CN103942355A - Modeling method for simulating electro-hydraulic servo system of hydroelectric generating set - Google Patents
Modeling method for simulating electro-hydraulic servo system of hydroelectric generating set Download PDFInfo
- Publication number
- CN103942355A CN103942355A CN201310730488.9A CN201310730488A CN103942355A CN 103942355 A CN103942355 A CN 103942355A CN 201310730488 A CN201310730488 A CN 201310730488A CN 103942355 A CN103942355 A CN 103942355A
- Authority
- CN
- China
- Prior art keywords
- guide vane
- vane opening
- calculated value
- servo system
- main control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention provides a modeling method for simulating an electro-hydraulic servo system of a hydroelectric generating set, and particularly relates to an accurate modeling method for simulating an electro-hydraulic servo system of a hydroelectric generating set under isolated island operation conditions. According to the method, the control process of an electro-hydraulic driving system is simulated, the actual action process of a main control valve and two segments of switching rate limitation of a guide vane servomotor are taken into consideration, and an implementation method of a mathematic model of the electro-hydraulic servo system in electric system simulating calculation is provided. A model manufactured with the method can accurately reflect the actual features of action of guide vanes and accurately simulate the action features of the main control valve and the switching process of the guide vane servomotor, particularly, in an isolated island system, the frequency change range is wide, the changing rate is high, and the changes of the opening degree of the guide vanes can be accurately calculated in the system disturbance process. The method is particularly applicable to accurately simulating the relation between power fluctuation and frequency changes of the isolated island system with a hydropower station only connected with a direct-current transmission rectification station.
Description
Technical field
The present invention relates generally to electric system simulation computing technique field, be particularly related to a kind of Precise modeling that is applicable to islet operation condition Imitating hydraulic generator unit electrohydraulic servo system, belong to the innovative technology of the modeling method of Simulated Water turbine generator group electrohydraulic servo system.
Technical background
The hydraulic turbine main servomotor running of Modern Hydroelectric Generators group, normally by the control of microcomputer governing system, is become with microcomputer based regulator by electrohydraulic servo system, and it is a major part of hydraulic generator unit control system.Power amplification coefficient power amplification ratio is large, motion is steady, time constant is little, response is fast, control accuracy advantages of higher owing to having for electrohydraulic servo system, in governing system, is widely used.
Electrohydraulic servo system is mainly made up of several parts such as main control valve, integrated valve block, oil filters.Main control valve is the functional part of realizing operation servomotor; On integrated valve block, integrated most hydrostatic controls and executive component in system, is the functional part of realizing after the each element assembly for assembly of hydraulic pressure logic; Oil filter is the functional part that clean pressure oil is provided to hydraulic control component in system.The each element dynamic property of electrohydraulic servo system influences each other and system itself non-linear, causes its dynamic property complexity, is difficult to describe with fixing analytic expression, need to measure by the test of different operating conditions.The electrohydraulic servo system computation model adopting in electric system is calculated is at present generally the single order feedback element of a simplification, but its fixing PI parameter cannot adapt to all operating conditions, causes electric system result of calculation and real response to have relatively large deviation.Particularly only be connected with direct current transportation converting plant in power station, when one or more power stations and direct current transportation sending end current conversion station composition islanded system move, very responsive to active power variation, the frequency range that power swing causes is large.For example, the wide extra-high voltage direct-current transmission engineering of cloud is in the time of the current conversion station islet operation of sending end Chuxiong, and due to various disturbances, islanded system frequency may be in 48Hz to 65Hz scope.Therefore, set up the more accurate electrohydraulic servo system model of closing to reality, could reflect exactly power adjustment and the frequency change of electric system and genset, for analytical calculation accurately provides reliable basis.
Summary of the invention
The object of the invention is to overcome the deficiency that existing electrohydraulic servo system is calculated, a kind of modeling method of Simulated Water turbine generator group electrohydraulic servo system has been proposed, the present invention can accurately simulate the acting characteristic of main control valve and the switching process of guide vane servomotor, is specially adapted to the relation between power swing and the frequency change of the islanded system that accurate simulation power station is only connected with direct current transportation converting plant.
The modeling method of a kind of Simulated Water turbine generator group electrohydraulic servo system provided by the invention, comprises the following steps:
The modeling method of Simulated Water turbine generator group electrohydraulic servo system of the present invention, described Simulated Water turbine generator group electrohydraulic servo system includes stator displacement transducer, proportioning valve, main control valve, guide vane servomotor, and the modeling method of Simulated Water turbine generator group electrohydraulic servo system comprises the steps:
1) stator displacement transducer gathers guide vane opening Y;
2) difference of calculating described guide vane opening Y and aperture desired value Y_ref is aperture departure △ Y;
3) calculate main control valve stroke calculated value Sp1 according to described aperture departure △ Y;
4) judge that whether described main control valve stroke calculated value Sp1 is out-of-limit, if so, Sp1 is limited between allowed band Spmin～Spmax, obtain main control valve stroke Sp, otherwise enter step 5);
5) calculate guide vane servomotor stroke, i.e. guide vane opening calculated value Y1 according to described main control valve stroke Sp;
6) judge that whether described guide vane opening calculated value Y1 belongs to opening procedure, if so, enters step 7), otherwise enters step 10);
7) judge that whether guide vane opening calculated value Y1 is greater than critical value Y_inf, if enter step 8), otherwise enters step 9);
8) whether the rate of change that judges guide vane opening calculated value Y1 exceedes is opened speed Ryo_ft soon, if so, limits the rate of change of guide vane opening calculated value Y1 for opening soon speed Ryo_ft, obtains guide vane opening limits value Y2, otherwise enters step 13);
9) whether the rate of change that judges guide vane opening calculated value Y1 exceedes is opened speed Ryo_sw slowly, if so, limits the rate of change of Y1 for opening slowly speed Ryo_sw, obtains guide vane opening limits value Y2, otherwise enters step 13);
10) judge that whether guide vane opening calculated value Y1 is greater than critical value Y_inf, if so, enters step 11), otherwise enters step 12);
11) whether the rate of change that judges guide vane opening calculated value Y1 exceedes quick closing valve speed Ryc_ft, and the rate of change that if so, limits Y1 is quick closing valve speed Ryc_ft, obtains guide vane opening limits value Y2, otherwise enters step 13);
12) whether the rate of change that judges guide vane opening calculated value Y1 exceedes slow pass speed Ryc_sw, if so, limits the rate of change of Y1 for the slow speed Ryc_sw that closes, and obtains guide vane opening limits value Y2, otherwise enters step 13);
13) judge that whether described guide vane opening limits value Y2 is out-of-limit, if so, limit guide vane opening between allowed band Ymin～Ymax, obtain guide vane opening Y, otherwise enter step 14);
14) output guide blade aperture Y, returns to step 1) sample next time;
Above-mentioned steps 3) calculate the stroke of main control valve by integration method.
Above-mentioned steps 7)～9), the process that stator is opened is carried out two sections of rate limit.
Above-mentioned steps 10)～12), the process that stator is closed is carried out two sections of rate limit.
Above-mentioned steps 3) calculating of main control valve stroke calculated value Sp1 calculates by the integral feedback of aperture departure △ Y.
Above-mentioned steps 5) guide vane opening calculated value Y1 obtains by the integral and calculating of main control valve stroke Sp.
Compared with prior art, beneficial effect of the present invention is in the present invention:
The present invention has simulated the control procedure of electro-hydraulic drive system in detail, has considered two sections of switching rate restrictions of main control valve actual act process and guide vane servomotor, has proposed the implementation method of electrohydraulic servo system mathematical model during electric system simulation calculates.This model can accurately reflect the actual characteristic of stator action, particularly in islanded system, frequency range is large and rate of change is high, and the present invention's variation of guide vane opening in computing system perturbation process exactly, for the analytical calculation of electric system provides reliable basis.
Brief description of the drawings
Fig. 1 is electrohydraulic servo system control structure.
Fig. 2 is electrohydraulic servo system transport function block diagram.
Fig. 3 is the process flow diagram of the implementation method of the accurate model of electrohydraulic servo system.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described, but the present invention is not limit by described specific embodiment.
The present invention has studied the control structure of hydraulic generator unit Governor, as accompanying drawing 1, Simulated Water turbine generator group Governor model has been proposed, as shown in Figure 2, in Fig. 2, T1 is main control valve time constant, T2 is guide vane servomotor time constant, this model structure is reasonable, has good operability and adaptability, can correctly simulate the acting characteristic of guide vane servomotor of hydroelectric generating set.Realistic model comprises main control valve action link, guide vane servomotor action link, stator rate of change limiting element etc.
1) main control valve action link explanation
The corresponding accelerator open degree of main control valve stroke, the fastest opening speed of the corresponding guide vane servomotor of maximum throttle aperture, therefore need limit up and down main control valve stroke, meets Spmin<Sp<Spmax.
2) guide vane servomotor action link explanation
Guide vane servomotor is promoted by servomotor, and oil mass correspondence is servomotor stroke, therefore the integrated value that servomotor stroke is accelerator open degree.Servomotor stroke is corresponding guide vane opening Y, controls the size of hydroturbine water intake amount, and guide vane opening Y need meet Ymin<Y<Ymax.
3) stator rate of change limiting element explanation
In order to protect guide vanes of water turbine, operated by rotary motion has two sections of Closing Law.In the time that guide vane opening is greater than critical value Y_inf, speed that can be larger is carried out switch, in the time that guide vane opening is less than Y_inf, need carry out switch with less speed.The speed difference of stator switch, in the time of load variations, the frequency response curve of hydraulic generator unit is also different, therefore this link is most important to the frequency simulation calculation of hydraulic generator unit.
Accompanying drawing 3 is implementation method process flow diagrams of hydraulic generator unit electrohydraulic servo system model in the electric system simulation of the embodiment of the present invention.
In the electric system simulation of the embodiment of the present invention, hydraulic generator unit electrohydraulic servo system includes stator displacement transducer, proportioning valve, main control valve, guide vane servomotor etc., and the modeling method of Simulated Water turbine generator group electrohydraulic servo system comprises the steps:
1) stator displacement transducer gathers guide vane opening Y;
2) difference of calculating described guide vane opening Y and aperture desired value Y_ref is aperture departure △ Y;
3) calculate main control valve stroke calculated value Sp1 according to described aperture departure △ Y;
4) judge that whether described main control valve stroke calculated value Sp1 is out-of-limit, if Sp1 is limited between allowed band Spmin～Spmax, obtains main control valve stroke Sp, otherwise enter step 5);
5) calculate guide vane servomotor stroke, i.e. guide vane opening calculated value Y1 according to described main control valve stroke Sp;
6) judge that whether described guide vane opening calculated value Y1 belongs to opening procedure, if enter step 7), otherwise enters step 10);
7) judge that whether guide vane opening calculated value Y1 is greater than critical value Y_inf, if enter step 8), otherwise enters step 9);
8) whether the rate of change that judges guide vane opening calculated value Y1 exceedes is opened speed Ryo_ft soon, if so, limits the rate of change of Y1 for opening soon speed Ryo_ft, obtains guide vane opening limits value Y2, otherwise enters step 13);
9) whether the rate of change that judges guide vane opening calculated value Y1 exceedes is opened speed Ryo_sw slowly, if so, limits the rate of change of Y1 for opening slowly speed Ryo_sw, obtains guide vane opening limits value Y2, otherwise enters step 13);
10) judge that whether guide vane opening calculated value Y1 is greater than critical value Y_inf, if so, enters step 11), otherwise enters step 12);
11) whether the rate of change that judges guide vane opening calculated value Y1 exceedes quick closing valve speed Ryc_ft, and the rate of change that if so, limits Y1 is quick closing valve speed Ryc_ft, obtains guide vane opening limits value Y2, otherwise enters step 13);
12) whether the rate of change that judges guide vane opening calculated value Y1 exceedes slow pass speed Ryc_sw, if so, limits the rate of change of Y1 for the slow speed Ryc_sw that closes, and obtains guide vane opening limits value Y2, otherwise enters step 13);
13) judge that whether described guide vane opening limits value Y2 is out-of-limit, if so, limit guide vane opening between allowed band Ymin～Ymax, obtain guide vane opening Y, otherwise enter step 14);
14) output guide blade aperture Y, returns to step 1) sample next time.
In sum, according to the implementation method of hydraulic generator unit electrohydraulic servo system model in electric system simulation of the present invention, there is good operability and adaptability, the switching process of Simulated Water turbine generator group guide vane opening easily, can be applied to the simulation calculation of the hydraulic generator unit in electric system hydraulic generator unit, particularly DC transmission engineering sending islet operation.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit, the specific embodiment of the present invention is modified or is equal to replacement, and do not depart from any amendment of spirit and scope of the invention or be equal to replacement, all should be encompassed in the middle of claim scope of the present invention.
Claims (6)
1. the modeling method of a Simulated Water turbine generator group electrohydraulic servo system, Simulated Water turbine generator group electrohydraulic servo system includes stator displacement transducer, proportioning valve, main control valve, guide vane servomotor, it is characterized in that the modeling method of Simulated Water turbine generator group electrohydraulic servo system comprises the steps:
1) stator displacement transducer gathers guide vane opening Y;
2) difference of calculating described guide vane opening Y and aperture desired value Y_ref is aperture departure △ Y;
3) calculate main control valve stroke calculated value Sp1 according to described aperture departure △ Y;
4) judge that whether described main control valve stroke calculated value Sp1 is out-of-limit, if so, Sp1 is limited between allowed band Spmin～Spmax, obtain main control valve stroke Sp, otherwise enter step 5);
5) calculate guide vane servomotor stroke, i.e. guide vane opening calculated value Y1 according to described main control valve stroke Sp;
6) judge that whether described guide vane opening calculated value Y1 belongs to opening procedure, if so, enters step 7), otherwise enters step 10);
7) judge that whether guide vane opening calculated value Y1 is greater than critical value Y_inf, if enter step 8), otherwise enters step 9);
8) whether the rate of change that judges guide vane opening calculated value Y1 exceedes is opened speed Ryo_ft soon, if so, limits the rate of change of guide vane opening calculated value Y1 for opening soon speed Ryo_ft, obtains guide vane opening limits value Y2, otherwise enters step 13);
9) whether the rate of change that judges guide vane opening calculated value Y1 exceedes is opened speed Ryo_sw slowly, if so, limits the rate of change of Y1 for opening slowly speed Ryo_sw, obtains guide vane opening limits value Y2, otherwise enters step 13);
10) judge that whether guide vane opening calculated value Y1 is greater than critical value Y_inf, if so, enters step 11), otherwise enters step 12);
11) whether the rate of change that judges guide vane opening calculated value Y1 exceedes quick closing valve speed Ryc_ft, and the rate of change that if so, limits Y1 is quick closing valve speed Ryc_ft, obtains guide vane opening limits value Y2, otherwise enters step 13);
12) whether the rate of change that judges guide vane opening calculated value Y1 exceedes slow pass speed Ryc_sw, if so, limits the rate of change of Y1 for the slow speed Ryc_sw that closes, and obtains guide vane opening limits value Y2, otherwise enters step 13);
13) judge that whether described guide vane opening limits value Y2 is out-of-limit, if so, limit guide vane opening between allowed band Ymin～Ymax, obtain guide vane opening Y, otherwise enter step 14);
14) output guide blade aperture Y, returns to step 1) sample next time.
2. the modeling method of Simulated Water turbine generator group electrohydraulic servo system according to claim 1, is characterized in that above-mentioned steps 3) calculate the stroke of main control valve by integration method.
3. the modeling method of Simulated Water turbine generator group electrohydraulic servo system according to claim 1, is characterized in that above-mentioned steps 7)～9), the process that stator is opened is carried out two sections of rate limit.
4. the modeling method of Simulated Water turbine generator group electrohydraulic servo system according to claim 1, is characterized in that above-mentioned steps 10)～12), the process that stator is closed is carried out two sections of rate limit.
5. the modeling method of Simulated Water turbine generator group electrohydraulic servo system according to claim 1, is characterized in that above-mentioned steps 3) calculating of main control valve stroke calculated value Sp1 calculates by the integral feedback of aperture departure △ Y.
6. the modeling method of Simulated Water turbine generator group electrohydraulic servo system according to claim 1, is characterized in that above-mentioned steps 5) guide vane opening calculated value Y1 obtains by the integral and calculating of main control valve stroke Sp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310730488.9A CN103942355B (en) | 2014-05-08 | 2014-05-08 | A kind of modeling method of simulation turbine-generator units electrohydraulic servo system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310730488.9A CN103942355B (en) | 2014-05-08 | 2014-05-08 | A kind of modeling method of simulation turbine-generator units electrohydraulic servo system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103942355A true CN103942355A (en) | 2014-07-23 |
| CN103942355B CN103942355B (en) | 2017-03-29 |
Family
ID=51190023
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310730488.9A Active CN103942355B (en) | 2014-05-08 | 2014-05-08 | A kind of modeling method of simulation turbine-generator units electrohydraulic servo system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103942355B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104458316A (en) * | 2014-12-31 | 2015-03-25 | 武汉大学 | Overall physical model test platform for transient process of hydropower station |
| CN105449698A (en) * | 2015-05-13 | 2016-03-30 | 国网河南省电力公司电力科学研究院 | Novel hydroelectric generating set load and frequency controller |
| CN105868497A (en) * | 2016-04-19 | 2016-08-17 | 国家电网公司 | Method for simulation modeling of variable crown elevation tailwater tunnel water turbine regulating system and model |
| CN107561438A (en) * | 2016-06-30 | 2018-01-09 | 江苏核电有限公司 | A kind of diesel engine speed regulator accelerator open degree Correctness checking method |
| CN110532713A (en) * | 2019-09-03 | 2019-12-03 | 贵州电网有限责任公司 | A kind of hydrogovernor electro-hydraulic servo analogue system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103452746B (en) * | 2013-07-31 | 2015-11-25 | 国家电网公司 | A kind of hydrogovernor out-of-control signal diagnosis and controlling method |
-
2014
- 2014-05-08 CN CN201310730488.9A patent/CN103942355B/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104458316A (en) * | 2014-12-31 | 2015-03-25 | 武汉大学 | Overall physical model test platform for transient process of hydropower station |
| CN104458316B (en) * | 2014-12-31 | 2017-02-22 | 武汉大学 | Overall physical model test platform for transient process of hydropower station |
| CN105449698A (en) * | 2015-05-13 | 2016-03-30 | 国网河南省电力公司电力科学研究院 | Novel hydroelectric generating set load and frequency controller |
| CN105449698B (en) * | 2015-05-13 | 2017-11-28 | 国网河南省电力公司电力科学研究院 | A kind of new hydroelectric generating set load and frequency controller |
| CN105868497A (en) * | 2016-04-19 | 2016-08-17 | 国家电网公司 | Method for simulation modeling of variable crown elevation tailwater tunnel water turbine regulating system and model |
| CN105868497B (en) * | 2016-04-19 | 2018-11-23 | 国家电网公司 | Tailwater tunnel Water turbine governing system simulation modeling method and model are risen in a kind of change of band |
| CN107561438A (en) * | 2016-06-30 | 2018-01-09 | 江苏核电有限公司 | A kind of diesel engine speed regulator accelerator open degree Correctness checking method |
| CN107561438B (en) * | 2016-06-30 | 2019-11-22 | 江苏核电有限公司 | A kind of diesel engine speed regulator accelerator open degree Correctness checking method |
| CN110532713A (en) * | 2019-09-03 | 2019-12-03 | 贵州电网有限责任公司 | A kind of hydrogovernor electro-hydraulic servo analogue system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103942355B (en) | 2017-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105068424B (en) | A kind of Kaplan turbine regulating system dynamic model suitable for Power System Analysis | |
| CN103807090B (en) | A kind of impulse turbine regulating system for Power System Stability Analysis | |
| CN101446807B (en) | Realization method for heat-engine plant speed regulating system model in power system simulation | |
| Naghizadeh et al. | Modeling hydro power plants and tuning hydro governors as an educational guideline | |
| Pennacchi et al. | Modeling of the dynamic response of a Francis turbine | |
| CN107168103B (en) | Hydroelectric generating set speed regulation control simulation method and system | |
| CN103942355A (en) | Modeling method for simulating electro-hydraulic servo system of hydroelectric generating set | |
| CN102156045B (en) | Method for testing response time constant of main servomotor of hydraulic turbine governor | |
| CN109308390B (en) | Combined regulation simulation system and method for wind/light energy and hydroelectric generating set of power grid at transmitting and receiving ends | |
| CN105700380A (en) | Secondary reheating unit steam turbine speed regulation system simulation model, and modeling method therefor | |
| CN107989743A (en) | A kind of Kaplan turbine water-saving and synergistic adjusting method and regulating system | |
| CN106894945B (en) | The modeling method of Adaptive System of Water-Turbine Engine | |
| Brezovec et al. | Nonlinear digital simulation model of hydroelectric power unit with Kaplan turbine | |
| CN104500150B (en) | A kind of governor for steam turbine actuator piecewise linear model and parameter acquiring method | |
| CN105863948A (en) | Variable parameter control method for hydro governor of variable-crown elevation tailrace tunnel | |
| CN102052233A (en) | Water turbine regulating system module used for stability analysis of power system | |
| CN112966394A (en) | Simulation method and system for dynamic characteristics of hydroelectric generator group under hydraulic coupling condition | |
| CN105653782A (en) | Digital hydrogenerator load shedding simulation method based on actual speed-regulating control cabinet | |
| Taylor et al. | Real-time power system simulation for automatic generation control | |
| Bao et al. | Study on nonlinear dynamical model and control strategy of transient process in hydropower station with Francis turbine | |
| CN105022286A (en) | Test method for reaction time constant of main servomotor of water turbine generator set | |
| Fang et al. | Modeling and simulation of hydraulic transients for hydropower plants | |
| Wang et al. | Multi-objective intelligent start-up strategy for small hydropower plants based on adaptive variable parameters of water head | |
| CN207847849U (en) | Kaplan turbine water-saving and synergistic regulating system | |
| Asaff et al. | Pneutronic speed governor for small hydropower plants: a new application for pneumatics |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |