CN102156446A - Electro-hydraulic servo control system - Google Patents
Electro-hydraulic servo control system Download PDFInfo
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- CN102156446A CN102156446A CN2010105668764A CN201010566876A CN102156446A CN 102156446 A CN102156446 A CN 102156446A CN 2010105668764 A CN2010105668764 A CN 2010105668764A CN 201010566876 A CN201010566876 A CN 201010566876A CN 102156446 A CN102156446 A CN 102156446A
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Abstract
The invention provides an electro-hydraulic servo control system, which comprises an input module, an output module, a first given function block, a second given function block, a third given function block, an adjusting function block, a comparison function block, a first multiplication function block, a second multiplication function block, an amplitude limiting function block and an addition function block, all of which are mutually connected through cables and computer software, so as to realize the servo control function and meet the control demand of various signal servo valves (including a proportional valve) of a hydraulic system. The electro-hydraulic servo control device provided by the invention can save 4-40 ten thousand RMB Yuan for each set of TRT (blast furnace top gas recovery turbine unit) project, increase the control precision and stability of the TRT machine set and lower the running maintenance cost.
Description
Technical field
The invention belongs to hydraulic system electro-hydraulic servo control technical field, relate in particular to blast-furnace top gas recovery energy recovery turbine power generation (being called for short TRT) project and other electro-hydraulic servo control object.
Background technology
Over nearly 30 years, China introduce and homemade TRT genset above 400.TRT is the energy-conserving and environment-protective project (see figure 4) that steel industry does one's utmost to promote, it is the pressure differential of utilizing between blast furnace furnace roof and the gas main, blast furnace gas is imported turbine expansion acting through variable stator vane angle, drive generator for electricity generation, thereby will on the reduction valve group, can be reclaimed by the pressure reduction with noise, wearing and tearing and the consumption of heat energy form.One TRT project has the identical electro-hydraulic servo control loop of 4 covers to control corresponding hydraulic efficiency servo-valve station, and the electro-hydraulic servo control loop is as follows:
Variable stator vane angle control: turbine generators rotating speed control when being used for Qi Jizhi and being incorporated into the power networks; Blast furnace top pressure is regulated automatically when carrying out power per liter control and TRT ordinary production after being incorporated into the power networks.
Bypass quick-opening valve 1 control: be used for the safety protection control of coal gas turbine generators, when the TRT emergency stop, have automatic adjusting blast furnace top pressure function simultaneously.
Bypass quick-opening valve 2 controls: be used for the safety protection control of coal gas turbine generators, when the TRT emergency stop, have automatic adjusting blast furnace top pressure function simultaneously.
Inlet butterfly valve control: be used for the cutoff high blast furnace gas and advance the coal gas turbine generators, but, assist turbine variable stator vane angle control rotating speed simultaneously by any aperture of quick control.
Above quadruplet hydraulic pressure electro-hydraulic servo control loop is the core of TRT project.The electro-hydraulic servo control device (also claims servoamplifier, in 400 TRT projects that China has built and built, almost all adopt this class electro-hydraulic servo control device) be and computer control system 4 instrumentations independently, divide analog and digital, it receive respectively from the output signal of computer system isolate, comparison, computing and amplification, export corresponding servo-valve station again to, control variable stator vane angle, bypass quick-opening valve or inlet butterfly valve automatically and move by technological requirement.Adopt the electro-hydraulic servo control device that following shortcoming (see figure 2) is arranged:
(1) precision of electro-hydraulic servo control device and stability are not as computer control system, particularly low and middle-grade electro-hydraulic servo control devices.
(2) input end of low-grade electro-hydraulic servo control device must plus signal needs isolator, with the working power of eliminating the electro-hydraulic servo control device interference (see figure 3) to signal.
(3) the electro-hydraulic servo control device is equipped with specific requirement to the installation position, need occupy panel board or calculate the rack certain space.
(4) electro-hydraulic servo control device, signal isolator adopt lead to be connected with computer control system, and having increased fault may.
(5) increased investment.The price of low-grade electro-hydraulic servo control device (analog) is about 10,000 yuan; The price of medium-to-high grade electro-hydraulic servo control device (digital) is at 2～100,000 yuan.Therefore, the electro-hydraulic servo control device price of a TRT project is at 4～400,000 yuans.
(6) increased operation expense.
Summary of the invention
Technical matters to be solved by this invention is: a kind of electrohydraulic servo-controlling system is provided, and with the control accuracy and the stability of raising TRT unit, and minimizing equipment is once invested and operation expense.
The present invention solves the scheme that its technical matters adopts: a kind of electrohydraulic servo-controlling system comprises load module, regulatory function piece, comparing function piece, the first given functional block, the first multiplication function piece, amplitude limit functional block, output module;
Load module is used to realize collection, processing and the isolation of various on-site signals;
The regulatory function piece is used for the setting value to computer control system, the measuring-signal of load module compares, amplifies and handles, and carries out PID and regulate;
The comparing function piece is used for the output of regulating functional block and the position signalling of load module are compared computing;
All given functional blocks all be used for to its input signal amplification, dwindle or move;
All multiplication function pieces are used for the signal of its input is carried out multiplying;
The amplitude limit functional block is used for its input signal is carried out amplitude or gain-limitation;
Output module is used to realize conversion and the output to various control signals;
The output of load module is connected to the input of regulatory function piece, the regulatory function piece is also accepted the input of setting value, the output signal of regulatory function piece and the position signalling of load module are by after comparing function piece, the first time, the multiplication function piece carried out multiplying, transfer to the amplitude limit functional block and handle, transfer to output module at last.
Described control system also is connected to the second given functional block, the second multiplication function piece, the 3rd given functional block and addition function piece between amplitude limit functional block and the output module, the addition function piece is used for its all input signal is carried out sum operation; The output signal of the amplitude limit functional block and the second given functional block is carried out addition by the addition function piece to the output signal of the 3rd given functional block after carrying out multiplying by the second multiplication function piece, transfers to output module at last.
Advantage of the present invention is: because the control of TRT system requires complexity, the TRT project must supportingly go up computerized equipment.And electrohydraulic servo-controlling system of the present invention to be method by programming realize, software is simple and measure for a short time, can utilize existing computer equipment fully.In addition, computer-controlled stability, reliability are better than the electro-hydraulic servo control device.Therefore, the present invention has not only saved investment of electro-hydraulic servo control device and correlative charges, and has reduced the production run maintenance cost.
Description of drawings
Fig. 1 hydraulic system electro-hydraulic servo control schematic diagram of device.
Fig. 2 hydraulic system electro-hydraulic servo control device (medium-to-high grade) schematic diagram.
Fig. 3 hydraulic system electro-hydraulic servo control device (low grade) schematic diagram
Fig. 4 electro-hydraulic servo control device is to TRT control principle figure.
Embodiment
Further set forth the present invention below in conjunction with preferred embodiment.
A kind of electrohydraulic servo-controlling system comprises load module, output module, the first given functional block, the second given functional block, the 3rd given functional block, regulatory function piece, comparing function piece, the first multiplication function piece, the second multiplication function piece, amplitude limit functional block and addition function piece, above-mentioned each module interconnects to realize the electro-hydraulic servo control function by cable and computer software, can satisfy the control requirement of the various signal system servo-valves of hydraulic system (comprising proportioning valve).
Load module is accepted the output of measurement mechanism and position transmitter, is used to realize various on-site signals (as 4～20mA DC) collection, analog to digital conversion and isolation.
Output module is used for realizing that the various signals of output (as 4～20mA DC) are extremely on-the-spot with control electro-hydraulic servo valve events.
The first given functional block is the positive count greater than 1, and little deviation is strengthened regulating action.
The second given functional block is a positive count, to large deviation restriction regulating action
The 3rd given functional block is that 4～20mA DC servo-valve (or proportioning valve) works to input signal only, and value is 50% (corresponding 12mA DC), is used for signals migrate.
The regulatory function piece is used for the setting value to computer control system, the measuring-signal of load module compares, amplifies and handles, and carries out PID and regulate.
The comparing function piece is used for the output of regulating functional block and the position signalling of load module are compared computing.
The first multiplication function piece carries out multiplying to the signal that comes the self-regulating function piece and the first given functional block, to determine the power of hydraulic system electro-hydraulic servo control device effect.
The amplitude limit functional block is used for the result of the first multiplication function piece is carried out amplitude or gain-limitation, to greater than removing in advance with the value that allows less than output module.
The second multiplication function piece is used for the signal from the amplitude limit functional block and the second given functional block is carried out multiplying, to adjust the input signal system and the scope at the different size servo-valve station in the computer control system.
The addition function piece is used for the signal from the second multiplication function piece and the 3rd given functional block is carried out additive operation, and its operation result is controlled corresponding servo-valve action by output module.
Below in conjunction with accompanying drawing 1, Fig. 4 the specific embodiment of the invention is described further.
(1) structure of the present invention as shown in Figure 1: comprise load module, output module, the first given functional block, the second given functional block, the 3rd given functional block, regulatory function piece, comparing function piece, the first multiplication function piece, the second multiplication function piece, amplitude limit functional block and addition function piece, each functional block realizes being flexible coupling by computer programming; Load module, output module are connected by cable with field measurement apparatus, position transmitter and servo-valve station with computing machine.
Each module and functional block are carried out exchanges data with standard or optional network specific digit signal (different manufacturers computer control system and electrohydraulic servo valve are relevant with adopting).According to control signal and characteristic that electrohydraulic servo valve requires, the signal system of output module is different, and functional block is accepted or rejected to some extent.As the signal when output module be-10～+ during 10mA DC (direct current), the second given functional block and the 3rd given functional block, the second multiplication function piece and addition function piece are inoperative; When the signal of output module was 4～20mA DC, all functions piece all worked.
(2) hydraulic system electro-hydraulic servo control device provided by the invention, with the shared cover computer control system (comprising field bus control system FCS, scattered control system DCS and Programmable Logic Controller PLC etc.) of TRT, can realize to multiple signal system (as 4～20mA DC, 0～10mA DC ,-10～10mA DC, 0～20mA DC,-20～20mA DC, 1～5V/DC, 0～10V/DC,-10～10V/DC ,-1～1V/DC etc.) comparison, computing, adjusting and amplification.The regulatory function agllutination is incompatible to be compared computing and (comprises ratio, integration, differential control from measuring input signals such as device, position transmitter, be PID control), the result is sent the first multiplication function piece and carries out multiplication with the first given functional block, and operation result is delivered to the amplitude limit functional block again.The output of the second given functional block and amplitude limit functional block adds computing through addition function piece and the 3rd given functional block again after the second multiplication function piece computing, pass through output module again, the various control signal with servo-valve station coupling is satisfied in output, as 4～20mA DC, 0～10mA DC ,-10～10mA DC, 0～20mA DC,-20～20mA DC, 1～5V/DC, 0～10V/DC,-10～10V/DC etc., thus fast, accurately drive the controlled device motion.
As shown in Figure 4, be example with the variable stator vane angle, describe control procedure of the present invention in detail.Electricity/the hydraulic servo of 4～20mA DC control input is adopted at variable stator vane angle servo-valve station, and promptly input signal is 4mA DC～12mA DC when (not comprising 12mA DC), and servo-valve control variable stator vane angle is closed gradually; Input signal is 12mA DC～20mA DC when (not comprising 12mA DC), and servo-valve control variable stator vane angle is opened gradually; When input signal was 12mA DC, servo-valve control variable stator vane angle holding position was constant.If setting value is 0.25MPa during the blast furnace top pressure ordinary production, corresponding to the load module signal is 17.3mA DC (0～0.3MPa is 4～20mA DC by demarcation); And the furnace top pressure actual measured value is 0.24MPa, and corresponding to the load module signal is 16.8mADC; Variable stator vane angle position number percent signal is 56% (corresponding to the load module signal is 13.6mA DC).Because furnace top pressure setting value and measured value differ 0.01MPa, then retroaction regulatory function piece is 54% by PID computing output number percent conditioning signal, this signal is kept to-2% mutually with the variable stator vane angle position signalling, the first given functional block value is 10, then-2% and the first multiplication function piece long-pending-20% (20% deviation is less through the amplitude limit functional block, it is inoperative that this regulates amplitude limit) to the second multiplication function piece, the second given functional block value is 0.5,-20% with the second multiplication function piece long-pending-10% to the value 50% (corresponding 12mA DC) of addition function piece and the 3rd given functional block mutually with, at last 40% (corresponding 10.4mA DC) value is sent through output module and transferred stator blade servo-valve station, the control stator blade turns down to improve blast furnace top pressure, till pressure reaches 0.25MPa.When furnace top pressure setting value during less than measured value, whole control process is opposite.
(3) external unit relevant with the present invention:
---measurement mechanism (can be temperature, various technological parameters such as flow, pressure and position), detection signal is delivered to the computer regulated functional block after gathering and handle by load module.Measurement mechanism is installed in industry spot, one outputting standard 4～20mADC signal.
---position transmitter (also can be speed, flow etc.), detection signal is undertaken delivering to the computer regulated functional block after signals collecting and the processing by load module.Position transmitter and controlled device (as valve) are supporting and be installed in industry spot, one outputting standard 4～20mA DC signal.
---the servo-valve station, comprise electro-hydraulic proportional valve and electrohydraulic servo valve, be the reception and the actuating unit of electro-hydraulic servo control signal, its by-pass valve control aperture or displacement.The servo-valve station is supporting and be installed in industry spot with controlled device (as valve) nearby, except that acceptance criteria 4～20mA DC control signal, also can receive 0～10mA DC,-10～10mA DC, 0～20mA DC ,-20～20mA DC, 1～5V DC, multiple signals such as 0～10V DC.
Claims (2)
1. an electrohydraulic servo-controlling system is characterized in that: comprise load module, regulatory function piece, comparing function piece, the first given functional block, the first multiplication function piece, amplitude limit functional block, output module;
Load module is used to realize collection, processing and the isolation of various on-site signals;
The regulatory function piece is used for the setting value to computer control system, the measuring-signal of load module compares, amplifies and handles, and carries out PID and regulate;
The comparing function piece is used for the output of regulating functional block and the position signalling of load module are compared computing;
All given functional blocks all be used for to its input signal amplification, dwindle or move;
All multiplication function pieces are used for the signal of its input is carried out multiplying;
The amplitude limit functional block is used for its input signal is carried out amplitude or gain-limitation;
Output module is used to realize conversion and the output to various control signals;
The output of load module is connected to the input of regulatory function piece, the regulatory function piece is also accepted the input of setting value, the output signal of regulatory function piece and the position measurement signal of load module are by comparing function piece, the first given functional block with after the multiplication function piece carries out computing for the first time, transfer to the amplitude limit functional block and handle, transfer to output module at last.
2. control system according to claim 1, it is characterized in that: also be connected to the second given functional block, the second multiplication function piece, the 3rd given functional block and addition function piece between amplitude limit functional block and the output module, the addition function piece is used for its all input signal is carried out sum operation;
The output signal of the amplitude limit functional block and the second given functional block is carried out addition by the addition function piece to the output signal of the 3rd given functional block after carrying out multiplying by the second multiplication function piece, transfers to output module at last.
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| CN2010105668764A CN102156446A (en) | 2010-12-01 | 2010-12-01 | Electro-hydraulic servo control system |
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| CN2010105668764A CN102156446A (en) | 2010-12-01 | 2010-12-01 | Electro-hydraulic servo control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054592A (en) * | 2016-08-01 | 2016-10-26 | 江苏科技大学 | Electrohydraulic position servo controller |
| CN116400584A (en) * | 2023-06-05 | 2023-07-07 | 中国空气动力研究与发展中心高速空气动力研究所 | Rapid and accurate control system for high-load electrohydraulic position servo system and application method |
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| US20040219079A1 (en) * | 2003-01-22 | 2004-11-04 | Hagen David L | Trifluid reactor |
| CN101276208A (en) * | 2008-05-06 | 2008-10-01 | 湖北博华自动化系统工程有限公司 | Hydraulic system servo control apparatus |
| CN101825890A (en) * | 2010-03-25 | 2010-09-08 | 刘文祥 | Object network |
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2010
- 2010-12-01 CN CN2010105668764A patent/CN102156446A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040219079A1 (en) * | 2003-01-22 | 2004-11-04 | Hagen David L | Trifluid reactor |
| CN101276208A (en) * | 2008-05-06 | 2008-10-01 | 湖北博华自动化系统工程有限公司 | Hydraulic system servo control apparatus |
| CN101825890A (en) * | 2010-03-25 | 2010-09-08 | 刘文祥 | Object network |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054592A (en) * | 2016-08-01 | 2016-10-26 | 江苏科技大学 | Electrohydraulic position servo controller |
| CN116400584A (en) * | 2023-06-05 | 2023-07-07 | 中国空气动力研究与发展中心高速空气动力研究所 | Rapid and accurate control system for high-load electrohydraulic position servo system and application method |
| CN116400584B (en) * | 2023-06-05 | 2023-08-11 | 中国空气动力研究与发展中心高速空气动力研究所 | Application method of high-load electrohydraulic position servo system rapid and accurate control system |
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Application publication date: 20110817 |