Desing of an observer with real time monitoring speed and load torque for submersible induction motors

Abstract

Relevance. When operating submersible equipment for oil production in aggressive environments and transferring wells to the cyclic operation mode, a decrease in the service life of the submersible installation for oil production is observed. In the first case, this is due to the formation of salt deposits and clogging of the working parts of the electric pump with mechanical impurities. In the second case – an increase in the number of starts of the submersible electric motor. To solve the existing problems, it is possible to implement closed control systems for submersible electric motors based on state variable observers, which determines the relevance of the study. Aim. To develop an observer with operational monitoring of the angular velocity of the rotor and the moment of resistance on the shaft of a submersible asynchronous motor at inconsistency of the initial conditions in various operating modes and its testing using modeling tools. Methods. The observer is built on the basis of known engine models in a fixed coordinate system α, β, the theory of IIR-filters to obtain a forecast of estimates of the angular velocity of the rotor and the torque on the shaft and their correction in real time. Results. The authors have proposed the original structure of an observer with operational monitoring of the angular velocity of the rotor and the moment of resistance on the shaft of a submersible asynchronous motor. Conclusions. The paper demonstrates the observer performance with inconsistency of initial conditions and electric motor model data in various operating modes. In all modes, stable estimates of the speed and torque of resistance on the electric motor shaft are obtained. At the same time, the error in estimating the angular velocity under the condition of changing the load on the shaft and starting in the loaded state is no more than 1.2%, which is acceptable in submersible electric motor control systems. It is revealed that the developed observer, under the condition of changing the active resistance of the stator and rotor in the ranges from –25 to +25% of the nominal value, obtains estimates of the angular velocity with an integral error of no more than 5%, except for starting the motor with a decrease in the active resistance of the rotor by 25% of the nominal value –5.53%, which is acceptable in engineering practice.