An intelligent control method and system for management of well drilling operations

Abstract

The present invention discloses an intelligent control method and system for the management of intermittent well operations. The method comprises the following steps: determining the target position of the pumping unit in the intermittent well and the target acceleration of the brake; establishing an equivalent model of the brake system of the pumping unit; setting the pumping unit brake controller based on the evaluation index of the pumping unit brake controller and the equivalent model of the brake system of the pumping unit to output the target acceleration of the brake; setting the pumping unit brake observer to obtain the measured acceleration of the brake, the actual position and speed of the pumping unit in the intermittent well, output the brake error compensation, and compensate the target acceleration of the brake in real time to perform intelligent control of the management of intermittent well operations. The present invention comprehensively considers the internal characteristics of the pumping unit in the intermittent well and the uncertainty of the external environment, realizes more accurate shutdown control of the pumping unit in the intermittent well, and can obtain more gas well production.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control of intermittent well operation management, and in particular to an intelligent control method and system for intermittent well operation management. Background Art

[0002] The automatic operation control of the oil pump in the intermittent well has been a research hotspot in recent years, and the brake device and brake system of the oil pump in the intermittent well are important components of the automatic operation control of the oil pump in the intermittent well. The braking process of the oil pump in the intermittent well is a nonlinear time-varying process, and its complexity is mainly reflected in the uncertainty of the internal parameters and external interference of the oil pump in the intermittent well. To achieve accurate and stable shutdown control of the oil pump in the intermittent well to obtain more gas well production, it is necessary to consider the influence of the internal uncertainty of the braking system and the external time-varying interference.

[0003] Therefore, based on the nonlinear time-varying braking process of the pumping unit in the intermittent well, comprehensively considering the internal characteristics of the pumping unit in the intermittent well and the uncertainty of the external environment, it is an urgent problem to be solved in this field to achieve more accurate control of the shutdown of the pumping unit in the intermittent well. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides an intelligent control method and system for the management of intermittent well operations, which takes into account the jitter of the lower sliding mode control under disturbance and the errors in position and speed measurement, and can achieve precise parking control of the pumping unit in the intermittent well under the premise of ensuring the brake wear and the operating safety of the pumping unit in the intermittent well.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] An intelligent control method for managing well drilling operations includes the following steps:

[0007] S1. Determine the target position for shutting down the pumping unit in the intermittent well based on the historical data and real-time data of the intermittent well operation management, and determine the target acceleration of braking according to the target position for shutting down the pumping unit in the intermittent well;

[0008] S2. According to the time delay characteristics, air-electricity separation characteristics and uncertainty factors of the pumping unit braking, an equivalent model of the pumping unit braking system is established;

[0009] S3, constructing an evaluation index of the pumping machine brake controller, and setting the pumping machine brake controller based on the evaluation index of the pumping machine brake controller and the equivalent model of the brake system of the pumping machine in step S2 to output a target acceleration of braking;

[0010] S4. A pumping machine braking observer is set up, and the pumping machine braking observer is used to obtain the measured acceleration of braking, the actual position and speed of the pumping machine in the intermittent well, and based on the target position of the pumping machine closing and the target acceleration of braking in step S1, a braking error compensation is output, and the target acceleration of braking is compensated in real time to perform intelligent control of intermittent well operation management.

[0011] Further, in step S1, based on the historical data and real-time data of the intermittent well operation management, the target position for shutting down the oil pump in the intermittent well is determined. The specific process is: based on the historical data of the intermittent well operation management, the average gas well production during the sampling period of the intermittent well and the start and stop positions of the oil pump in the intermittent well are obtained, and a characteristic curve of the relationship between the average gas well production and the start and stop positions of the oil pump in the intermittent well is drawn according to the average gas well production during the sampling period of the intermittent well and the start and stop positions of the oil pump in the intermittent well; based on the real-time data of the intermittent well operation management and the characteristic curve of the relationship between the average gas well production and the start and stop positions of the oil pump, the target position for shutting down the oil pump in the intermittent well is determined.

[0012] Further, step S2 includes the following steps:

[0013] S21. According to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the pumping unit braking, the electric brake system model of the pumping unit is established, which is expressed as:

[0014]

[0015] in: The electric brake system of the oil pump The control acceleration output at all times, The electric brake system of the oil pump The target acceleration at the moment, is the response time constant of the braking system of the pumping unit, To control acceleration The first derivative of ;

[0016] S22. According to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the pumping unit braking, the air brake system model of the pumping unit is established, which is expressed as:

[0017]

[0018] in: Air brake system for oil pump The control acceleration output at all times, Air brake system for oil pump The target acceleration at the moment, The transmission delay of the air brake system of the oil pump, To control acceleration The first derivative of ;

[0019] S23, according to the electric brake system model of the oil pumping unit in step S21 and the air brake system model of the oil pumping unit in step S22, an equivalent model of the brake system of the oil pumping unit is established, which is expressed as:

[0020]

[0021] in: For the braking system of the oil pump The control acceleration output at all times, is the target acceleration, is the maximum acceleration corresponding to the electric brake characteristic curve, is the maximum acceleration corresponding to the comprehensive braking characteristic curve.

[0022] Further, in step S3, the evaluation index of the pumping machine brake controller includes control accuracy and brake system loss; the control accuracy is expressed as:

[0023]

[0024] in: To control the accuracy, is the actual position of the pumping unit shut down in the intermittent well, The target position for shutting down the pumping unit in the interleaved well;

[0025] The brake system loss is expressed as:

[0026]

[0027] in: is the brake system loss, is the total number of samples, is the sampling sequence number, For the The braking acceleration at the sampling time, For the The braking acceleration at the sampling time, is the sampling time step.

[0028] Further, in step S3, based on the evaluation index of the pumping machine brake controller and the equivalent model of the brake system of the pumping machine in step S2, the pumping machine brake controller is set, including the following steps:

[0029] A1, based on the evaluation index of the pumping unit brake controller and the equivalent model of the pumping unit brake system in step S2, a non-singular terminal sliding mode control model is established;

[0030] A2, using a nonlinear sliding mode to replace the linear sliding mode of the non-singular terminal sliding mode control model in step A1 to obtain the initial input of the pumping machine brake controller;

[0031] A3. Based on the initial input of the pumping machine brake controller in step A2, the non-singular terminal sliding mode control model in step A1 is subjected to a weakened chattering process and an optimized stability process to obtain an optimized input of the pumping machine brake controller;

[0032] A4. Adaptively adjust the parameters of the non-singular terminal sliding mode control model in step A1 to obtain an adaptive terminal sliding mode control model, dynamically switch the gain of the adaptive terminal sliding mode control model using fuzzy control, set a braking mode delay trigger mechanism, and set the pumping machine brake controller according to the optimized input of the pumping machine brake controller in step A3.

[0033] Further, step A3 includes the following steps:

[0034] A31. Construct the saturation function of the pumping machine brake controller, expressed as:

[0035]

[0036] in: is a random variable The saturation function of Determine the threshold value for random variables;

[0037] A32. Using the saturation function of the pumping machine brake controller in step A31, the sliding mode control in the non-singular terminal sliding mode control model in step A1 is converted into a quasi-sliding mode control, so as to weaken the chattering and optimize the stability, and obtain the optimized input of the pumping machine brake controller.

[0038] Further, in step S4, setting a pumping machine braking observer includes the following steps:

[0039] B1. Establish the initial model of the pumping machine brake observer, expressed as:

[0040]

[0041] in: For the The measured value of the pumping machine brake observer at the sampling time, is the observation matrix, For the The state variable of the pumping unit brake observer at the sampling time is: For the The measurement noise of the pumping unit brake observer at the sub-sampling point, For the The prior estimate of the state variables of the pumping unit brake observer at the sampling time, For the The optimal estimation of the state variables of the pumping machine brake observer at the sampling time, is the first parameter of the pumping unit brake observer, is the second parameter of the pumping unit brake observer, For the The brake error compensation of the pumping machine brake observer output at the second sampling point, For the The prior estimate of the error covariance of the pumping unit brake observer at the sub-sampling position, For the The error covariance of the pumping unit brake observer at the sub-sampling position, A T For parameters The transpose of is the variance of process noise;

[0042] B2. According to the initial model of the pumping machine brake observer in step B1, the gain, the optimal estimate of the state variable and the error covariance are updated to obtain the updated model of the pumping machine brake observer, which is expressed as:

[0043]

[0044] in: For the The gain of the pumping unit brake observer at the sub-sampling point, H T is the observation matrix H The transpose of R is the variance of the measurement noise, For the The optimal estimation of the state variables of the pumping machine brake observer at the sampling time, For the The error covariance of the pumping unit brake observer at the sub-sampling position, is the identity matrix;

[0045] B3. Setting the state variables of the update model of the pumping unit brake observer in step B2 to the measured acceleration of the brake, the actual position and speed of the pumping unit in the open well, so as to obtain the pumping unit brake observer.

[0046] Further, in step B3, the state variables of the update model of the pumping machine brake observer are expressed as:

[0047]

[0048] in: For the The location of the pumping unit at the secondary sampling point, For the The location of the pumping unit at the secondary sampling point, For the The pumping unit speed at the sampling point, is the sampling time step, For the The braking acceleration at the sampling time, For the The pumping unit speed at the sampling point, For the The braking acceleration at the sampling time, is the change in the control output of the braking system, is the change in basic resistance.

[0049] An intelligent control system for managing well operations using the above method includes a simulation data calculation unit, an execution unit, a control unit, and a control compensation unit;

[0050] A simulation data calculation unit is used to determine a target position for shutting down the oil pump in the intermittent well according to historical data and real-time data of the intermittent well operation management, and to determine a target acceleration of braking according to the target position for shutting down the oil pump in the intermittent well;

[0051] An execution unit is used to establish an equivalent model of the braking system of the pumping unit according to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the pumping unit braking, and execute the shutdown of the pumping unit based on the received braking target acceleration and braking error compensation, so as to perform intelligent control of the intermittent well operation management;

[0052] A control unit is used to construct an evaluation index of a pumping machine brake controller, and to set the pumping machine brake controller based on the evaluation index of the pumping machine brake controller and an equivalent model of a brake system of the pumping machine to output a target acceleration of braking;

[0053] The control compensation unit is used to set the pumping machine brake observer, and use the pumping machine brake observer to obtain the measured acceleration of braking, the actual position and speed of the pumping machine in the intermittent well, and output the braking error compensation based on the target position of the pumping machine shutdown and the target acceleration of the brake, and compensate the target acceleration of the brake in real time.

[0054] The present invention has the following beneficial effects:

[0055] (1) When establishing the equivalent model of the braking system of the oil pumping unit, the present invention takes into account the time delay characteristics, air-electricity separation characteristics and uncertainty factors of the oil pumping unit braking, so that the equivalent model of the braking system of the oil pumping unit is more realistic;

[0056] (2) The present invention sets up a pumping machine braking observer and uses the pumping machine braking observer to obtain the measured acceleration of braking, the actual position and speed of the pumping machine in the intermittent well, and outputs braking error compensation based on the target position of the pumping machine shutdown and the target acceleration of braking, so as to compensate the target acceleration of braking in real time, thereby overcoming the influence of uncertain factors in the external environment on the braking of the pumping machine.

[0057] (3) When setting the pumping machine brake controller, the present invention takes control accuracy and brake system loss as evaluation indicators, comprehensively considering the accuracy of pumping machine braking and the loss of the pumping machine braking system caused by the braking process, so that the entire control process not only meets the control accuracy requirements, but also reduces the loss of the brake system;

[0058] (4) The present invention proposes an intelligent control system for the management of intermittent well operations, comprising an analog data calculation unit, an execution unit, a control unit and a control compensation unit; the analog data calculation unit can determine the target position of the oil pump in the intermittent well according to the historical data and real-time data of the intermittent well operation management, and determine the target acceleration of the brake according to the target position of the oil pump in the intermittent well; the execution unit can establish an equivalent model of the braking system of the oil pump according to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the oil pump braking, and execute the oil pumping based on the received braking target acceleration and braking error compensation. The control unit can construct the evaluation index of the pumping machine brake controller, and set the pumping machine brake controller based on the evaluation index of the pumping machine brake controller and the equivalent model of the pumping machine's brake system to output the target acceleration of braking; the control compensation unit can set the pumping machine brake observer, and use the pumping machine brake observer to obtain the measured acceleration of braking, the actual position and speed of the pumping machine in the intermittent well, and output the braking error compensation based on the target position of the pumping machine shutdown and the target acceleration of braking, so as to compensate the target acceleration of braking in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A schematic diagram of a flow chart of an intelligent control method for managing intermittent well operations;

[0060] Figure 2 The figure is a schematic diagram of the structure of an intelligent control system for the management of intermittent well operations. DETAILED DESCRIPTION

[0061] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0062] like Figure 1 As shown, an intelligent control method and system for managing intermittent well operations include steps S1-S4, which are as follows:

[0063] S1. Based on the historical data and real-time data of the intermittent well operation management, determine the target position of the oil pumping unit in the intermittent well for shutting down, and determine the target acceleration of braking according to the target position of the oil pumping unit in the intermittent well for shutting down.

[0064] In an optional embodiment of the present invention, the present invention constructs a simulation data calculation unit, which determines the target position for shutting down the oil pump in the intermittent well based on the historical data and real-time data of the intermittent well operation management. The specific process is: based on the historical data of the intermittent well operation management, the average gas well production during the sampling period of the intermittent well and the start and stop positions of the oil pump in the intermittent well are obtained, and a characteristic curve of the relationship between the average gas well production and the start and stop positions of the oil pump in the intermittent well is drawn according to the average gas well production during the sampling period of the intermittent well and the start and stop positions of the oil pump in the intermittent well; based on the real-time data of the intermittent well operation management and the characteristic curve of the relationship between the average gas well production and the start and stop positions of the oil pump, the target position for shutting down the oil pump in the intermittent well is determined.

[0065] The simulation data calculation unit in the present invention obtains the current position and speed of the pumping unit based on the real-time data of the intermittent well operation management, and then calculates the target acceleration of braking according to the target position of the pumping unit in the intermittent well.

[0066] S2. According to the time delay characteristics, air-electricity separation characteristics and uncertainty factors of the pumping unit braking, an equivalent model of the pumping unit braking system is established.

[0067] In an optional embodiment of the present invention, the present invention constructs an execution unit. The execution unit establishes an equivalent model of the braking system of the pumping unit according to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the pumping unit braking.

[0068] Step S2 includes the following steps:

[0069] S21. According to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the pumping unit braking, the electric brake system model of the pumping unit is established, which is expressed as:

[0070]

[0071] in: The electric brake system of the oil pump The control acceleration output at all times, The electric brake system of the oil pump The target acceleration at the moment, is the response time constant of the braking system of the pumping unit, To control acceleration The first derivative of .

[0072] S22. According to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the pumping unit braking, the air brake system model of the pumping unit is established, which is expressed as:

[0073]

[0074] in: Air brake system for oil pump The control acceleration output at all times, Air brake system for oil pump The target acceleration at the moment, The transmission delay of the air brake system of the oil pump, To control acceleration The first derivative of .

[0075] S23, according to the electric brake system model of the oil pumping unit in step S21 and the air brake system model of the oil pumping unit in step S22, an equivalent model of the brake system of the oil pumping unit is established, which is expressed as:

[0076]

[0077] in: For the braking system of the oil pump The control acceleration output at all times, is the target acceleration, is the maximum acceleration corresponding to the electric brake characteristic curve, is the maximum acceleration corresponding to the comprehensive braking characteristic curve.

[0078] S3. Construct an evaluation index of the oil pumping machine brake controller, and based on the evaluation index of the oil pumping machine brake controller and the equivalent model of the brake system of the oil pumping machine in step S2, set the oil pumping machine brake controller to output a target acceleration of braking.

[0079] In an optional embodiment of the present invention, the present invention constructs a control unit. The control unit constructs an evaluation index of the pumping machine brake controller, and based on the evaluation index of the pumping machine brake controller and the equivalent model of the brake system of the pumping machine, sets the pumping machine brake controller to output a target acceleration of braking.

[0080] The evaluation indexes of the pumping machine brake controller include control accuracy and brake system loss; the control accuracy is expressed as:

[0081]

[0082] in: To control the accuracy, is the actual position of the pumping unit shut down in the intermittent well, The target position for shutting down the pumping unit in the intermittent well.

[0083] The brake system loss is expressed as:

[0084]

[0085] in: is the brake system loss, is the total number of samples, is the sampling sequence number, For the The braking acceleration at the sampling time, For the The braking acceleration at the sampling time, is the sampling time step.

[0086] The present invention sets a pumping machine brake controller based on the evaluation index of the pumping machine brake controller and the equivalent model of the brake system of the pumping machine in step S2, and includes the following steps:

[0087] A1. Based on the evaluation index of the pumping unit brake controller and the equivalent model of the pumping unit brake system in step S2, a non-singular terminal sliding mode control model is established.

[0088] A2. Use nonlinear sliding mode to replace the linear sliding mode of the non-singular terminal sliding mode control model in step A1 to obtain the initial input of the pumping unit braking controller.

[0089] The initial input of the pumping machine brake controller is expressed as:

[0090]

[0091] in: is the initial input of the pumping machine brake controller, is the first constant, is the second constant, and is a positive odd number and , is the third constant, , is the speed tracking error, is the third constant, is the third-order derivative of the pumping unit speed, is the fourth constant, is the pumping unit speed, is the second-order derivative of the pumping unit speed, is the fifth constant, is the first-order derivative of the pumping unit speed, is the sixth constant, is the seventh constant, is the eighth constant, is the first-order derivative of the target acceleration of the electric brake system of the pumping unit, is the ninth constant, is the tenth constant, is the eleventh constant, is the first-order derivative of the target speed of the pumping unit, is the switching gain, used to ensure the robustness of the controller, , is a random variable The symbol function of is a random variable.

[0092] A3. Based on the initial input of the pumping machine brake controller in step A2, the non-singular terminal sliding mode control model in step A1 is subjected to a weakened chattering process and an optimized stability process to obtain an optimized input of the pumping machine brake controller.

[0093] Step A3 includes the following steps:

[0094] A31. Construct the saturation function of the pumping machine brake controller, expressed as:

[0095]

[0096] in: is a random variable The saturation function of Determine the threshold value for the variable.

[0097] A32. Using the saturation function of the pumping machine brake controller in step A31, the sliding mode control in the non-singular terminal sliding mode control model in step A1 is converted into a quasi-sliding mode control, so as to weaken the chattering and optimize the stability, and obtain the optimized input of the pumping machine brake controller.

[0098]

[0099] in: Optimized input for the pumping machine brake controller.

[0100] A4. Adaptively adjust the parameters of the non-singular terminal sliding mode control model in step A1 to obtain an adaptive terminal sliding mode control model, dynamically switch the gain of the adaptive terminal sliding mode control model using fuzzy control, set a braking mode delay trigger mechanism, and set the pumping machine brake controller according to the optimized input of the pumping machine brake controller in step A3.

[0101] The present invention adaptively adjusts the parameters of the non-singular terminal sliding mode control model to obtain an adaptive terminal sliding mode control model, which is expressed as:

[0102] .

[0103] The present invention utilizes fuzzy control to dynamically switch the gain of the adaptive terminal sliding mode control model, which is expressed as:

[0104]

[0105] in: is the initial value of switching gain, It is the fuzzy control output.

[0106] S4. A pumping machine braking observer is set up, and the pumping machine braking observer is used to obtain the measured acceleration of braking, the actual position and speed of the pumping machine in the intermittent well, and based on the target position of the pumping machine closing and the target acceleration of braking in step S1, a braking error compensation is output, and the target acceleration of braking is compensated in real time to perform intelligent control of intermittent well operation management.

[0107] In an optional embodiment of the present invention, the present invention constructs a control compensation unit. The control compensation unit sets a pumping machine brake observer, and uses the pumping machine brake observer to obtain the measured acceleration of braking, the actual position and speed of the pumping machine in the intermittent well, and outputs a braking error compensation based on the target position of the pumping machine closing and the target acceleration of the brake, and compensates the target acceleration of the brake in real time.

[0108] The present invention provides a pumping machine braking observer, comprising the following steps:

[0109] B1. Establish the initial model of the pumping machine brake observer, expressed as:

[0110]

[0111] in: For the The measured value of the pumping machine brake observer at the sampling time, is the observation matrix, For the The state variable of the pumping unit brake observer at the sampling time is: For the The measurement noise of the pumping unit brake observer at the sub-sampling point, For the The prior estimate of the state variables of the pumping unit brake observer at the sampling time, For the The optimal estimation of the state variables of the pumping machine brake observer at the sampling time, is the first parameter of the pumping unit brake observer, is the second parameter of the pumping unit brake observer, For the The brake error compensation of the pumping machine brake observer output at the second sampling point, For the The prior estimate of the error covariance of the pumping unit brake observer at the sub-sampling position, For the The error covariance of the pumping unit brake observer at the sub-sampling position, A T For parameters The transpose of is the variance of the process noise.

[0112] B2. According to the initial model of the pumping machine brake observer in step B1, the gain, the optimal estimate of the state variable and the error covariance are updated to obtain the updated model of the pumping machine brake observer, which is expressed as:

[0113]

[0114] in: For the The gain of the pumping unit brake observer at the sub-sampling point, H T is the observation matrix H The transpose of R is the variance of the measurement noise, For the The optimal estimation of the state variables of the pumping machine brake observer at the sampling time, For the The error covariance of the pumping unit brake observer at the sub-sampling position, is the identity matrix.

[0115] B3. Setting the state variables of the update model of the pumping unit brake observer in step B2 to the measured acceleration of the brake, the actual position and speed of the pumping unit in the open well, so as to obtain the pumping unit brake observer.

[0116] The state variables of the updated model of the pumping machine brake observer are expressed as:

[0117]

[0118] in: For the The location of the pumping unit at the secondary sampling point, For the The location of the pumping unit at the secondary sampling point, For the The pumping unit speed at the sampling point, is the sampling time step, For the The braking acceleration at the sampling time, For the The pumping unit speed at the sampling point, For the The braking acceleration at the sampling time, is the change in the control output of the braking system, is the change in basic resistance.

[0119] like Figure 2 As shown, an intelligent control system for managing intermittent well operations using the above method includes a simulation data calculation unit, an execution unit, a control unit and a control compensation unit.

[0120] In an optional embodiment of the present invention, the simulation data calculation unit is used to determine the target position of the pumping unit in the intermittent well according to the historical data and real-time data of the intermittent well operation management, and determine the target acceleration of the brake according to the target position of the pumping unit in the intermittent well. The simulation data calculation unit transmits the target acceleration of the brake to the control unit and the control compensation unit.

[0121] In an optional embodiment of the present invention, the execution unit is used to establish an equivalent model of the braking system of the pumping unit according to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the pumping unit braking, and execute the shutdown of the pumping unit based on the braking target acceleration output by the received control unit and the braking error compensation output by the control compensation unit, so as to perform intelligent control of the inter-well operation management.

[0122] In an optional embodiment of the present invention, the control unit is used to construct an evaluation index of the pumping machine braking controller, and based on the evaluation index of the pumping machine braking controller and the equivalent model of the pumping machine's braking system, the pumping machine braking controller is set to output the target acceleration of the brake to the execution unit.

[0123] In an optional embodiment of the present invention, the control compensation unit is used to set a pumping machine braking observer, and use the pumping machine braking observer to obtain the measured acceleration of braking, the actual position and speed of the pumping machine in the intermittent well, and output braking error compensation based on the target position of the pumping machine shutdown and the target acceleration of braking, and compensate the target acceleration of braking to the execution unit in real time.

[0124] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0127] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0128] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. An intelligent control method for managing well operations, characterized in that: The following steps are involved: S1. Determine the target position for shutting down the pumping unit in the intermittent well based on the historical data and real-time data of the intermittent well operation management, and determine the target acceleration of braking according to the target position for shutting down the pumping unit in the intermittent well; S2. According to the time delay characteristics, air-electricity separation characteristics and uncertainty factors of the pumping unit braking, an equivalent model of the pumping unit braking system is established; S3, constructing an evaluation index of the pumping machine brake controller, and setting the pumping machine brake controller based on the evaluation index of the pumping machine brake controller and the equivalent model of the brake system of the pumping machine in step S2 to output a target acceleration of braking; Based on the evaluation index of the pumping machine brake controller and the equivalent model of the brake system of the pumping machine in step S2, setting the pumping machine brake controller includes the following steps: A1, based on the evaluation index of the pumping unit brake controller and the equivalent model of the pumping unit brake system in step S2, a non-singular terminal sliding mode control model is established; A2, using a nonlinear sliding mode to replace the linear sliding mode of the non-singular terminal sliding mode control model in step A1 to obtain the initial input of the pumping machine brake controller; A3. Based on the initial input of the pumping machine brake controller in step A2, the non-singular terminal sliding mode control model in step A1 is subjected to a weakened chattering process and an optimized stability process to obtain an optimized input of the pumping machine brake controller; A4, adaptively adjusting the parameters of the non-singular terminal sliding mode control model in step A1, obtaining an adaptive terminal sliding mode control model, dynamically switching the gain of the adaptive terminal sliding mode control model using fuzzy control, setting a braking mode delay trigger mechanism, and setting the pumping machine brake controller according to the optimized input of the pumping machine brake controller in step A3; S4. A pumping machine braking observer is set up, and the pumping machine braking observer is used to obtain the measured acceleration of braking, the actual position and speed of the pumping machine in the intermittent well, and based on the target position of the pumping machine closing and the target acceleration of braking in step S1, a braking error compensation is output, and the target acceleration of braking is compensated in real time to perform intelligent control of intermittent well operation management.

2. The intelligent control method for managing intermittent well operations according to claim 1, characterized in that: In step S1, based on the historical data and real-time data of the intermittent well operation management, the target position for shutting down the oil pump in the intermittent well is determined. The specific process is: based on the historical data of the intermittent well operation management, the average gas well production during the sampling period of the intermittent well and the start and stop positions of the oil pump in the intermittent well are obtained, and a characteristic curve of the relationship between the average gas well production and the start and stop positions of the oil pump in the intermittent well is drawn according to the average gas well production during the sampling period of the intermittent well and the start and stop positions of the oil pump in the intermittent well; based on the real-time data of the intermittent well operation management and the characteristic curve of the relationship between the average gas well production and the start and stop positions of the oil pump, the target position for shutting down the oil pump in the intermittent well is determined.

3. The intelligent control method for managing intermittent well operations according to claim 1, characterized in that: Step S2 includes the following steps: S21. According to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the pumping unit braking, the electric brake system model of the pumping unit is established, which is expressed as: in: The electric brake system of the oil pump The control acceleration output at all times, The electric brake system of the oil pump The target acceleration at the moment, is the response time constant of the braking system of the pumping unit, To control acceleration The first derivative of ; S22. According to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the pumping unit braking, the air brake system model of the pumping unit is established, which is expressed as: in: Air brake system for oil pump The control acceleration output at all times, Air brake system for oil pump The target acceleration at the moment, The transmission delay of the air brake system of the oil pump, To control acceleration The first derivative of ; S23, according to the electric brake system model of the oil pumping unit in step S21 and the air brake system model of the oil pumping unit in step S22, an equivalent model of the brake system of the oil pumping unit is established, which is expressed as: in: For the braking system of the oil pump The control acceleration output at all times, is the target acceleration, is the maximum acceleration corresponding to the electric brake characteristic curve, is the maximum acceleration corresponding to the comprehensive braking characteristic curve.

4. The intelligent control method for managing intermittent well operations according to claim 1, characterized in that: In step S3, the evaluation indexes of the pumping machine brake controller include control accuracy and brake system loss; the control accuracy is expressed as: in: To control the accuracy, is the actual position of the pumping unit shut down in the intermittent well, The target position for shutting down the pumping unit in the interleaved well; The brake system loss is expressed as: in: is the brake system loss, is the total number of samples, is the sampling sequence number, For the The braking acceleration at the sampling time, For the The braking acceleration at the sampling time, is the sampling time step.

5. The intelligent control method for managing intermittent well operations according to claim 1, characterized in that: Step A3 includes the following steps: A31. Construct the saturation function of the pumping machine brake controller, expressed as: in: is a random variable The saturation function of Determine the threshold value for random variables; A32. Using the saturation function of the pumping machine brake controller in step A31, the sliding mode control in the non-singular terminal sliding mode control model in step A1 is converted into a quasi-sliding mode control, so as to weaken the chattering and optimize the stability, and obtain the optimized input of the pumping machine brake controller.

6. The intelligent control method for managing intermittent well operations according to claim 1, characterized in that: In step S4, setting a pumping machine braking observer includes the following steps: B1. Establish the initial model of the pumping machine brake observer, expressed as: in: For the The measured value of the pumping machine brake observer at the sampling time, is the observation matrix, For the The state variable of the pumping unit brake observer at the sampling time is: For the The measurement noise of the pumping unit brake observer at the sub-sampling point, For the The prior estimate of the state variables of the pumping unit brake observer at the sampling time, For the The optimal estimation of the state variables of the pumping machine brake observer at the sampling time, is the first parameter of the pumping unit brake observer, is the second parameter of the pumping unit brake observer, For the The brake error compensation of the pumping machine brake observer output at the second sampling point, For the The prior estimate of the error covariance of the pumping unit brake observer at the sub-sampling position, For the The error covariance of the pumping unit brake observer at the sub-sampling position, A T For parameters The transpose of is the variance of process noise; B2. According to the initial model of the pumping machine brake observer in step B1, the gain, the optimal estimate of the state variable and the error covariance are updated to obtain the updated model of the pumping machine brake observer, which is expressed as: in: For the The gain of the pumping unit brake observer at the sub-sampling point, H T is the observation matrix H The transpose of R is the variance of the measurement noise, For the The optimal estimation of the state variables of the pumping machine brake observer at the sampling time, For the The error covariance of the pumping unit brake observer at the sub-sampling position, is the identity matrix; B3. Setting the state variables of the update model of the pumping unit brake observer in step B2 to the measured acceleration of the brake, the actual position and speed of the pumping unit in the open well, so as to obtain the pumping unit brake observer.

7. The intelligent control method for managing intermittent well operations according to claim 6, characterized in that: In step B3, the state variables of the updated model of the pumping machine brake observer are expressed as: in: For the The location of the pumping unit at the secondary sampling point, For the The location of the pumping unit at the secondary sampling point, For the The pumping unit speed at the sampling point, is the sampling time step, For the The braking acceleration at the sampling time, For the The pumping unit speed at the sampling point, For the The braking acceleration at the sampling time, is the change in the control output of the braking system, is the change in basic resistance.

8. An intelligent control system for managing well operations using the method of any one of claims 1 to 7, characterized in that: It includes a simulation data calculation unit, an execution unit, a control unit and a control compensation unit; A simulation data calculation unit is used to determine a target position for shutting down the oil pump in the intermittent well according to historical data and real-time data of the intermittent well operation management, and to determine a target acceleration of braking according to the target position for shutting down the oil pump in the intermittent well; An execution unit is used to establish an equivalent model of the braking system of the pumping unit according to the time delay characteristics, air-electric separation characteristics and uncertainty factors of the pumping unit braking, and execute the shutdown of the pumping unit based on the received braking target acceleration and braking error compensation, so as to perform intelligent control of the intermittent well operation management; A control unit is used to construct an evaluation index of a pumping machine brake controller, and to set the pumping machine brake controller based on the evaluation index of the pumping machine brake controller and an equivalent model of a brake system of the pumping machine to output a target acceleration of braking; The control compensation unit is used to set the pumping machine brake observer, and use the pumping machine brake observer to obtain the measured acceleration of braking, the actual position and speed of the pumping machine in the intermittent well, and output the braking error compensation based on the target position of the pumping machine shutdown and the target acceleration of the brake, and compensate the target acceleration of the brake in real time.

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