CN109058036B - S-shaped switching control method for servomotor locking device of hydroelectric generating set - Google Patents
S-shaped switching control method for servomotor locking device of hydroelectric generating set Download PDFInfo
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- CN109058036B CN109058036B CN201810716558.8A CN201810716558A CN109058036B CN 109058036 B CN109058036 B CN 109058036B CN 201810716558 A CN201810716558 A CN 201810716558A CN 109058036 B CN109058036 B CN 109058036B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B15/00—Controlling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B3/00—Machines or engines of reaction type; Parts or details peculiar thereto
- F03B3/16—Stators
- F03B3/18—Stator blades; Guide conduits or vanes, e.g. adjustable
- F03B3/183—Adjustable vanes, e.g. wicket gates
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Water Turbines (AREA)
Abstract
The S-shaped throwing and withdrawing control method of the servomotor locking device of the hydroelectric generating set comprises a locking servomotor, a displacement sensor positioned at the rear part of a locking rod and hydraulic control valves respectively connected with a throwing cavity and a withdrawing cavity, wherein when the locking rod of the locking servomotor is thrown and withdrawn, the starting position slowly accelerates, the middle position rapidly moves, the position close to the end point slowly decelerates, and the curve of the displacement of the locking rod to the time is in an S shape. The invention overcomes the problem of overlarge impact force when the guide vane of the raw water motor set is used for controlling locking, and has the characteristics of simple structure, S-shaped curve of the displacement of the locking device to the time, good buffering performance of the locking device no matter at the starting position or the end position of the throwing and withdrawing control, rapidity of the throwing and withdrawing control, and error change of the position of the locking device due to no control of electrification of a controller.
Description
Technical Field
The invention belongs to the technical field of hydro-power generating unit guide vane switching control, and relates to an S-shaped switching control method of a hydro-power generating unit servomotor locking device.
Background
The hydraulic generator set guide vane repeaters are all provided with locking devices, and the devices need to be put into the hydraulic generator set after the hydraulic generator set is shut down and the guide vanes are completely closed, so that the opening of the guide vanes caused by misoperation of the repeaters is prevented, and the safety of equipment and personnel of a hydraulic power plant is ensured; before the speed regulator is started, the guide vane can be smoothly opened only by pulling out the locking device.
For locking on-off control and position detection, the traditional control mode adopts pure open-loop control. In the mode, a two-position four-way reversing solenoid valve is adopted to control locking displacement, and stroke switches are respectively arranged at the locked input position and the locked exit position to detect whether locking is input and exited in place. The method has the advantage of high switching response speed. However, the impact of the pure open-loop locking on-off control mode on locking is very large, so that the locking mechanical part is easy to break, equipment damage and serious oil injection accidents are caused, the safe and stable operation of a unit is seriously threatened, and even the personal safety of field workers is threatened.
In order to solve the impact problem caused by the pure open-loop switching of the locking device, some hydroelectric science practitioners propose to adopt a closed-loop switching control mode. The mode adopts a proportional solenoid valve to control the locking displacement, a displacement sensor is arranged on a locking rod part, and the locked displacement is led into a controller to realize the closed-loop differential control. The closed-loop locking on-off control mode reduces the impact of locking on-off terminal position. However, the closed-loop locking on-off control mode still has large impact at the starting position, and the time used in the on-off process is more than 6 times of that in the open-loop mode, which leads to the overtime of the single-step process of the start-stop machine, and causes the failure of the automatic start-stop machine.
Considering that certain contradiction exists between the two requirements of the buffer performance and the rapidity of the switching control of the locking device of the guide vane servomotor of the water turbine generator set. Therefore, the locking on-off control method considering both buffering performance and rapidity is developed, and the method has important significance for improving the equipment and personal safety level of a hydraulic power plant and improving the economic benefit of a hydroelectric power generation enterprise.
Disclosure of Invention
The invention aims to solve the technical problem of providing an S-shaped throwing and withdrawing control method for a servomotor locking device of a hydroelectric generating set, wherein the throwing and withdrawing control of a locking spindle device is slowly accelerated at a position close to a starting point, quickly moved at a middle position and slowly decelerated at a position close to an end point, so that the displacement curve of the locking spindle device to time is S-shaped, the locking spindle device has good buffering performance at both the starting position and the end point of the throwing and withdrawing control, the rapidity of the throwing and withdrawing control is considered, and the position of the locking spindle device is not controlled by a control unit to be electrified and is changed by mistake.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the S-shaped throwing and withdrawing control method of the servomotor locking device of the hydroelectric generating set comprises a locking servomotor, a displacement sensor positioned at the rear part of a locking rod and hydraulic control valves respectively connected with a throwing cavity and a withdrawing cavity, wherein when the locking rod of the locking servomotor is thrown and withdrawn, the starting position slowly accelerates, the middle position rapidly moves, the position close to the end point slowly decelerates, and the curve of the displacement of the locking rod to the time is in an S shape.
The putting-in and putting-out state of the locking rod is controlled by mutual switching of the pulling-out process, the putting-in process, the pulling-out compaction state and the putting-in compaction state.
And in the power-on initialization stage of the controller of the hydraulic control valve, the locking displacement feedback link detects whether the locked actual position is close to the input position or the extraction position, and the controller is endowed with an initial state.
The switching state of the locking rod is determined by the value of the register.
The register is set to be 1, and the S-shaped locking switching control behavior is in the pulling-out process and the deviator is switched in.
The register is set to be 3, the S-shaped locking on-off control action is in an extraction and compaction state, and the deviator is cut off.
The register is set to be 2, and the S-shaped locking switching control behavior is in the switching process and the deviator is switched.
The register is set to be 4, the S-shaped locking on-off control action is in an on-pressing state, and the deviator is cut off.
The S-shaped throwing and withdrawing control method of the servomotor locking device of the hydroelectric generating set comprises a locking servomotor, a displacement sensor positioned at the rear part of a locking rod and hydraulic control valves respectively connected with a throwing cavity and a withdrawing cavity, wherein when the locking rod of the locking servomotor is thrown and withdrawn, the starting position slowly accelerates, the middle position rapidly moves, the position close to the end point slowly decelerates, and the curve of the displacement of the locking rod to the time is in an S shape. The invention overcomes the problem of overlarge impact force when the guide vane of the raw water motor set is used for controlling locking, and has the characteristics of simple structure, S-shaped curve of the displacement of the locking device to the time, good buffering performance of the locking device no matter at the starting position or the end position of the throwing and withdrawing control, rapidity of the throwing and withdrawing control, and error change of the position of the locking device due to no control of electrification of a controller.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic diagram of the control of the invention.
FIG. 3 is a graph showing the displacement during the inputting process of the present invention.
FIG. 4 is a graph of the displacement during the pull-out process of the present invention.
FIG. 5 is a graph of the S-shaped versus open and closed loop plunge shift of the present invention.
FIG. 6 is a graph of the S-shape versus displacement for open and closed loop extraction processes of the present invention.
In the figure: the hydraulic control system comprises a locking servomotor 1, a locking rod 11, an input cavity 12, a withdrawing cavity 13, a displacement sensor 2 and a hydraulic control valve 3.
Detailed Description
As shown in fig. 1 to 6, an S-shaped putting-in and putting-out control method for a servomotor locking device of a hydroelectric generating set comprises a locking servomotor 1, a displacement sensor 2 positioned at the rear part of a locking rod 11, and a hydraulic control valve 3 respectively connected with an putting-in cavity 12 and an putting-out cavity 13, wherein when the locking rod 11 of the locking servomotor 1 is put in and put out, a starting position slowly accelerates, a middle position rapidly moves, a position close to a terminal position slowly decelerates, and a curve of displacement of the locking rod 11 with respect to time is in an S shape. The locking device has good buffering performance no matter at the starting position or the end position of the throwing and withdrawing control, the rapidity of the throwing and withdrawing control is considered, and the position of the locking device is not changed by mistake due to the fact that the controller is electrified.
The putting-in and putting-out state of the locking rod 11 is controlled by mutually switching the pulling-out process, the putting-in process, the pulling-out pressing state and the putting-in pressing state. The locking ingot throwing and retreating control has good buffering performance at the starting position or the end position, and the time length used for throwing and retreating control is reduced as much as possible; the time length used by the switching-on and switching-off control mode is only about 2 times of the time length of the pure open-loop control.
In the controller power-on initialization stage of the hydraulic control valve 3, the locking displacement feedback link detects whether the actual locking position is close to the input position or the extraction position, and an initial state is given to the controller. And a proper initial state is given to the controller, so that the function that the position of the locking device is not changed by mistake due to the fact that the controller is electrified is realized.
The state of the lock lever 11 is determined by the value of the register. The action of the locking rod 11 is controlled by the value of different switching actions given by the register, and the actions are linked stably.
The register is set to be 1, and the S-shaped locking switching control behavior is in the pulling-out process and the deviator is switched in. The target value of the deviation device is given as a pulling-out position (1.0), and the opening of the hydraulic control valve is continuously adjusted through an S-shaped algorithm of the controller, so that the displacement curve of the locking ingot pulling-out process is ensured to be S-shaped; the requirements of slow movement at the starting point and the end point and quick movement at the middle position are met, and the buffering performance and the pulling-out rapidity of the lock spindle in the pulling-out process are guaranteed.
The register is set to be 3, the S-shaped locking on-off control action is in an extraction and compaction state, and the deviator is cut off. Cutting off the deviator, wherein the S-shaped algorithm controller is given a pulling-out position to compress an offset value + lambda, and the opening of the hydraulic control valve is positioned at a pulling-out opening offset position; after the locking ingot is in the pulling-out position, a pressure force is applied to ensure that the locking ingot is always in the pulling-out position, so that the locking ingot is prevented from slowly sliding down due to oil leakage; a constant pulling-out position compresses the offset value + lambda, so that the output of the S-shaped algorithm controller is constant, and the abrasion aggravation caused by the repeated movement of the valve core of the hydraulic control valve is avoided, thereby prolonging the service life of the hydraulic equipment; after the deviation device is cut off, the controller is in an open-loop mode to operate, and the locking ingot pulling-out state can be maintained all the time without being influenced by faults or jumping of feedback devices such as a displacement sensor and the like; the reliability of the equipment is enhanced, the safety measure range of maintenance of the displacement sensor is narrowed, and the development of equipment maintenance work is facilitated.
The register is set to be 2, and the S-shaped locking switching control behavior is in the switching process and the deviator is switched. The target value of the deviation device is given as a pulling-out position (0.0), and the opening of the hydraulic control valve is continuously adjusted through an S-shaped algorithm of the controller, so that the displacement curve of the locking ingot pulling-out process is ensured to be S-shaped; the requirements of slow movement at the starting point and the end point and quick movement at the middle position are met, and the buffering property and the input rapidity in the locking ingot inputting process are ensured.
The register is set to be 4, the S-shaped locking on-off control action is in an on-pressing state, and the deviator is cut off. The S-shaped algorithm controller is given a pulling-out position to compress an offset value-lambda, and the opening of the hydraulic control valve is positioned at an input opening offset position; after the locking ingot is in the throwing position, a compressed hydraulic pressure force is provided to ensure that the locking ingot is always in the throwing position, and the locking ingot is prevented from being thrown in place due to oil leakage; a constant input position compresses the offset value-lambda, so that the output of the S-shaped algorithm controller is constant, and the abrasion aggravation caused by the repeated movement of the valve core of the hydraulic control valve is avoided, thereby prolonging the service life of the hydraulic equipment; after the deviation device is cut off, the controller is in an open-loop mode to operate, and the locking state can be maintained all the time without being influenced by faults or jumping of feedback devices such as a displacement sensor and the like; the reliability of the equipment is enhanced, the safety measure range of maintenance of the displacement sensor is narrowed, and the development of equipment maintenance work is facilitated.
Compared with the prior water turbine generator set guide vane servomotor locking ingot, the water turbine generator set guide vane servomotor locking ingot has only two stable positions of 'input' (0.0) and 'pull-out' (1.0), and cannot stay at the middle position. The S-shaped throwing and withdrawing control method utilizes the point, detects whether the actual position of the locking ingot is close to the throwing position or the pulling position through the locking ingot displacement feedback link in the power-on initialization stage of the controller, and gives an initial value matched with the current actual state of the locking ingot device to the register, so that the position of the locking ingot device is ensured to be mistakenly changed without being controlled by the power-on of the controller, and the reliability of the throwing or withdrawing state of the locking ingot device is ensured.
Because the hydraulic control valve adopted by the S-shaped locking ingot throwing and withdrawing control method has the function of returning to the zero point after power failure, when the control device manufactured by the method is powered off, the locking ingot device can still effectively maintain the current state in a short time without changing, and the reliability of the throwing or withdrawing state of the locking ingot device is further ensured.
When the S-shaped switching control method of the locking device of the hydraulic generator set servomotor is installed and used, for example, a certain hydraulic power station, a stay wire type displacement sensor is installed on the guide vane locking servomotor as a feedback link, the sensor interface is a two-wire system 4..20mA, and the acquired locking displacement signal is sent to an analog quantity input module of a PLC. The hydraulic control valve adopts a proportional valve which is powered off and can reset to the neutral position, the opening of the 4..20mA corresponding valve is-100%. +100%, the response time constant of the proportional valve is preferably not more than 0.2s, and the power supply mode is preferably DC24V for safety. The controller adopts Schneider Quantum series PLC. The S-shaped algorithm is realized by ST language programming. The switcher is realized by programming a ladder diagram or a logic block diagram, and can call a module carried by the library function.
The Schneider Quantum series PLC gives an initial value matched with the actual state of the locking device to an internal register Change through displacement information detected by the locking device displacement sensor when the power is on or off, so that the position of the locking device is guaranteed to be changed mistakenly without being controlled by the power on of a controller, and the reliability of the state of the locking device in a putting-in state or a withdrawing state is guaranteed.
Because the hydraulic control valve for controlling the locking ingot throwing and withdrawing of the hydropower station adopts the proportional valve which is powered off and can automatically reset to the middle position, when the control device is powered off, the locking ingot device can still effectively maintain the current state in a short time without changing, thereby further ensuring the reliability of the locking ingot device in the throwing or withdrawing state.
The signal collected by the displacement sensor is compared with the fixed value of the input or extraction position through the inside of the controller, and the switching value signal of the input position and the extraction position of the locking ingot is output outwards, and the switching value signal is used for controlling a panel signal indicator lamp of the cabinet and is sent to a computer monitoring system to be used for controlling the starting and stopping process.
The locking ingot inputting and exiting instruction can be from a computer monitoring system, a button of a control cabinet panel or a touch screen virtual button.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.
Claims (6)
1. The S-shaped putting-in and putting-out control method of the servomotor locking device of the hydroelectric generating set comprises a locking servomotor (1), a displacement sensor (2) positioned at the rear part of a locking rod (11), and a hydraulic control valve (3) respectively connected with an putting-in cavity (12) and an quitting cavity (13), and is characterized in that: when a locking rod (11) of the locking servomotor (1) is thrown or retreated, the starting position slowly accelerates, the middle position rapidly moves, the position close to the end point slowly decelerates, and the displacement curve of the locking rod (11) to time is S-shaped; the putting-in and putting-out state of the locking rod (11) is controlled by mutually switching a pulling-out process, a putting-in process, a pulling-out compaction state and a putting-in compaction state; and in the controller power-on initialization stage of the hydraulic control valve (3), a locking displacement feedback link detects whether the actual locking position is close to the input position or the extraction position, and an initial state is given to the controller.
2. The method for controlling the S-shaped switching of the servomotor locking device of the hydroelectric generating set according to claim 1, wherein the method comprises the following steps: the on-off state of the locking rod (11) is determined by the value of the register.
3. The method for controlling the S-shaped switching of the servomotor locking device of the hydroelectric generating set according to claim 2, wherein the method comprises the following steps: the register is set to be 1, and the S-shaped locking switching control behavior is in the pulling-out process and the deviator is switched in.
4. The method for controlling the S-shaped switching of the servomotor locking device of the hydroelectric generating set according to claim 2, wherein the method comprises the following steps: the register is set to be 3, the S-shaped locking on-off control action is in an extraction and compaction state, and the deviator is cut off.
5. The method for controlling the S-shaped switching of the servomotor locking device of the hydroelectric generating set according to claim 2, wherein the method comprises the following steps: the register is set to be 2, and the S-shaped locking switching control behavior is in the switching process and the deviator is switched.
6. The method for controlling the S-shaped switching of the servomotor locking device of the hydroelectric generating set according to claim 2, wherein the method comprises the following steps: the register is set to be 4, the S-shaped locking on-off control action is in an on-pressing state, and the deviator is cut off.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810716558.8A CN109058036B (en) | 2018-07-03 | 2018-07-03 | S-shaped switching control method for servomotor locking device of hydroelectric generating set |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810716558.8A CN109058036B (en) | 2018-07-03 | 2018-07-03 | S-shaped switching control method for servomotor locking device of hydroelectric generating set |
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| CN109058036A CN109058036A (en) | 2018-12-21 |
| CN109058036B true CN109058036B (en) | 2020-05-26 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01184524A (en) * | 1988-01-20 | 1989-07-24 | Nippon Typewriter Co Ltd | Picture display device |
| DE59808428D1 (en) * | 1997-02-06 | 2003-06-26 | Bucher Hydraulics Ag Neuheim | METHOD AND DEVICE FOR CONTROLLING A HYDRAULIC LIFT |
| CN202733131U (en) * | 2012-07-13 | 2013-02-13 | 常州液压成套设备厂有限公司 | Ball valve servomotor with hydraulic locking device |
| CN204062126U (en) * | 2014-06-27 | 2014-12-31 | 自贡高中压阀门厂 | Hydroturbine water intake valve interlocking protective device |
| CN104373277A (en) * | 2014-11-10 | 2015-02-25 | 常州液压成套设备厂有限公司 | Servomotor locking device |
| CN204253487U (en) * | 2014-11-28 | 2015-04-08 | 郑州宇通重工有限公司 | For the hydraulic buffering valve of the wheel type traveling mechanism of fluid motor-driven |
| CN106837901B (en) * | 2017-04-12 | 2018-04-20 | 北京机械设备研究所 | A kind of Erecting System control method for reducing hydraulic starting impact |
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