CN107294462B - A kind of pumping unit progress control method based on maximum pumping fuel-flow control - Google Patents
A kind of pumping unit progress control method based on maximum pumping fuel-flow control Download PDFInfo
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- CN107294462B CN107294462B CN201710538498.0A CN201710538498A CN107294462B CN 107294462 B CN107294462 B CN 107294462B CN 201710538498 A CN201710538498 A CN 201710538498A CN 107294462 B CN107294462 B CN 107294462B
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- 238000005086 pumping Methods 0.000 title claims abstract description 167
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012545 processing Methods 0.000 claims description 23
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 5
- 239000003921 oil Substances 0.000 abstract description 70
- 239000010721 machine oil Substances 0.000 abstract description 7
- 230000033228 biological regulation Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract 1
- 238000009790 rate-determining step (RDS) Methods 0.000 abstract 1
- 230000009471 action Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B43/00—Methods or apparatus for obtaining oil, gas, water, soluble or meltable materials or a slurry of minerals from wells
- E21B43/12—Methods or apparatus for controlling the flow of the obtained fluid to or in wells
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
A kind of pumping unit progress control method based on maximum pumping fuel-flow control, belongs to vertical oil-pumping machine oil pumping amount control technology field.Including one group of control system for oil-pumping unit, it further includes rate-determining steps that control system for oil-pumping unit, which includes the electric machine controller of pumping unit, the driving motor of driving pumping unit work and control driving motor work,.In based on the maximum pumping unit progress control method for taking out fuel-flow control, it cannot work under optimized rotating speed for traditional pumping unit, therefore the defect that pumping unit exports maximum oil pumping amount always is not can guarantee, optimized rotating speed is found in such a way that motor speed disturbs, revolving speed disturbance quantity is generated according to oil pumping amount and the relationship of revolving speed using switched Reluctance Motor Control System, feedback system is formed by algorithm, reaches the maximum working condition of oil pumping machine oil pumping amount.This control method makes full use of existing technique of real-time control, the relationship of oil pumping amount and revolving speed is monitored in real time, thus real-time regulation system revolving speed.
Description
Technical field
A kind of pumping unit progress control method based on maximum pumping fuel-flow control, belongs to vertical oil-pumping machine and takes out fuel-flow control skill
Art field.
Background technique
Currently, oil-field oil pumper is broadly divided into beam pumping unit and vertical oil-pumping machine two major classes, wherein beam type is pumped
Machine generally uses asynchronous machine, and revolving speed is relatively fixed, and motor can only the operation of direction, beam pumping unit passes through mechanical dress
It replaces to realizing pumping for sucker rod；And vertical oil-pumping machine generally uses variable speed electric motors, particularly, adjustable motor speed
And traffic direction, realize the adjustment of oil extractor operating parameter, and do not need using mechanical commutation device, in recent years vertical oil pumping
Machine is gradually promoted.
Due to the thickness of oilbearing stratum, dilute thick difference, in the prior art, in order to ensure optimal oil pumping amount, generally
It needs to realize by adjusting the stroke jig frequency parameter of pumping unit, stroke can be real by adjusting the unidirectional range ability of motor
Existing, jig frequency can be by adjusting motor operation velocity interpolation.The vertical oil-pumping machine that developed recently gets up generally uses variable speed electric motors, particularly,
The distance and motor speed of the same traffic direction of motor can be adjusted at any time, and then adjust the stroke of pumping unit, jig frequency.
In general, the adjustment frequency of stroke is lower, it is relatively fixed.The case where often changing for oilbearing stratum, mostly
It is adjusted by jig frequency and realizes pumping fuel-flow control, the jig frequency adjustment of vertical oil-pumping machine sets motor speed mainly by artificial experience at present
Realize, motor speed it is excessively high or it is too low all cannot achieve the output of optimal oil pumping amount, when oil reservoir state change, manually adjust
It is often difficult to adjust the adjustment that motor speed realizes beam-pumping unit jig frequency in real time, system is difficult to work under optimized rotating speed, Wu Fabao
Card pumping unit exports maximum oil pumping amount always.
Summary of the invention
The technical problem to be solved by the present invention is overcoming the deficiencies of the prior art and provide a kind of by motor speed disturbance
Mode find optimized rotating speed, to keep maximum oil pumping amount, to the control of oil pumping amount not with pumping unit mechanical parameter, oil reservoir
State etc. changes and changes, and applicability is stronger based on the maximum pumping unit progress control method for taking out fuel-flow control.
The technical solution adopted by the present invention to solve the technical problems is: should be based on the maximum pumping unit fortune for taking out fuel-flow control
Row control method, including one group of control system for oil-pumping unit, control system for oil-pumping unit include the drive of pumping unit, driving pumping unit work
Dynamic motor and the electric machine controller for controlling driving motor work, it is characterised in that: including step control as follows:
Step 1001, the operating parameter of driving motor is set；
Step 1002, driving motor works according to presetting operating parameter and pumping unit is driven to act；
Step 1003, electric machine controller generates a revolving speed disturbance quantity at random, and revolving speed disturbance quantity is superimposed upon driving electricity
On the basis of the current rotating speed of machine；
Step 1004, real-time oil pumping amount of the pumping unit after being superimposed revolving speed disturbance quantity is obtained；
Step 1005, electric machine controller judges after being superimposed revolving speed disturbance quantity, and whether the oil pumping amount of pumping unit reduces,
If oil pumping amount reduces, step 1006 is executed, if the oil pumping amount of pumping unit does not reduce, executes step 1007；
Step 1006, change the direction of revolving speed disturbance quantity and be loaded into the current rotating speed of driving motor simultaneously return step
1004；
Step 1007, electric machine controller judges after being superimposed revolving speed disturbance quantity, and whether the oil pumping amount of pumping unit increases,
If oil pumping amount increases, step 1008 is executed, if the oil pumping amount of pumping unit does not increase, executes step 1009；
Step 1008, the numerical value for the disturbance quantity that increases speed simultaneously is loaded into the current rotating speed of driving motor simultaneously return step
1004；
Step 1009, reduce the numerical value of revolving speed disturbance quantity and be loaded into the current rotating speed of driving motor simultaneously return step
1004；
Step 1010, electric machine controller judges whether revolving speed disturbance quantity is zero, if it is zero, executes step 1011, if
It is not zero, executes step 1004；
Step 1011, terminate.
Preferably, the determination formula of revolving speed disturbance quantity described in step 1003 are as follows:
WhereinIndicate pumping unit (k+ 1) the oil pumping amount at moment and k moment
Oil pumping amount difference,Expression system measures the interval time with control,It indicates in driving electricity constantly
Machine revolving speed disturbed value, N are the coefficient for manually adjusting tracing step, and N > 0.
Preferably, the operating parameter of driving motor described in step 1001 is the maximum (top) speed of driving motor at runtime
And minimum speed.
Preferably, driving motor described in step 1001 is switched reluctance machines, and the electric machine controller is switch
Reluctance motor controller, the signal output end of switched reluctance motor controller are connected with the signal input part of switched reluctance machines,
The output shaft of switched reluctance machines connects the power intake of pumping unit by retarder.
Preferably, the oil pumping exit of the pumping unit is provided with flow sensor, the signal of flow sensor is defeated
Outlet is connected to switched reluctance motor controller signal input part.
Preferably, the switched reluctance motor controller includes the AD conversion unit of multiple input path, has FLASH
Central processing unit, power of motor control unit and the input-output unit of store function, the output end of central processing unit
It is connected with the input terminal of power of motor control unit, the output end of power of motor control unit and the switched reluctance machines
Input terminal is connected, and input-output unit is connected with the input/output port of central processing unit, the output end of AD conversion unit
It is connected with the input terminal of central processing unit.
Preferably, electric current is additionally provided in the power of motor control unit and switched reluctance machines connecting cable to pass
Sensor, the input terminal of the output end connection current sampled analogue circuit of current sensor, the output end of current sampled analogue circuit
It is connected to the input terminal of AD conversion unit.
Compared with prior art, the present invention has the beneficial effects that
1, in based on the maximum pumping unit progress control method for taking out fuel-flow control, in such a way that motor speed disturbs
Optimized rotating speed is found, to keep maximum oil pumping amount, to the control of oil pumping amount not with pumping unit mechanical parameter, oil reservoir state etc.
Change and change, therefore applicability is stronger.
2, system is driven using switched reluctance machines, and reliable for operation, long service life, energy-saving effect is good, installs simple side
Just, economy and durability, use cost are low.
3, in based on the maximum pumping unit progress control method for taking out fuel-flow control, switched Reluctance Motor Control system is utilized
System generates revolving speed disturbance quantity according to oil pumping amount and the relationship of revolving speed, and whether the size of simultaneous real-time monitoring oil pumping amount reaches maximum work
It is required, feedback system is formed by algorithm, the revolving speed of control system realizes the automatic adjusument of beam-pumping unit jig frequency, reaches pumping
The maximum working condition of oil machine oil pumping amount.This control method makes full use of existing technique of real-time control, real time monitoring oil pumping amount with
The relationship of revolving speed, thus real-time regulation system revolving speed.
Detailed description of the invention
Fig. 1 is a kind of based on the maximum pumping unit operation control system functional-block diagram for taking out fuel-flow control.
Fig. 2 is a kind of based on the maximum pumping unit progress control method flow chart for taking out fuel-flow control.
Specific embodiment
Fig. 1 ~ 2 are highly preferred embodiment of the present invention, and 1 ~ 2 the present invention will be further described with reference to the accompanying drawing.
The amount control system as shown in Figure 1, a kind of pumping unit maximum is pumped, including switched reluctance motor controller, switch magnetic
Motor, retarder and vertical oil-pumping machine are hindered, switched reluctance motor controller passes through cable connection to switched reluctance machines, switch
The output shaft of reluctance motor is connected with the input terminal of retarder, and the output end of retarder is connected with the input terminal of vertical oil-pumping machine,
It is rotated by switched reluctance motor controller control switch reluctance motor, history is driven by retarder after switched reluctance machines work
Pumping unit movement, realizes oil pumping.The oil pumping exit of vertical oil-pumping machine is provided with flow sensor, the output of flow sensor
It is signally attached to switched reluctance motor controller input terminal.
Switched reluctance motor controller is internally provided with current sensor, current sampled analogue circuit, multiple input path
AD conversion unit, the central processing unit with FLASH store function, power of motor control unit and input-output unit
(input keyboard and display module).The output end of central processing unit is connected with the input terminal of power of motor control unit, motor
The output end of power control unit is connected with the input terminal of switched reluctance machines, and current sensor is installed on switched reluctance machines control
In device processed in power of motor control unit and switched reluctance machines connecting cable, current sensor output is connected to electric current and adopts
Original mold intends circuit input end, and the output signal of current sampled analogue circuit output signal and above-mentioned flow sensor is separately connected
The different input terminal into AD conversion unit, the output end of AD conversion unit are connected to central processing unit.
Central processing unit reads the current signal digital quantity after AD conversion unit conversion, is controlled by power of motor single
Member controls current of electric, and the rotational speed regulation of switched reluctance machines may be implemented, and central processing unit passes through flow simultaneously
The signal that sensor is sent into judges the current oil pumping amount of vertical oil-pumping machine.Input-output unit is connected to central processing unit
Input/output port, user can be controlled and be set to the working condition of switched reluctance machines by keyboard and display module
It is fixed.
The amount control method as shown in Fig. 2, a kind of pumping unit maximum is pumped, includes the following steps:
Step 1001, the maximum (top) speed and minimum speed of configuration switch reluctance motor；
Before switched reluctance machines work, pass through the input-output unit setting in switched reluctance motor controller first
Switched reluctance machines maximum (top) speed at work and minimum speed, make switched reluctance machines that can adjust the speed fortune in a certain range
Row, the maximum (top) speed and minimum speed of switched reluctance machines are stored in the FLASH memory of central processing unit.
Step 1002, switched reluctance machines are run；
After the running parameter of switched reluctance machines is provided with, switched reluctance motor controller driving switch reluctance motor
Bring into operation, switched reluctance motor controller control switch reluctance motor work the maximum (top) speed and minimum speed set it
Between.
Step 1003, it generates revolving speed disturbance quantity and is loaded into the current rotating speed of switched reluctance machines；
Existed by the central processing unit in switched reluctance motor controllerkMoment generates a revolving speed disturbance quantity at random, and
Revolving speed disturbance quantity is superimposed upon on the basis of the current rotating speed of switched reluctance machines.
Revolving speed disturbance quantity can be positive value (revolving speed for increasing switched reluctance machines), or negative value (reduces switch magnetic
Hinder the revolving speed of motor), to shorten the time for finding optimal working speed, the size of switched reluctance machines revolving speed disturbance quantity can basis
The derivative value of oil pumping machine oil pumping amount determines, is formulated are as follows:
WhereinIndicate pumping unit (k+ 1) the oil pumping amount at moment and k moment
Oil pumping amount difference,Expression system measures the interval time with control,Indicate (k+ 1) moment opens
Reluctance motor revolving speed disturbed value is closed, N is the coefficient that tracing step can be manually adjusted according to wind energy conversion system power etc., and N > 0 is to guarantee
Motor speed.
Step 1004, oil pumping machine oil pumping amount is detected；
Central processing unit in switched reluctance motor controller obtains vertical oil-pumping machine by flow sensor and is being superimposed
Oil pumping amount after revolving speed disturbance quantity.
Step 1005, whether oil pumping machine oil pumping amount reduces；
Central processing unit in switched reluctance motor controller judges after being superimposed revolving speed disturbance quantity, vertical oil pumping
Whether the oil pumping amount of machine reduces, if oil pumping amount reduces, executes step 1006, if the oil pumping amount of vertical oil-pumping machine does not reduce,
Execute step 1007.
Step 1006, change the direction of revolving speed disturbance quantity and be loaded into the current rotating speed of switched reluctance machines；
The oil pumping amount of vertical oil-pumping machine reduces, and the contrary of revolving speed disturbance quantity is indicated, in switched reluctance motor controller
Central processing unit change revolving speed disturbance quantity direction, and by change direction after revolving speed disturbance quantity be loaded into switching magnetic-resistance electricity
In the current rotating speed of machine, return step 1004.
Step 1007, whether oil pumping machine oil pumping amount increases；
Central processing unit in switched reluctance motor controller judges after being superimposed revolving speed disturbance quantity, vertical oil pumping
Whether the oil pumping amount of machine increases, if oil pumping amount increases, executes step 1008, if the oil pumping amount of vertical oil-pumping machine does not increase,
Execute step 1009.
Step 1008, the numerical value for the disturbance quantity that increases speed simultaneously is loaded into the current rotating speed of switched reluctance machines；
The oil pumping amount of vertical oil-pumping machine increases, and indicates in the right direction, the oil pumping amount to vertical oil-pumping machine of revolving speed disturbance quantity
Central processing unit after stabilization in switched reluctance motor controller increases the numerical value of revolving speed disturbance quantity under front direction, and will change
Revolving speed disturbance quantity behind direction is loaded into the current rotating speed of switched reluctance machines, return step 1004.
Step 1009, reduce the numerical value of revolving speed disturbance quantity and be loaded into the current rotating speed of switched reluctance machines；
Central processing unit in switched reluctance motor controller reduces the numerical value when revolving speed disturbance quantity under front direction, and will
Revolving speed disturbance quantity after changing direction is loaded into the current rotating speed of switched reluctance machines, return step 1004.
Step 1010, whether revolving speed disturbance quantity is zero；
Central processing unit in switched reluctance motor controller judges whether revolving speed disturbance quantity is zero, if it is zero, holds
Row step 1011 executes step 1004 if be not zero.
Step 1011, terminate.
Specific work process and principle are as follows:
Before system work, switched reluctance machines, which are arranged, in the artificial input-output unit by switched reluctance motor controller permits
Perhaps the minimum speed and maximum speed to work, makes switched reluctance machines in a certain range can be with speed governing operation.Switching magnetic-resistance electricity
A revolving speed disturbance quantity is randomly generated in the central processing unit of machine controller on the basis of current motor revolving speed,
It can be positive value, or negative value, in rotation speed changeUnder the action of, if oil pumping amount reduces, should change
Perturbation direction, i.e. positive value becomes negative value or negative value and becomes positive value, if oil pumping amount becomes larger, illustrates the side currently disturbed
To be correctly, can oil pumping amount stablize after, continue on this direction increase, until pumping unit output shaft oil mass no longer
It increaseds or decreases, can incite somebody to action at this timeValue reduces, untilIt is approximately zero and oil pumping amount variation knot when being approximately zero
Beam.
In order to ensure being still able to maintain maximum oil pumping amount when underground petroleum changed condition, can stabilization of speed for a period of time after
Artificial addition revolving speed disturbance, so that motor is found optimal working speed again, keep field output.
When carrying out judgement that whether oil pumping amount increases or reduces, can artificially be set based on the numerical value of initial oil pumping amount
One threshold value of fixed specific numerical value (or percentage) formation, when carrying out judgement that whether oil pumping amount increases, if currently
When the absolute value of the difference of oil pumping amount and initial oil pumping amount is greater than the threshold value, then it represents that oil pumping amount becomes larger, otherwise indicates oil pumping amount
Do not become larger；When carrying out judgement that whether oil pumping amount reduces, if the absolute value of the difference of current oil pumping amount and initial oil pumping amount
When greater than the threshold value, then it represents that oil pumping amount reduces, otherwise indicates that oil pumping amount does not reduce.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But without departing from the technical solutions of the present invention, according to the technical essence of the invention to above embodiments institute
Any simple modification, equivalent variations and the remodeling made, still fall within the protection scope of technical solution of the present invention.
Claims (7)
1. a kind of based on the maximum pumping unit progress control method for taking out fuel-flow control, including one group of control system for oil-pumping unit, oil pumping
Machine control system includes the motor control of pumping unit, the driving motor of driving pumping unit work and control driving motor work
Device, it is characterised in that: including step control as follows:
Step 1001, the operating parameter of driving motor is set；
Step 1002, driving motor works according to presetting operating parameter and pumping unit is driven to act；
Step 1003, electric machine controller generates a revolving speed disturbance quantity at random, and revolving speed disturbance quantity is superimposed upon driving motor
On the basis of current rotating speed；
Step 1004, real-time oil pumping amount of the pumping unit after being superimposed revolving speed disturbance quantity is obtained；
Step 1005, electric machine controller judges after being superimposed revolving speed disturbance quantity, and whether the oil pumping amount of pumping unit reduces, if
Oil pumping amount reduces, and executes step 1006, if the oil pumping amount of pumping unit does not reduce, executes step 1007；
Step 1006, change the direction of revolving speed disturbance quantity and be loaded into the current rotating speed of driving motor simultaneously return step 1004；
Step 1007, electric machine controller judges after being superimposed revolving speed disturbance quantity, and whether the oil pumping amount of pumping unit increases, if
Oil pumping amount increases, and executes step 1008, if the oil pumping amount of pumping unit does not increase, executes step 1009；
Step 1008, the numerical value for the disturbance quantity that increases speed simultaneously is loaded into the current rotating speed of driving motor simultaneously return step 1004；
Step 1009, reduce the numerical value of revolving speed disturbance quantity and be loaded into the current rotating speed of driving motor simultaneously return step 1004；
Step 1010, electric machine controller judges whether revolving speed disturbance quantity is zero, if it is zero, step 1011 is executed, if not being
Zero, execute step 1004；
Step 1011, terminate.
2. according to claim 1 based on the maximum pumping unit progress control method for taking out fuel-flow control, it is characterised in that: step
The determination formula of revolving speed disturbance quantity described in rapid 1003 are as follows:
WhereinIndicate pumping unit (k+ 1) the oil pumping amount at moment withkThe pumping at moment
Oil mass difference,Expression system measures the interval time with control,Indicate (k+ 1) moment driving electricity
Machine revolving speed disturbed value, N are the coefficient for manually adjusting tracing step, and N > 0.
3. according to claim 1 based on the maximum pumping unit progress control method for taking out fuel-flow control, it is characterised in that: step
The operating parameter of driving motor described in rapid 1001 is driving motor maximum (top) speed at runtime and minimum speed.
4. according to claim 1 based on the maximum pumping unit progress control method for taking out fuel-flow control, it is characterised in that: step
Driving motor described in rapid 1001 is switched reluctance machines, and the electric machine controller is switched reluctance motor controller, is opened
The signal output end for closing reluctance motor controller is connected with the signal input part of switched reluctance machines, the output of switched reluctance machines
Axis connects the power intake of pumping unit by retarder.
5. according to claim 4 based on the maximum pumping unit progress control method for taking out fuel-flow control, it is characterised in that:
The oil pumping exit of the pumping unit is provided with flow sensor, and the signal output end of flow sensor is connected to switching magnetic-resistance
Electric machine controller signal input part.
6. according to claim 4 based on the maximum pumping unit progress control method for taking out fuel-flow control, it is characterised in that: institute
The switched reluctance motor controller stated includes the AD conversion unit of multiple input path, the centre with FLASH store function
Unit, power of motor control unit and input-output unit are managed, output end and the power of motor control of central processing unit are single
The input terminal of member is connected, and the output end of power of motor control unit is connected with the input terminal of the switched reluctance machines, input
Output unit is connected with the input/output port of central processing unit, the output end of AD conversion unit and central processing unit
Input terminal is connected.
7. according to claim 6 based on the maximum pumping unit progress control method for taking out fuel-flow control, it is characterised in that:
It is additionally provided with current sensor in the power of motor control unit and switched reluctance machines connecting cable, current sensor
Output end connects the input terminal of current sampled analogue circuit, and the output end of current sampled analogue circuit is connected to AD conversion unit
Input terminal.
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| CN201710538498.0A CN107294462B (en) | 2017-07-04 | 2017-07-04 | A kind of pumping unit progress control method based on maximum pumping fuel-flow control |
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| CN201710538498.0A CN107294462B (en) | 2017-07-04 | 2017-07-04 | A kind of pumping unit progress control method based on maximum pumping fuel-flow control |
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| JP5084295B2 (en) * | 2007-02-09 | 2012-11-28 | 日立建機株式会社 | Pump torque control device for hydraulic construction machinery |
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| CN105429554A (en) * | 2015-12-15 | 2016-03-23 | 大连理工大学 | Control method of switched reluctance driving system for pumping unit |
| WO2017109921A1 (en) * | 2015-12-24 | 2017-06-29 | 日立三菱水力株式会社 | Variable speed pumped-storage hydroelectric generation device |
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