts of all layers to obtain the total thermal expansion compensation amount △L total ,

[0154] Therefore, the actual depth finally obtained is the sum of the total length and the total thermal expansion compensation.

[0155] Further reference Figure 6 , dynamic control methods include:

[0156] E100, configure the fuzzy rule base, the fuzzy rule base is used to convert the tension deviation and the tension deviation change rate into PID parameter increments, and the PID parameter increments include proportional gain increments, integral gain increments and differential gain increments.

[0157] Specifically, a fuzzy rule base is set, and the tension deviation e and the tension deviation change rate ec are used as input variables. The output variable is the PID parameter increment. The tension deviation change rate ec represents the rate of change of the tension error over time, which helps to understand whether the error is increasing or decreasing, thereby predicting the future behavior of the system.

[0158] Among them, the PID parameter increment includes the proportional gain increment ΔK p , integral gain increment ΔK i and differential gain increment ΔK d .

[0159] Furthermore, each input variable can be divided into 7 fuzzy subsets, and each output variable can be divided into 7 fuzzy subsets, and the number of rules obtained is 49. These subsets are usually described by linguistic variables, such as "negative large", "negative medium", "negative small", "zero", "positive small", "positive medium" and "positive large". Such division allows the system to process input data in a more flexible and humane way, rather than relying solely on precise numerical values.

[0160] In this step, by defining fuzzy rules, the PID parameters can be dynamically adjusted according to different tension deviations and change rates to improve the response accuracy of the system. At the same time, fuzzy rules can handle complex and uncertain situations and have strong adaptability.

[0161] E200, based on the fuzzy rule base, performs fuzzy reasoning and uses the centroid method to convert the results of fuzzy reasoning into clear PID parameter values.

[0162] Specifically, the Mamdani reasoning method can be used for fuzzy reasoning.

[0163] Furthermore, the fuzzy reasoning is to substitute the actual tension deviation and the rate of change into the fuzzy rule base, perform fuzzy reasoning, and obtain the fuzzy output.

[0164] The center of gravity method is used to convert the fuzzy inference results into specific PID parameter increments using the center of gravity method (i.e., the centroid method). The center of gravity method obtains a clear control quantity by calculating the weighted average of the fuzzy output.

[0165] Example: Assume that the PID parameter increment obtained by fuzzy reasoning is the fuzzy set "increase by 0.5" and "maintain 0.2", and the final increment is 0.35 through the centroid method.

[0166] In this step, fuzzy reasoning combined with the center of gravity method can smoothly convert fuzzy control decisions into accurate PID parameters, improve the stability and accuracy of control, and the fuzzy control method can handle the uncertainty and complexity in the system and provide flexible control strategies.

[0167] E300, adjusts the parameters of the PID controller according to the output of the fuzzy controller.

[0168] Among them, the parameters of the PID controller include K p , K i , K d .

[0169] Adjusting the parameters of the PID controller is called PID parameter self-adjustment, which includes:

[0170] K p =K p0 +ΔK p ; K i =K i0 +ΔK i ; K d =K d0 +ΔK d ; K p0 , K i0 , K d0 is the initial parameter.

[0171] Specifically, according to the PID parameter increment output by the fuzzy controller, the proportional gain (Kp), integral gain (Ki) and differential gain (Kd) of the PID controller are dynamically adjusted.

[0172] If the increment of the fuzzy controller output is 0.35, the proportional gain of the PID controller is increased by 0.35, and the integral gain and differential gain are also adjusted according to actual needs.

[0173] In this step, by adjusting the PID parameters in real time, it is possible to quickly respond to changes in actual tension and optimize the control effect. At the same time, it is able to effectively cope with tension fluctuations and enhance the stability and control accuracy of the system.

[0174] E400 dynamically adjusts the PID parameters in the preset speed control strategy through an adaptive mechanism according to the preset cable depth.

[0175] Specifically, the adaptive mechanism includes: when in the shallow layer, increasing K p , reduce K i , adapt to frequent start and stop; increase K p It can make the system respond faster to tension deviation and reduce K i It can reduce the over-adjustment of the system caused by error accumulation, that is, in shallow layers, the cable moves frequently, the tension changes greatly, and the K p Improve the system's response speed to deviations and reduce K i This avoids system overreaction or oscillation caused by the integral effect during frequent start-stop processes.

[0176] When in the middle layer, balance K p , K i , K d , maintain stability, that is, in this depth range, the cable tension changes are relatively stable, which is suitable for balancing various gains and maintaining the stability of the system; balancing the PID parameters can ensure that the system runs smoothly in the middle depth, which can effectively respond to tension deviations and will not cause overreaction or oscillation of the system due to improper parameter settings.

[0177] When in deep layers, increase K i , reduce K d , overcome the large inertia, that is, in the deep layer, the cable is affected by the large inertia, increase K i It helps to eliminate large steady-state errors because the integral action can more effectively overcome the large inertia in deep environments; the differential gain is used to predict future changes in the system and reduce K d It can reduce excessive response to speed changes and adapt to slow response caused by inertia in deep layers.

[0178] The method disclosed in this embodiment adjusts PID parameters according to the characteristics of different depths, can provide the best control response in different working environments, and ensure accurate control of cable tension; maintaining the balance of PID parameters in the middle layer can ensure the stable operation of the system, and adaptive adjustment in the shallow and deep layers can reduce the instability caused by frequent starts and stops or large inertia; through dynamic adjustment of PID parameters, it can effectively adapt to changes in cable tension under conditions of different depths, and improve adaptability and flexibility; optimizing and adjusting according to the operational requirements of different depths can improve the overall operational efficiency and reduce errors and operational delays caused by improper control; the optimized control strategy can reduce safety issues caused by improper control and improve the safety and reliability of the system under various operating conditions.

[0179] Through this adaptive mechanism, the overall solution can provide optimized control strategies under different cable depth conditions to ensure the stability, safety and efficiency of system operation.

[0180] Specifically, the effect of cable depth on PID parameters is analyzed. For example, a deeper cable may require adjustment of PID parameters to accommodate the tension changes caused by depth changes.

[0181] An adaptive mechanism is established to dynamically adjust PID parameters based on cable depth and other operating conditions. Assuming that the increased depth causes a change in tension, the proportional gain, integral gain, and differential gain can be automatically adjusted to adapt to the new depth conditions.

[0182] In this step, the control strategy can be automatically adjusted according to the actual depth of the cable to adapt to different working conditions, thereby improving the system's responsiveness to different depth conditions and optimizing the effect of the speed control strategy.

[0183] The method disclosed in this embodiment, the fuzzy PID control strategy combines the advantages of fuzzy logic and PID control. By dynamically adjusting the PID parameters, it can control the cable tension more accurately and improve the stability and control accuracy of the system. At the same time, it acquires tension data in real time and makes dynamic adjustments based on fuzzy control, which can quickly respond to tension changes and adapt to different working environments and cable conditions. By adaptively regulating and dynamically adjusting the PID parameters, the operating efficiency of the winch can be optimized and operational errors caused by tension fluctuations can be reduced. Accurately controlling the tension and optimizing the operation can reduce mechanical wear caused by tension fluctuations and unstable control and extend the service life of the equipment.

[0184] In summary, through dynamic regulation, alarm mechanism and adaptive adjustment based on fuzzy PID control strategy, the overall solution can significantly improve the control accuracy, stability and safety of the variable frequency fixed depth winch system, while optimizing operating efficiency and equipment service life.

[0185] In this embodiment, if the tension deviation exceeds the threshold, a corresponding alarm is triggered according to the multi-level safety threshold mechanism, and the corresponding emergency control is initiated based on the preset response strategy, wherein the multi-level safety threshold mechanism includes: 1) Normal working range: the cable tension is between 20%-80% of the rated load. Within this range, the cable tension is in a normal working state and the system runs smoothly. This is the normal working range of the cable tension, indicating that the system load is within the expected safety range.

[0186] 2) Warning range: The cable tension load is between 10%-20% or 80%-90% of the rated load. Within this range, the cable tension has approached or exceeded the boundary of the normal working range and requires attention.

[0187] 3) Danger zone: The cable tension load is <10% or >90% of the rated load. Within this range, the cable tension has entered the danger zone and the system is at serious risk.

[0188] Below 10% rated load, the cable may be in a state of extreme slack and at risk of breaking or falling off, requiring immediate attention.

[0189] Above 90% of the rated load, the cable tension is beyond the safe range and there is a risk of breakage or system damage, and emergency measures must be taken to intervene.

[0190] The preset response strategies include: 1) When in the normal range: conventional control, that is, operating according to the normal control strategy, no special intervention or adjustment is required, which means that the system operates stably within this load range and can maintain the existing operating mode.

[0191] 2) When in the warning zone: the movement speed may be slowed down by 50%, and / or the data sampling frequency may be increased to 200 Hz, and / or a warning message may be sent to the control terminal.

[0192] Specifically, slowing down the movement speed by 50% is to reduce the speed of cable movement to reduce the amplitude of tension change and prevent the cable from further abnormality due to rapid movement; increasing the data sampling frequency to 200Hz is to increase the data sampling frequency to monitor cable tension changes more frequently and obtain accurate data in time to make a faster response; sending a warning message to the control terminal is to send a warning message to the control terminal to remind the operator to pay attention to abnormal cable tension and take appropriate measures to deal with it.

[0193] In the warning range, the system detects that the tension is close to the boundary of the normal range and measures need to be taken to prevent the situation from deteriorating. These measures can help the system monitor tension changes more accurately and provide a time window for operators to intervene.

[0194] 3) When in a dangerous area: all movements can be stopped immediately, and / or the emergency braking system can be activated, and / or an audible and visual alarm can be triggered, and / or an emergency status can be sent to a remote monitoring center.

[0195] Specifically, immediately stopping all movement includes quickly stopping all movement of the cable to avoid further tension abnormalities that may cause equipment damage or safety hazards.

[0196] Activating the emergency braking system includes activating the emergency braking system to quickly and safely stop the system to ensure the safety of the equipment and operators. Triggering the sound and light alarm includes sounding an alarm through the sound and light alarm device to immediately attract the attention of the operator to ensure a quick response in an emergency. Sending the emergency status to the remote monitoring center includes sending the emergency status information to the remote monitoring center so that the remote experts can understand the situation in real time and provide remote support and guidance.

[0197] In the danger zone, the cable tension has seriously deviated from the safe range, which may cause equipment damage or safety risks. By immediately shutting down, initiating emergency braking, triggering alarms and sending emergency messages, emergency situations can be handled quickly to protect the system and personnel safety to the greatest extent.

[0198] Furthermore, overload protection can be set. Specifically, for the hardware layer, mechanical limit and overload circuit breaker can be set; for the software layer, soft limit and current limit can be implemented.

[0199] Furthermore, anti-relaxation measures can be taken, including minimum tension control and pre-tension control; wherein, the minimum tension control is to maintain no less than 5% of the rated load, and the pre-tension control is to slightly increase the tension when going up.

[0200] In this embodiment, the tension control performance evaluation is also included, specifically including: 1) static error: <1% full scale; 2) dynamic response: step response time <100ms; 3) stability: tension fluctuation <±2% under normal working conditions; 4) anti-interference ability: recovery time <500ms when subjected to a 200N instantaneous impact.

[0201] Furthermore, the variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in the present application also includes: fault diagnosis and self-recovery; specifically including: 1) establishing a data-driven fault diagnosis model; 2) realizing automatic identification and classification of common faults; 30 formulating automatic recovery strategies for different fault types.

[0202] Through the variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in this application, the sampling kettle can be accurately controlled to be lowered to a specified depth to ensure that the depth control accuracy reaches ±0.1m; then the sampling process can be automatically completed according to the preset program, supporting multi-point and multi-layer sampling strategies.

[0203] The solution disclosed in this embodiment can monitor the position, speed, acceleration and other parameters of the sampling kettle in real time, and monitor the operating status of the winch, including motor temperature, current, etc.; it supports remote viewing of system status and adjustment of parameters, and realizes remote start, stop and emergency braking.

[0204] The solution disclosed in this embodiment can also automatically record various parameters of the sampling process and provide data visualization and analysis tools.

[0205] The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in the present application integrates multi-source data to achieve a depth control accuracy of ±0.1m, automatically adjusts the winch speed according to the depth and working conditions, optimizes the sampling efficiency, adopts a fuzzy PID algorithm, adapts to complex formation conditions, and can improve system reliability and safety; it integrates sampling, monitoring, and communication functions to simplify on-site operations.

[0206] The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in this application can accurately control the depth to ensure sample representativeness, reduce manual intervention through automated operation, speed up sampling, reduce operational risks through real-time monitoring and automatic fault handling, and reduce the requirements for operator professional skills through intelligent control, and adapt to complex sampling requirements such as multi-point and multi-layer sampling. It not only greatly improves the automation level of sampling operations, but also provides reliable technical support for the monitoring and evaluation of carbon dioxide storage projects. With the continuous optimization of technology and the expansion of its application scope, the system is expected to play a greater role in the field of carbon capture and storage and contribute to addressing climate change.

[0207] Furthermore, the variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling disclosed in the present application also includes: adding a Kalman filter model to thermal expansion compensation as a correction item for the measured value; and updating the temperature distribution model in real time to adapt to dynamic temperature changes.

[0208] The depth estimation accuracy assessment includes: in a laboratory simulation environment, the depth estimation error is verified by a high-precision laser rangefinder to be <0.05m; in field tests, repeatability tests and cross-validation are used to ensure that the depth estimation error is <0.1m.

[0209] The depth control algorithm includes combining cable length counting, tension sensing and gyroscope data; Kalman filtering is used to fuse multi-source data to improve depth estimation accuracy.

[0210] Among them, the state vector is designed as follows: X = [depth, velocity, acceleration]', where depth is depth, velocity is speed, acceleration is acceleration, and ' represents transposition.

[0211] Measurement vector design: Z = [cable length , tension, gyro data ]'. cable length is the cable length, tension is the tension, gyro data Gyroscope data.

[0212] The effect of the thermal expansion compensation factor is added to the state vector X. For each update, the thermal expansion compensation can be regarded as a correction term of the measured value.

[0213] The state transfer matrix F and the measurement matrix H are designed according to the system characteristics. The state transfer matrix F describes the evolution of the state vector over time; the measurement matrix H describes the relationship between the measurement vector and the state vector. The measurement matrix H is adjusted according to the actual situation to ensure that the measured quantity (such as cable length) can be correctly mapped to the state vector after considering thermal expansion compensation.

[0214] The process noise covariance matrix Q and the measurement noise covariance matrix R are calibrated by experimental data. The process noise covariance matrix Q describes the uncertainty in the state prediction process; the measurement noise covariance matrix R describes the uncertainty in the measurement process. These two matrices are calibrated by experimental data to ensure the accuracy of the filter.

[0215] Specifically, thermal expansion compensation introduces an additional error source, and the process noise covariance matrix Q and the measurement noise covariance matrix R need to be adjusted to reflect the error changes caused by this compensation.

[0216] The Extended Kalman Filter (EKF) is used to handle nonlinear factors, such as the nonlinear relationship between tension and depth. Since there may be a nonlinear relationship between tension and depth, the EKF is used to handle this nonlinear problem.

[0217] The filter update frequency can be set to 10Hz to ensure a balance between real-time and computational efficiency. Specifically, setting it to 10Hz means that the filter is updated 10 times per second. This frequency is chosen to balance real-time and computational efficiency, ensuring that the filter can respond quickly to state changes while keeping the computational load within an acceptable range.

[0218] For state prediction and update: In each filtering iteration, the state at the next moment is first predicted, and then the state estimate is updated based on the new measurements (including thermal expansion compensation).

[0219] In this embodiment, the state transfer matrix F and the process noise covariance matrix Q are used to predict the state at the next moment according to the current state; the predicted state vector X is updated. t|t-1 and the prediction covariance matrix P t|t-1 .

[0220] Collect the measurement vector Z at the current moment t , including cable length, tension and gyro data; Z t =[cablelength,tension,gyrodata]'.

[0221] Using the measurement matrix H, the measurement vector is converted into the form of a state vector.

[0222] Calculate the measurement residuals (the differences between the measured and predicted values) and the residual covariance matrix S.

[0223] Calculate the Kalman gain K, which is the prediction covariance matrix P t|t-1 and a function of the residual covariance matrix S.

[0224] Update the state vector X using the Kalman gain K and the measurement residual t , get more accurate depth, velocity and acceleration estimates. Update the covariance matrix P of the state estimate t .

[0225] If there is a nonlinear relationship (such as the relationship between tension and depth), use EKF to handle it. EKF adapts to nonlinear characteristics by linearizing the nonlinear function (using the Jacobian matrix).

[0226] The influence of temperature on cable length is calculated based on the thermal expansion model; temperature compensation is integrated into the Kalman filter model as a correction term for the measured value.

[0227] Based on the real-time collected temperature data, the temperature distribution model is continuously updated to adapt to dynamically changing temperature conditions.

[0228] The prediction and measurement update steps are repeated until the desired accuracy is achieved or the desired measurement cycle is completed.

[0229] Finally, the state vector X t The depth estimation value in is the actual depth estimated based on Kalman filtering.

[0230] Through this iterative process, the Kalman filter is able to utilize multiple sources of data (cable length counts, tension sensing, and gyroscope data) and account for temperature effects to provide an accurate estimate of depth in a real-time and efficient manner.

[0231] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0232] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0233] In the present disclosure, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. The block diagrams of the devices, devices, equipment, and systems involved in the present disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0234] Additionally, as used herein, "or" used in a list of items beginning with "at least one" indicates a separate list, so that, for example, a list of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not mean that the example described is preferred or better than other examples.

[0235] It should also be noted that in the system and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0236] Various changes, substitutions, and modifications of the techniques described herein may be made without departing from the teachings defined by the appended claims. Furthermore, the scope of the claims of the present disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of events, means, methods, and actions described above. Currently existing or later to be developed processes, machines, manufactures, compositions of events, means, methods, or actions that perform substantially the same functions or achieve substantially the same results as the corresponding aspects described herein may be utilized. Thus, the appended claims include such processes, machines, manufactures, compositions of events, means, methods, or actions within their scope.

[0237] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0238] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling, characterized in that: include: A motion control module, used to control the variable frequency electric controlled winch to move to a preset theoretical depth based on a preset speed control strategy; A temperature acquisition module, used to divide the area between the preset theoretical depth and the initial opening into N depth segments, and obtain the actual temperature of each depth segment; A thermal expansion amount acquisition module, used to obtain the thermal expansion amount of each depth section of the preset cable based on the actual temperature and a preset thermal expansion compensation formula; A compensation value acquisition module, used for acquiring a thermal expansion length compensation value based on the thermal expansion amount; An actual depth acquisition module, used to obtain the actual depth based on the thermal expansion length compensation value; A dynamic control module, used for dynamically controlling the movement of the variable frequency electric-controlled winch based on the difference between the actual depth and the preset theoretical depth; The preset speed control strategy includes PID control algorithm, parameter setting, anti-integral saturation, differential term filtering and sampling period setting; The PID control algorithm includes: u(t)=K p e(t)+K i ∫e(t)dt+K d de(t) / dt, where u(t) is the control output, e(t) is the difference between the target speed and the actual speed, and K p is the proportional gain, K i is the integral gain, K d is the differential gain; The parameter setting includes: K p0 =0.6K u , K i0 =1.2K u / T u , K d0 =3K u T u / 40, where K u is the critical gain, T u is the critical period; The anti-integral saturation includes integral separation technology and variable integral coefficient method; The differential term filtering includes reducing the noise effect in the differential term by a first-order low-pass filter; The sampling period setting includes setting the corresponding interval duration according to the sampling frequency requirement of carbon dioxide leakage sampling; The preset speed control strategy also includes: configuring different speed curves according to different depth segments, and using Bezier curves to smoothly transition the speed in transition areas of different depth segments; When the depth section belongs to the shallow layer, the movement speed of the variable frequency electric controlled winch is controlled based on a preset acceleration formula; The preset acceleration formula includes: v(t)=v max (1-cos(πt / T)) / 2, 0≤t≤T, T is the acceleration time, v max It is the preset maximum speed reached after acceleration; When the depth section belongs to the middle layer, the movement speed of the variable frequency electric controlled winch is controlled according to a preset uniform speed value; When the depth section belongs to the deep layer, the movement speed of the variable frequency electric controlled winch is controlled based on a preset deceleration formula; The preset deceleration formula includes: k is the attenuation coefficient, v0 is the velocity at t1 = 0; The depth of the shallow layer is H1, the depth of the middle layer is H2, and the depth of the deep layer is H3, 0<H1≤500m, 500m<H2≤2000m, 2000m<H3.

2. The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling according to claim 1 is characterized in that: The method of controlling the variable frequency electric controlled winch to move to a preset theoretical depth based on a preset speed control strategy includes: sending a sampling instruction to the variable frequency electric controlled winch through a sampling control terminal, controlling the speed and direction of the variable frequency electric controlled winch, and adjusting the position of the sampling kettle through a position control component on the variable frequency electric controlled winch to perform carbon dioxide leakage sampling; Wherein, the sampling control terminal and the variable frequency electric-controlled winch are connected via a preset cable.

3. The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling according to claim 1 is characterized in that: It also includes a motor operation control module, which is used to control the operation of the motor of the variable frequency electric-controlled winch based on a preset motor operation strategy; The controlling the operation of the motor of the variable frequency electric-controlled winch based on the preset motor operation strategy includes: controlling the soft start of the motor of the variable frequency electric-controlled winch based on a ramp function; Controlling the soft stop of the motor of the variable frequency electric controlled winch based on a quadratic function; Controlling the speed change of the motor of the variable frequency electric controlled winch based on a preset formula; The ramp function includes: ω(t)=ω max ·(t / T start ), 0≤t≤T start ;ω(t) is the speed at time t, ω max is the maximum speed, T start is the start time; The quadratic function includes: ω(t)=ω initial ·(1-(t / T stop ) 2 ), 0≤t≤T stop ;ω initial is the initial speed, T stop To stop time; The preset formula includes: 3 x / dt 3 |≤jerk max , jerk max is the maximum value of the speed change rate.

4. The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling according to claim 3 is characterized in that: It also includes a speed dynamic adjustment module, which is used to obtain the tension deviation according to the actual tension of the preset cable obtained in real time, and dynamically adjust the parameters of the corresponding speed curve based on the tension deviation, the historical accumulation of the deviation, and the deviation change rate.

5. The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling according to claim 4 is characterized in that: The step of obtaining the tension deviation according to the actual tension of the preset cable obtained in real time includes: During the movement of the variable frequency fixed depth winch, the actual tension of the preset cable is obtained in real time based on the high-precision strain type tension sensor; The cable tension prediction information is obtained based on a preset tension prediction model; the preset tension prediction model includes: predicted =k1depth+k2velocity 2 +k3, where k1, k2, k3 are system calibration parameters, depth is the preset cable lowering depth, and velocity is the operating speed of the variable frequency fixed depth winch; A tension deviation is obtained based on the actual tension and the cable tension prediction information.

6. The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling according to claim 5 is characterized in that: It also includes an alarm module, which is used to dynamically adjust the preset speed control strategy based on the fuzzy PID control strategy when the actual tension is abnormal, and if the tension deviation exceeds the threshold, trigger a corresponding alarm according to the multi-level safety threshold mechanism, and start the corresponding emergency control based on the preset response strategy; The method of dynamic control comprises: A fuzzy rule base is configured, wherein the fuzzy rule base is used to convert the tension deviation and the tension deviation change rate into a PID parameter increment, wherein the PID parameter increment includes a proportional gain increment, an integral gain increment, and a differential gain increment; Based on the fuzzy rule base, fuzzy reasoning is performed, and the result of the fuzzy reasoning is converted into clear PID parameter values ​​by using the centroid method; According to the output of the fuzzy controller, adjust the parameters of the PID controller; According to the preset depth of the cable, the PID parameters in the preset speed control strategy are dynamically adjusted through an adaptive mechanism.

7. The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling according to claim 2 is characterized in that: The preset thermal expansion compensation formula is: △L i =α i L 0i △T i , α i is the linear expansion coefficient of the preset cable at the i-th depth segment, L 0i is the initial movement length of the cable at the i-th depth segment at the initial temperature, △T i It is the difference between the actual temperature of the i-th depth section of the preset cable and the initial temperature at the initial port.

8. The variable frequency fixed depth winch automatic control system for carbon dioxide leakage sampling according to claim 7 is characterized in that: The obtaining of the thermal expansion length compensation value based on the thermal expansion amount includes: superimposing the thermal expansion amounts of N depth segments to obtain the thermal expansion length compensation value.

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