CN103904650B - A kind of digital-to-analogue associating electrohydraulic control system - Google Patents
A kind of digital-to-analogue associating electrohydraulic control system Download PDFInfo
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Abstract
A kind of digital-to-analogue associating electrohydraulic control system, it is proposed to the concept that a kind of digital-to-analogue jointly controls, it is achieved that the combination that the mains frequency under steam turbine generator isolated power grid quickly adjusts and automatically adjusts.The quick primary frequency modulation instruction that the valve setting instruction of controller output and primary frequency modulation card export exports to power amplifying card after valve profile card computing, controls electro-control converter action.It is separate hardware structure that quick primary frequency modulation controls loop, can quickly respond, it is greatly shortened the control systems communicate time, solves the controller execution cycle that digital electrohydraulic control system is inherently present long, solve the power grid frequency modulation problem that current steam turbine generator exists under isolated power grid mode.
Description
Technical field
The present invention relates to the control system in turbine control field, relate in particular to the digital-to-analogue associating electrohydraulic control system that a kind of lonely net (little net) is run.
Background technology
Steam turbine generator is the visual plant of thermal power generation, and its control system is brain and the nerve centre of steam turbine generator, has impayable importance, carry the important topic as scientific research purpose for a long time in thermal power generation with electric power network technique.
Lonely net is the abbreviation of island network, generally refers to the low capacity electrical network departing from bulk power grid, and in electrical network, single-machine capacity is more than the 8% of electrical network total capacity, can regard as lonely net.The most outstanding feature of isolated power grid, it is be changed into FREQUENCY CONTROL by spatial load forecasting, require that governing system has satisfactory static characteristic, good stability and dynamic response characteristic, to ensure automatically to keep stablizing of mains frequency when customer charge changes.Here it is usually said primary frequency function.The problem that operations staff pays close attention to is no longer load, but adjusts lonely net frequency, so as to maintain near rated frequency.Here it is frequency modulation frequency modulation function.
Primary frequency modulation: when each Turbo-generator Set is incorporated into the power networks, by external load influence of change, mains frequency changes, and at this moment, the adjustment system of each unit participates in adjustment effect, changes the load that each unit is with, so as to balance each other with external load.Meanwhile, also attempting to reduce the change of mains frequency, this process is primary frequency modulation.
Frequency modulation frequency modulation: primary frequency modulation is droop control, it is impossible to maintain mains frequency constant, the change degree of mains frequency can only be relaxed.So also needing to increase, subtract the load of some unit, to recover mains frequency, this process is called frequency modulation frequency modulation.Only after frequency modulation frequency modulation, mains frequency just can be kept precisely constant value.
Frequency modulation frequency modulation has two kinds of methods at present: 1, manually changes valve setting instruction, makes balancing the load, it is achieved manual frequency modulation frequency modulation；2, the deviation setting integral control routine according to actual frequency Yu rated frequency, it is achieved automatic secondary frequency modulation.
Past steam turbine power generation controls system and adopts traditional mechanical and hydraulic control system (MHC), and this system automation degree is low, dead-band big, and system control accuracy is poor.In mid-term the 1950's, along with the raising of reliability of electronic components, develop not against simulation electric operation dispatching system (AEH) that mechanical and hydraulic control system is standby, adopt pure analog circuit to realize regulable control.
20th century the mid-80, China introduces digital electrohydraulic control system (DEH) technology of US Westinghouse company, this kind of control system synthesis digital computer technique, hydraulic technique, solid electronic learn a skill, it is achieved that steam turbine power generation controls the informationization of system, integrated and systematization.But the major defect of this digital electrohydraulic control system is: for discrete control, controller adopts cycle operation, there is sampling distortion and operating delay, system dead-band is high, hysteresis delay is big, causes that system stability declines.In steam turbine generator isolated power grid, owing to lonely net primary frequency modulation requires that system has quick response, being only set to sufficiently small by controller execution cycle, less than 50ms, stability of control system just can be guaranteed.And the type part producer that presently, there are controls system, controller execution cycle is up to 200ms.Steam turbine generator isolated power grid controls low precision, it is impossible to complete control task when using.In this systems communicate link, from the electro-control converter output response passing time that tests the speed more than 260ms, from the servomotor total travel response passing time that tests the speed more than 460ms.And in steam turbine generator isolated power grid, it is desired to the more short control effect of complete period passing time is more good.This digital electrohydraulic control system, far from meeting instructions for use under this environment, can cause Turbo-generator Set job insecurity, mains frequency big ups and downs, even cause shutdown and plant area's dead electricity accident time serious.
Summary of the invention
For above-mentioned technical problem, the present invention provides a kind of digital-to-analogue associating electrohydraulic control system, adopts the quick primary frequency modulation that pure hardware analog signal is constituted to control loop, is greatly shortened from the servomotor total travel response time that tests the speed.
To achieve these goals, the technical solution used in the present invention is as follows:
A kind of digital-to-analogue associating electrohydraulic control system, it is characterized in that, including master controller with from controller, this master controller and standby from the hot redundancy of controller, two-way communication between, this master controller and remove valve profile card from controller delivery valve position Setting signal, the signal output part of this valve profile card is connected to the first signal input part of power amplifying card, the outfan of this power amplifying card is connected to the input of electro-control converter, the outfan output of this electro-control converter is for regulating the control signal of servomotor, also include the displacement transducer for detecting servomotor valve opening, the signal output part of this displacement transducer is connected with the secondary signal input of described power amplifying card；
Also include the tachogenerator for measuring turbine speed, it is provided with three independent tachogenerators, these three tachogenerator signal output parts are connected to the first to the 3rd signal input part testing the speed card, this the first to the 3rd signal output part testing the speed card is connected to the signal input part group of primary frequency modulation card, this the first to the 3rd signal output part testing the speed card is also associated with the signal input part group of I/O card, and described I/O card is additionally provided with the input for receiving observed pressure and measured power；
Described I/O card and described hot redundancy master controller and from controller two-way communication, the signal output part of described primary frequency modulation card is connected with the signal input part of described valve profile card；
Further feature, institute's displacement sensors is linear displacement transducer LVDT, and described tachogenerator is reluctive transducer CS-1.
The method have the advantages that
The present invention proposes the concept that a kind of digital-to-analogue jointly controls, it is achieved that the combination that the mains frequency under steam turbine generator isolated power grid quickly adjusts and automatically adjusts.The quick primary frequency modulation instruction that the valve setting instruction of controller output and primary frequency modulation card export exports to power amplifying card after valve profile card computing, controls electro-control converter action.It is separate hardware structure that quick primary frequency modulation controls loop, can quickly respond, it is greatly shortened the control systems communicate time, solves the controller execution cycle that digital electrohydraulic control system is inherently present long, solve the power grid frequency modulation problem that current steam turbine generator exists under isolated power grid mode.
Figure of description
Fig. 1 is the steam turbine generator digital-to-analogue associating electrohydraulic control system structured flowchart that the present invention proposes；
Fig. 2 is the steam turbine generator digital-to-analogue associating electrohydraulic control system passing time figure that the present invention proposes；
Fig. 3 is the schematic diagram of the embodiment of the present invention 1；
Fig. 4 is primary frequency modulation card input signal broken line graph；
Fig. 5 is primary frequency modulation card primary frequency modulation broken line graph；
Fig. 6 is primary frequency modulation card output signal broken line graph；
Fig. 7 is the structural representation of adder；
Fig. 8 is valve profile card instruction fair curve figure；
1-master controller, 2-is from controller, and 3-I/O card, 4-primary frequency modulation card, 5-valve profile card, 6-power amplifying card, 7-electro-control converter, 8-servomotor, 9-displacement transducer, 10-tachogenerator, 11-first tests the speed card, and 12-second tests the speed card, and 13-the 3rd tests the speed card.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in further detail.
As shown in Figure 1, a kind of digital-to-analogue associating electrohydraulic control system, including master controller 1 with from controller 2, this master controller 1 and standby from the hot redundancy of controller 2, between two-way communication, this master controller 1 and remove valve profile card 5 from controller 2 delivery valve position Setting signal, the signal output part of this valve profile card 5 is connected to the first signal input part of power amplifying card 6, the outfan of this power amplifying card 6 is connected to the input of electro-control converter 7, the outfan output of this electro-control converter 7 is for regulating the control signal of servomotor, also include the displacement transducer 9 for detecting servomotor valve opening, the signal output part of this displacement transducer 9 is connected with the secondary signal input of power amplifying card 6；
Also include the tachogenerator 10 for measuring turbine speed, it is provided with three independent tachogenerators, these three tachogenerator signal output parts are connected to the first to the 3rd signal input part testing the speed card, this the first to the 3rd signal output part testing the speed card is connected to the signal input part group of primary frequency modulation card 4, this the first to the 3rd signal output part testing the speed card is also associated with the signal input part group of I/O card 3, and I/O card 3 is additionally provided with the input for receiving observed pressure and measured power；
I/O card 3 and master controller and from controller two-way communication, the signal output part of primary frequency modulation card 4 is connected with the signal input part of valve profile card 5；
Displacement transducer 9 is linear displacement transducer LVDT, and tachogenerator 10 is reluctive transducer CS-1.
The digital-to-analogue associating electrohydraulic control system that the present invention proposes, has pure hardware analog signal and constitutes quick primary frequency modulation control loop, have the automatic secondary frequency modulation function of software-controlled manner, it is preferable that use under isolated power grid mode suitable in steam turbine generator simultaneously.
This digital-to-analogue associating electrohydraulic control system, according to turbine high-pressure servo valve quantity, expansible multiple valve profile cards, power amplifying card, electro-control converter, servomotor, redundant displacement sensor.
Wherein primary frequency modulation card is separate hardware structure, receive 3 drive test amount rotating speed analog input signals, receive 1 tunnel setting speed analog input signal, receive 1 road primary frequency modulation card and put into On-off signal enable signal, export 4 road primary frequency modulation analog quantity command signals, export 1 road rotating speed deviation analog signals.Primary frequency modulation card operation principle is shown in Fig. 4-Fig. 6.
Valve profile card is separate hardware structure, receives 1 road primary frequency modulation instruction simulation amount signal, receives No. 1 valve setting instruction simulation amount signal, exports 1 road control of valve position analog signals.Valve profile card operation principle is shown in Fig. 7 and Fig. 8.
The card that tests the speed has output 1 tunnel analog quantity tach signal function, and tach signal can be arranged as required to output signal range and scope.
Above-mentioned digital-to-analogue associating electrohydraulic control system, primary frequency modulation card is adopted to receive the measurement tach signal that the card that tests the speed sends, according to the deviation fluctuation quickly output primary frequency modulation instruction measuring rotating speed and setting speed, the valve setting instruction that primary frequency modulation instruction exports with controller is superimposed to valve profile card simultaneously, the valve bit instruction of dynamic compensation controller output, revise the power amplifying card control to servomotor, stablize the rotating speed of steam turbine, eliminate load fluctuation timely and effectively and the valve method of operation switches the disturbance caused.
Above-mentioned digital-to-analogue associating electrohydraulic control system is from Rotating speed measring to performing each link passing time of feedback, referring to Fig. 2.In each transmission link of this digital-to-analogue associating electrohydraulic control system, frequency measurement card, primary frequency modulation card and valve profile card is adopted owing to quick primary frequency modulation controls loop, signal transmission adopts pure hardware analog signal mode with processing, without distributor and controller, response time is negligible, export from testing the speed to electro-control converter response passing time less than 50ms, the servomotor total travel opening time is controlled less than 250ms, response passing time (460ms) that is significantly smaller than in prior art total travel from testing the speed to.
Above-mentioned digital-to-analogue associating electrohydraulic control system, the quick Primary Frequency Modulation Loop of pure hardware is when offspeed setting speed, according to the deviation fluctuation quickly output primary frequency modulation instruction measuring rotating speed and setting speed.This adjustment process is droop control, for most fast and stable mains frequency, it is impossible to maintains mains frequency constant, can only relax the change degree of mains frequency, in addition it is also necessary to carry out frequency modulation frequency modulation.
Above-mentioned frequency modulation frequency modulation, can be modified controller output and realize to the valve bit instruction of valve profile card, and this process can manual mode, it is also possible to be automatically performed by program setting.
Above-mentioned automatic secondary frequency modulation, sets integrator computing unit (I) at controller, sets mains frequencyfWith rated frequencyf 0 Error be△f, set the Ki time of integration, then according to integral operation formula, automatic secondary frequency modulation valuen:
Above-mentioned valve profile is stuck in the valve bit instruction receiving the frequency modulation frequency modulation that the primary frequency modulation instruction that sends of primary frequency modulation card sends with controller, power amplifying card is output control signals to after adder computing with instruction correction, control electro-control converter and perform new instruction, make mains frequency stable in setting value.
Specific embodiment 1:
The digital-to-analogue associating electrohydraulic control system that the present invention proposes, detailed description of the invention is with the control system of steam turbine generator isolated power grid mode for embodiment, and the control block diagram of principle is referring to Fig. 3.
3 tachogenerators gather 3 road tach signals, first card the 11 ~ the 3rd card 13 that tests the speed that tests the speed exports three road tach signals and gathers and input master controller 1 and from controller 2 by I/O card, and first card the 11 ~ the 3rd card 13 that tests the speed that tests the speed exports another three tunnel 4 ~ 20mA measurement rotating speed (2850rpm ~ 3150rpm) to primary frequency modulation card 4.
In above-described embodiment, primary frequency modulation card 4 receives the measurement rotating speed of 3 drive test speed card outputs, and measuring fluctuates with the deviation (-150rpm ~ 150rpm) of setting speed (3000rpm) after rotating speed takes intermediate value quickly produces primary frequency modulation value.Primary frequency modulation card 4 receives the switching value primary frequency modulation card that I/O card sends and puts into signal when being true value (1), and output primary frequency modulation instruction is to valve profile card.
Valve profile card 5 receives the primary frequency modulation instruction that 1 road primary frequency modulation card 4 sends, and receives the valve setting instruction that No. 1 controller computing exports, and 2 road command signals process and revise principle and see Fig. 5, produces to control valve bit instruction and exports to power amplifying card.The valve setting instruction of primary frequency modulation instruction dynamic compensation controller output, revises the power amplifying card control to servomotor, stablizes the rotating speed of steam turbine, eliminates load fluctuation timely and effectively and the valve method of operation switches the disturbance caused.
Primary frequency modulation card 4 is the frequency modulation card that model is FBMSDP that PRD company (Chongqing Pu Ren reaches Science and Technology Ltd.) produces, and main operational principle is shown in Fig. 4 to Fig. 6.The 3 drive test amount tach signals received are after 3 take middle process, and the input signal after selection meets x=in Fig. 4 (-150,150), y=(4,20) and discounts relation；According in Fig. 5, the input signal after selection is according to primary frequency modulation broken line x=(4,20), and y=(-100,100) relation produces primary frequency modulation instruction；Arrange according in Fig. 6, when the primary frequency modulation card receiving the output of I/O card puts into after signal meets, discount x=(-100 according to output signal, 100), y=(4,20) export 4 ~ 20mA primary frequency modulation instruction, instruction range-100% ~ 100%.Export 1 road speed error signal (-150rpm ~ 150rpm) to I/O card record simultaneously.Primary frequency modulation card arranges cancellation primary frequency modulation dead band, requires to arrange speed governor droop according to steam turbine generator producer.
Above-mentioned primary frequency modulation card 4 receives 3 drive test amount tach signals, select the signal that measured value mediates for controlling, and namely three takes.Under normal circumstances, 3 drive test amount rate signals are consistent, when wherein a road gathers wrong, too high or too low, take 3 to choose processing mode will ignore this signal, it is ensured that the correctness of measuring speed signal.
Valve profile card 5 produces for PRD company (Chongqing Pu Ren reaches Science and Technology Ltd.), and model is the valve profile card of FBMSVC, and main operational principle is shown in Fig. 7 and Fig. 8.According to Fig. 7, primary frequency modulation instruction is superposed by adder with valve setting instruction, exports control instruction；The valve flow characteristic curve that instruction correction provides according to steam turbine plant is arranged, and curve linear relationship is shown in Fig. 8.Valve profile card replaces software management valve and turbine high-pressure servo valve characteristic curve is modified.The practical range arranging primary frequency modulation contains servomotor total travel.
The system frame that above-described embodiment adopts, in Fig. 1, primary frequency modulation card 4, valve profile card 5, power amplifying card 6, electro-control converter 7, servomotor 8, displacement transducer all can extend as required.
In schematic diagram shown in Fig. 7 and Fig. 8, for preventing interference hardware primary frequency modulation, program is arranged when primary frequency modulation card puts into, automatically excision software Primary Frequency Modulation Loop, it is to avoid increase the amplification of Primary Frequency Modulation Loop.
In schematic diagram shown in Fig. 7 and Fig. 8, program is arranged when primary frequency modulation card puts into, and excises power control circuit.
In schematic diagram shown in Fig. 7 and Fig. 8, program is arranged when primary frequency modulation card puts into, and puts into automatic secondary frequency modulation loop.
In schematic diagram shown in Fig. 7 and Fig. 8, software Primary Frequency Modulation Loop, power control circuit, automatic secondary frequency modulation loop all perform in controller cycle operation, and operation result is as valve setting instruction output to valve profile card.
The above is only the preferred embodiment of the present invention, under the premise without departing from the principles of the invention, some improvement and application can also be made, include but not limited to: be applied to pressure, changed power requirement promptly controls occasion, improved procedure is, changes tachogenerator, the card that tests the speed into load cell, measurement of power sensor and corresponding pressure measurement card, measurement of power card；
Can with improvement, the signal that the card that tests the speed, primary frequency modulation card export with valve profile card can be improved to 0 ~ 20mA signal, ± 10VDC signal or the standard traffic signal according to the protocol transmission such as international standard Profibus, Modbus, FF, CAN and TCP/IP.These improve and application also should be regarded as protection scope of the present invention.
Claims (2)
1. a digital-to-analogue associating electrohydraulic control system, it is characterized in that, including master controller (1) with from controller (2), this master controller (1) and standby from controller (2) hot redundancy, two-way communication between, this master controller (1) and from controller (2) delivery valve position Setting signal to valve profile card (5), the signal output part of this valve profile card (5) is connected to the first signal input part of power amplifying card (6), the outfan of this power amplifying card (6) is connected to the input of electro-control converter (7), the outfan output of this electro-control converter (7) is for regulating the control signal of servomotor, also include the displacement transducer (9) for detecting servomotor valve opening, the signal output part of this displacement transducer (9) is connected with the secondary signal input of described power amplifying card (6)；
nullAlso include the tachogenerator (10) for measuring turbine speed，It is provided with three independent tachogenerators (10)，These three tachogenerator signal output parts are connected to first to the 3rd and test the speed card (11、12、13) signal input part，This first to the 3rd signal output part testing the speed card is connected to the signal input part group of primary frequency modulation card (4)，This first to the 3rd signal output part testing the speed card is also associated with the signal input part group of I/O card (3)，Described I/O card (3) is additionally provided with the input for receiving observed pressure and measured power,Wherein,Described primary frequency modulation card (4) receives the tach signal that this three tachogenerators (10) are measured，Select the signal that measured value mediates，Put into signal at the primary frequency modulation card receiving the output of described I/O card and meet x1=(-150,150), y1=(4,20) are discounted after relation, further according to primary frequency modulation broken line x2=(4,20), y2=(-100,100) relations produces the primary frequency modulation instruction of described primary frequency modulation card (4), wherein, when the primary frequency modulation card receiving the output of described I/O card puts into after signal meets, discounts x according to exporting signal3=(-100,100), y3=(4,20) output 4～20mA primary frequency modulation instruction, instruction range-100%～100%；Wherein, x1For rotating speed deviation, y1For range of signal, x2For range of signal, y2For primary frequency modulation instruction, x3For primary frequency modulation instruction, y3For range of signal；
Described I/O card (3) and described hot redundancy master controller and from controller two-way communication, the signal output part of described primary frequency modulation card (4) is connected with the signal input part of described valve profile card (5)；
Wherein, described primary frequency modulation card (4) is separate hardware structure, receive the tach signal that this three tachogenerators (10) are measured, receive 1 tunnel setting speed analog input signal, receive 1 road primary frequency modulation card and put into On-off signal enable signal, export 4 road primary frequency modulation analog quantity command signals, export 1 road rotating speed deviation analog signals.
2. digital-to-analogue according to claim 1 associating electrohydraulic control system, it is characterised in that institute's displacement sensors (9) is linear displacement transducer LVDT, and described tachogenerator (10) is reluctive transducer CS-1.
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| CN110048436B (en) * | 2019-04-30 | 2021-02-23 | 国家能源投资集团有限责任公司 | Power grid frequency modulation control method and device |
| CN111025891A (en) * | 2019-12-12 | 2020-04-17 | 广东省能源集团有限公司珠海发电厂 | Redundant control system of ATOS valve |
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| CN2581696Y (en) * | 2002-02-22 | 2003-10-22 | 北京和利时系统工程股份有限公司 | Electrohydraulic servo-controlling system |
| CN2871853Y (en) * | 2005-11-11 | 2007-02-21 | 南京科远控制工程有限公司 | Valve-level controller |
| CN101307699B (en) * | 2007-05-14 | 2010-05-19 | 上海电气电站设备有限公司 | Digital electrichydraulic control system for generating plant turboset |
| CN101629496B (en) * | 2009-07-30 | 2011-08-17 | 杭州和利时自动化有限公司 | Digital electrohydraulic control system of steam turbine with isolated network operation |
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