CN103942355B - A kind of modeling method of simulation turbine-generator units electrohydraulic servo system - Google Patents
A kind of modeling method of simulation turbine-generator units electrohydraulic servo system Download PDFInfo
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- CN103942355B CN103942355B CN201310730488.9A CN201310730488A CN103942355B CN 103942355 B CN103942355 B CN 103942355B CN 201310730488 A CN201310730488 A CN 201310730488A CN 103942355 B CN103942355 B CN 103942355B
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Abstract
The present invention is a kind of modeling method for simulating turbine-generator units electrohydraulic servo system, particularly a kind of Precise modeling suitable for simulation turbine-generator units electrohydraulic servo system under the conditions of islet operation.The control process of present invention simulation electro-hydraulic drive system, it is considered to which two sections of switching rates of main control valve actual act process and guide vane servomotor are limited, proposes the implementation method of electrohydraulic servo system mathematical model in electric system simulation calculating.The model of the present invention can accurately reflect the actual characteristic of stator action, the switching process of the acting characteristic and guide vane servomotor of the accurate simulation main control valve of energy, particularly in islanded system, frequency range is big and rate of change is high, can exactly in computing system perturbation process guide vane opening change.The relation being particularly well-suited between the power swing and frequency change of the islanded system that accurate simulation power station is only connected with direct current transportation converting plant.
Description
Technical field
The invention mainly relates to electric system simulation computing technique field, more particularly to a kind of to be applied to islet operation condition
The Precise modeling of Imitating turbine-generator units electrohydraulic servo system, belongs to simulation turbine-generator units electrohydraulic servo system
Modeling method innovative technology.
Technical background
What the hydraulic turbine main servomotor operating of Modern Hydroelectric Generators group was typically controlled by microcomputer governing system, by electro-hydraulic
Servo system is with microcomputer based regulator into it is a major part of hydrogenerator set control system.Electrohydraulic servo system by
In having the advantages that power amplification coefficient power amplification ratio big, stable movement, time constant is little, response is fast, control accuracy is high, in governing system
It is widely used.
Electrohydraulic servo system is mainly made up of a few parts such as main control valve, integrated valve block, oil filter.Main control valve is to realize
The functional part of operation servomotor；Most hydraulic controls and the operating element being integrated with integrated valve block in system, is real
Functional part after each element assembly for assembly of existing hydro-logic；Oil filter is that hydraulic control component provides clean pressure oil in system
Functional part.The each element dynamic property of electrohydraulic servo system influence each other and system itself it is non-linear, cause its dynamic property
It is complicated, it is difficult to be described with fixed analytic expression, need by the test of different operating conditions to determine.At present in power system
The electrohydraulic servo system computation model adopted in a calculating usually simplified single order feedback element, but the PI parameters of its fixation
All of operating condition cannot be adapted to, causes power system computation result to there is relatively large deviation with real response.Particularly in water
Power station is only connected with direct current transportation converting plant, i.e. one or more power stations and direct current transportation sending end current conversion station composition isolated island system
During system operation, very sensitive is changed to active power, frequency range is big caused by power swing.For example, the wide extra-high voltage of cloud
, in sending end Chuxiong current conversion station islet operation, due to various disturbances, islanded system frequency may be in 48Hz extremely for DC transmission engineering
In the range of 65Hz.Therefore, the accurate electrohydraulic servo system model of more closing to reality is set up, power system could be reflected exactly
With the power adjustment and frequency change of generating set, reliable basis is provided for accurate analytical calculation.
The content of the invention
It is an object of the invention to overcome the shortcomings of that existing electrohydraulic servo system is calculated, it is proposed that a kind of simulation hydraulic generator
The modeling method of unit electrohydraulic servo system, the acting characteristic and guide vane servomotor of the accurate simulation main control valve of present invention energy
Switching process, is particularly well-suited to the power swing of the islanded system that accurate simulation power station is only connected with direct current transportation converting plant
With the relation between frequency change.
A kind of modeling method of simulation turbine-generator units electrohydraulic servo system that the present invention is provided, comprises the following steps：
The modeling method of the simulation turbine-generator units electrohydraulic servo system of the present invention, the simulation turbine-generator units electricity
Liquid servo system includes stator displacement transducer, proportioning valve, main control valve, guide vane servomotor, simulation turbine-generator units electricity
The modeling method of liquid servo system comprises the steps：
1）Stator displacement transducer gathers guide vane opening Y;
2）Calculate the difference i.e. aperture departure △ Y of guide vane opening Y and aperture desired value Y_ref；
3）Main control valve climb displacement value Sp1 is calculated according to the aperture departure △ Y；
4）Judge whether main control valve climb displacement value Sp1 is out-of-limit, and Sp1 is limited in allowed band then if so,
Between Spmin～Spmax, main control valve stroke Sp is obtained, otherwise into step 5）；
5）Guide vane servomotor stroke, i.e. guide vane opening value of calculation Y1 are calculated according to the main control valve stroke Sp；
6）Judge whether the guide vane opening value of calculation Y1 belongs to opening procedure, if so, then enter step 7）, otherwise enter
Step 10）；
7）Whether guide vane opening value of calculation Y1 is judged more than marginal value Y_inf, if then entering step 8）, otherwise enter step
Rapid 9）；
8）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes and open speed Ryo_ft soon, if so, then limit and lead
The rate of change of leaf aperture value of calculation Y1 obtains guide vane opening limits value Y2, otherwise into step 13 to open speed Ryo_ft soon）；
9）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes and open speed Ryo_sw slowly, if so, then limit Y1
Rate of change to open speed Ryo_sw slowly, obtain guide vane opening limits value Y2, otherwise into step 13)；
10）Judge that guide vane opening value of calculation Y1, whether more than marginal value Y_inf, if so, then enters step 11）, otherwise enter
Enter step 12）；
11）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes quick closing valve speed Ryc_ft, if so, then limit Y1
Rate of change be quick closing valve speed Ryc_ft, obtain guide vane opening limits value Y2, otherwise into step 13）；
12）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes slow pass speed Ryc_sw, if so, then limit Y1
Rate of change close speed Ryc_sw for slow, obtain guide vane opening limits value Y2, otherwise into step 13)；
13）Judge whether the guide vane opening limits value Y2 is out-of-limit, guide vane opening is if so, then limited in allowed band Ymin
Between～Ymax, guide vane opening Y is obtained, otherwise into step 14）；
14）1) output guide blade aperture Y, return to step are sampled next time；
3) above-mentioned steps calculate the stroke of main control valve with integration method.
Above-mentioned steps 7）～9）, two sections of rate limit are carried out to the process that stator is opened.
Above-mentioned steps 10）～12）, two sections of rate limit are carried out to the process that stator is closed.
3) calculating for main control valve climb displacement value Sp1 is calculated above-mentioned steps by the integral feedback of aperture departure △ Y
Obtain.
5) guide vane opening value of calculation Y1 is obtained above-mentioned steps by the integral and calculating of main control valve stroke Sp.
Compared with prior art, beneficial effects of the present invention are the present invention：
The Detailed simulation of the present invention control process of electro-hydraulic drive system, it is contemplated that main control valve actual act process and lead
Two sections of switching rates of leaf servomotor are limited, it is proposed that the realization of electrohydraulic servo system mathematical model in electric system simulation calculating
Method.The model can accurately reflect the actual characteristic of stator action, and particularly in islanded system, frequency range is big and becomes
Change that speed is high, the present invention can exactly in computing system perturbation process guide vane opening change, be the analytical calculation of power system
Reliable basis is provided.
Description of the drawings
Fig. 1 is electrohydraulic servo system control structure.
Fig. 2 is electrohydraulic servo system transmission function block diagram.
Flow charts of the Fig. 3 for the implementation method of the accurate model of electrohydraulic servo system.
Specific embodiment
The specific embodiment of the present invention is further described below in conjunction with accompanying drawing, but the present invention is not by described concrete
Embodiment is limited.
The present invention have studied the control structure of turbine-generator units Governor, such as accompanying drawing 1, it is proposed that mould
Intend turbine-generator units Governor model, as shown in Figure 2, in Fig. 2, T1 is main control valve time constant,
T2 is guide vane servomotor time constant, and the model structure rationally, with preferable operability and adaptability, correctly can be simulated
The acting characteristic of guide vane servomotor of hydroelectric generating set.Phantom includes main control valve action link, guide vane servomotor action
Link, stator rate of change limiting element etc..
1）Main control valve action link explanation
Main control valve stroke correspondence accelerator open degree, the most fast opening speed of maximum throttle aperture correspondence guide vane servomotor, therefore
Main control valve stroke need to be limited up and down, be met 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 servomotor stroke is accelerator open degree
Integrated value.Servomotor stroke corresponds to guide vane opening Y, controls the size of hydroturbine water intake amount, and guide vane opening Y need to meet Ymin<Y
<Ymax。
3）Stator rate of change limiting element explanation
In order to protect guide vanes of water turbine, two sections of Closing Laws are typically provided with.It is more than marginal value Y_inf in guide vane opening
When, can be switched with larger speed, when guide vane opening is less than Y_inf, need to be switched with less speed.Stator is opened
The speed of pass is different, and in load change, the frequency response curve of turbine-generator units is also different, therefore the link is to hydraulic generator
The frequency simulation calculation of unit is most important.
Accompanying drawing 3 be the embodiment of the present invention electric system simulation in turbine-generator units electrohydraulic servo system model realization
Method flow diagram.
In the electric system simulation of the embodiment of the present invention, turbine-generator units electrohydraulic servo system includes stator displacement biography
Sensor, proportioning valve, main control valve, guide vane servomotor etc., the modeling method for simulating turbine-generator units electrohydraulic servo system include
Following steps：
1）Stator displacement transducer gathers guide vane opening Y;
2）Calculate the difference i.e. aperture departure △ Y of guide vane opening Y and aperture desired value Y_ref；
3）Main control valve climb displacement value Sp1 is calculated according to the aperture departure △ Y；
4）Judge whether main control valve climb displacement value Sp1 is out-of-limit, if Sp1 is limited in allowed band then
Between Spmin～Spmax, main control valve stroke Sp is obtained, otherwise into step 5）；
5）Guide vane servomotor stroke, i.e. guide vane opening value of calculation Y1 are calculated according to the main control valve stroke Sp；
6）Judge whether the guide vane opening value of calculation Y1 belongs to opening procedure, if then entering step 7）, otherwise enter
Step 10）；
7）Whether guide vane opening value of calculation Y1 is judged more than marginal value Y_inf, if then entering step 8）, otherwise enter step
Rapid 9）；
8）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes and open speed Ryo_ft soon, if so, then limit Y1
Rate of change to open speed Ryo_ft soon, obtain guide vane opening limits value Y2, otherwise into step 13）；
9）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes and open speed Ryo_sw slowly, if so, then limit Y1
Rate of change to open speed Ryo_sw slowly, obtain guide vane opening limits value Y2, otherwise into step 13)；
10）Judge that guide vane opening value of calculation Y1, whether more than marginal value Y_inf, if so, then enters step 11）, otherwise enter
Enter step 12）；
11）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes quick closing valve speed Ryc_ft, if so, then limit Y1
Rate of change be quick closing valve speed Ryc_ft, obtain guide vane opening limits value Y2, otherwise into step 13）；
12）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes slow pass speed Ryc_sw, if so, then limit Y1
Rate of change close speed Ryc_sw for slow, obtain guide vane opening limits value Y2, otherwise into step 13)；
13）Judge whether the guide vane opening limits value Y2 is out-of-limit, guide vane opening is if so, then limited in allowed band Ymin
Between～Ymax, guide vane opening Y is obtained, otherwise into step 14）；
14）1) output guide blade aperture Y, return to step are sampled next time.
In sum, according to the realization of turbine-generator units electrohydraulic servo system model in the electric system simulation of the present invention
Method, with preferable operability and adaptability, in that context it may be convenient to simulate the switching process of turbine-generator units guide vane opening,
The hydraulic generator that can be applied in power system turbine-generator units, particularly DC transmission engineering sending islet operation
The simulation calculation of unit.
Finally it should be noted that：Above example is only to illustrate technical scheme rather than a limitation, right
The present invention specific embodiment modify or equivalent, and any modification without departing from spirit and scope of the invention or
Person's equivalent, all should cover in the middle of scope of the presently claimed invention.
Claims (3)
1. a kind of modeling method of simulation turbine-generator units electrohydraulic servo system, simulates turbine-generator units electrohydraulic servo system
Include stator displacement transducer, proportioning valve, main control valve, guide vane servomotor, it is characterised in that simulation turbine-generator units electricity
The modeling method of liquid servo system comprises the steps：
1）Stator displacement transducer gathers guide vane opening Y;
2）Calculate the difference i.e. aperture departure △ Y of guide vane opening Y and aperture desired value Y_ref；
3）Main control valve climb displacement value Sp1 is calculated according to the aperture departure △ Y；
4）Judge whether main control valve climb displacement value Sp1 out-of-limit, if so, then by Sp1 be limited in allowed band Spmin～
Between Spmax, main control valve stroke Sp is obtained, otherwise into step 5）；
5）Guide vane servomotor stroke, i.e. guide vane opening value of calculation Y1 are calculated according to the main control valve stroke Sp；
6）Judge whether the guide vane opening value of calculation Y1 belongs to opening procedure, if so, then enter step 7）, otherwise into step
10）；
7）Whether guide vane opening value of calculation Y1 is judged more than marginal value Y_inf, if then entering step 8）, otherwise into step
9）；
8）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes and open speed Ryo_ft soon, if so, then limit stator and open
The rate of change of degree value of calculation Y1 obtains guide vane opening limits value Y2, otherwise into step 13 to open speed Ryo_ft soon）；
9）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes and open speed Ryo_sw slowly, if so, then limit the change of Y1
Rate obtains guide vane opening limits value Y2, otherwise into step 13 to open speed Ryo_sw slowly)；
10）Judge that guide vane opening value of calculation Y1, whether more than marginal value Y_inf, if so, then enters step 11）, otherwise enter step
Rapid 12）；
11）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes quick closing valve speed Ryc_ft, if so, then limit the change of Y1
Rate is quick closing valve speed Ryc_ft, obtains guide vane opening limits value Y2, otherwise into step 13）；
12）Judge whether the rate of change of guide vane opening value of calculation Y1 exceedes the slow change closed speed Ryc_sw, if so, then limit Y1
Rate closes speed Ryc_sw for slow, obtains guide vane opening limits value Y2, otherwise into step 13)；
13）Judge whether the guide vane opening limits value Y2 out-of-limit, if so, then limit guide vane opening allowed band Ymin～
Between Ymax, guide vane opening Y is obtained, otherwise into step 14）；
14）1) output guide blade aperture Y, return to step are sampled next time.
2. it is according to claim 1 simulation turbine-generator units electrohydraulic servo system modeling method, it is characterised in that on
State step 3) with integration method calculate main control valve stroke.
3. it is according to claim 1 simulation turbine-generator units electrohydraulic servo system modeling method, it is characterised in that on
Stating step 5) guide vane opening value of calculation Y1 obtained by the integral and calculating of main control valve stroke Sp.
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| 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 |
| 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 |
| 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 |
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| 水电孤岛高压直流送出协调控制策略;范园园等;《电网技术》;20120731;第36卷(第7期);第237-242页 * |
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