Electronic control system and method for subsea lightweight intervention device

Abstract

An electronic control system for a subsea lightweight intervention device, comprising an industrial computer (1). The industrial computer (1) is connected to a PLC master station (2), the PLC master station (2) is connected to a PLC slave station (14) located subsea, and the PLC slave station (14) is connected to a monitoring and control device, so as to monitor and control the subsea lightweight intervention device; and the industrial computer (1) is further connected to a PLC standby master station (3), the PLC standby master station (3) is connected to the subsea PLC slave station (14), and the PLC master station (2) is connected to the PLC standby master station by means of an optical fiber so that the PLC standby master station (3) mirrors data of the PLC master station (2). Also provided is an electronic control method for the subsea lightweight intervention device. By providing the PLC master station (2), the PLC standby master station (3), a redundant topside photoelectric converter set, a redundant optical fiber channel, a redundant subsea photoelectric converter set, and a redundant PLC slave station, the electronic control system having high reliability, good stability, and strong recovery capability is provided for the subsea lightweight intervention device.

Description

An underwater light intervention equipment electric control system and method TECHNICAL FIELD

[0001] The present application belongs to the technical field of petroleum engineering, and particularly relates to an underwater light intervention equipment electric control system and method. BACKGROUND

[0002] The underwater light intervention technology is a new type of oil well operation mode, and through the light intervention equipment, the oil well can be repaired on a special work ship, and operations such as well logging, perforating, well pipe wall cleaning, and chemical injection can be completed, so that the oil well is repaired and the oil and gas production is increased, the traditional mode of lowering the riser is avoided, the operator's operation time is reduced, and the equipment and labor costs are saved.

[0003] The light intervention equipment is the core tool of the technology, needs to be lowered to the underwater and connected with the subsea Christmas tree, and the underwater equipment should have high reliability, stability and safety, and the high reliability of the control system of the equipment is a prerequisite for ensuring the normal operation of the equipment.

[0004] The existing light intervention operation cannot guarantee the stability and reliability of the underwater equipment and its control system.

[0005] Therefore, it is urgent to design an underwater light intervention equipment electric control system and method to solve the above-mentioned problems of the stability and reliability of the underwater equipment and its control system. SUMMARY

[0006] In order to solve the technical problems of the stability and reliability of the underwater equipment and its control system mentioned in the background, an underwater light intervention equipment electric control system and method are provided to solve the above problems.

[0007] In order to achieve the above-mentioned purposes, the specific technical scheme of the underwater light intervention equipment electric control system and method of the present application is as follows:

[0008] An underwater light intervention equipment electric control system comprises an industrial computer, a PLC master station connected to the industrial computer, a PLC slave station located underwater connected to the PLC master station, a monitoring and control device connected to the PLC slave station for monitoring and controlling the underwater light intervention equipment, and a PLC backup master station connected to the underwater PLC slave station, wherein the PLC master station and the PLC backup master station are connected through an optical fiber for the PLC backup master station to mirror the data of the PLC master station.

[0009] Further, the PLC master station and the PLC backup master station are connected to the PLC slave station through the umbilical cable.

[0010] Further, the umbilical cable is connected with an umbilical cable overwater terminal, and the umbilical cable is connected with the PLC master station and the PLC backup master station through the umbilical cable overwater terminal; the umbilical cable is connected with an umbilical cable underwater terminal, and the umbilical cable is connected with the PLC slave station through the umbilical cable underwater terminal.

[0011] Further, the umbilical cable overwater terminal is connected with the PLC master station through a first photoelectric converter, and the umbilical cable overwater terminal is connected with the PLC backup master station through a second photoelectric converter, so that the first photoelectric converter and the second photoelectric converter jointly form an overwater redundant photoelectric converter group.

[0012] Further, the PLC backup slave station is also included, and the PLC backup slave station is connected with the PLC slave station in data connection, so that the PLC backup slave station mirrors the data of the PLC slave station.

[0013] Further, the umbilical cable underwater terminal is connected with the PLC slave station through a third photoelectric converter, and the umbilical cable underwater terminal is connected with the PLC backup slave station through a fourth photoelectric converter, so that the third photoelectric converter and the fourth photoelectric converter jointly form an underwater redundant photoelectric converter group.

[0014] Further, the monitoring control device includes an electromagnetic valve group, a sensor group, a pilot valve group and an electric switch group, and the PLC slave station is connected with the electromagnetic valve group, the sensor group, the pilot valve group and the electric switch group in electrical connection, so as to monitor the underwater light intervention equipment in real time and control the opening and closing of the valves and switches of the underwater light intervention equipment.

[0015] Further, the electromagnetic valve group includes a plurality of electromagnetic reversing valves, and the plurality of electromagnetic reversing valves are connected with the PLC slave station, and the PLC slave station controls the movement of the valve core in the electromagnetic reversing valve through the on-off of the power, so as to control the opening and closing of the valves of the electromagnetic valve group.

[0016] Further, the sensor group includes a flow sensor, a temperature and pressure sensor and a flow meter, and the flow sensor and the temperature and pressure sensor are connected with the PLC slave station, so as to monitor the underwater light intervention equipment in real time.

[0017] Another object of the present application is to provide an underwater light intervention equipment electric control method using the underwater light intervention equipment electric control system, which comprises:

[0018] The industrial computer judges whether the PLC master station is faulty or not;

[0019] If the PLC master station is not faulty, a non-redundant program is executed, the state information of the PLC backup master station is analyzed, the PLC backup master station stores the same files and information as the PLC master station, and then normally performs the input and output of information;

[0020] If the PLC master station fails, the redundancy program is executed, the PLC backup master station replaces the PLC master station, the PLC backup master station records and sends a failure report, and then the non-redundancy program is executed, the state and data of the PLC backup master station are recorded, and then the input and output of information are normally carried out.

[0021] The underwater light intervention equipment electric control system and method has the following advantages: the PLC master station and the PLC backup master station, the redundant water optical converter group, the redundant fiber channel, the redundant underwater optical converter group and the redundant PLC slave station are arranged to provide the underwater light intervention equipment with an electric control system which is high in reliability, good in stability and strong in recovery capability.

[0022] The method adopts the adaptive control method, the parameters of the controller are adjusted in real time according to the observation of the system state and the estimation of the parameters, the adaptability and the robustness of the underwater light intervention equipment controller are improved, the machine downtime is reduced, the economic benefit is improved, the real-time monitoring of the control system is enhanced, and the possibility of major risks is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0023] Fig. 1 is a structural schematic diagram of the underwater light intervention equipment electric control system of the present application;

[0024] Fig. 2 is a structural schematic diagram of the monitoring control device of the present application;

[0025] Fig. 3 is a structural schematic diagram of the electromagnetic valve group of the present application;

[0026] Fig. 4 is a structural schematic diagram of the sensor group of the present application;

[0027] Fig. 5 is a structural schematic diagram of the pilot valve group of the present application;

[0028] Fig. 6 is a schematic diagram of the electric switch group of the present application;

[0029] Fig. 7 is a flow chart of the underwater light intervention equipment electric control method of the present application.

[0030] Marked description in the figure: 1, industrial computer; 2, PLC master station; 3, PLC backup master station; 4, first photoelectric converter; 5, second photoelectric converter; 6, umbilical cable water terminal; 7, umbilical cable; 8, umbilical cable underwater terminal; 9, third photoelectric converter; 10, fourth photoelectric converter; 11, lower computer uninterruptible power supply; 12, first interface module; 13, second interface module; 14, PLC slave station; 15, PLC backup slave station; 16, electromagnetic valve group; 17, sensor group; 18, pilot valve group; 19, electric switch group; 100, electromagnetic reversing valve; 200, flow sensor; 300, temperature and pressure sensor; 400, flow meter; 500, shear ball valve; 600, shear gate; 700, sealing gate; 800, tool capture; 900, high pressure energy storage switch; 1000, high pressure accumulator electric switch; 1100, pilot valve accumulator charging electric switch. DETAILED DESCRIPTION

[0031] To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0032] Those skilled in the art can understand that although some of the embodiments include certain features but not other features included in other embodiments, the combination of features of different embodiments means to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0033] The underwater light intervention equipment electric control system and method of the present application are described below with reference to FIG. 1 to FIG. 7.

[0034] The light intervention equipment needs to be lowered to the underwater and connected with the subsea Christmas tree. The underwater equipment should have high reliability, stability and safety. The high reliability of the control system of the equipment is the premise to ensure the normal operation of the equipment. The existing light intervention operation is difficult to ensure the stability and reliability of the underwater equipment and its control system.

[0035] Therefore, the underwater light intervention equipment electric control system is provided, as shown in Figure 1, which comprises an industrial computer 1, a PLC master station 2 connected to the industrial computer 1, a PLC slave station 14 located underwater connected to the PLC master station 2, a monitoring and control device connected to the PLC slave station 14 to monitor and control the underwater light intervention equipment, a PLC backup master station 3 connected to the industrial computer 1, the PLC backup master station 3 connected to the underwater PLC slave station 14, and the PLC master station 2 and the PLC backup master station 3 connected through optical fibers to mirror the data of the PLC master station 2 by the PLC backup master station 3.

[0036] Specifically, the industrial computer 1 is the core control command of the underwater light intervention equipment electric control system, which is sent by the VGA interface of the industrial computer 1, and the PLC master station 2 and the PLC backup master station 3 are connected to the industrial computer 1 through their own VGA interfaces. When the PLC master station 2 works normally, the PLC backup master station 3 synchronously runs with the PLC master station 2, mirrors all the data of the PLC master station 2, and serves as a barrier for data loss; when the PLC master station 2 fails due to various factors, the PLC backup master station 3 will replace the PLC master station 2 and become a new master station to control the underwater light intervention equipment, forming a redundant electric control system for the underwater light intervention equipment.

[0037] The PLC master station 2 can also receive the electrical signals of the monitoring and control device collected by the PLC slave station 14, and transmit the collected signals to the industrial computer 1 through the VGA interface of the PLC master station 2 and the industrial computer 1 to monitor the PLC slave station 14 in a digital display manner, so as to realize the state monitoring of the underwater light intervention equipment.

[0038] The PLC master station 2 and the PLC backup master station 3 are connected to the PLC slave station 14 through the umbilical cable 7, and the umbilical cable 7 is arranged to enable high-speed and stable transmission of signals.

[0039] As a preferred embodiment, the umbilical cable 7 is connected to the umbilical cable water terminal 6, and the umbilical cable 7 is connected to the PLC master station 2 and the PLC backup master station 3 through the umbilical cable water terminal 6; the umbilical cable 7 is connected to the umbilical cable underwater terminal 8, and the umbilical cable 7 is connected to the PLC slave station 14 through the umbilical cable underwater terminal 8, that is, the high-speed and stable transmission of signals is further ensured by the cooperation of the umbilical cable water terminal 6, the umbilical cable 7 and the umbilical cable underwater terminal 8.

[0040] The umbilical cable water terminal 6 is connected with the PLC master station 2 through the first photoelectric converter 4, and the umbilical cable water terminal 6 is connected with the PLC backup master station 3 through the second photoelectric converter 5, so that the first photoelectric converter 4 and the second photoelectric converter 5 jointly form a water redundancy photoelectric converter group, when the first photoelectric converter 4 is damaged, the second photoelectric converter 5 can also undertake the task of signal conversion, and vice versa, thereby ensuring the high stability and reliability of the system.

[0041] The underwater light intervention equipment electric control system further comprises a PLC backup slave station 15, the PLC backup slave station 15 is data connected with the PLC slave station 14, so that the PLC backup slave station 15 mirrors the data of the PLC slave station 14, when the PLC slave station 14 fails, the PLC backup slave station 15 replaces the PLC slave station 14 to continue to work, thereby ensuring the high stability and reliability of the system.

[0042] The umbilical cable underwater terminal 8 is connected with the PLC slave station 14 through the third photoelectric converter 9, and the umbilical cable underwater terminal 8 is connected with the PLC backup slave station 15 through the fourth photoelectric converter 10, so that the third photoelectric converter 9 and the fourth photoelectric converter 10 jointly form an underwater redundancy photoelectric converter group, when the third photoelectric converter 9 is damaged, the fourth photoelectric converter 10 can also undertake the task of signal conversion, and vice versa, thereby ensuring the high stability and reliability of the system.

[0043] As shown in FIG. 2, the monitoring control device comprises an electromagnetic valve group 16, a sensor group 17, a pilot valve group 18 and an electric switch group 19, the PLC slave station 14 is electrically connected with the electromagnetic valve group 16, the sensor group 17, the pilot valve group 18 and the electric switch group 19 respectively, so as to realize real-time monitoring of the underwater light intervention equipment and control the opening and closing of the valves and switches of the underwater light intervention equipment.

[0044] Specifically, under normal circumstances, the PLC master station 2 serves as the master control station of the underwater light intervention equipment, and can ensure the high reliability of the PLC master station 2 itself while realizing the continuous operation of the system, the function of the PLC master station 2 is to control the opening and closing of each valve of the underwater light intervention equipment by sending to the corresponding PLC slave station 14 to control the on-off of the electrical contact points of the electromagnetic valve group 16 and the pilot valve group 18.

[0045] The electromagnetic valve group 16 comprises a plurality of electromagnetic reversing valves 100, the plurality of electromagnetic reversing valves 100 are connected with the PLC slave station 14, the PLC slave station 14 controls the movement of the valve core in the electromagnetic reversing valve 100 through the on-off of the power, so as to control the opening and closing of the valves of the electromagnetic valve group 16.

[0046] Optionally, as shown in Figure 3, the electromagnetic valve group 16 is connected with the PLC slave station 14, receives power from the PLC slave station 14, controls each electromagnetic reversing valve 100 in the electromagnetic valve group 16, controls the movement of the valve core in the electromagnetic valve through the on-off control of power, controls the opening and closing of the valve of the electromagnetic valve group 16, and realizes the control of each module of the underwater light intervention equipment.

[0047] The sensor group 17 includes the flow sensor 200, the temperature and pressure sensor 300 and the flow meter 400, and the flow sensor 200 and the temperature and pressure sensor 300 are connected with the PLC slave station 14 to realize the real-time monitoring of the underwater light intervention equipment.

[0048] Optionally, as shown in Figure 4, the sensor group 17 is connected with the PLC slave station 14, the sensor group 17 includes four flow sensors 200, 27 temperature and pressure sensors 300 and four flow meters 400, the sensor group 17 is the monitoring device of the underwater light intervention equipment, the sensor converts the digital signal collected into an electric signal, and finally transmits to the industrial computer 1 through the third optoelectronic transducer 9, the umbilical underwater terminal 8, the umbilical 7, the umbilical water terminal 6, the first optoelectronic transducer 4 and the PLC master station 2, so that the information collected by each sensor is accurately transmitted, and the real-time monitoring of the whole system is realized.

[0049] Optionally, as shown in Figure 5, the pilot valve group 18 is composed of four hydraulic pilot valves, which are a shear ball valve 500, a shear gate 600, a sealing gate 700 and a tool capture 800.

[0050] Optionally, as shown in Figure 6, the electric switch group 19 is composed of four high-pressure accumulator electric switches 1000 and two pilot valve accumulator charging electric switches 1100.

[0051] The application further provides an underwater light intervention equipment electric control method, which uses the underwater light intervention equipment electric control system, as shown in Figure 7, and includes the following steps:

[0052] The industrial computer 1 judges whether the PLC master station 2 fails;

[0053] If the PLC master station 2 does not fail, a non-redundant program is executed, the state information of the PLC backup master station 3 is analyzed, the PLC backup master station 3 stores the same files and information as the PLC master station 2 and then normally carries out information input and output; specifically, when the PLC master station 2 loses files, the PLC backup master station 3 can store the lost files, thereby greatly improving the stability and reliability of the electric control system; after the PLC master station 2 executes the non-redundant program, the state information from the PLC backup master station 3 is analyzed to determine whether the PLC backup master station 3 meets the backup function requirement, and after it is determined that the PLC backup master station 3 can meet the backup requirement, the state and data of the PLC master station 2 are synchronized to the PLC backup master station 3, and after the information synchronization is completed, normal information input and output are carried out;

[0054] If the PLC master station 2 fails, a redundant program is executed, the PLC backup master station 3 replaces the PLC master station 2, the PLC backup master station 3 records and sends a fault report, and then executes the non-redundant program to record the state and data of the PLC backup master station 3 and then normally carries out information input and output; specifically, after the PLC backup master station 3 acquires the function of the PLC master station 2, it records and sends the fault report according to the set program, sends an application for repairing the original PLC master station 2 to the maintenance personnel, and at this time, the PLC backup master station 3 becomes the master station to execute the non-redundant program; compared with the case where no failure occurs, the normal operation under this failure does not have a redundant PLC as a backup for information storage, and when the master station fails again, information loss may occur, but in this case, the normal operation of the underwater light intervention equipment is not affected, so when the original PLC master station 2 fails, the failed PLC should be repaired or replaced as soon as possible to ensure the stability and reliability of the electric control system.

[0055] The present application provides an electric control system with high reliability, good stability and strong recovery capability for underwater light intervention equipment by arranging the PLC master station 2 and the PLC backup master station 3, the redundant water optical transducer group, the redundant fiber channel, the redundant underwater optical transducer group and the redundant PLC slave station.

[0056] The method of the present application uses an adaptive control method to adjust the parameters of the controller in real time according to the observation of the system state and the estimation of the parameters, so as to adapt to the changes of the system, improve the adaptability and robustness of the controller of the underwater light intervention equipment, reduce machine downtime, improve economic benefits, enhance real-time monitoring of the control system and reduce the possibility of major risks.

[0057] Obviously, the above embodiments of the present application are merely example for clearly explaining the present application, and are not intended to limit the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and also impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. An electronic control system for a lightweight underwater intervention equipment, characterized in that, It includes an industrial computer, which is connected to a PLC master station. The PLC master station is connected to an underwater PLC slave station. The PLC slave station is connected to a monitoring and control device to monitor and control the underwater lightweight intervention equipment. The industrial computer is also connected to a backup PLC master station, which is connected to the underwater PLC slave station. The PLC master station and the backup PLC master station are connected via optical fiber so that the backup PLC master station can mirror the data of the PLC master station.

2. The underwater lightweight intervention equipment electronic control system according to claim 1, characterized in that, Both the PLC master station and the PLC backup master station are connected to the PLC slave station via umbilical cables.

3. The underwater lightweight intervention equipment electronic control system according to claim 2, characterized in that, The umbilical cable is connected to an umbilical cable surface terminal, which connects to the PLC master station and the PLC backup master station respectively; the umbilical cable is also connected to an umbilical cable underwater terminal, which connects to the PLC slave station.

4. The underwater lightweight intervention equipment electronic control system according to claim 3, characterized in that, The umbilical cable water terminal is connected to the PLC master station via a first photoelectric converter, and the umbilical cable water terminal is connected to the PLC backup master station via a second photoelectric converter, so that the first photoelectric converter and the second photoelectric converter together form a waterborne redundant photoelectric converter group.

5. The underwater lightweight intervention equipment electronic control system according to claim 3, characterized in that, It also includes a PLC backup slave station, which is connected to the PLC slave station for mirroring the data of the PLC slave station.

6. The underwater lightweight intervention equipment electronic control system according to claim 5, characterized in that, The umbilical cable underwater terminal is connected to the PLC slave station via a third photoelectric converter, and the umbilical cable underwater terminal is connected to the PLC backup slave station via a fourth photoelectric converter, so that the third photoelectric converter and the fourth photoelectric converter together form an underwater redundant photoelectric converter group.

7. The underwater lightweight intervention equipment electronic control system according to claim 1, characterized in that, The monitoring and control device includes a solenoid valve group, a sensor group, a pilot valve group, and an electric switch group. The PLC slave station is electrically connected to the solenoid valve group, the sensor group, the pilot valve group, and the electric switch group respectively to monitor the underwater lightweight intervention equipment in real time and control the opening and closing of the valves and switches of the underwater lightweight intervention equipment.

8. The underwater lightweight intervention equipment electronic control system according to claim 7, characterized in that, The solenoid valve assembly includes multiple solenoid directional valves, all of which are connected to a PLC slave station. The PLC slave station controls the movement of the valve core inside the solenoid directional valve by switching the power on and off, thereby controlling the opening and closing of the valves in the solenoid valve assembly.

9. The underwater lightweight intervention equipment electrical control system according to claim 7, characterized in that, The sensor group includes a flow sensor, a temperature and pressure sensor, and a flow meter. Both the flow sensor and the temperature and pressure sensor are connected to the PLC slave station to monitor the underwater lightweight intervention equipment in real time.

10. A method for controlling an underwater lightweight interventional device, using the underwater lightweight interventional device control system as described in any one of claims 1-9, characterized in that, include: Industrial computers determine whether the PLC master station has malfunctioned. If the PLC master station does not malfunction, a non-redundant program is executed to analyze the status information of the PLC backup master station. The PLC backup master station, acting as a backup station, stores the same files and information as the PLC master station and then performs normal information input and output. If the PLC master station fails, the redundant program is executed, the PLC backup master station replaces the PLC master station, the PLC backup master station records and sends a fault report, and then the non-redundant program is executed. After recording the status and data of the PLC backup master station, normal information input and output are performed.

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