CN107387859B - A kind of intelligence is double to select valve position feedback control method - Google Patents
A kind of intelligence is double to select valve position feedback control method Download PDFInfo
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- CN107387859B CN107387859B CN201710651855.4A CN201710651855A CN107387859B CN 107387859 B CN107387859 B CN 107387859B CN 201710651855 A CN201710651855 A CN 201710651855A CN 107387859 B CN107387859 B CN 107387859B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
- F16K37/0025—Electrical or magnetic means
- F16K37/0041—Electrical or magnetic means for measuring valve parameters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Feedback Control In General (AREA)
- Control Of Turbines (AREA)
Abstract
The present invention relates to field of intelligent control, more particularly to a kind of intelligence pair selects valve position feedback control method, obtain feedback signal A, B of two-way valve position, the fault condition in channel where judging it respectively simultaneously determines actual valve position value of feedback Pv, through actual valve position value of feedback Pv compared with valve setting value Ps, and then control the switch of oil motor.The beneficial effects of the present invention are: the Reflector by judging every road valve position feedback signal, the correct valve position feedback signal of intelligent selection ensure that real-time and accuracy into the valve position feedback value signal of servo mechanism as actual valve position value of feedback Pv.
Description
Technical field
The present invention relates to field of intelligent control more particularly to a kind of intelligence pair to select valve position feedback control method.
Background technique
Common steam turbine DEH servo-control system, valve actuator are all by valve location servo control loop
The closed-loop control device of composition, the oil motor valve bit instruction signal that control device generates adjust amplification, electro-hydraulic turn through servo ratio
Parallel operation is transformed into and adjusts oil pressure to oil motor, by oil motor driving steam turbine admission valve open and close.Oil motor stroke is through position
Displacement sensor is measured, and servo ratio adjuster input terminal is fed back to, and is allowed to equal with the oil motor valve bit instruction holding, to make
Oil motor stroke is controlled by DEH valve bit instruction completely.It can be seen that valve position feedback signal is in valve servo control loop
It is a very important signal, the reliability of the signal is directly related to the reliability of closed-loop control device, and general select can
Sensor of the linear differential displacement sensor (LVDT) relatively high by property as position feedback.
Steam turbine DEH servo-system valve position feedback control mode is simple to feedback signal breakdown judge at present, mainly
Burn out detection is carried out to feedback signal, the failure problems of feedback signal in the case of non-broken string are not judged, and signal selects
Selecting a good opportunity, it is simple to make, and only by high choosing or low choosing selection, there is no exclude fault-signal in many cases.
Summary of the invention
The shortcomings that for above scheme, the present invention proposes that a kind of intelligence is double and selects valve position feedback control method, for valve
Door position feed back signal carries out the fault condition for judging two-way valve position feedback signal comprehensively in non-disconnection fault,
By correct feed back input of the practical valve position feedback signal as servo-control system of intelligent selection, to greatly reduce
A possibility that malfunctioning servo mechanism because of valve position feedback signal fault.
The technical scheme is that: a kind of intelligence is double to select valve position feedback control method, obtains the feedback of two-way valve position
Signal A, B, the fault condition in channel where judging it respectively simultaneously determine actual valve position value of feedback Pv, pass through actual valve position value of feedback
Pv controls the switch of oil motor compared with valve setting value Ps.
Preferably, the method for the feedback signal for obtaining two-way valve position are as follows: by two-way linear differential displacement sensor
LVDT1 and LVDT2 are mounted on oil motor, acquisition are opened and closed simultaneously with oil motor, for obtaining valve location respectively
Feedback signal.
Preferably, the method for the judgement fault condition are as follows: judge whether the variation of two-way feedback signal synchronizes, if variation
Synchronous, then the channel where judging feedback signal A, B is normal or breaks；If variation is asynchronous, feedback signal is judged
A, the channel where B at least one break down.
Preferably, the method whether variation for judging two-way feedback signal synchronizes are as follows: feedback signal A, B is calculated
Rate of changeAnd carry out drift gage calculationIfThen two paths signal is fed back
Variation synchronizes, and the feedback variation of on the contrary then two paths signal is asynchronous, wherein r1For the threshold value of deviation.
Preferably, in the case where two-way feedback signal changes synchronous, the channel where judging feedback signal A, B is normal
Or the method to break are as follows: the feedback voltage in A, B based on the feedback signal, respectively carry out null calibration and with threshold value r2Than
Compared with if being less than threshold value r2, then it is broken string, conversely, then it is normal.
Preferably, the method that the channel where judgement feedback signal A, B is broken down are as follows: judge feedback signal respectively
A, the feedback rate of change of BWhether peak response rate of change r in actual valve position is greater than3, if more than actual valve position maximum
Respond rate of change r3, the channel where the feedback signal of the road Ze Gai is broken down.
Preferably, the method that the channel where judgement feedback signal A, B is broken down are as follows: judge feedback signal A, B
Whether the rate in front and back sampling period even variation and mutually compares, if the front and back rate variance of feedback signal A is greater than threshold value r4,
And the front and back rate variance of feedback signal B is less than threshold value r4, then the channel where feedback signal A is broken down；If feedback signal B
Front and back rate variance be greater than threshold value r4, and the front and back rate variance of feedback signal A is less than threshold value r4, then where feedback signal B
It breaks down in channel.
Preferably, the method for the determining actual valve position value of feedback Pv are as follows: if the channel where feedback signal A, B is just
Often, then can optionally all the way the value of feedback of signal as actual valve position value of feedback Pv；If the channel where feedback signal A is normal,
And the channel where feedback signal B is abnormal, then selects the value of feedback of feedback signal A as actual valve position value of feedback Pv；If anti-
Channel where feedback signal B is normal, and the channel where feedback signal A is abnormal, then select the value of feedback of feedback signal B as
Actual valve position value of feedback Pv；If the channel where feedback signal A, B is abnormal, selector valve position given value Ps is as actual valve
Position value of feedback Pv.
Preferably, it is described by actual valve position value of feedback Pv compared with valve setting value Ps, and then control oil motor and open
The method of pass are as follows: valve setting value Ps is generated into deviation signal e compared with the value of feedback Pv of actual valve position, is put through proportional controller
It is converted with digital quantity signal to analog signals greatly, obtained analog quantity command signal converts electric signal to electro-control converter
At hydraulic pressure signal, to control oil motor switch, and then turbine admission valve switch is driven, when deviation signal e is greater than 0,
Oil motor is opened, conversely, closing oil motor when deviation signal e is less than 0.
The beneficial effects of the present invention are: the Reflector by judging every road valve position feedback signal, intelligent selection are correct
Valve position feedback signal as actual valve position value of feedback Pv, ensure that into the valve position feedback value signal of servo mechanism real-time and
Accuracy.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is steam turbine Control of Electro-hydraulic Servo Actuators structural block diagram of the embodiment of the present invention；
The decision logic figure that Fig. 2 is two paths of the embodiment of the present invention feedback signal when being all normal；
Fig. 3 is breakdown judge logic chart of the embodiment of the present invention；
Fig. 4 is the practical valve position feedback signal selection logic chart of the embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing, technical scheme of the present invention will be further described, but the present invention is not limited to these realities
Apply example.
Attached drawing 1 shows steam turbine Control of Electro-hydraulic Servo Actuators structural block diagram, valve setting value Ps and practical valve position feedback
Value Pv compares generate deviation signal e after, amplify through proportional controller and digital quantity signal be to analog signals conversion (digital-to-analogue turn
Change D/A), obtained analog quantity command signal converts the electrical signal to hydraulic pressure signal to electro-control converter, to control oil motor
Switch, and then turbine admission valve switch is driven, when deviation signal e is greater than 0, oil motor is opened, conversely, deviation signal e is small
When 0, oil motor is closed.Two-way linear differential displacement transducer LVDT 1 and LVDT2 are mounted on oil motor, simultaneously with oil motor
It opens and closes, the feedback signal as oil motor stroke (valve location).LVDT1 and LVDT2 pass through analog signals respectively
To after digital quantity signal conversion (analog-digital conversion a/d) and null calibration, valve position feedback value is obtained, null calibration is by mould
When digital quantity signal after number conversion A/D is converted into valve location relative value, i.e. valve wide open, valve position feedback value is 100%, valve
When Men Quanguan, valve position feedback value is 0.Valve position feedback value and valve setting value Ps, which are finally sent into intelligence pair, selects voting machine to carry out
Intelligent selection obtains actual valve position value of feedback Pv compared with valve setting value Ps, forms the closed loop of steam turbine electrohydraudic servomechanism
Control.
The decision logic that Fig. 2 is two paths feedback signal when being all normal first distinguishes difference gauge to feedback signal A, B
It calculates, that is, calculates the rate of change of two paths of signals, and carry out drift gage calculation, if deviationWherein
r1For a lesser threshold value, such voting machine thinks that the feedback variation of two paths signal synchronizes.In addition if two paths of signals all
When disconnection fault, i.e., it is zero that feedback signal, which changes fast all rates, also corresponds to synchronize, it is therefore desirable to the feelings for all breaking two paths of signals
Condition excludes.When feedback signal broken string, feedback voltage 0 is negative value after null calibration, generally -10 or more, make ratio with -5
Compared with taking threshold value r2=-5, when feedback signal is less than r2When, then it is assumed that broken string does not break then after negating.Voting machine thinks feedback letter
Channel where number A, B is not all broken, and when change rate is synchronous, voting machine then thinks that feedback signal A, B is all normal, i.e. ABOK.
Fig. 3 is channel failure decision logic, and three kinds of any appearance of situation below, voting machine is where thinking feedback signal A
Channel failure, i.e. AFLS:
(1) by feedback signal A null calibration after with threshold value r2Compare, such as less than r2, then it is assumed that it is logical where feedback signal A
Road broken string；
(2) the feedback rate of change of feedback signal AWhether peak response rate of change r in actual valve position is greater than3, if more than
Actual valve position peak response rate of change r3, the channel where the feedback signal of the road Ze Gai is broken down.Because displacement sensor with
Oil motor is installed together, synchronizing moving, and signal feedback change rate is not more than the change of actual valve position peak response under normal circumstances
Change rate；
(3) rate in sampling period unevenly changes before and after feedback signal A, i.e. front and back rate variance is greater than threshold value r4, and
The rate uniform variation in sampling period, front and back rate variance are less than threshold value r before and after feedback signal B4, the road Ze Gai feedback signal institute
Channel break down.
Three kinds of any appearance of situation below, voting machine think the channel failure where feedback signal B, i.e. BFLS:
(1) by feedback signal B null calibration after with threshold value r2Compare, such as less than r2, then it is assumed that it is logical where feedback signal B
Road broken string；
(2) the feedback rate of change of feedback signal AWhether peak response rate of change r in actual valve position is greater than3, if more than
Actual valve position peak response rate of change r3, the channel where the feedback signal of the road Ze Gai is broken down；
(3) rate in sampling period unevenly changes before and after feedback signal B, i.e. front and back rate variance is greater than threshold value r4, and
The rate uniform variation in sampling period, front and back rate variance are less than threshold value r before and after feedback signal A4, the road Ze Gai feedback signal institute
Channel break down.
The method for determining actual valve position value of feedback Pv are as follows:, can be optional if the channel where feedback signal A, B is normal
The value of feedback of signal is as actual valve position value of feedback Pv all the way；If the channel where feedback signal A is normal, and feedback signal B institute
Channel it is abnormal, then select the value of feedback of feedback signal A as actual valve position value of feedback Pv；If where feedback signal B
Channel is normal, and the channel where feedback signal A is abnormal, then selects the value of feedback of feedback signal B as practical valve position feedback
Value Pv；If the channel where feedback signal A, B is abnormal, selector valve position given value Ps is as actual valve position value of feedback Pv.
Feedback signal A value of feedback=actual valve position value of feedback Pv is defined as " state 0 "；Feedback signal B value of feedback=reality
Border valve position feedback value Pv is defined as " state 1 "；Selector valve position given value Ps=actual valve position value of feedback Pv is defined as " state 2 ".
Attached drawing 4 shows practical valve position feedback signal selection logic chart.
(1) when being in " state 0 ", select feedback signal A value of feedback as practical valve position feedback signal value Pv.Such as
Failure is fed back in channel where fruit feedback signal A and the channel where feedback signal B is normal, jumps to " state 1 ".If feedback
Channel all failures where signal A, B, jump to " state 2 ".As long as the channel where feedback signal A is normal, " state is kept
0”。
(2) when being in " state 1 ", select feedback signal B value of feedback as practical valve position feedback signal value Pv.Such as
Failure is fed back in channel where fruit feedback signal B and the channel where feedback signal A is normal, jumps to " state 0 ".If feedback
Channel all failures where signal A, B, jump to " state 2 ".As long as the channel where feedback signal B is normal, keep " state 1 "
(3) when being in " state 2 ", selector valve position given value Ps is used as practical valve position feedback signal value Pv.If
Failure is fed back in channel where feedback signal A, B, jumps to " state 2 ".If the channel where feedback signal A is restored first
Normally, " state 0 " is jumped to；If the channel where feedback signal B restores normally, to jump to " state 1 " first.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (3)
1. a kind of intelligence is double to select valve position feedback control method, which is characterized in that feedback signal A, B of two-way valve position is obtained,
Judge its respectively where channel fault condition simultaneously determine actual valve position value of feedback Pv, by actual valve position value of feedback Pv with
Valve setting value Ps compares, and then controls the switch of oil motor；The method of the feedback signal for obtaining two-way valve position are as follows: will
Two-way linear differential displacement transducer LVDT 1 and LVDT2 are mounted on oil motor, are opened and closed and are obtained simultaneously with oil motor
It takes, for obtaining the feedback signal of valve location respectively；The method of the judgement fault condition are as follows: judge two-way feedback signal
Whether variation synchronizes, if variation synchronizes, the channel where judging feedback signal A, B is normal or breaks；If variation
Asynchronous, then judging the channel where feedback signal A, B, at least one breaks down；The judgement two-way feedback signal
The method whether variation synchronizes are as follows: rate of change dA/dt, dB/dt of feedback signal A, B is calculated, and carries out drift gage calculation
Shu dA/dt-dB/dt Shu, if Shu dA/dt-dB/dt Shu < r1, the feedback variation of two paths signal is synchronized, and on the contrary then two-way is logical
Signal feedback variation in road is asynchronous, and wherein r1 is the threshold value of deviation；Channel where judgement feedback signal A, B occurs
The method of failure are as follows: judge whether the rate in sampling period before and after feedback signal A, B even variation and mutually compares, if feeding back
The front and back rate variance of signal A is greater than threshold value r4, and the front and back rate variance of feedback signal B is less than threshold value r4, then feeds back
It breaks down in channel where signal A；If the front and back rate variance of feedback signal B is greater than threshold value r4, and feedback signal A
Front and back rate variance be less than threshold value r4, then the channel where feedback signal B is broken down.
2. intelligence according to claim 1 is double to select valve position feedback control method, which is characterized in that described determining practical
The method of valve position feedback value Pv are as follows:, can the optional value of feedback of signal all the way if the channel where feedback signal A, B is normal
As actual valve position value of feedback Pv；If the channel where feedback signal A is normal, and the channel where feedback signal B is abnormal, then
Select the value of feedback of feedback signal A as actual valve position value of feedback Pv；If the channel where feedback signal B is normal, and feedback letter
Channel where number A is abnormal, then selects the value of feedback of feedback signal B as actual valve position value of feedback Pv；If feedback signal A, B
The channel at place is abnormal, then given value Ps in selector valve position is as actual valve position value of feedback Pv.
3. intelligence according to claim 1 is double to select valve position feedback control method, which is characterized in that described to pass through reality
Valve position feedback value Pv compared with valve setting value Ps, and then control oil motor switch method are as follows: by valve setting value Ps with
Actual valve position value of feedback Pv, which compares, generates deviation signal e, amplifies through proportional controller and digital quantity signal turns to analog signals
It changes, obtained analog quantity command signal converts the electrical signal to hydraulic pressure signal to electro-control converter, opens to control oil motor
It closes, and then drives turbine admission valve switch, when deviation signal e is greater than 0, open oil motor, conversely, when deviation signal e is small
When 0, oil motor is closed.
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| CN108799613B (en) * | 2018-06-07 | 2020-05-15 | 辰星仪表（成都）有限公司 | Valve feedback system |
| CN109334936B (en) * | 2018-09-25 | 2019-10-18 | 中国船舶重工集团公司第七0三研究所 | A kind of auto-barring method reducing the steam drive ship power response time |
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| CN2871853Y (en) * | 2005-11-11 | 2007-02-21 | 南京科远控制工程有限公司 | Valve-level controller |
| CN202484401U (en) * | 2012-03-26 | 2012-10-10 | 新华威尔液压系统(上海)有限公司 | Servo valve controller |
| CN103644349A (en) * | 2009-03-12 | 2014-03-19 | 艾默生过程管理电力和水力解决方案有限公司 | Methods and apparatus to arbitrate valve position sensor redundancy |
| CN104834210A (en) * | 2015-03-24 | 2015-08-12 | 上海新跃仪表厂 | Redundancy control method based on double position sensors |
| CN105159263A (en) * | 2015-09-11 | 2015-12-16 | 九江长江仪表精密液压件厂 | Intelligent electro-hydraulic actuator self-healing regulation and control system control method |
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2017
- 2017-08-02 CN CN201710651855.4A patent/CN107387859B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2871853Y (en) * | 2005-11-11 | 2007-02-21 | 南京科远控制工程有限公司 | Valve-level controller |
| CN103644349A (en) * | 2009-03-12 | 2014-03-19 | 艾默生过程管理电力和水力解决方案有限公司 | Methods and apparatus to arbitrate valve position sensor redundancy |
| CN202484401U (en) * | 2012-03-26 | 2012-10-10 | 新华威尔液压系统(上海)有限公司 | Servo valve controller |
| CN104834210A (en) * | 2015-03-24 | 2015-08-12 | 上海新跃仪表厂 | Redundancy control method based on double position sensors |
| CN105159263A (en) * | 2015-09-11 | 2015-12-16 | 九江长江仪表精密液压件厂 | Intelligent electro-hydraulic actuator self-healing regulation and control system control method |
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