Hydraulic fracturing pump control system
A monitor and control system for a hydraulic fracturing pump is described herein to reduce or eliminate harmful oscillations in fluid discharge pressure caused by the pump load dynamics. The monitor and control system receives various sensor data from the operation of the pump, including the pump crank position, and executes a pump control equation or model based on the pump sensor data, pump load data and/or pump speed data. Pump control equations or models are specific to the design and dynamic operation of the pump, incorporating the number of plungers, pump dynamics, motor lag and motor dynamics, etc. Using the pump control equations or models, the monitor and control system determines control commands for the pump motor to reduce or eliminate the oscillatory discharge pressure at the pump.
1. A motor control system associated with a hydraulic fracturing pump configured to expel high-pressure fracking fluid in a hydraulic fracturing process, comprising:
a pump crank position sensor;
one or more central processing units (CPUs); and
memory storing executable instructions that, when executed by the one or more CPUs, cause the CPUs to perform operations comprising:
transmitting a first control command to a motor associated with the hydraulic fracturing pump;
receiving crank position data from the pump crank position sensor, the crank position data indicating an orientation of a crankshaft of the hydraulic fracturing pump at a first time during the operation of the hydraulic fracturing pump;
receiving fluid discharge pressure data associated with the hydraulic fracturing pump as the motor operates in accordance with the first control command;
detecting, based on the fluid discharge pressure data, an oscillating pattern in the fluid discharge pressure of the hydraulic fracturing pump, wherein determining the oscillating pattern comprises:
determining an instantaneous torque per cylinder based at least in part on the fluid discharge pressure data; and
determining a torque output of the hydraulic fracturing pump, based at least in part on the instantaneous torque per cylinder;
determining an oscillatory force to apply to the motor of the hydraulic fracturing pump, based at least in part on the crank position data and the oscillating pattern in the fluid discharge pressure;
determining a second control command for the motor associated with the hydraulic fracturing pump, based at least in part on the oscillatory force and the crank position data; and
transmitting the second control command to the motor associated with the hydraulic fracturing pump.
2. The motor control system of claim 1 , wherein determining the second control command comprises:
receiving a model associated with the hydraulic fracturing pump; and
executing an equation associated with the model, wherein executing the equation includes providing the crank position data and the fluid discharge pressure data as input to the equation.
3. The motor control system of claim 2 , wherein receiving the model associated with the hydraulic fracturing pump comprises retrieving the model from a plurality of models associated with one or more hydraulic fracturing pumps, based on least in part on:
a number of pistons of the hydraulic fracturing pump;
a plunger diameter associated with the pistons of the hydraulic fracturing pump; and
a stroke length associated with the hydraulic fracturing pump.
4. The motor control system of claim 1 , wherein determining the fluid discharge pressure data comprises:
receiving fluid discharge pressure measurement data from a sensor associated with the hydraulic fracturing pump during operation of the motor;
applying a filter to fluid discharge pressure measurement data; and
determining a frequency for the filter, based at least in part on a speed of the motor and a number of plungers of the hydraulic fracturing pump.
5. The motor control system of claim 1 , the operations further comprising:
determining an inertial torque value associated an acceleration of the crankshaft, wherein determining the second control command is further based on the inertial torque value.
6. The motor control system of claim 1 , wherein determining the second control command further comprises:
determining a first harmonic based at least in part on a first harmonic coefficient and the crank position data;
determining a second harmonic based at least in part on a second harmonic coefficient and the crank position data; and
calculating a sum of the first harmonic and the second harmonic, wherein the second control command is further based on the sum of the first harmonic and the second harmonic.
7. A method, comprising:
receiving crank position data during the operation of a hydraulic fracturing pump configured to expel high-pressure fracking fluid in a hydraulic fracturing process, the crank position data indicating an orientation of a crankshaft of the hydraulic fracturing pump at a first time during operation of a motor associated with the hydraulic fracturing pump;
receiving fluid discharge pressure data associated with the hydraulic fracturing pump during the operation of the motor;
detecting, based on the fluid discharge pressure data, an oscillating pattern in the fluid discharge pressure of the hydraulic fracturing pump, wherein determining the oscillating pattern comprises:
determining an instantaneous torque per cylinder based at least in part on the fluid discharge pressure data; and
determining a torque output of the hydraulic fracturing pump, based at least in part on the instantaneous torque per cylinder;
determining an oscillatory force to apply to the motor of the hydraulic fracturing pump, based at least in part on the crank position data and the oscillating pattern in the fluid discharge pressure;
determining a control command based at least in part on the oscillatory force; and
controlling the motor associated with the hydraulic fracturing pump based at least in part on the determined control command.
8. The method of claim 7 , further comprising:
determining a speed of the motor during the operation of the motor, wherein determining the control command is further based on the speed of the motor.
9. The method of claim 7 , wherein determining the control command comprises:
receiving a model associated with the hydraulic fracturing pump; and
executing an equation associated with the model, wherein executing the equation includes providing the crank position data and the fluid discharge pressure data as input to the equation.
10. The method of claim 9 , wherein receiving the model associated with the hydraulic fracturing pump comprises retrieving the model from a plurality of models associated with one or more hydraulic fracturing pumps, based on least in part on:
a number of pistons of the hydraulic fracturing pump;
a plunger diameter associated with the pistons of the hydraulic fracturing pump; and
a stroke length associated with the hydraulic fracturing pump.
11. The method of claim 7 , wherein receiving the fluid discharge pressure data comprises:
receiving fluid discharge pressure measurement data from a sensor associated with the hydraulic fracturing pump during operation of the motor;
applying a filter to fluid discharge pressure measurement data; and
determining a frequency for the filter, based at least in part on a speed of the motor and a number of plungers of the hydraulic fracturing pump.
12. The method of claim 7 , wherein controlling the motor comprises determining a time to transmit the control command to the motor, wherein the time is based on the oscillating pattern in the fluid discharge pressure associated with the hydraulic fracturing pump.
13. One or more non-transitory computer-readable media storing instructions executable by a processor, wherein the instructions, when executed, cause the processor to perform operations comprising:
receiving crank position data during the operation of a hydraulic fracturing pump configured to expel high-pressure fracking fluid in a hydraulic fracturing process, the crank position data indicating an orientation of a crankshaft of the hydraulic fracturing pump at a first time during operation of a motor associated with the hydraulic fracturing pump;
receiving fluid discharge pressure data associated with the hydraulic fracturing pump during the operation of the motor;
detecting, based on the fluid discharge pressure data, an oscillating pattern in the fluid discharge pressure of the hydraulic fracturing pump, wherein determining the oscillating pattern comprises:
determining an instantaneous torque per cylinder based at least in part on the fluid discharge pressure data; and
determining a torque output of the hydraulic fracturing pump, based at least in part on the instantaneous torque per cylinder;
determining an oscillatory force to apply to the motor of the hydraulic fracturing pump, based at least in part on the crank position data and the oscillating pattern in the fluid discharge pressure;
determining a control command for the motor associated with the hydraulic fracturing pump, based at least in part on the oscillatory force; and
controlling the motor associated with the hydraulic fracturing pump based at least in part on the determined control command.
14. The one or more non-transitory computer-readable media of claim 13 , the operations further comprising:
determining a speed of the motor during the operation of the motor, wherein determining the control command is further based on the speed of the motor.
15. The one or more non-transitory computer-readable media of claim 13 , wherein determining the control command comprises:
determining a second time at which the control command is to be applied to the motor;
determining a phase offset within the oscillating pattern in the fluid discharge pressure, associated with the second time; and
determining the control command for the motor based at least in part on the phase offset associated with the second time.
16. The method of claim 7 , further comprising:
determining a number of plungers on the hydraulic fracturing pump, wherein each plunger is configured to receive low-pressure fracking fluid and discharge the fracking fluid at a higher pressure,
wherein determining the oscillatory force to apply is further based at least in part on the determined number of plungers on the hydraulic fracturing pump.
17. The method of claim 7 , wherein determining the oscillating force comprises:
determining an ambient condition associated with a current operating environment of the hydraulic fracturing pump; and
executing an equation associated with a pump control model, wherein a first input to the equation is the crank position data, and a second input to the equation is based on the ambient condition.
18. The method of claim 7 , wherein determining the oscillating pattern further comprises:
determining a harmonic model of torque pulsation, based at least in part on a structural feature of the hydraulic fracturing pump.
19. The motor control system of claim 1 , wherein determining the oscillating force comprises:
determining an ambient condition associated with a current operating environment of the hydraulic fracturing pump; and
executing an equation associated with a pump control model, wherein a first input to the equation is the crank position data, and a second input to the equation is based on the ambient condition.
20. The motor control system of claim 1 , wherein determining the oscillating pattern further comprises:
determining a harmonic model of torque pulsation, based at least in part on a structural feature of the hydraulic fracturing pump.