CN103967449A - Operational control system and corresponding control method of hydraulic pumping unit - Google Patents
Operational control system and corresponding control method of hydraulic pumping unit Download PDFInfo
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Abstract
The invention discloses an operational control system of a hydraulic pumping unit. The operational control system comprises a motor, a sensor, a motion controller and a frequency conversion driver, wherein the motor is used for providing driving power for the hydraulic pumping unit and is in transmission connection with a potential energy accumulator; the sensor can at least determine the limiting position and the advancing motion of the up-and-down motion of the sucker rod of the hydraulic pumping unit; the motion controller and the frequency conversion driver are arranged between a power unit for providing electric energy for the hydraulic pumping unit and the motor so as to drive and control the operation of the motor in the manner of frequency conversion and provide a control signal for a secondary control hydraulic unit, and in addition, the motion controller and the frequency conversion driver are provided with a first input end connected with the sensor and used for receiving a signal of the sensor and can at least control the operation of the motor and the secondary control hydraulic unit according to the signal provided by the sensor. The invention correspondingly discloses a method for controlling the operation of the hydraulic pumping unit. With adoption of the system and the method, the motor can efficiently operate and a power grid is prevented from pollution and impact.
Description
Technical field
The present invention relates to a kind of operation control system of hydraulic oil pumping unit and a kind of method of the operation that utilizes this operation control system control hydraulic oil pumping unit.
Background technology
In current oil recovery process, no matter be in default of internal pressure or other reasons, if can not naturally flow out crude oil from producing well, must seek one " manual method ", now the most frequently used is exactly beam pumping unit, is commonly referred to as " machine of kowtowing ".Beam pumping unit is mainly made up of walking beam-connecting rod-crank mechanism, reduction box, threephase asynchronous machine and auxiliary equipment etc.When oil recovery, the upper and lower reciprocating motion of sucker rod.In the upper and lower reciprocating one-period of sucker rod, load is real-time change, and correspondingly electric motor load torque is also real-time change, and the electrical power of therefore inputting motor is also real-time change.This makes the power characteristic of motor be difficult to match with load variations, thereby can make the overall efficiency of motor lower, and power factor is smaller, and power consumption is high.And this beam pumping unit is bulky, yields poorly.
For this reason, Chinese patent CN202181885U discloses a kind of hydraulic oil pumping unit, it has linear quadratic control hydraulic pressure unit, by the control of linear quadratic control hydraulic pressure unit and then the linear quadratic control hydraulic pressure unit controller that drives sucker rod reciprocating oil cylinder, move forward and reverse for setting sensor, the asynchronous machine being in transmission connection with linear quadratic control hydraulic pressure unit, the potential energy accumulator (preferably adopting the form of flywheel) being connected with induction motor drive and the signal controlling linear quadratic control hydraulic pressure unit based on the sensor of stroke of cylinder piston rod (, sucker rod).Utilize this hydraulic oil pumping unit, can control neatly stroke and speed according to the characteristic of oil well, thereby, can fully recover the oil, improve output, and due to potential energy accumulator energy storage of potential energy release subsequently, therefore reduce electric energy loss, improved production efficiency.
Due to this periodic power conversion, asynchronous machine still can bear frequent and sizable velocity variations and load torque changes.But the operating rate that asynchronous machine allows and torque are subject to its Basic Design and drive electric frequency limitation.Asynchronous machine in the oil pumper of existing design is directly connected to electrical network and is directly driven by the alternating current of 50Hz, makes to be difficult to mate required velocity variations and load torque variation.
Therefore, following problem has been found in field experiment:
1) motor is electrically excited and power output all the time, but only within certain period of a work period, just need exciting electric to make its power output in actual production process, particularly in downward stroke, motor, owing to being energized all the time, has been exported unnecessary power.
2) because motor speed continues to change, and electric frequency is constant, and motor is the inefficient state in the low load of high power the larger reactive power of generation for a long time.
3) the velocity variations scope that power frequency asynchronous machine allows is less, and it is also less that corresponding potential energy accumulator can absorb the potential energy transforming, and can not meet the requirement of heavy load application.
4) within certain period of downward stroke, motor speed exceedes electric frequency requirement rotating speed, and asynchronous machine operates under the pattern of serving as generator, at this moment can produce certain impact and pollution to electrical network because asynchronous machine is directly connected to electrical network.
In this case, in the urgent need to a kind of hydraulic oil pumping unit and a kind of corresponding control method that can efficiently move, control flexibly and can not impact electrical network.
Summary of the invention
The object of this invention is to provide a kind of operation control system of hydraulic oil pumping unit and a kind of method of the operation that utilizes this operation control system control hydraulic oil pumping unit, to overcome above-mentioned at least one shortcoming.
According to a first aspect of the invention, provide a kind of operation control system of hydraulic oil pumping unit, having comprised: motor, it is used to hydraulic oil pumping unit that driving power is provided, and the potential energy accumulator that is in transmission connection; Sensor, it at least can determine the extreme position moving up and down and the direct of travel of the sucker rod of hydraulic oil pumping unit; And motion controller and variable frequency drives, it is arranged on provides between the electric supply installation and motor of electric energy for hydraulic oil pumping unit, drive and control the operation of motor in mode that can frequency conversion, and for linear quadratic control hydraulic pressure unit provides control signal, and described motion controller and variable frequency drives have the signal for receiving sensor being connected with sensor first input end mouth and at least can be according to the operation of the signal control motor being provided by sensor and linear quadratic control hydraulic pressure unit.
Preferably, described motion controller and variable frequency drives also have the second input port of the feedback signal for receiving the running status that can reflect motor.
Preferably, described motor is asynchronous machine or synchronous motor.
According to a second aspect of the invention, a kind of method of the operation that utilizes above-mentioned operation control system control hydraulic oil pumping unit is provided, wherein, described motion controller and variable frequency drives at least according to the signal that provided by sensor with can the mode control motor of frequency conversion and the operation of linear quadratic control hydraulic pressure unit.
Preferably, described motion controller and variable frequency drives also have the second input port of the feedback signal for receiving the running status that can reflect motor, and described motion controller and variable frequency drives are according to the signal being provided by sensor and the operation of this feedback signal control motor and linear quadratic control hydraulic pressure unit.
Preferably, in the stroke moving upward at sucker rod, described motion controller and variable frequency drives be the operation taking motor speed as control target control motor based on closed loop motor speed control strategy according to the motor speed signal of feedback; And/or in the stroke moving downward at sucker rod, described motion controller and variable frequency drives be by controlling the electric frequency of carrying to motor to make motor torque be 0 or minimizing, or cut off simply to the electricity of motor and carry.
Preferably, in the stroke moving upward at sucker rod and the stroke moving downward, described motion controller and variable frequency drives be the operation taking the power to the efficient conveying of motor as control target control motor based on closed power-FREQUENCY CONTROL strategy according to feedback signal.
Preferably, in the stroke moving upward at sucker rod, described motion controller and variable frequency drives make machine operation under rated slip; And/or in the stroke moving downward at sucker rod, described motion controller and variable frequency drives make machine operation under 0 revolutional slip.
Preferably, described feedback signal is motor encoder measurement result or motor speed estimation result.
Preferably, be respectively the sucker rod stroke moving upward and the stroke off-line appointment moving downward from the power characteristic of motion controller and variable frequency drives desired output and this power characteristic is stored in described motion controller and variable frequency drives, in the time that oil pumper is worked, the power characteristic of the signal that described motion controller and variable frequency drives basis are provided by sensor based on described storage controlled the operation of motor.
System and a method according to the invention can be cut off or minimize to the electricity of motor and carry in the time not needing output power of motor, and can carry starter motor with larger electricity again in the suitable moment.And, can be according to the duty of motor with suitable electric frequency driving motor, to guarantee that motor works all the time efficiently.In addition, motor and the isolation of electrical network electricity, to prevent because possible load change impacts electrical network.
Brief description of the drawings
Below, by describing in more detail the present invention referring to accompanying drawing, principle, feature and the advantage that the present invention may be better understood.Accompanying drawing comprises:
Fig. 1 shows the sketch of the basic comprising of existing hydraulic oil pumping unit.
An exemplary change procedure of the effective current of the asynchronous machine that Fig. 2 shows existing hydraulic oil pumping unit during real work.
Fig. 3 shows according to the sketch of system architecture of the present invention exemplary embodiment.
Fig. 4 shows existing method and the motor speed comparison of the method according to this invention in one minute duration.
Detailed description of the invention
, will specific embodiments of the invention be described in more detail referring to accompanying drawing below, to understand better basic thought of the present invention.
Fig. 1 shows the sketch of the basic comprising of existing hydraulic oil pumping unit.As shown in Figure 1, hydraulic oil pumping unit comprises: linear quadratic control hydraulic pressure unit 1, the linear quadratic control hydraulic pressure unit controller 7 of being controlled and then driving oil cylinder 2 that sucker rod 3 pumps, moved forward and reverse for setting sensor 4, the asynchronous machine 5 being in transmission connection with linear quadratic control hydraulic pressure unit 1, the potential energy accumulator 6 being in transmission connection with asynchronous machine 5 and the signal controlling linear quadratic control hydraulic pressure unit 1 based on this sensor 4 of stroke of sucker rod 3 by this linear quadratic control hydraulic pressure unit 1.Sucker rod 3 extend in oil cylinder 2 and serves as piston rod, and the lower end of sucker rod 3 is connected to the load (oil well pump) 8 that is positioned at oil well.In addition, hydraulic oil pumping unit also comprises three fluid pressure line 11 of hydraulic connecting to the second fluid pressure line 10 of the first fluid pressure line 9 of oil cylinder 2, hydraulic connecting oil cylinder 2 and linear quadratic control hydraulic pressure unit 1 and hydraulic connecting to linear quadratic control hydraulic pressure unit 1.
An exemplary change procedure of the effective current of the asynchronous machine 5 that Fig. 2 shows existing hydraulic oil pumping unit during real work.In Fig. 2, a complete cycle of operation of the corresponding asynchronous machine 5 of interval t1-t5.According to the operation characteristic of asynchronous machine 5, a complete cycle of operation can be divided into again three phases t1-t2, t2-t4, t4-t5.In first stage t1-t2, sucker rod 3 moves downward, and the electric current of asynchronous machine 5 reduces gradually, and the rotating speed of asynchronous machine 5 increases gradually.In the time reaching moment t2, asynchronous machine 5 is in the first critical condition.Now, in the time that sucker rod 3 further moves downward, asynchronous machine 5 can further accelerate rotation and enter second stage t2-t4.In second stage t2-t4, asynchronous machine 5 is in power generation mode, that is, asynchronous machine 5 is now equivalent to a generator.Second stage t2-t4 can be divided into again two subsegment t2-t3 and t3-t4 according to curent change characteristic.The electric current of asynchronous machine 5 first increases gradually in subsegment t2-t3, then reaches maximum value at moment t3, then in subsegment t3-t4, can reduce gradually again.In the time reaching moment t4, asynchronous machine 5, in the second critical condition, then enters into phase III t4-t5 and disengaging power generation mode.In phase III t4-t5, the electric current of asynchronous machine 5 rises gradually, and the torque of output increases gradually, to there are enough powered sucker rods 3 to move up.
Therefore, in theory, only the power stage of the asynchronous machine 5 in phase III t4-t5 is only actual required power stage.Therefore, ideally, the decline curve S1 of first stage t1-t2 answers step to decline, and vertically declines, because ideally should be able to promoting by oneself sucker rod 3 compared with high potential energy and moving downward and have energy to save of the sucker rod of oil pumper 3, and does not need asynchronous machine 5 outputting power again.Similarly, ideally, the ascending curve S2 in phase III t4-t5 should start step from the t3 moment and rise, and vertically rises, provide enough large driving torque because ideally the electric current of asynchronous machine 5 should reach higher value immediately, move upward to promote sucker rod 3.But in reality, be subject to the restriction of the factors such as characteristic and oil pumper condition of work of asynchronous machine 5 own, can not make asynchronous machine 5 move in the ideal situation.Certainly, ideally, also should make asynchronous machine 5 not be operated under power generation mode, because, as mentioned above, under power generation mode, asynchronous machine 5 not only can not be exported the effective power of actual needs, and the potential energy of sucker rod 3 can be converted into the heat that asynchronous machine 5 produces in the time that generator is worked, and the electric energy producing also can impact and pollute electrical network.
Ascending curve S2 sloping variation in phase III t4-t5 means, in the time that needs peak power output (being full load) drives sucker rod 3 to move upward, asynchronous machine 5 but has considerable time to be operated under underloading condition, this means that asynchronous machine 5 has low efficiency.As mentioned above, ideally, asynchronous machine 5 also should not be electrically excited and power output in the downward stroke of sucker rod 3, but, in reality, to find, asynchronous machine 5 still can be electrically excited and power output in downward stroke, and this is obviously disadvantageous.And the rotating speed of asynchronous machine 5 in second stage t2-t4 is greater than the corresponding rotating speed of electrical network power frequency, therefore can make asynchronous machine 5 be operated under power generation mode, this can should store so that the potential energy converting and energy recycling is heat energy and the electric energy that impacts electrical network.
, need to control asynchronous machine 5 according to the duty of oil pumper for this reason, recycle the power consumption efficiency of efficiency and system and avoid electrical network pollute and impact to improve significantly potential energy.
Fig. 3 shows according to the sketch of system architecture of the present invention exemplary embodiment.As shown in Figure 3, system of the present invention comprises motion controller and variable frequency drives 12, this motion controller and variable frequency drives 12 are arranged between asynchronous machine 5 and electrical network AC,, it is upper that motion controller and variable frequency drives 12 is electrically connected to respectively three-phase U, V, the W of electrical network AC by port P1, P2 and P3 on the one hand, is electrically connected to respectively on three-phase A, B, the C of asynchronous machine 5 on the other hand by port P4, P5, P6.And as shown in Figure 3, motion controller and variable frequency drives 12 are electrically connected to sensor 4 by port P7.Sensor 4 at least can be determined the extreme position moving up and down and the direct of travel of sucker rod 3, is in stroke upwards or in downward stroke and determine the conversion moment between upper and lower stroke at least can judge sucker rod 3.According to an embodiment, sensor 4 can be Boolean value output sensor, for example, be separately positioned on two approach switchs of the upper and lower part of cylinder bracket (not shown): top approach switch 4A and bottom approach switch 4B, as shown in figs. 1 and 3.According to another embodiment, sensor 4 can be also analog sensor, and for example displacement transducer now not only can be determined the extreme position moving up and down and the direct of travel of sucker rod 3, and can determine sucker rod accurate location at any time.
Because motion controller and variable frequency drives 12 are arranged between asynchronous machine 5 and electrical network AC, therefore, asynchronous machine 5 is that passive movement controller and variable frequency drives 12 directly drive, instead of directly driven by electrical network AC.Therefore, asynchronous machine 5 and the isolation of electrical network AC electricity, now, any possible electropollution and surge can passive movement controller and variable frequency drives 12 absorb, and can not be transmitted to electrical network.According to the duty of oil pumper, motion controller and variable frequency drives 12 calculate best voltage and frequency for asynchronous machine 5, and according to this best voltage and frequency drives asynchronous machine 5.In other words,, by motion controller and variable frequency drives 12, can provide the alternating current with desired voltage and frequency to drive asynchronous machine 5.Concrete control method can be based on system performance requirement and configure.To provide three kinds of typical control methods below.
1) high-performance designs: closed loop motor speed control
In this closed loop motor speed control method, a port P8 of motion controller and variable frequency drives 12 need to be connected to asynchronous machine 5, for the tach signal of Real-time Obtaining asynchronous machine 5, as shown in Figure 3.Certainly, this signal also can gather any other position on the axle of motor place, as long as can obtain motor speed.Now, form closed loop motor speed control strategy.In this case, suggestion is used high performance variable-frequency motor, such as asynchronous motor supplied with variable frequency, frequency-conversion synchronous motor, various servomotors etc.
For this closed loop motor speed control method, according to an exemplary embodiment, in stroke upwards, accurately control the speed of motor, to realize good balance between electrical efficiency and oil recovery efficiency.
For this closed loop motor speed control method, according to another exemplary embodiment, in downward stroke, motion controller and variable frequency drives 12 be by controlling the electric frequency of carrying to asynchronous machine 5 to make motor torque be 0 or minimizing, or simply the frequency of motion controller and variable frequency drives 12 is made as to 0Hz and cuts off to the electricity of asynchronous machine 5 and carry.Now, in downward stroke, in fact do not consume any electric energy or consume very little electric energy, that is, do not make the sucker rod acceleration of system or brake this system with any electric energy or with very little electric energy.In other words, now rely on the gravitional force of sucker rod to complete the downward stroke of oil pumper completely or mainly.
This closed loop motor speed control method has been guaranteed best efficiency, and disturbance has high reliability to mechanical system.
2) medium-performance design: closed power-FREQUENCY CONTROL
In reality, do not need accurate speed control in major applications occasion, the real importantly efficiency of motor, this efficiency is determined by the mated condition between power and rotor frequency.
In this case, the control target of up stroke is no longer the rotating speed of motor, but the electrical power of carrying to motor.Owing to being closed-loop control, now motion controller and variable frequency drives 12 still need to feed back accordingly from asynchronous machine 5 or other position acquisitions, for example encoder measurement result or turn count result.Motion controller and variable frequency drives 12 calculate the optimum electrical power of carrying to asynchronous machine 5 based on above-mentioned feedback, to mate the rotation of motor.
According to a preferred embodiment, in stroke upwards, motion controller and variable frequency drives 12 always work under rated slip asynchronous machine 5, under maximum power efficiency.
According to a preferred embodiment, in downward stroke, motor is always worked under 0 revolutional slip, minimize electrical power output.
Except can using high-performance motor, also can select common induction machine, and can not affect significantly systematic function.And this control method has reduced the requirement to motion controller and variable frequency drives 12, because now use simple constant voltage constant frequency control just can realize this control procedure.
3) low performance design: open loop power-FREQUENCY CONTROL
According to factors such as the control targets of the specific works condition of oil pumper, expectation, take leave of line for stroke upwards and downward spm and specify the power characteristic of exporting from motion controller and variable frequency drives 12, so that asynchronous machine 5 is according to preassigned power characteristic work.Therefore, in this case, need to reserve large power headroom and deal with unexpected interference.Compare first two control method, the Performance And Reliability of this open loop power-control method for frequency is relatively more poor, but still there is very large advantage than existing system, and need to not receive any feedback from asynchronous machine 5 or other positions, reduce the requirement to motion controller and variable frequency drives 12 simultaneously, saved the hardware cost of system.
It will be obvious to those skilled in the art that, three kinds of control methods that provide are above only illustrative, and not restrictive.Those skilled in the art can adopt other any suitable control methods as the case may be completely, and for example, stroke upwards adopts closed power-FREQUENCY CONTROL, and downward stroke adopts open loop power-FREQUENCY CONTROL.
When motion controller with variable frequency drives 12 is controlled and while driving asynchronous machine 5 to move, obviously also should make the operation of the adaptive asynchronous machine 5 of operation of linear quadratic control hydraulic pressure unit 1, for this reason, motion controller and variable frequency drives 12 also should be linear quadratic control hydraulic pressure unit 1 corresponding control signal are provided.
In order to verify according to the validity of control system of the present invention and control method, through analog simulation checking.System configuration designs based on medium-performance.The result as shown in Figure 4.
Fig. 4 shows existing method and the motor speed comparison of the method according to this invention in one minute duration, wherein, what dotted line represented is existing methodical motor speed, what solid line represented is the motor speed of the method according to this invention.As can be seen from Figure 4, under identical hardware configuration (that is, having identical motor, pump, oil cylinder, flywheel) and loading condition, method of the present invention can complete 6 working cycles in one minute, and existing method only can complete 4 working cycles.The quickening of this work rhythm mean motor have higher efficiency and more stably potential energy recycle.The shaped heat dissipating fins curve (dotted line) of conventional method shows, motor speed changes compared with slow rate with nonlinear, make decelerating through motor because need to consume extra energy, make decelerating through motor and the sawtooth curve of the method according to this invention (solid line) shows not consume extra energy.And, the velocity variations (or kinetic energy fluctuation) of the method according to this invention is greater than now methodical velocity variations (or kinetic energy fluctuation), this velocity variations means the situation of change of the rotation potential energy of flywheel, change the potential energy that means that more greatly flywheel is collected and release is more, thereby improved the efficiency of oil pumper.
As can be seen from the above description, system and a method according to the invention can be cut off or minimize to the electricity of motor and carry in the time not needing output power of motor, and can restart motor in the suitable moment.And, can carry and there is the alternating current of proper frequency to motor according to the duty of motor, to guarantee that motor works all the time efficiently.In addition, make motor and the isolation of electrical network electricity, to prevent because possible load change impacts electrical network.
And, it is pointed out that by using motion controller and variable frequency drives, except using threephase asynchronous machine, can also use other any suitable motors, for example, such as the synchronous motor of reluctance motor etc.As an example, described asynchronous machine can be slip electric motor.
For a person skilled in the art, other advantages of the present invention and substituting embodiment are apparent.Therefore, the present invention with regard to its more wide in range meaning, be not limited to shown in and described detail, representative configurations and exemplary embodiment.On the contrary, those skilled in the art can carry out various amendments and substitute in the situation that not departing from essence spirit of the present invention and scope.
Claims (10)
1. an operation control system for hydraulic oil pumping unit, comprising:
Motor, it is used to hydraulic oil pumping unit that driving power is provided, and the potential energy accumulator that is in transmission connection;
Sensor, it at least can determine the extreme position moving up and down and the direct of travel of the sucker rod of hydraulic oil pumping unit; And
Motion controller and variable frequency drives, it is arranged on provides between the electric supply installation and motor of electric energy for hydraulic oil pumping unit, drive and control the operation of motor in mode that can frequency conversion, and for linear quadratic control hydraulic pressure unit provides control signal, and described motion controller and variable frequency drives have the signal for receiving sensor being connected with sensor first input end mouth and at least can be according to the operation of the signal control motor being provided by sensor and linear quadratic control hydraulic pressure unit.
2. operation control system as claimed in claim 1, is characterized in that, described motion controller and variable frequency drives also have the second input port of the feedback signal for receiving the running status that can reflect motor.
3. operation control system as claimed in claim 1 or 2, is characterized in that, described motor is asynchronous machine or synchronous motor.
4. one kind is utilized the method for the operation of the operation control system control hydraulic oil pumping unit described in claim 1, it is characterized in that, described motion controller and variable frequency drives at least according to the signal that provided by sensor with can the mode control motor of frequency conversion and the operation of linear quadratic control hydraulic pressure unit.
5. method as claimed in claim 4, it is characterized in that, described motion controller and variable frequency drives also have the second input port of the feedback signal for receiving the running status that can reflect motor, and described motion controller and variable frequency drives are according to the signal being provided by sensor and the operation of this feedback signal control motor and linear quadratic control hydraulic pressure unit.
6. method as claimed in claim 5, is characterized in that,
In the stroke moving upward at sucker rod, described motion controller and variable frequency drives be the operation taking motor speed as control target control motor based on closed loop motor speed control strategy according to the motor speed signal of feedback; And/or
In the stroke moving downward at sucker rod, described motion controller and variable frequency drives be by controlling the electric frequency of carrying to motor to make motor torque be 0 or minimizing, or cut off simply to the electricity of motor and carry.
7. method as claimed in claim 5, it is characterized in that, in the stroke moving upward at sucker rod and the stroke moving downward, described motion controller and variable frequency drives be the operation taking the power to the efficient conveying of motor as control target control motor based on closed power-FREQUENCY CONTROL strategy according to feedback signal.
8. method as claimed in claim 7, is characterized in that,
In the stroke moving upward at sucker rod, described motion controller and variable frequency drives make machine operation under rated slip; And/or
In the stroke moving downward at sucker rod, described motion controller and variable frequency drives make machine operation under 0 revolutional slip.
9. method as claimed in claim 7 or 8, is characterized in that, described feedback signal is motor encoder measurement result or motor speed estimation result.
10. method as claimed in claim 4, it is characterized in that, be respectively the sucker rod stroke moving upward and the stroke off-line appointment moving downward from the power characteristic of motion controller and variable frequency drives desired output and this power characteristic is stored in described motion controller and variable frequency drives, in the time that oil pumper is worked, the power characteristic of the signal that described motion controller and variable frequency drives basis are provided by sensor based on described storage controlled the operation of motor.
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| CN201310039380.5A CN103967449A (en) | 2013-01-31 | 2013-01-31 | Operational control system and corresponding control method of hydraulic pumping unit |
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| CN109869137A (en) * | 2017-12-05 | 2019-06-11 | 中国科学院沈阳自动化研究所 | A kind of pumpingh well fixed output quota mode control method based on flowmeter and indicator card |
| CN112502698A (en) * | 2020-12-21 | 2021-03-16 | 方永和 | Variable frequency interference communication device and communication method for oil pumping well |
| CN113846999A (en) * | 2021-09-17 | 2021-12-28 | 山东高原油气装备有限公司 | Double-motor-driven vertical oil pumping unit and working method thereof |
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Application publication date: 20140806 |