CN105159263A - Intelligent electro-hydraulic actuator self-healing regulation and control system control method - Google Patents
Intelligent electro-hydraulic actuator self-healing regulation and control system control method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 33
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- 238000004523 catalytic cracking Methods 0.000 abstract description 5
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- 241001347978 Major minor Species 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to an intelligent electro-hydraulic actuator self-healing regulation and control system control method, which comprises the steps of collecting on-site incoming signals when the intelligent electro-hydraulic actuator is in work state, wherein the on-site incoming signals comprise a sensor signal, a hydraulic control valve signal, a controller signal, an oil pump signal and/or a power supply system signal. The beneficial effects of the present invention are that thanks to the comprehensive realization of the EHS intelligent electro-hydraulic actuator control system self-healing function, the apparatus reliability is greatly lifted; advantages like strong maintainability and high intelligent degree are provided; few technology personnel are required to diagnose and maintain the fault; the fault processing time is close to 0; maintenance can be done without shutdown the apparatus and temporary shutdown is avoided; influence to control and production prevented in the maintenance process; harm to the apparatus and the controlled object is prevented; and accident to safety and production is prevented; the system is in good state again after the maintenance; and a catalytic cracking apparatus can be ensured for stationary operation.
Description
Technical field
The present invention relates to Intelligent electric liquid control system of actuating mechanism technical field, particularly relate to a kind of intelligent electrohydraulic actuator self-cure regulation and control system control method.
Background technology
In Petrochemical Enterprises, EHS(Electrohydraulicsmart) Intelligent electric liquid control system is mainly used in the control of valve position of the refinery device Large Diameter and Very valves such as catalytic cracking, and these special valves generally have high temperature, bigbore feature and control accuracy is high, reliability is high demand.The refinery equipment that electricity liquid (topworks) control system is inherently crucial and important and system, after its operational reliability and fault maintenance efficiency height for the production run of whole device and security risk control effect huge.Therefore, electric liquid (topworks) control system that site operation personnel and overhaul of the equipments personnel not only expect to obtain that operational reliability is high, maintenance efficiency is high after fault, equip and system as a kind of key and important " special ", the managerial and technical staff of Petrochemical Enterprises also wishes effectively to monitor the healthy operation conditions of itself.
RFCC(ResidFluidCatalyticCracking) fluid catalytic cracking of heavy oil device is the secondary processing device (crude(oil)unit is important time processing device) that its important economic benefit is higher.The process complexity of RFCC device and production run risk control point thereof are mainly its reaction-regeneration system and main air blower/flue gas turbine expander (cigarette machine) system, in order to meet the production run control overflow such as fast response time, control accuracy height and ensure its reliability, the topworks of the special valve such as heavy-caliber high-temperature guiding valve, high temperature butterfly valve that reaction regeneration and main air blower/cigarette machine system are equipped all have employed cost electrohydraulic actuator costly.Should say, the reliability of heavy caliber guiding valve, butterfly valve body and mechanical attachment meets long-term operation requirement substantially, but the failure rate of electrohydraulic control system is relatively high, causes special valve whole aircraft reliability to decline, threatens safety and steady production run.The crucial moment that refinery once repeatedly appeared at the unusual fluctuations of reaction-regeneration system technological parameter or device technique self-insurance and flue gas energy recovery unit self self-insurance action belonging to PetroChina Company Limited., China Petrochemical Industry is special valve tripping and then the bitter lesson that causes pernicious equipment breakdown and device to stop production because electrohydraulic control system fault causes.
Therefore, from the research and development of refinery equipment and manufacture angle, develop a kind of reliability is high, maintenanceability is strong, intelligence degree the is high intelligent electric liquid control system with self-healing characteristic and drop into practical application, thus the hardware guarantee realized intelligent electric liquid control system, realize catalytic cracking unit quiet run and then realize the important technology guarantee that synergy is optimized in limit, at refinery catalytic cracking equipment safety, efficiency, benefit produce management aspect, being the big event of benefit " short slab " character, is also the technical matters needing solution at present badly.
Summary of the invention
The object of this invention is to provide a kind of intelligent electrohydraulic actuator self-cure regulation and control system control method, to overcome currently available technology above shortcomings.
The object of the invention is to be achieved through the following technical solutions:
A kind of intelligent electrohydraulic actuator self-cure regulation and control system control method, comprises the following steps:
Gather intelligent electrohydraulic actuator in running order time on-the-spot input signal, wherein, described on-the-spot input signal comprises pressure sensor signal, displacement transducer signal, temperature sensor signal, liquid level sensor signal, controller signals, pilot operated valve device signal, oil pump signal, power supply signal and motor status signal;
According to pre-configured fault analysis strategy, gathered on-the-spot input signal is analyzed, judge that whether the parameter value of described on-the-spot input signal is normal;
In the abnormal situation of parameter value that judged result is described on-the-spot input signal, stop the operational outfit corresponding to described on-the-spot input signal and start pre-configured with the stand-by equipment corresponding to described operational outfit, impelling described stand-by equipment to substitute current operational outfit and carry out work;
After the startup described stand-by equipment schedule time, again collection analysis is carried out to the on-the-spot input signal of correspondence, judge that current live input signal is whether normal, and in the abnormal situation of parameter value being current live input signal in judged result, carry out corresponding sound and light alarm.
Wherein, fault analysis strategy comprises biosensor analysis strategy, set-point analysis strategy, pilot operated valve device analysis strategy, controller analysis strategy, oil pump analysis strategy and/or power-supply system analysis strategy.
Wherein, according to pre-configured biosensor analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each sensor signal gathered in advance and the sensor parameters threshold value preset are compared;
At comparative result be the parameter value of described sensor signal in described sensor parameters threshold range, judge that respective sensor is in effective duty;
At comparative result be the parameter value of described sensor signal beyond described sensor parameters threshold range, judge that respective sensor is in non-active operating status.
Wherein, according to pre-configured biosensor analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally also comprises:
The parameter value of each sensor signal gathered in advance is analyzed, determines the rate of change of the parameter value of each sensor signal, and the parameter value variation rate of each sensor signal determined and the parameter value variation rate preset are compared;
When the parameter value variation rate that comparative result is sensor signal is not inconsistent with the parameter value variation rate that presets, judge that respective sensor breaks down, wherein, be not inconsistent comprise not identical or not within the scope of predictive error.
Wherein, according to pre-configured set-point analysis strategy, carry out point analyzing gathered on-the-spot input signal to gathered on-the-spot input signal, judge whether the parameter value of described on-the-spot input signal normally comprises:
By the parameter value of each sensor signal gathered in advance with compared by the given parameters value obtained of communication network transmission in advance;
At comparative result be the parameter value of described sensor signal within the scope of described given parameters value, judge that respective sensor is in effective duty;
At comparative result be the parameter value of described sensor signal beyond described given parameters value scope, judge that respective sensor is in non-active operating status.
Wherein, according to pre-configured pilot operated valve device analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each displacement transducer signal gathered in advance is analyzed, determines the rate of change of the parameter value of each displacement transducer signal, and the parameter value variation rate of each displacement transducer signal determined and the parameter value variation rate preset are compared;
When the parameter value variation rate that comparative result is displacement transducer signal is not inconsistent with the parameter value variation rate that presets, judge that corresponding pilot operated valve device breaks down, wherein, be not inconsistent comprise not identical or not within the scope of predictive error.
Wherein, according to pre-configured controller analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each controller signals gathered in advance and the controller parameter threshold value preset are compared;
At comparative result be the parameter value of described controller signals in described controller parameter threshold range, judge that corresponding controller is in effective duty;
At comparative result be the parameter value of described controller signals beyond described controller parameter threshold range, judge that corresponding controller is in non-active operating status.
Wherein, according to pre-configured oil pump analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each fuel tank temperature sensor gathered in advance, each oil pipe temperature sensor, each pressure transducer, power supply signal and motor signal and fuel tank temperature sensor, oil pipe temperature sensor, each pressure transducer, power supply signal and the parameter of electric machine threshold value preset are compared;
At comparative result be the parameter value of described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and motor signal in described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and the parameter of electric machine threshold range, judge that oil pump systems is in effective duty;
At comparative result be the parameter value of described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and motor signal beyond described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and the parameter of electric machine threshold range, judge that oil pump systems is in non-active operating status;
Wherein, according to pre-configured power-supply system analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each power supply signal gathered in advance and the power parameter threshold value preset are compared;
At comparative result be the parameter value of described power supply signal in described power parameter threshold range, judge that corresponding power is in effective duty;
At comparative result be the parameter value of described power supply signal beyond described power parameter threshold range, judge that corresponding power is in non-active operating status.
Wherein, according to pre-configured pilot operated valve device analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each pilot operated valve device signal gathered in advance and the pilot operated valve device parameter threshold preset are compared;
At comparative result be the parameter value of described pilot operated valve device signal within the scope of described pilot operated valve device parameter threshold, judge that corresponding pilot operated valve device is in effective duty;
At comparative result be the parameter value of described pilot operated valve device signal beyond described pilot operated valve device parameter threshold scope, judge that corresponding pilot operated valve device is in false non-active operating status;
After the described pilot operated valve device locking schedule time being judged to be false inefficacy duty, the parameter value again gathering described pilot operated valve device signal and the pilot operated valve device parameter threshold preset compare, if after repeating the invalid number of times of vacation being judged as that the number of times of false non-active operating status reaches predetermined, judge that corresponding pilot operated valve device is in true non-active operating status.
Beneficial effect of the present invention is: the present invention is by the round Realization of EHS Intelligent electric liquid control system of actuating mechanism self-healing function, significantly improve equipment dependability, reliability is high, maintenanceability is strong, intelligence degree is high, without the need to a large amount of engineering technical personnel, diagnosing malfunction is keeped in repair, fault handling time is close to zero, without the need to shutdown maintenance, cause equipment hesitation, can not have an impact to control and production task in repair process, harm can not be produced to equipment itself and control object, also can not to safety and production generation accident, after reparation completes, system becomes serviceable condition again, catalytic cracking unit even running can be guaranteed.
Accompanying drawing explanation
Below in order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only some embodiments of the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The process flow diagram of a kind of intelligent electrohydraulic actuator self-cure regulation and control system control method that Fig. 1 provides for the embodiment of the present invention;
The dual sensor self-healing control flow chart of a kind of intelligent electrohydraulic actuator self-cure regulation and control system control method that Fig. 2 provides for the embodiment of the present invention;
The one intelligence electrohydraulic actuator main control valve fundamental diagram that Fig. 3 provides for the embodiment of the present invention;
The Mode1 selfhealing mode control procedure schematic diagram that Fig. 4 provides for the embodiment of the present invention;
The Mode2 selfhealing mode control procedure schematic diagram that Fig. 5 provides for the embodiment of the present invention;
The Mode3 selfhealing mode control procedure schematic diagram that Fig. 6 provides for the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain, all belongs to the scope of protection of the invention.
As shown in figures 1 to 6, one intelligence electrohydraulic actuator self-cure regulation and control system control method described in the embodiment of the present invention, comprise the following steps: gather intelligent electrohydraulic actuator in running order time on-the-spot input signal, wherein, described on-the-spot input signal comprises pressure sensor signal, displacement transducer signal, temperature sensor signal, liquid level sensor signal, controller signals, pilot operated valve device signal, oil pump signal, power supply signal and motor status signal;
According to pre-configured fault analysis strategy, gathered on-the-spot input signal is analyzed, judge that whether the parameter value of described on-the-spot input signal is normal; In the abnormal situation of parameter value that judged result is described on-the-spot input signal, stop the operational outfit corresponding to described on-the-spot input signal and start pre-configured with the stand-by equipment corresponding to described operational outfit, impelling described stand-by equipment to substitute current operational outfit and carry out work; After the startup described stand-by equipment schedule time, again collection analysis is carried out to the on-the-spot input signal of correspondence, judge that current live input signal is whether normal, and in the abnormal situation of parameter value being current live input signal in judged result, carry out corresponding sound and light alarm.
Wherein, fault analysis strategy comprises biosensor analysis strategy, set-point analysis strategy, pilot operated valve device analysis strategy, controller analysis strategy, oil pump analysis strategy and/or power-supply system analysis strategy.
Wherein, according to pre-configured biosensor analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises: the parameter value of each sensor signal gathered in advance and the sensor parameters threshold value preset are compared; At comparative result be the parameter value of described sensor signal in described sensor parameters threshold range, judge that respective sensor is in effective duty; At comparative result be the parameter value of described sensor signal beyond described sensor parameters threshold range, judge that respective sensor is in non-active operating status.
Wherein, according to pre-configured biosensor analysis strategy, gathered on-the-spot input signal is analyzed, judge whether the parameter value of described on-the-spot input signal normally also comprises: the parameter value of each sensor signal gathered in advance is analyzed, determine the rate of change of the parameter value of each sensor signal, and the parameter value variation rate of each sensor signal determined and the parameter value variation rate preset are compared; When the parameter value variation rate that comparative result is sensor signal is not inconsistent with the parameter value variation rate that presets, judge that respective sensor breaks down, wherein, be not inconsistent comprise not identical or not within the scope of predictive error.
Under the pattern of configuration dual sensor, during EHS system worked well, the valve position signal gathered with master reference is for working signal, and only when EHS diagnoses out master reference malfunction and failure or when user is manually excised by master reference, standby sensor can put into operation by system immediately.
Wherein, according to pre-configured set-point analysis strategy, carry out point analyzing gathered on-the-spot input signal to gathered on-the-spot input signal, judge whether the parameter value of described on-the-spot input signal normally comprises: by the parameter value of each sensor signal gathered in advance with compared by the given parameters value obtained of communication network transmission in advance; At comparative result be the parameter value of described sensor signal within the scope of described given parameters value, judge that respective sensor is in effective duty; At comparative result be the parameter value of described sensor signal beyond described given parameters value scope, judge that respective sensor is in non-active operating status.
The active and standby controller of system configuration, active and standby controller adopts PPI communication each other, master controller is per second sends different pieces of information to preparation controller, preparation controller is received the data that master controller sends and is carried out data processing, again the result handled well is returned to master controller, the data returned compare by master controller, then according to pre-configured Stakeout & Homicide Preservation Strategy, judged result is pre-setting in data area, and namely controller is in effective duty; Judged result is pre-setting outside data area energy, and namely controller is in non-active operating status, and now control system is diagnosed out result and reported to the police to host computer, and control system will start self-healing function automatically simultaneously.
Wherein, according to pre-configured pilot operated valve device analysis strategy, when EHS Intelligent electric liquid control system receives action regulating command signal, to the command signal gathered in advance, active and standby displacement transducer signal, pressure data, tracking time, the parameter value of tracking bandwidth is analyzed, and determines the rate of change of the parameter value of active and standby displacement transducer signal, and the parameter value variation rate of each sensor signal determined and the parameter value variation rate preset is compared; When the parameter value variation rate that comparative result is active and standby displacement transducer signal is not inconsistent with the parameter value variation rate preset, judge that corresponding pilot operated valve device breaks down, wherein, be not inconsistent comprise not identical or not within the scope of predictive error, now control system is diagnosed out result and is reported to the police to host computer, and control system will start self-healing function automatically simultaneously.Gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
Continue with reference to accompanying drawing 3, P is pressure oil, R is fuel tank, YM is hand sluice valve, YC is one-way hydraulic lock, YS is 3-position 4-way electromagnetic ball type reversing valve (i.e. main control valve or standby control valve), and YD is two-position three-way electromagnetic ball reversal valve (i.e. hydraulic lock operation valve), and YMS is two-position four-way hand-operated direction valve (i.e. hand behaviour valve).
Continue with reference to accompanying drawing 3, in actual applications, the driving element of EHS electricity Ye Based Intelligent Control topworks is electromagnetic ball type reversing valve (main control valve YS), for main core component, when after this component failure, can produce this device systems and control object and have a strong impact on, therefore the security and reliability that ensure these parts are very important, main control valve YS includes pilot stage and power amplifier level, namely pilot stage is exactly the controlled stage of power amplifier level, because main control valve YS pilot stage aperture is minimum, main control valve YS works through long burst small-signal (30-60ms), fiber is had as assembled in pilot stage steel ball porch, metal welding solid impurity particle thing or burr dirt, cause pilot stage poorly sealed without closing during driver signal, main control valve just has micro-hydraulic oil to output to oil cylinder, load displacement is made to produce fine motion drift, will resemble control and have an impact, be embodied in the sliding amount of electromagnetism logic ball valve and the positioning of special valve valve position, EHS Operation system setting electromagnetism logic ball valve self-healing function for this reason, self-healing reparation must be carried out to this critical piece (main control valve YS), for adapting to the requirement of different occasion, EHS Operation system setting 3 kinds of electromagnetism logic ball valve selfhealing mode, the system (Mode1) being applicable to configure two electromagnetism logic ball valve and system (Mode2 and Mode3) the three kinds of modes only configuring single electromagnetism logic ball valve realize self-healing.
Continue with reference to accompanying drawing 3, 4, the selfhealing mode (Mode1) of the two electromagnetism logic ball valve design of configuration: high occasion is being required to electro-hydraulic actuator, as stator blade, cigarette machine etc., can the EHS system of the two electromagnetism logic ball valves of selection and deployment and the design of independent hydraulically controlled lock, electromagnetism logic ball valve is redundant configuration, this configuration mode only has main electromagnetism logic ball valve to participate in controlling when normal work, double control valve is (main, standby operation valve) no-harass switch, switch to standby operation valve during self-healing and enter normal regulating state, main control valve lock-bit, and from having rinsed self-healing, after self-healing completes, switch to main control valve to run, standby operation valve is awaited orders, instant heating redundancy.
1. continue in reference accompanying drawing 4, figure is normal regulating state, i.e. normal operating conditions; 2. be alarm state, namely follow the tracks of loss index and exceed normal control accuracy scope; 3. be alarm condition, namely follow the tracks of and lose bandwidth overload alarm; 4. be grave warning state, time a little, fault lock-bit starts, simultaneously startup separator self-cure regulation and control.
Continue with reference to accompanying drawing 4, Mode1 self-healing principle and regulation process as follows: under normal control state, by main control valve, normal regulating (as 1. state in figure) is carried out to valve, when being directed at main control valve pilot stage clamping stagnation because of hydraulic pressure well cuts, main control valve there will be inefficacy, inherently produce valve position drift, exceed control accuracy scope (as 2. state in figure), now system can be in alarm state; As control system can not eliminate this alarm state, valve position will inevitably continue drift, when valve position transfinites tracking bandwidth, " follow the tracks of lose " is reported to the police and is occurred, now system enters alarm condition (as 3. state in figure), once valve position exceeds tracking bandwidth, system enters grave warning state (as schemed 4. state) immediately, and main control valve is locked at once, switch to standby control valve simultaneously and normal regulating is carried out to valve position, and eliminate deviation in time; Now system startup separator self-cure regulation and control state: controller carries out self-cleaning with the pulse signal of 1Hz to oil piping system in the pilot stage in main control valve and valve by giving main control valve both forward and reverse directions, cleaning each cycle is 5-20 time, to reach rubbish and foreign material object in scavenging valve, complete self-healing; After self-healing, control task is switched back main control valve and runs by control system again, awaits orders in standby control block of valve position; As again occurred, valve position is drifted about, and system can enter self-cure regulation and control process again, as self-healing 3 times, still can not pilot stage foreign material in cleaning valve, and system is immediately to upper warning, and main control valve lost efficacy.
In sum, Mode1: be double control valve (active and standby operation valve), no-harass switch, switch to standby operation valve during self-healing and enter normal regulating state, main control valve lock-bit, and from having rinsed self-healing, after self-healing completes, switch to main control valve to run, standby operation valve is awaited orders, and instant heating redundancy, is applicable to important events, as stator blade, cigarette machine etc.
Continue with reference to accompanying drawing 5, configure the selfhealing mode (Mode2) of single electromagnetism logic ball valve design: when requiring slightly low occasion to electro-hydraulic actuator or considering the cost performance of system, the EHS system only configuring single electromagnetism logic ball valve and the design of independent hydraulically controlled lock can be selected, electromagnetism logic ball valve is nonredundancy configuration, this configuration mode electromagnetism logic ball valve when normal work participates in controlling, when EHS system diagnostics has electromagnetism logic ball valve appearance (as oil circuit bite) fault, EHS system can perform lock-bit action immediately, after EHS system judges that process operation steadily, can attempt carrying out self-healing to the electromagnetism logic ball valve of malfunction and failure, if self-healing that EHS system (is set to 3 times) usually through several times, electromagnetism logic ball valve can not recover, EHS system can send the alerting signal that electromagnetism logic ball vaeves failures lost efficacy, prompting dimension maintainer keeps in repair electromagnetism logic ball valve.
1. continue in reference accompanying drawing 5, figure is normal regulating state, i.e. normal operating conditions; 2. be alarm state, namely follow the tracks of loss index and exceed normal control accuracy scope; 3. be alarm condition, namely follow the tracks of and lose bandwidth overload alarm; 4. be grave warning state, time a little, fault lock-bit starts, simultaneously startup separator self-cure regulation and control;
Continue with reference to accompanying drawing 5, Mode2 self-healing principle and regulation process as follows: under normal control state, by main control valve, normal regulating (as 1. state in figure) is carried out to valve, when being directed at main control valve pilot stage clamping stagnation because of hydraulic pressure well cuts, main control valve there will be inefficacy, inherently produce valve position drift, exceed control accuracy scope (as 2. state in figure), now system can be in alarm state, as control system can not eliminate this alarm state, valve position will inevitably continue drift, when valve position transfinites tracking bandwidth, " follow the tracks of and lose " to report to the police and occur, now system enters alarm condition (as 3. state in figure), once valve position exceeds tracking bandwidth, system enters grave warning state (as schemed 4. state) immediately, and main control valve is locked at once, now system startup separator self-cure regulation and control state: controller carries out self-cleaning with the pulse signal of 1Hz to oil piping system in the pilot stage in main control valve and valve by giving main control valve both forward and reverse directions, cleaning each cycle is 5-20 time, to reach rubbish and foreign material object in scavenging valve, complete self-healing, after self-healing completes, control system removes hydraulic lock state, drops into normal regulating state, as again occurred, valve position is drifted about, and system can enter self-cure regulation and control process again, as self-healing 3 times, still can not pilot stage foreign material in cleaning valve, and system is immediately to upper warning, and main control valve lost efficacy.
In sum, Mode2: be single control valve, main control valve YS lock-bit (hydraulic lock, valve position transfixion) during self-healing, and from having rinsed self-healing, after self-healing completes, main control valve YS removes hydraulic lock, drops into normal regulating and runs, be applicable to relative important events.
Continue with reference to accompanying drawing 6, configure the selfhealing mode (Mode3) of single electromagnetism logic ball valve design: when requiring slightly low occasion to electro-hydraulic actuator or considering the cost performance of system, the EHS system only configuring single electromagnetism logic ball valve and the design of independent hydraulically controlled lock can be selected, electromagnetism logic ball valve is nonredundancy configuration, this configuration mode electromagnetism logic ball valve when normal work participates in controlling, when EHS system diagnostics has electromagnetism logic ball valve appearance (as oil circuit bite) fault, EHS system can perform lock-bit action immediately, after EHS system judges that process operation steadily, can attempt carrying out self-healing to the electromagnetism logic ball valve of malfunction and failure, if self-healing that EHS system (is set to 3 times) usually through several times, electromagnetism logic ball valve can not recover, EHS system can send the alerting signal that electromagnetism logic ball vaeves failures lost efficacy, prompting dimension maintainer keeps in repair electromagnetism logic ball valve.
1. continue in reference accompanying drawing 6, figure is normal regulating state, i.e. normal operating conditions; 2. be alarm state, namely follow the tracks of loss index and exceed normal control accuracy scope; 3. be alarm condition, namely follow the tracks of and lose bandwidth overload alarm; 4. be grave warning state, time a little, fault lock-bit starts, simultaneously startup separator self-cure regulation and control;
Continue with reference to accompanying drawing 6, Mode3 self-healing principle and regulation process as follows: under normal control state, by main control valve, normal regulating (as 1. state in figure) is carried out to valve, when being directed at main control valve pilot stage clamping stagnation because of hydraulic pressure well cuts, main control valve there will be inefficacy, inherently produce valve position drift, exceed control accuracy scope (as 2. state in figure), now system can be in alarm state, as control system can not eliminate this alarm state, valve position will inevitably continue drift, when valve position transfinites tracking bandwidth, " follow the tracks of and lose " to report to the police and occur, now system enters alarm condition (as 3. state in figure), once valve position exceeds tracking bandwidth, system enters grave warning state (as schemed 4. state) immediately, now system startup separator self-cure regulation and control state: controller carries out self-cleaning with the pulse signal of 1Hz to oil piping system in the pilot stage in main control valve and valve by giving main control valve both forward and reverse directions, cleaning each cycle is 5-20 time, to reach rubbish and foreign material object in scavenging valve, complete self-healing, after self-healing completes, control system removes hydraulic lock state, drops into normal regulating state, as again occurred, valve position is drifted about, and system can enter self-cure regulation and control process again, as self-healing 3 times, still can not pilot stage foreign material in cleaning valve, and system is immediately to upper warning, and main control valve lost efficacy.Therefore plant selfhealing mode in self-cure regulation and control, valve position there will be vibration, may have an impact to some production technology, so can only be applicable to insignificant occasion.
In sum, Mode3: be single control valve, main control valve YS not lock-bit during self-healing, hydraulic lock is opened, and uses from rinsing self-healing, after self-healing completes, drops into immediately and automatically runs, be applicable to insignificant occasion,
Wherein, according to pre-configured oil pump analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises: the parameter value of the fuel tank temperature sensor gathered in advance, oil pipe temperature sensor, each pressure transducer, power supply signal and motor signal and fuel tank temperature sensor, oil pipe temperature sensor, each pressure transducer, power supply signal and the parameter of electric machine threshold value preset are compared; At comparative result be the parameter value of described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and motor signal in described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and the parameter of electric machine threshold range, judge that oil pump systems is in effective duty; At comparative result be the parameter value of described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and motor signal beyond described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and the parameter of electric machine threshold range, judge that oil pump systems is in non-active operating status;
By the fuel tank temperature sensor gathered in advance, oil pipe temperature sensor, and active and standby pressure transducer, motor overload signal, parameter value and the preliminary setting data of motor power phase sequential signal compare.At comparative result be the parameter value of described sensor signal within the scope of described given parameters value, judge that oil pump systems is in effective duty; At comparative result be the parameter value of described sensor signal beyond described given parameters value scope, judge that oil pump systems is in non-active operating status.
Wherein, according to pre-configured power-supply system analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises: the parameter value of each power supply signal gathered in advance and the power parameter threshold value preset are compared; At comparative result be the parameter value of described power supply signal in described power parameter threshold range, judge that corresponding power is in effective duty; At comparative result be the parameter value of described power supply signal beyond described power parameter threshold range, judge that corresponding power is in non-active operating status.
Power-supply system diagnosis sub-power power-supply system (380VAC) diagnosis of this EHS Intelligent electric liquid control system and control power-supply system (24VDC) diagnosis, be all designed to double power-supply system.Dynamic power system (380VAC) diagnoses the active and standby two-way electrical source of power phase sequence sensor signal that will gather in advance; analysis is compared with preliminary setting data; as main road power failure; system automatically switches to stand-by power source; to guarantee that system is normally run, and diagnostic result is reported to the police to host computer.
Control power-supply system (24VDC) diagnosis and the active and standby two-way gathered in advance is controlled power supply signal sensor signal, analysis is compared with preliminary setting data, as main road power failure, system automatically switches to stand-by power source, to guarantee that system is normally run, and diagnostic result is reported to the police to host computer.
In addition, EHS system, according to the requirement of user, can configure single controller or dual controller.Wherein, dual controller adopts hot standby mode, during normal work, master controller realizes the complete controlling functions of EHS system, and preparation controller adopts communication modes, in real time monitoring master controller duty, simultaneously real-time main controller controls data are kept at preparation controller data buffer, once preparation controller monitors master controller operation irregularity, preparation controller is adapter controlling functions immediately, realizes dual controller and does not disturb switching.
EHS system oil pump motor adopts three-phase alternating-current powered, when Alternating Current Power Supply phase sequence mistake, the fault that Oil pump electrical machinery reverses can be caused, add in EHS system design process for this reason and exchange Phase sequence detection function, once find Alternating Current Power Supply phase sequence mistake, EHS system can send warning.
EHS system adopts dual power supply design, comprises the design of oil pump Alternating Current Power Supply dual power supply and the design of control system direct current supply dual power supply.
EHS system is that major-minor oil pump all devises double dynamical power supply power supply mode, and namely active force power supply aims at main oil pump and powers, and standby electrical source of power aims at standby oil pump and powers, active and standby two-way electrical source of power is separate, mutually isolated, do not interfere with each other, and Real-Time Monitoring duplex feeding state; As when active force power loss, power supply task switch can be given standby electrical source of power by system, and by standby oil pump for system provides oil sources, simultaneity factor can upload " active force power fail " warning message to host computer; In like manner, when after standby electrical source of power dead electricity, when needing standby power source power, system also can by power supply task switch to active power source, simultaneity factor can be uploaded to host computer " standby electrical source of power fault " warning message; As long as the arbitrary road of active and standby electrical source of power two-way power supply powers break down, system all can be reported to the police sending power fail, and immediately switches, and guarantees system worked well.
EHS system PLC adopts two-way direct current supply mode, control system inside arranges direct supply redundant module, this module can realize the automatic switchover of two-way direct current supply, and provides power fail warning function, and this design ensure that DC power-supply system has self-healing function.
EHS system adopts major-minor pair of oil pump design, and nominal situation operates to master with main oil pump, designs the fuel consumption that single oil pump output quantity can meet system worked well; After main oil pump runs 1 minute continuously or main oil pump motor fault time, if system oil pressure is also lower than pump start set-point, auxiliary oil pump starts automatically, thus realizes the self-healing function of oil pump fault.
EHS system adopts two accumulator designs, when after an accumulator malfunction and failure, also has an accumulator can maintain system and normally runs.
For ensureing to provide safe and reliable high-quality pressure oil-source to system, raising system self-supplying capacity, this EHS system spy adopts two accumulator designs, jointly for system provides pressure oil-source, when internal fault appears in one of them accumulator, namely inner leather bag is damaged, can not pressure store oil, another accumulator can also ensure that system is normally run, by the self-diagnostic function of system, diagnosable have accumulator fault, to repair in time.
During concrete operations, when judging whether sensor lost efficacy, the parameter value of each sensor signal gathered in advance and the sensor parameters threshold value preset are compared, described parameter threshold scope is [3.6mA, 20.5mA], when the parameter value variation rate that comparative result is sensor signal is not inconsistent with the parameter value variation rate preset, judge that respective sensor breaks down, wherein, be not inconsistent comprise not identical or not within the scope of predictive error.In set-point analysis strategy, be [3.6mA by the given parameters value scope obtained of communication network transmission in advance, 20.5mA], at comparative result be the parameter value of described sensor signal within the scope of described given parameters value, judge that respective sensor is in effective duty; At comparative result be the parameter value of described sensor signal beyond described given parameters value scope, judge that respective sensor is in non-active operating status.
The present invention is not limited to above-mentioned preferred forms; anyone can draw other various forms of products under enlightenment of the present invention; no matter but any change is done in its shape or structure; every have identical with the application or akin technical scheme, all drops within protection scope of the present invention.
Claims (10)
1. an intelligent electrohydraulic actuator self-cure regulation and control system control method, is characterized in that, comprise the following steps:
Gather intelligent electrohydraulic actuator in running order time on-the-spot input signal, wherein, described on-the-spot input signal comprises pressure sensor signal, displacement transducer signal, temperature sensor signal, liquid level sensor signal, controller signals, pilot operated valve device signal, oil pump signal, power supply signal and motor status signal;
According to pre-configured fault analysis strategy, gathered on-the-spot input signal is analyzed, judge that whether the parameter value of described on-the-spot input signal is normal;
In the abnormal situation of parameter value that judged result is described on-the-spot input signal, stop the operational outfit corresponding to described on-the-spot input signal and start pre-configured with the stand-by equipment corresponding to described operational outfit, impelling described stand-by equipment to substitute current operational outfit and carry out work;
After the startup described stand-by equipment schedule time, again collection analysis is carried out to the on-the-spot input signal of correspondence, judge that current live input signal is whether normal, and in the abnormal situation of parameter value being current live input signal in judged result, carry out corresponding sound and light alarm.
2. intelligent electrohydraulic actuator self-cure regulation and control system control method according to claim 1, it is characterized in that, fault analysis strategy comprises biosensor analysis strategy, set-point analysis strategy, pilot operated valve device analysis strategy, controller analysis strategy, oil pump analysis strategy and/or power-supply system analysis strategy.
3. intelligent electrohydraulic actuator self-cure regulation and control system control method according to claim 2, it is characterized in that, according to pre-configured biosensor analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each sensor signal gathered in advance and the sensor parameters threshold value preset are compared;
At comparative result be the parameter value of described sensor signal in described sensor parameters threshold range, judge that respective sensor is in effective duty;
At comparative result be the parameter value of described sensor signal beyond described sensor parameters threshold range, judge that respective sensor is in non-active operating status.
4. intelligent electrohydraulic actuator self-cure regulation and control system control method according to claim 2; it is characterized in that; according to pre-configured biosensor analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally also comprises:
The parameter value of each sensor signal gathered in advance is analyzed, determines the rate of change of the parameter value of each sensor signal, and the parameter value variation rate of each sensor signal determined and the parameter value variation rate preset are compared;
When the parameter value variation rate that comparative result is sensor signal is not inconsistent with the parameter value variation rate that presets, judge that respective sensor breaks down, wherein, be not inconsistent comprise not identical or not within the scope of predictive error.
5. intelligent electrohydraulic actuator self-cure regulation and control system control method according to claim 2, it is characterized in that, according to pre-configured set-point analysis strategy, carry out point analyzing gathered on-the-spot input signal to gathered on-the-spot input signal, judge whether the parameter value of described on-the-spot input signal normally comprises:
By the parameter value of each sensor signal gathered in advance with compared by the given parameters value obtained of communication network transmission in advance;
At comparative result be the parameter value of described sensor signal within the scope of described given parameters value, judge that respective sensor is in effective duty;
At comparative result be the parameter value of described sensor signal beyond described given parameters value scope, judge that respective sensor is in non-active operating status.
6. intelligent electrohydraulic actuator self-cure regulation and control system control method according to claim 2, it is characterized in that, according to pre-configured pilot operated valve device analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each displacement transducer signal gathered in advance is analyzed, determines the rate of change of the parameter value of each displacement transducer signal, and the parameter value variation rate of each displacement transducer signal determined and the parameter value variation rate preset are compared;
When the parameter value variation rate that comparative result is displacement transducer signal is not inconsistent with the parameter value variation rate that presets, judge that corresponding pilot operated valve device breaks down, wherein, be not inconsistent comprise not identical or not within the scope of predictive error.
7. intelligent electrohydraulic actuator self-cure regulation and control system control method according to claim 2, it is characterized in that, according to pre-configured controller analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each controller signals gathered in advance and the controller parameter threshold value preset are compared;
At comparative result be the parameter value of described controller signals in described controller parameter threshold range, judge that corresponding controller is in effective duty;
At comparative result be the parameter value of described controller signals beyond described controller parameter threshold range, judge that corresponding controller is in non-active operating status.
8. intelligent electrohydraulic actuator self-cure regulation and control system control method according to claim 2, it is characterized in that, according to pre-configured oil pump analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each fuel tank temperature sensor gathered in advance, each oil pipe temperature sensor, each pressure transducer, power supply signal and motor signal and fuel tank temperature sensor, oil pipe temperature sensor, each pressure transducer, power supply signal and the parameter of electric machine threshold value preset are compared;
At comparative result be the parameter value of described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and motor signal in described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and the parameter of electric machine threshold range, judge that oil pump systems is in effective duty;
At comparative result be the parameter value of described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and motor signal beyond described fuel tank temperature sensor, oil pipe temperature sensor, pressure transducer, power supply signal and the parameter of electric machine threshold range, judge that oil pump systems is in non-active operating status;
Intelligent electrohydraulic actuator self-cure regulation and control system control method according to claim 2, it is characterized in that, according to pre-configured power-supply system analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each power supply signal gathered in advance and the power parameter threshold value preset are compared;
At comparative result be the parameter value of described power supply signal in described power parameter threshold range, judge that corresponding power is in effective duty;
At comparative result be the parameter value of described power supply signal beyond described power parameter threshold range, judge that corresponding power is in non-active operating status.
9. intelligent electrohydraulic actuator self-cure regulation and control system control method according to claim 2, it is characterized in that, according to pre-configured power-supply system analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each power supply signal gathered in advance and the power parameter threshold value preset are compared;
At comparative result be the parameter value of described power supply signal in described power parameter threshold range, judge that corresponding power is in effective duty;
At comparative result be the parameter value of described power supply signal beyond described power parameter threshold range, judge that corresponding power is in non-active operating status.
10. intelligent electrohydraulic actuator self-cure regulation and control system control method according to claim 6, it is characterized in that, according to pre-configured pilot operated valve device analysis strategy, gathered on-the-spot input signal is analyzed, judges whether the parameter value of described on-the-spot input signal normally comprises:
The parameter value of each pilot operated valve device signal gathered in advance and the pilot operated valve device parameter threshold preset are compared;
At comparative result be the parameter value of described pilot operated valve device signal within the scope of described pilot operated valve device parameter threshold, judge that corresponding pilot operated valve device is in effective duty;
At comparative result be the parameter value of described pilot operated valve device signal beyond described pilot operated valve device parameter threshold scope, judge that corresponding pilot operated valve device is in false non-active operating status;
After the described pilot operated valve device locking schedule time being judged to be false inefficacy duty, the parameter value again gathering described pilot operated valve device signal and the pilot operated valve device parameter threshold preset compare, if after repeating the invalid number of times of vacation being judged as that the number of times of false non-active operating status reaches predetermined, judge that corresponding pilot operated valve device is in true non-active operating status.
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