Multi-machine parallel drive control system for winch

Abstract

The utility model discloses a multi-machine parallel drive control system for winches, which comprises a base, the right part of the base is provided with a plurality of winch motors which are arranged in parallel and a standby motor, each winch motor and the standby motor are respectively provided with an inverter in a matching way, and each inverter is respectively connected with the communication end of a corresponding controller; the control end of each controller is connected with the controlled end of the corresponding winch motor and the controlled end of the corresponding standby motor through a cable box, and the power transmission end of the cable box supplies power to the motors. A universal shaft is arranged at the driving end of each motor, the output end of each universal shaft is connected to a clutch brake disc through a multi-gear gearbox, the clutch brake disc drives a winding drum, and a steel wire rope is arranged on the winding drum; the clutch brake disc, the drum and the winch wire rope are arranged in the middle of the base; the inverter and the controller are arranged at the left part of the base; the winch meets the load requirement through precise control of the motor; meanwhile, the components are reasonably and compactly mounted and distributed on the chassis, so that the space is saved, and the occupied area is reduced.

Description

Technical Field

[0001] This utility model relates to the field of petroleum machinery and equipment technology, and in particular to a multi-machine parallel drive control system for winches. Background Technology

[0002] As one of the core pieces of equipment in oil drilling rigs, the performance of the winch directly affects drilling efficiency. A winch generally consists of a transmission device, a drive motor, and a control device. The main tasks of the winch include raising and lowering drill strings, running casing, and drilling, which results in frequent winch operation, a wide speed range, and large load fluctuations.

[0003] Traditional winches use mechanical transmission, SCR electric drive, and VFD electric drive. Among them, mechanical transmission, as the most primitive drive method, has a large device size, complex disassembly and assembly, and low efficiency. Although the SCR drive system improves efficiency compared to mechanical transmission, it uses a DC motor, which is large, inefficient, and has low speed regulation accuracy. AC variable frequency electric drive (VFD electric drive) is the most widely used winch now. Compared with ordinary electric drive winches, SCR electric drive winches, and other chain / belt drive winches, VFD electric drive winches have better performance, stronger overload capacity, and a wider constant power speed regulation range. However, existing VFD air-cooled electric drive systems are large, inefficient, and expensive. Utility Model Content

[0004] The purpose of this invention is to provide a multi-machine parallel drive control system for winches, which enables periodic load changes during the hoisting process to avoid drill jamming, while ensuring that the winch operates smoothly without speed fluctuations. The use of multiple water-cooled permanent magnet synchronous motors not only achieves equipment redundancy but also improves system efficiency.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A multi-motor parallel drive control system for a winch includes a central controller, multiple water-cooled inverters, multiple parallel permanent magnet synchronous motors, multiple multi-speed gearboxes, a power distribution box, and a winch drum. The multiple water-cooled inverters are connected to the communication terminals of the central controller, and their power supply terminals are connected to a busbar. Each water-cooled inverter receives the operating signals of each parallel permanent magnet synchronous motor via CAN communication and feeds these signals back to the central controller. The output terminal of each permanent magnet synchronous motor is connected to the input terminal of a multi-speed gearbox, and the output terminal of each multi-speed gearbox is connected to the input terminal of the power distribution box via a coupling. The output shaft of the power distribution box is the winch drum. The drum provides power; each permanent magnet synchronous motor is equipped with a rotary transformer and a temperature sensor. The rotary transformer is used to collect the speed and angular position information of the permanent magnet synchronous motor, and the temperature sensor is used to collect the temperature information of the permanent magnet synchronous motor under the working state. The collected information is fed back to the central controller through the water-cooled inverter. The central controller controls the permanent magnet synchronous motor through speed limiting, closed loop and torque control, that is, controls the winch to run smoothly during lifting and lowering. The multiple parallel permanent magnet synchronous motors are located in the middle of the base, the multi-speed gearbox is located at the left end of the permanent magnet synchronous motor and connected to the resultant box located in the middle of the base, and the water-cooled inverter and the central controller are located on the right side of the base.

[0007] The permanent magnet synchronous motor and the multi-speed gearbox adopt an integrated molding structure, and the permanent magnet synchronous motors are arranged in a stacked distribution.

[0008] The central controller, water-cooled inverter, permanent magnet synchronous motor, and rotary transformer constitute a closed-loop control system.

[0009] The multi-speed gearbox uses a manual shifting method.

[0010] This invention utilizes a rotary transformer on the permanent magnet synchronous motor (PMSM) to collect the motor's speed and angular position information. This information is fed back to a water-cooled inverter in real time, which then feeds the signal back to the central controller. The central controller compares the parameters and issues power distribution commands. Through speed limiting, closed-loop control, and torque control, it overcomes speed oscillations during winch lifting and lowering, achieving stable operation. Simultaneously, a multi-speed gearbox allows for manual gear adjustment to achieve low-speed, high-torque operation. Furthermore, by using multiple parallel water-cooled PMSMs in a stacked distribution, not only is equipment redundancy achieved, but system efficiency is also improved. Attached Figure Description

[0011] Figure 1 This is a circuit block diagram of the present invention;

[0012] Figure 2 This is a top view of the structure of this utility model;

[0013] Figure 3 This utility model Figure 2 AA section diagram;

[0014] Figure 4 This is a structural schematic diagram of the integrated permanent magnet synchronous motor and multi-speed gearbox of this utility model.

[0015] Figure 5 This is a schematic diagram of the motor closed-loop control principle of this utility model. Detailed Implementation

[0016] like Figure 1-2 As shown, this utility model includes a central controller 1, multiple water-cooled inverters 2, multiple parallel permanent magnet synchronous motors 3, multiple multi-speed gearboxes 4, a power distribution box 5, and a winch drum 6; the multiple water-cooled inverters 2 are respectively connected to the communication terminal of the central controller 1 via a CAN communication bus, and the power supply terminals of the multiple water-cooled inverters 2 are connected to the bus, which supplies power to them.

[0017] Each water-cooled inverter 2 receives operating signals from each parallel permanent magnet synchronous motor 3 via CAN communication. Each permanent magnet synchronous motor 3 is equipped with a rotary transformer and a temperature sensor. The rotary transformer is used to collect the speed and angular position information of the permanent magnet synchronous motor 3, and the temperature sensor is used to collect the temperature information of the permanent magnet synchronous motor 3 under operating conditions. The collected information is fed back to the central controller 1 through the water-cooled inverter 2. The central controller 1, water-cooled inverter 2, permanent magnet synchronous motor 3, and rotary transformer constitute a closed-loop control system. The central controller 1 controls the permanent magnet synchronous motor 3 through speed limiting, closed-loop control, and torque control, that is, controls the winch to run smoothly during lifting and lowering.

[0018] The output end of each permanent magnet synchronous motor 3 is connected to the input end of a multi-speed gearbox 4. The permanent magnet synchronous motor 3 and the multi-speed gearbox 4 form an integrated machine. The output end of each multi-speed gearbox 4 is connected to the input end of the force box 5 through a coupling 7. The coupling 7 is connected to a mechanical force box 5 through mechanical coupling. The multi-speed gearbox 4 adopts a manual gear adjustment method to realize multi-level speed adjustment of the winch during operation. The output shaft of the force box 5 provides power to the winch drum 6.

[0019] The multiple parallel permanent magnet synchronous motors 3 are located on the right side of the base 9, and the permanent magnet synchronous motors 3 are arranged in a stacked distribution. The multi-speed gearbox is located on the left side of the permanent magnet synchronous motors 3 and connected to the power box 5 located in the middle of the base 9. The water-cooled inverter 2 and the central controller 1 are located on the left side of the base 9.

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] like Figure 1 As shown, the water-cooled inverter 2 of this utility model is powered by an external DC bus, and its output end is connected to the junction box of the permanent magnet synchronous motor 3. The central processing unit connects to multiple water-cooled inverters 2 via CAN communication. Each water-cooled inverter 2 is connected one-to-one to an integrated machine consisting of a permanent magnet synchronous motor 3 and a multi-speed gearbox 4. The water-cooled inverter 2 feeds back the received shift signals, rotary transformer signals, and temperature sensor signals to the central controller 1. The output end of the integrated machine consisting of a permanent magnet synchronous motor 3 and a multi-speed gearbox 4 is connected to a coupling 7, which is connected to a force box 5, and then the force box 5 is connected to a winch drum 6.

[0022] During operation, a closed-loop control system consisting of a central controller 1, an inverter, a motor, and a rotary transformer is used. The inverter decodes the corresponding current pulses from the rotary transformer to determine the initial position of the drum. By controlling the output pulse width, precise control of the drum's rotation angle is achieved, thus preventing speed oscillations during winch operation. In conjunction with the use of a multi-speed gearbox 4, the winch can achieve high torque and stable operation at low speeds. At the same time, the position closed-loop and torque control ensure that the winch's lifting and lowering follow periodic changes, preventing drill jamming accidents.

[0023] Traditional asynchronous motors have an efficiency of about 70% to 90%, while the water-cooled permanent magnet synchronous motor 3 described in this invention has an efficiency of over 90%. By using multiple water-cooled permanent magnet synchronous motors 3, the remaining motors can continue to operate and drive the winch when one motor malfunctions, which greatly improves the efficiency of the system.

[0024] This invention receives motor speed, gear, and angle position information from the central controller 1. Using the current height of the traveling block as a reference, it adjusts parameters and sends working commands to ensure the traveling block rises / falls to the designated position. This cyclical operation is repeated to prevent drill jamming. Simultaneously, the multi-speed gearbox 4 allows for high torque at low speeds on the winch drum 6, facilitating easier control of the drum's rotation and the raising and lowering of the traveling block. Through this closed-loop control method, precise control of the motor is achieved, leading to precise control of the drum, thus fulfilling the winch's drive control requirements.

[0025] like Figure 2 and Figure 3As shown, this utility model utilizes a compact and rational spatial arrangement in the equipment's distribution structure to achieve redundancy. Specifically, the permanent magnet synchronous motor 3 employs a 3+1 configuration, with three operating normally and one as a backup. It is fixed to the right side of the base 9 using a 2*2 two-layer distribution. The output shaft of each permanent magnet synchronous motor 3 is connected to the multi-gear resultant box 5 via a universal joint 8. The motor, universal joint 8, and multi-gear resultant box 5 are integrated into a single design. Figure 4 As shown; multiple parallel permanent magnet synchronous motors 3 adopt a master-slave communication mode, with instructions issued by the central processor and the standby motors following the instructions of the master motor to operate. When power distribution, i.e. torque distribution, is performed during operation, the torque can be redundantly distributed. That is, when the total demand torque is 100%, the torque distribution of a single motor is 100% / n, where there may be a torque deviation of 2%~5%. During the periodic up-and-down movement of the hook, since there are anti-collision devices at both the upper and lower ends, the winch will start to decelerate when it is lifted or lowered to a certain distance from the device. In order to ensure that the hook stops exactly at the end of the deceleration time and without triggering the anti-collision alarm, it is necessary to precisely control the number of drum rotations, i.e., control the rotation angle of the motor at 0 speed.

[0026] As shown in Figure 5, in the closed-loop regulation of the motor, the inner loop uses the current loop and the outer loop uses the position loop. As the hook moves up and down periodically, in order to make the hook stop accurately at the corresponding position during the deceleration phase, the speed loop and the rotation angle when stopping are controlled by the speed loop and the current loop, thereby achieving precise control of the position when the hook stops during the periodic up and down movement.

[0027] The motor speed is calculated against the speed setpoint. Through PI (pixel reciprocating circuit) adjustment, the current value output by PI is used as the input value to the current loop. Different current values ​​change the motor's rotational speed and direction, thereby controlling the motor's position and rotation angle. With a large reduction ratio, the position of the large hook can be precisely controlled. For example, if the given position is 340°, but the actual position is 30°, to make the motor rotate to the target position angle, it needs to rotate 310° clockwise. The speed regulator will then receive the command, and the motor will rotate until it reaches the designated position and stops.

[0028] Through the aforementioned closed-loop control method, precise control of the motor is achieved, which in turn enables precise control of drum 6, thus satisfying the drive control of the winch. Furthermore, the compact and rational distribution of components in the spatial layout achieves redundancy in the equipment, and the large reduction ratio facilitates the driller's operation, greatly improving work efficiency and increasing equipment reliability.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A multi-machine parallel drive control system for winches, characterized in that: The system includes a central controller, multiple water-cooled inverters, multiple parallel permanent magnet synchronous motors (PMSMs), multiple multi-speed gearboxes, a power distribution box, and a winch drum. The multiple water-cooled inverters are connected to the communication terminals of the central controller, and their power supply terminals are connected to the busbar. Each water-cooled inverter receives the operating signals of each parallel PMSM via CAN communication and feeds these signals back to the central controller. The output terminal of each PMSM is connected to the input terminal of a multi-speed gearbox, and the output terminal of each multi-speed gearbox is connected to the input terminal of the power distribution box via a coupling. The output shaft of the power distribution box provides power to the winch drum. The permanent magnet synchronous motor is equipped with a rotary transformer and a temperature sensor. The rotary transformer is used to collect the speed and angular position information of the permanent magnet synchronous motor, and the temperature sensor is used to collect the temperature information of the permanent magnet synchronous motor under the working state. The collected information is fed back to the central controller through the water-cooled inverter. The central controller controls the permanent magnet synchronous motor through speed limiting, closed loop and torque control, that is, controls the winch to run smoothly during lifting and lowering. The multiple parallel permanent magnet synchronous motors are located in the middle of the base, the multi-speed gearbox is located at the left end of the permanent magnet synchronous motor and connected to the resultant box located in the middle of the base, and the water-cooled inverter and the central controller are located on the right side of the base.

2. The multi-machine parallel drive control system for winches according to claim 1, characterized in that: The permanent magnet synchronous motor and the multi-speed gearbox adopt an integrated molding structure, and the permanent magnet synchronous motors are arranged in a stacked distribution.

3. The multi-machine parallel drive control system for winches according to claim 2, characterized in that: The central controller, water-cooled inverter, permanent magnet synchronous motor, and rotary transformer constitute a closed-loop control system.

4. The multi-machine parallel drive control system for winches according to claim 3, characterized in that: The multi-speed gearbox uses a manual shifting method.

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