Abstract
The transfer of low-flow wells to the cyclic operation mode results in a decrease in the mean time between submersible permanent magnet synchronous motors failures. To increase the service life of submersible electric motors, it is necessary to synthesize control systems closed by the rotor speed and the load torque, making it possible to control the quality of transient processes within the electric motor in various modes: start-up, load surge, wedging when the operating parts of the centrifugal pump are jammed. Angular velocity and load moment sensors installation in the conditions of well oil production is technically difficult to implement, which is due to high temperatures and the great depth of laying the submersible telemetry. As a consequence, it is necessary to develop indirect methods for variable states estimation of a submersible electric motor. The article proposes the structure and the customizable mathematical model of an observer for the full order rotor speed and load torque observer for submersible permanent magnet synchronous motors, taking into account such features of centrifugal pump technological process as the unevenness of the thermal field inside the well, the electric motor rotor soft jamming, silting and clogging of the centrifugal pump working parts. The performance of the observer in typical modes was investigated: start-up, load increase and drop, mismatch of initial conditions. The assessment of the observer stability to parametric disturbances was made, such as a change in the active resistance of the stator winding, a change in the moment of inertia, a decrease in the flux linkage of the permanent magnet by calculating the integral error in processing transient processes of the observer start-up and the static error in estimating the rotor speed and the load torque in the steady-state mode.
Keywords
permanent magnet synchronous motor, submersible motor, full order observer, non-stationary dynamic system, state variable identification, rotor speed estimation, load torque estimation, parametric robustness, electric centrifugal pump installations, cyclic well operation
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