CN-121993059-A - Injection head control system, method and coiled tubing operation equipment

CN121993059ACN 121993059 ACN121993059 ACN 121993059ACN-121993059-A

Abstract

The invention relates to the technical field of injection heads and discloses an injection head control system, an injection head control method and coiled tubing operation equipment, wherein the system comprises a hydraulic execution unit, an electric control hydraulic valve group, a data acquisition unit and a control unit; the hydraulic execution unit comprises a driving motor for driving the injection head to act, a tensioning cylinder for adjusting the tensioning force of the injection head and a plurality of clamping cylinders for adjusting the clamping force of the injection head, the electric control hydraulic valve bank comprises at least one electric proportional pressure control valve, an electric proportional flow control valve and a plurality of electromagnetic reversing valves which are connected with the hydraulic execution unit, the data acquisition unit acquires real-time operation parameters and sends the real-time operation parameters to the control unit, so that the real-time operation parameters are based on the real-time operation parameters, control signals are generated according to preset control logic and sent to the electric control hydraulic valve bank, and the electric control hydraulic valve bank is enabled to cooperatively control the driving pressure or driving speed of the driving motor, the tensioning force of the tensioning cylinder and the clamping force of the clamping cylinders based on the control signals, so that the operation safety and the operation efficiency of the system can be remarkably improved.

Inventors

Zhai Yansen
LIU YONGYAN
YANG XIN

Assignees

三一能源装备有限公司

Dates

Publication Date: 20260508
Application Date: 20260316

Claims (10)

1. An injector head control system, the system comprising: The system comprises a hydraulic execution unit, an electric control hydraulic valve group, a data acquisition unit and a control unit; the hydraulic execution unit comprises a driving motor for driving the injection head to act, a tensioning cylinder for adjusting the tensioning force of the injection head, and a plurality of clamping cylinders for adjusting the clamping force of the injection head; The electric control hydraulic valve group comprises at least one electric proportional pressure control valve, at least one electric proportional flow control valve and a plurality of electromagnetic reversing valves, wherein the electric proportional pressure control valve, the electric proportional flow control valve and the electromagnetic reversing valves are connected with the hydraulic execution unit; the data acquisition unit is used for acquiring real-time operation parameters and sending the real-time operation parameters to the control unit, wherein the real-time operation parameters at least comprise oil pipe load and wellhead pressure; The control unit is respectively connected with the data acquisition unit and the electric control hydraulic valve group, and is used for generating a control signal according to a preset control logic based on the received real-time operation parameters and sending the control signal to the electric control hydraulic valve group so that the electric control hydraulic valve group acts based on the control signal to cooperatively control the driving pressure or driving speed of the driving motor, the tensioning force of the tensioning cylinder and the clamping force of the plurality of clamping cylinders, wherein the preset control logic is an operation rule formulated based on input wellhead process operation information.
2. The injector head control system of claim 1, wherein, The electric proportional pressure control valve in the electric control hydraulic valve group comprises an electric proportional overflow valve for controlling the main driving force of the injection head; the electric proportional flow control valve comprises an electric proportional motor variable control valve for adjusting the displacement of the driving motor and an electric proportional pump displacement control valve for adjusting the speed of the injection head.
3. The injector head control system of claim 2, wherein the electro-proportional pressure control valve in the electro-hydraulic valve block further comprises a tensioning electro-proportional pressure regulator valve for controlling injector head tensioning force and a clamping electro-proportional pressure regulator valve for controlling clamp adjustment injector head clamping force.
4. The injector head control system of claim 1, wherein the plurality of solenoid directional valves includes a clamp state selector valve for switching a clamp system condition, a tension state selector valve for switching a tension system condition, and a brake solenoid valve for controlling injector head braking action.
5. The injector head control system of claim 4, wherein the hydraulic actuator unit further comprises an injector head brake component matched with the brake solenoid valve, and the control unit is further configured to determine whether a preset emergency condition is met according to the real-time operation parameter, generate an emergency control signal and send the emergency control signal to the electronic control hydraulic valve group when the real-time operation parameter meets the preset emergency condition, so that the electronic control hydraulic valve group drives the electronic control hydraulic valve group to reduce the driving speed of the driving motor based on the emergency control signal, and control the injector head brake component to start braking.
6. The injector head control system of any one of claims 1 to 5, The data acquisition unit is also used for acquiring at least one actual parameter of the driving pressure of the driving motor and the lifting or lowering speed of the continuous pipe and sending the actual parameter to the control unit so that the control unit can jointly generate a control signal with the oil pipe load and the wellhead pressure based on the actual parameter.
7. An injector head control method applied to the injector head control system of any one of claims 1 to 6, the method comprising: acquiring real-time operation parameters of injection head operation, wherein the real-time operation parameters at least comprise oil pipe load and wellhead pressure; Based on the real-time operation parameters, a control signal is generated according to a preset control logic and sent to the electric control hydraulic valve group, so that the electric control hydraulic valve group acts based on the control signal to cooperatively control the driving pressure or driving speed of the driving motor, the tensioning force of the tensioning cylinder and the clamping force of the clamping cylinders, wherein the preset control logic is an operation rule formulated based on input wellhead process operation information.
8. The injector head control method of claim 7, wherein generating control signals according to a preset control logic based on the real-time operating parameters comprises: Acquiring at least one actual parameter of driving pressure of a driving motor and lifting or lowering speed of the continuous pipe; Calculating a driving pressure target value of the driving motor according to the driving pressure of the driving motor, the oil pipe load and the wellhead pressure, and generating a control signal corresponding to the electric proportional relief valve based on the driving pressure target value; According to the lifting or lowering speed of the continuous pipe, the load of the oil pipe and the pressure of the wellhead, calculating a tensioning force target value of a tensioning oil cylinder, and generating a control signal corresponding to a tensioning electric proportion pressure regulating valve based on the tensioning force target value; And calculating corresponding clamping force target values of all the clamping cylinders according to the lifting or lowering speed of the continuous pipe, the oil pipe load and the wellhead pressure, and generating control signals corresponding to the clamping electric proportion pressure regulating valve based on all the clamping force target values.
9. The injector head control method according to claim 7 or 8, characterized in that after the acquisition of the real-time operation parameters of the injector head operation, the method further comprises: judging whether a preset emergency condition is met or not according to the real-time operation parameters; when the real-time operation parameters meet the preset emergency conditions, an emergency control signal is generated and sent to the electric control hydraulic valve group, so that the electric control hydraulic valve group drives the electric control hydraulic valve group to reduce the driving speed of a driving motor based on the emergency control signal, and the injection head brake component is controlled to start braking.
10. A coiled tubing work apparatus comprising the injector head control system of any of claims 1 to 6.

Description

Injection head control system, method and coiled tubing operation equipment Technical Field The invention relates to the technical field of injection heads, in particular to an injection head control system and method and coiled tubing operation equipment. Background The continuous oil pipe operation equipment is a novel equipment in the field of petroleum machinery, is widely applied to the operations such as workover, drilling, completion, logging and the like of oil and gas fields, and is known as a universal operation machine. During coiled tubing operation, the "well entry" and "well exit" of the coiled tubing are completed by the injection head. At present, the continuous oil pipe drives and controls the injection head in a full hydraulic mode, and an operator controls parameters such as the driving speed, the driving force, the clamping force for clamping the chain, the tensioning force and the like of the injection head chain through manually operating a plurality of independent hydraulic valves on a control panel. Because the control modules are mutually independent, and the set values of the control modules need to be adjusted in real time and empirically according to dynamic working conditions such as the oil pipe hanging weight, the wellhead pressure and the like, the whole operation process is complicated, the skill and experience of operators are highly depended, the labor intensity is high, and the response speed and the coordination are insufficient when the sudden working conditions are dealt with. Although the prior art focuses on improving the reliability of the injector head driving system, for example, solving the problem of multi-motor synchronism, the control mode still stays at the level of traditional hydraulic or local manual adjustment, and intelligent sensing based on the working condition and automatic coordination and self-adaptive control of each execution module cannot be realized fundamentally. Therefore, how to make the injector head driving system have intelligent and integrated automatic control capability to reduce the operation complexity and improve the operation safety and efficiency has become a technical problem to be solved in the art. Disclosure of Invention The invention provides a control system and a control method of an injection head and continuous oil pipe operation equipment, which are used for solving the problems of complex operation, high labor intensity and high requirements on professional quality of operators in the prior full-hydraulic manual control of the action of the injection head, thereby seriously affecting the control efficiency of the injection head, the stability and the safety of the equipment operation. In a first aspect, the present invention provides an injector head control system, the system comprising: The system comprises a hydraulic execution unit, an electric control hydraulic valve group, a data acquisition unit and a control unit; the hydraulic execution unit comprises a driving motor for driving the injection head to act, a tensioning oil cylinder for adjusting the tensioning force of the injection head, and a plurality of clamping oil cylinders for adjusting the clamping force of the injection head; The electric control hydraulic valve group comprises at least one electric proportional pressure control valve, at least one electric proportional flow control valve and a plurality of electromagnetic directional valves, wherein the electric proportional pressure control valve, the electric proportional flow control valve and the electromagnetic directional valves are connected with the hydraulic execution unit; the data acquisition unit is used for acquiring real-time operation parameters and sending the real-time operation parameters to the control unit, wherein the real-time operation parameters at least comprise oil pipe load and wellhead pressure; The control unit is respectively connected with the data acquisition unit and the electric control hydraulic valve group, is used for generating a control signal according to a preset control logic based on the received real-time operation parameters and sending the control signal to the electric control hydraulic valve group so that the electric control hydraulic valve group acts based on the control signal to cooperatively control the driving pressure or driving speed of the driving motor, the tensioning force of the tensioning cylinder and the clamping force of the plurality of clamping cylinders, wherein the preset control logic is an operation rule formulated based on the input wellhead process operation information. The invention can realize continuous, accurate and stepless regulation of pressure and flow by adopting the electric proportional pressure control valve and the electric proportional flow control valve instead of the traditional manual hydraulic valve, and is matched with the real-time acquisition of key parameters such as oil pipe load, wellhead pressure and the li