A method and system for balancing counterweights in a tower-type pumping unit

Abstract

This invention relates to the field of oil pumping unit adjustment technology, specifically to a method and system for balancing the counterweight of a tower-type oil pumping unit. The method includes: collecting force data and position data of the counterweight at different key positions in different directions during the adjustment process; determining the position deviation based on the relative distance between the position data and a preset position; dividing the adjustment process into multiple time intervals based on the distribution of force data at all key positions at the same time; determining an adjustment coefficient for each direction based on the similarity between the force data and the corresponding position deviation at each key position in each time interval; adjusting the feedback control error before adjustment using the adjustment coefficient to obtain the target feedback control error, and then adjusting the motor rotation. This invention enables the counterweight of the tower pumping unit to accurately fall to a specified position during operation, improving the stability of the tower pumping unit's operation.

Description

Technical Field

[0001] This invention relates to the field of oil pumping unit adjustment technology, specifically to a method and system for balancing the counterweights of a tower-type oil pumping unit. Background Technology

[0002] Tower-type pumping units operate using a two-end balancing method. The internal balancing belt is wound around a rotating drum, with one end connected to the sucker rod and the other end fixed to a counterweight. This balances the downhole load with the counterweight inside the pumping unit. The rotating drum is driven by a motor to reciprocate, thus enabling the pumping unit to operate.

[0003] During the operation of the tower pumping unit, factors such as frame tilting, strong winds, and swaying may cause the counterweight to fail to fall to the designated position. In severe cases, the counterweight may deviate from the designated position by as much as 10cm. The connector uses a metal fixed structure and has no adjustment space. When the counterweight deviates from its position, it cannot be connected, causing the pumping unit to malfunction and affecting the stability of the equipment operation. Summary of the Invention

[0004] To address the problem of existing tower pumping units' counterweights failing to accurately fall to the designated position during operation, this invention aims to provide a method and system for balancing counterweights in tower pumping units. The specific technical solution adopted is as follows: In a first aspect, the present invention provides a method for balancing the counterweight of a tower-type pumping unit, the method comprising the following steps: Collect force data and position data of the counterweight at different key locations in different directions on the counterweight during the adjustment process of the tower-type pumping unit; The position deviation at the corresponding moment is determined based on the relative distance between the position data and the preset position; the adjustment process is divided into several time intervals based on the distribution of force data at all key positions at the same moment. Based on the similarity between the force data and the corresponding position deviation at each key location in each direction within each time interval, an adjustment coefficient for each direction is determined; the feedback control error before adjustment is adjusted using the adjustment coefficient to obtain the target feedback control error; Adjust the motor direction based on the target feedback control error.

[0005] Preferably, determining the position deviation at the corresponding time based on the relative distance between the position data and the preset position includes: Calculate the Euclidean distance between each location data point and the preset location, and use it as the location deviation at the corresponding time.

[0006] Preferably, the distribution of force data at all key locations at the same time divides the adjustment process into several time intervals, including: Obtain the Mahalanobis distance of the equilibrium vector at each moment during the adjustment process; where the equilibrium vector at each moment is composed of the force data of all key positions at the corresponding moment; Based on the Mahalanobis distance, the Mahalanobis distance method is used to detect abnormal vectors in the balance vectors at all times. The acquisition time corresponding to the abnormal vector is used as the dividing point to divide the process to be adjusted into several time intervals.

[0007] Preferably, determining the adjustment coefficient for each direction based on the similarity between the force data and the corresponding positional deviation at each key location in each direction within each time interval includes: The characteristic values ​​of the force data sequence and the position deviation sequence in the direction to be analyzed in the candidate time interval are calculated respectively. The characteristic values ​​include variance, mean, standard deviation, and the average value of the difference between all elements and the preset standard data. The force data sequence in the direction to be analyzed in the candidate time interval is composed of the force data of all key positions in the direction to be analyzed in the candidate time interval. The position deviation sequence in the candidate time interval is composed of the position deviation of the counterweight at each moment in the candidate time interval. All the eigenvalues ​​of the force data sequence constitute the eigenvector of the force data sequence, and all the eigenvalues ​​of the position deviation sequence constitute the eigenvector of the position deviation sequence. The similarity between the feature vector of the force data sequence and the feature vector of the position deviation sequence in the direction to be analyzed in the candidate time interval is calculated as the similarity corresponding to the direction to be analyzed in the candidate time interval; the candidate time interval is any time interval in the process to be adjusted, and the direction to be analyzed is any direction; Based on the similarity in each direction within each time interval, the adjustment coefficient for the direction to be analyzed is determined.

[0008] Preferably, determining the adjustment coefficient for the direction to be analyzed based on the similarity corresponding to each direction in each time interval includes: Calculate the first average similarity of the directions to be analyzed across all time intervals; determine the ratio between the first average and the first feature value as the adjustment coefficient of the direction to be analyzed, wherein the first feature value is the sum of the second average and the preset adjustment parameter.

[0009] Preferably, the step of adjusting the feedback control error before adjustment using an adjustment coefficient to obtain the target feedback control error includes: Calculate the sum of the adjustment coefficient and constant 1 for the direction to be analyzed, and determine the target feedback control error for the direction to be analyzed by multiplying the sum with the feedback control error before adjustment.

[0010] Preferably, adjusting the motor direction based on the target feedback control error includes: The target feedback control error in all directions is input to the PID controller. The rotation offset angle is determined and adjusted by the transfer function obtained from the proportional, integral, and derivative parameters in the PID controller.

[0011] Preferably, when adjusting the motor rotation direction, the method further includes: if the force on the pumping unit exceeds a preset force threshold due to the downward movement of the counterweight, then reducing the falling speed of the counterweight block.

[0012] Preferably, the preset stress threshold is less than the upper limit of the stress safety limit.

[0013] Preferably, the process to be adjusted is the working process of an oil pump when the pump balance rate is less than a preset balance rate threshold.

[0014] Secondly, the present invention provides a counterweight balance adjustment system for a tower-type pumping unit, the system comprising: The data acquisition module is used to collect force data and position data of the counterweight at different key positions in different directions on the counterweight during the adjustment process of the tower-type pumping unit. The first processing module is used to determine the position deviation at the corresponding time based on the relative distance between the position data and the preset position; and to divide the adjustment process into several time intervals based on the distribution of force data at all key positions at the same time. The second processing module is used to determine the adjustment coefficient for each direction based on the similarity between the force data and the corresponding position deviation at each key position in each time interval; and to adjust the feedback control error before adjustment using the adjustment coefficient to obtain the target feedback control error. The adjustment module is used to adjust the motor direction based on the target feedback control error.

[0015] The present invention has at least the following beneficial effects: This invention addresses the problem of counterweights failing to accurately fall to the designated position. First, it collects force data and position data of different key locations on the counterweight in different directions during the adjustment process of a tower-type pumping unit. Then, based on the relative distance between the position data and the preset position, it determines the position deviation at each moment. Furthermore, based on the distribution of force data at all key locations at the same moment, the adjustment process is divided into multiple time intervals. Further, based on the similarity between the force data and the corresponding position deviation at each key location in each direction within each time interval, an adjustment coefficient is determined, and the feedback control error is adjusted. This, in turn, adjusts the motor rotation, thereby correcting the position of the falling counterweight and preventing offset caused by frame tilting, strong winds, or operational swaying. This simplifies the operation of adjusting the operating current of the tower-type pumping unit, reduces equipment usage, and improves operational efficiency, significantly contributing to reducing equipment energy consumption and improving the operational stability of the pumping unit. Attached Figure Description

[0016] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating a method for balancing the counterweight of a tower-type pumping unit, provided in an embodiment of the present invention; Figure 2 This is a structural block diagram of a counterweight adjustment system for a tower-type pumping unit provided in an embodiment of the present invention. Detailed Implementation

[0018] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description, in conjunction with the accompanying drawings and preferred embodiments, describes a method and system for balancing counterweights of a tower-type pumping unit according to the present invention.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0020] The following description, in conjunction with the accompanying drawings, details the specific scheme of the counterweight adjustment method and system for a tower-type pumping unit provided by the present invention.

[0021] An embodiment of a method for balancing counterweights in a tower-type pumping unit: The specific scenario addressed in this embodiment is as follows: Tower-type pumping units are characterized by their compact structure, and the counterweight device of the pumping unit is connected via metal connectors, resulting in limited adjustment space. During the balancing process of a tower-type pumping unit well, the position of the counterweight device is critical. Therefore, when balancing operations are required, the counterweight device must be adjusted so that its pre-set connectors correspond to the pre-set connectors on the counterweight blocks on the pumping unit base. By cooperating with the straightening device and the pre-set connectors on the counterweight blocks, the force on the counterweight blocks is adjusted, thereby straightening the position of the falling counterweight blocks and correcting any offset caused by factors such as frame tilt, strong winds, or operational swaying.

[0022] This embodiment proposes a method for balancing the counterweights of a tower-type pumping unit, such as... Figure 1 As shown, a method for adjusting the counterweight of a tower-type pumping unit according to this embodiment includes the following steps: Step S1: Collect force data and position data of the counterweight at different key positions in different directions on the counterweight during the adjustment process of the tower-type pumping unit.

[0023] The normal balance rate of a pumping unit well is maintained between 85% and 100%. When the balance rate exceeds the required range, the operating current of the pumping unit is adjusted by quickly attaching and removing the counterweight using a connector on the pre-installed attachment device on the counterweight block of the tower-type pumping unit. This ensures that the maximum operating current of the pumping unit is balanced during the upper and lower strokes, and that the balance rate is within the required range.

[0024] The specific calculation method for the balance rate of a pumping unit is as follows: calculate the ratio between the maximum current value during the downstroke and the maximum current value during the upstroke, and multiply this ratio by 100%. The result is taken as the balance rate of the pumping unit. Taking the Nan 4-10-628 well in Daqing Oilfield as an example, the balance status of the pumping unit was verified on the display screen inside the intelligent control box of the Nan 4-10-628 tower-type pumping unit. After verification, the upstroke current was 28A, the downstroke current was 16A, and the balance rate was approximately 57%, indicating that the pumping unit was unbalanced.

[0025] When the balance rate of the pumping unit does not meet the requirements, the falling position of the counterweight needs to be adjusted. Therefore, in this embodiment, the adjustment process is the working process of the pumping unit when the balance rate is less than the preset balance rate threshold. That is, in this embodiment, the falling position of the counterweight is corrected when the balance rate of the pumping unit does not meet the requirements. In this embodiment, the preset balance rate threshold is 85%. In specific applications, the implementer can set it according to the specific situation.

[0026] The main steps involved in balancing the counterweight are as follows: (1) Verify the operating current and balance rate of the tower pumping unit. Verify the balance status of the pumping unit on the display screen inside the intelligent control box of the tower pumping unit.

[0027] (2) Determine the counterweight status of the tower-type pumping unit. Based on the current of the pumping unit during the upper and lower strokes, determine whether the counterweight of the pumping unit is reasonable. Specifically, when the maximum current value during the upper stroke of the pumping unit is greater than the maximum current value during the lower stroke of the pumping unit, the counterweight is too light; when the maximum current value during the upper stroke of the pumping unit is less than the maximum current value during the lower stroke of the pumping unit, the counterweight is too heavy.

[0028] (3) Install the counterweight straightening device for the pumping unit (taking the case of insufficient counterweight as an example). Press the stop button in the intelligent control box to stop the tower pumping unit. After disconnecting the power, remove the protective net and install the counterweight straightening device on the four pre-installed hanging devices reserved on the base of the tower pumping unit. The counterweight straightening device for the tower pumping unit mainly includes: counterweight, guide rope, connecting seat, top screw seat, bolt rod, upper end fixing seat of guide rope, lower end fixing seat of guide rope, bracket and guide wheel group.

[0029] (4) Lower the counterweight device of the tower pumping unit, press the control button in the intelligent control box to move the counterweight device of the tower pumping unit to the lowest point and place it on the base of the tower pumping unit.

[0030] (5) The counterweight device is straightened by the straightening device. During the descent of the counterweight device of the tower pumping unit, the four pre-set hook devices on the device contact and cooperate with the four counterweight block straightening devices installed on the base of the tower pumping unit to guide and straighten the falling counterweight device so that the device falls to the specified adjustment position.

[0031] (6) Remove the counterweight straightening device of the pumping unit. After the pumping unit stops, cut off the power and remove the straightening device from the four pre-installed hanging devices on the base where the counterweight is reserved.

[0032] (7) Attach the counterweight device. Put the four iron rings of the attach device onto the pre-installed attachment device of the counterweight device of the pumping unit and the pre-installed attachment device of the pre-installed counterweight block on the base, insert the safety pin, and complete the attachment operation.

[0033] (8) Start the machine to check the adjustment effect, install the protective net, turn on the power to the pumping unit, start the tower pumping unit, wait for the pumping unit to run for 20 minutes, and check the balance of the pumping unit after adjustment through the display screen of the intelligent control box.

[0034] After the automatic adjustment program is activated by pressing the control button inside the intelligent control box, the operator confirms that the initial state is normal according to the display screen prompts. The counterweight device then begins its descent under the guidance of the straightening device. Position sensors track and collect the counterweight's position data in real time, and force sensors collect force data at key positions on the counterweight in different directions during the control process. The collected position and force data are transmitted to the microprocessor, which performs filtering and noise reduction on the collected data to reduce the adverse effects of environmental interference on the counterweight descent monitoring and adjustment. The filtering and noise reduction methods used by the microprocessor include, but are not limited to, Wiener filters and median filters. It should be noted that the force and position data mentioned laterally are all filtered data. In this embodiment, different directions include horizontal, vertical, and longitudinal directions. The key positions of the counterweight can be set according to specific circumstances, which will not be elaborated further in this embodiment. First, the upstroke and downstroke currents during the operation of the tower-type pumping unit are collected at a frequency of once per second. In specific applications, the implementer can adjust this setting according to the specific circumstances. Based on the collected upstroke and downstroke currents at each sampling moment, the balance rate of the pumping unit at each sampling moment is calculated. The operating process of the pumping unit with a balance rate lower than a preset balance rate threshold is identified as a process requiring adjustment.

[0035] Thus, the force data and position data of the counterweight at different key positions in different directions at each moment during the adjustment process of the tower-type pumping unit were collected.

[0036] Step S2: Determine the position deviation at the corresponding time based on the relative distance between the position data and the preset position; divide the adjustment process into several time intervals based on the distribution of force data at all key positions at the same time.

[0037] Furthermore, a comprehensive comparative analysis was conducted on the changes in force at different key locations and the deviations from the actual weight descent process. Based on the analysis results, optimization and adjustment strategies were implemented for the weight descent and straightening process.

[0038] Specifically, the Euclidean distance between each position data point and the preset position is calculated as the position deviation at the corresponding time. Using this method, the position deviation at each moment during the adjustment process of the tower-type pumping unit can be obtained.

[0039] Next, we analyze the force changes at different key locations of the tower-type pumping unit during the descent of the counterweight and their intrinsic relationship with the counterweight position deviation, thereby achieving the goal of reasonable control over the rotational speed and position during the counterweight descent. It should be noted that ensuring the stability of the counterweight during its descent is crucial, and maintaining the force balance of the counterweight is key to achieving stability; any change in the force at any key location may disrupt the original equilibrium.

[0040] For any given moment in the adjustment process: the force data at all key locations at that moment constitutes the equilibrium vector at that moment. Using this method, the equilibrium vector at each moment in the adjustment process can be obtained. The Mahalanobis distance of the equilibrium vector at each moment in the adjustment process is calculated; the calculation method for Mahalanobis distance is existing technology and will not be elaborated further here. Based on the covariance matrix constructed from all equilibrium vectors, a threshold for identifying anomalous vectors among all equilibrium vectors is obtained. The specific use of Mahalanobis distance for anomaly vector detection is a technique well-known to those skilled in the art, and the specific process will not be elaborated further. The acquisition time corresponding to the anomalous vector is used as a segmentation point, and the adjustment process is divided into multiple time intervals using this segmentation point. It should be noted that in this embodiment, the segmentation point is the last moment of the preceding time interval between two adjacent time intervals.

[0041] Thus, using the method provided in this embodiment, the process to be adjusted is divided into multiple time intervals.

[0042] Step S3: Based on the similarity between the force data and the corresponding position deviation at each key location in each direction within each time interval, determine the adjustment coefficient for each direction; use the adjustment coefficient to adjust the feedback control error before adjustment to obtain the target feedback control error.

[0043] The following embodiment will use one direction as an example for explanation. The method provided in this embodiment can be used to process other directions.

[0044] Specifically, any direction is designated as the direction to be analyzed, and any time interval during the adjustment process of the tower-type pumping unit is designated as the candidate time interval. The force data of all key positions within the candidate time interval in the direction to be analyzed constitutes the force data sequence in the candidate time interval. The position deviations of the counterweight at all times within the candidate time interval are arranged in chronological order, and the resulting sequence is designated as the position deviation sequence of the candidate time interval. The eigenvalues ​​of the force data sequence and the position deviation sequence in the candidate time interval are calculated respectively. The eigenvalues ​​include variance, mean, standard deviation, and the average difference between all elements and preset standard data. The preset standard data is set according to specific circumstances and will not be elaborated further here. All eigenvalues ​​of the force data sequence constitute the eigenvector of the force data sequence, and all eigenvalues ​​of the position deviation sequence constitute the eigenvector of the position deviation sequence. The cosine similarity between the feature vectors of the force data sequence and the position deviation sequence in the direction to be analyzed within a candidate time interval is calculated. This cosine similarity represents the similarity between the two. Then, the cosine similarity between the feature vectors of the force data sequence and the position deviation sequence in the direction to be analyzed within the candidate time interval is taken as the similarity corresponding to the direction to be analyzed within the candidate time interval. Using the above method, the similarity corresponding to each direction in each time interval during the adjustment process of the tower-type pumping unit can be obtained.

[0045] Next, based on the similarity corresponding to each direction in each time interval, the adjustment coefficient for the direction to be analyzed is determined. Specifically, the first average value of the similarity corresponding to the direction to be analyzed in all time intervals is calculated. The larger the first average value, the greater the influence of force changes in the direction corresponding to the force data sequence on the position deviation, based on the analysis of position deviation changes and force changes in different directions. Therefore, based on the correlation between force in different directions and position changes, the force situation in different directions is fine-tuned. The second average value of the similarity corresponding to all directions in all time intervals is calculated; the ratio between the first average value and the first feature value is determined as the adjustment coefficient for the direction to be analyzed, where the first feature value is the sum of the second average value and the preset adjustment parameter. The preset adjustment parameter is introduced into the calculation formula of the adjustment coefficient to prevent the denominator from being 0. In this embodiment, the preset adjustment parameter is 0.01. In specific applications, the implementer can set it according to the specific situation.

[0046] First, the motor speed is precisely driven based on the deviation between the initial and target positions, rotating forward at 50 RPM to slowly lower the counterweight. As the counterweight descends, if the position sensor indicates that the counterweight is close to the target position but not yet precisely in place, the microprocessor increases the motor speed to 80 RPM based on the deviation and fine-tunes the steering. Based on the response changes in different directions reflected by the adjustment vector, the lateral and longitudinal displacements of the counterweight are finely adjusted to ensure that it smoothly approaches the designated position on the base along the preset trajectory. Specifically, the feedback control error in each direction is adjusted according to the adjustment coefficient in each direction to obtain the target feedback control error.

[0047] For the direction to be analyzed, its target feedback control error can be expressed as:

[0048] in, This represents the target feedback control error in the direction to be analyzed. This indicates the feedback control error before adjustment. This represents the adjustment coefficient for the direction to be analyzed.

[0049] Using the above method, the feedback control error in each direction is adjusted by the adjustment coefficient in each direction to obtain the target feedback control error in each direction.

[0050] Step S4: Adjust the motor direction based on the target feedback control error.

[0051] After obtaining the target feedback control error in each direction, the target feedback control error in all directions is input to the PID controller. The rotation offset angle is determined and adjusted by the transfer function obtained from the proportional, integral, and derivative parameters in the PID controller.

[0052] Simultaneously, the force sensor continuously monitors the force. If the force on the pumping unit exceeds the preset force threshold due to the downward movement of the counterweight, the microprocessor immediately reduces the motor speed to 30 RPM to slow the descent of the counterweight. The preset force threshold is less than and close to the upper limit of safe force, and the operator sets it according to specific circumstances. Simultaneously, the motor direction is fine-tuned in the same manner to shift the counterweight slightly towards areas of lower force, dispersing the force until it returns to a safe range, at which point the normal descent speed is resumed.

[0053] When the position sensor determines that the counterweight has reached the target position accuracy range (e.g., ±5mm), the microprocessor issues a motor stop command and simultaneously locks the motor to prevent accidental displacement. At this time, the force sensor confirms again that the force on the pumping unit is stable within the safe range. The entire jog control and counterweight lowering process is complete, and the system enters standby mode, awaiting the next operation command or readjustment requirements after changes in operating conditions. Stop the pumping unit, disconnect the power supply, and remove the uprighting device installed on the reserved counterweight block on the base. Connect the four hanger rings to the pre-installed hanger devices on the pumping unit counterweight device and the reserved counterweight block on the base, respectively, and insert the safety pins to complete the counterweight connection operation.

[0054] After starting the machine and checking the adjustment effect, the protective net was installed, the pumping unit was switched on and powered on, and the tower pumping unit was started. After the pumping unit had been running for 20 minutes, the balance of the pumping unit after adjustment was checked through the display screen of the intelligent control box. After adjustment, the upper current was 24A, the lower current was 23A, and the balance rate was 96%, which met the balance requirements.

[0055] Thus, the method provided in this embodiment has been used to achieve the uprighting operation of the counterweight during the operation of the tower-type pumping unit, thereby achieving the purpose of balancing and adjusting the counterweight.

[0056] This embodiment addresses the problem of counterweights failing to accurately fall to the designated position. First, it collects force data and position data of different key positions on the counterweight in different directions during the adjustment process of the tower-type pumping unit. Then, based on the relative distance between the position data and the preset position, the position deviation at each moment is determined. Furthermore, the adjustment process is divided into multiple time intervals according to the distribution of force data at all key positions at the same moment. Further, based on the similarity between the force data of each key position in each direction and the corresponding position deviation within each time interval, an adjustment coefficient is determined, and the feedback control error is adjusted. This, in turn, adjusts the motor rotation, thereby correcting the position of the falling counterweight and preventing offset caused by frame tilting, strong winds, or operational swaying. This simplifies the operation of adjusting the operating current of the tower-type pumping unit, reduces equipment usage, and improves operational efficiency, which is of great significance for reducing equipment operating energy consumption and improving equipment operating stability.

[0057] The method provided in this embodiment greatly assists in the stable, safe, and efficient balancing of pumping units. It avoids the problem of difficulty in balancing adjustment caused by the offset of the counterweight device due to factors such as frame tilting, strong winds, and swaying during operation of tower-type pumping units. It enables efficient and safe adjustment of the operating current of tower-type pumping units, achieving balanced, efficient, and energy-saving operation. It also improves the accuracy of the counterweight's falling position. The method is applicable to tower-type pumping unit wells and has broad prospects for promotion. Furthermore, it guides safe production, energy conservation and consumption reduction, and precise potential tapping.

[0058] An embodiment of a counterweight adjustment system for a tower-type pumping unit: See Figure 2 The diagram shows a structural block diagram of a counterweight adjustment system for a tower-type pumping unit according to an embodiment of the present invention. The system may include a data acquisition module, a first processing module, a second processing module, and an adjustment module. Among them, the data acquisition module is used to collect the force data of different key positions on the counterweight in different directions and the position data of the counterweight during the adjustment process of the tower-type pumping unit; The first processing module is used to determine the position deviation at the corresponding time based on the relative distance between the position data and the preset position; and to divide the adjustment process into several time intervals based on the distribution of force data at all key positions at the same time. The second processing module is used to determine the adjustment coefficient for each direction based on the similarity between the force data and the corresponding position deviation at each key position in each time interval; and to adjust the feedback control error before adjustment using the adjustment coefficient to obtain the target feedback control error. The adjustment module is used to adjust the motor direction based on the target feedback control error.

[0059] It should be understood that Figure 2 The structural block diagram and modules of the counterweight adjustment system for a tower-type pumping unit shown can be implemented in various ways. For example, in some embodiments, the system and its modules can be implemented by hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated hardware. Those skilled in the art will understand that the above-described methods and systems can be implemented using computer-executable instructions and / or included in processor control code, for example, on a media such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The systems and modules of this specification can be implemented not only by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field-programmable gate arrays, programmable logic devices, etc., but also by software executed by various types of processors, or by a combination of the above-described hardware circuits and software (e.g., firmware).

[0060] For more details about the above modules, please refer to other parts of this manual; they will not be repeated here.

[0061] In other embodiments, a medium is also provided, the medium storing at least one computer-executable program, which, when executed by a computer, causes the computer to perform the steps in the tower-type pumping unit counterweight balance adjustment method described above, the medium being a computer-readable storage medium.

[0062] The provided apparatus, system, and medium are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0063] It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for balancing the counterweights of a tower-type pumping unit, characterized in that, The method includes the following steps: The data collected includes the force data and position data of the counterweight at different key positions in different directions on the counterweight during the adjustment process of the tower-type pumping unit. The adjustment process refers to the working process of the pumping unit when the balance rate is less than a preset balance rate threshold. The position deviation at the corresponding time is determined based on the relative distance between the position data and the preset position; the adjustment process is divided into several time intervals based on the distribution of force data at all key positions at the same time, including: obtaining the Mahalanobis distance of the equilibrium vector at each time in the adjustment process; wherein the equilibrium vector at each time is composed of the force data at all key positions at the corresponding time; based on the Mahalanobis distance, the Mahalanobis distance method is used to detect abnormal vectors of the equilibrium vectors at all times, and the acquisition time corresponding to the abnormal vector is used as the dividing point to divide the adjustment process into several time intervals; Based on the similarity between the force data and the corresponding position deviation at each key location in each direction within each time interval, the adjustment coefficient for each direction is determined, including: calculating the characteristic values ​​of the force data sequence and the position deviation sequence in the direction to be analyzed within the candidate time interval, wherein the characteristic values ​​include variance, mean, standard deviation, and the average value of the differences between all elements and preset standard data; the force data sequence in the direction to be analyzed within the candidate time interval is composed of the force data of all key locations in the direction to be analyzed within the candidate time interval, and the position deviation sequence in the candidate time interval is composed of the position deviation of the counterweight at each moment within the candidate time interval; All the eigenvalues ​​of the force data sequence constitute the eigenvector of the force data sequence, and all the eigenvalues ​​of the position deviation sequence constitute the eigenvector of the position deviation sequence. The similarity between the feature vector of the force data sequence and the feature vector of the position deviation sequence in the direction to be analyzed in the candidate time interval is calculated as the similarity corresponding to the direction to be analyzed in the candidate time interval; the candidate time interval is any time interval in the process to be adjusted, and the direction to be analyzed is any direction; Calculate the first average of the similarity corresponding to the direction to be analyzed across all time intervals; determine the ratio between the first average and the first feature value as the adjustment coefficient for the direction to be analyzed; calculate the second average of the similarity corresponding to all directions across all time intervals, where the first feature value is the sum of the second average and the preset adjustment parameter; The feedback control error before adjustment is adjusted using an adjustment coefficient to obtain the target feedback control error, including: calculating the sum of the adjustment coefficient and constant 1 in the direction to be analyzed, and determining the product between the sum and the feedback control error before adjustment as the target feedback control error in the direction to be analyzed; Adjusting the motor direction based on the target feedback control error includes: inputting the target feedback control error in all directions to the PID controller, determining the rotation offset angle through the transfer function obtained by the proportional, integral, and derivative parameters in the PID controller, and making adjustments.

2. The method for balancing the counterweight of a tower-type pumping unit according to claim 1, characterized in that, The step of determining the position deviation at a corresponding time based on the relative distance between the position data and the preset position includes: Calculate the Euclidean distance between each location data point and the preset location, and use it as the location deviation at the corresponding time.

3. The method for balancing the counterweight of a tower-type pumping unit according to claim 1, characterized in that, When adjusting the motor rotation direction, the following measures are also included: if the force on the pumping unit exceeds the preset force threshold due to the downward movement of the counterweight, the falling speed of the counterweight block is reduced.

4. The method for balancing the counterweight of a tower-type pumping unit according to claim 3, characterized in that, The preset stress threshold is less than the upper limit of the stress safety limit.

5. A counterweight adjustment system for a tower-type pumping unit, said system being used to implement the method of claim 1, characterized in that, The system includes: The data acquisition module is used to collect force data and position data of the counterweight at different key positions in different directions on the counterweight during the adjustment process of the tower-type pumping unit. The first processing module is used to determine the position deviation at the corresponding time based on the relative distance between the position data and the preset position; and to divide the adjustment process into several time intervals based on the distribution of force data at all key positions at the same time. The second processing module is used to determine the adjustment coefficient for each direction based on the similarity between the force data and the corresponding position deviation at each key position in each time interval; and to adjust the feedback control error before adjustment using the adjustment coefficient to obtain the target feedback control error. The adjustment module is used to adjust the motor direction based on the target feedback control error.

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